+ python -m lidar_slam --result /working/result.json --no-model /working/ca7839dc-a585-45c2-803d-b45cec4266d4 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/ca7839dc-a585-45c2-803d-b45cec4266d4 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 0.022755096 Adjusted end_distance from 9.223372036854776e+18 to 736.542755096 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.022755096 meters Centerline goodness : 0.187464 with order 1 Centerline is valid? [0, False] SLAMing on 0.082755096 meters Centerline goodness : 0.182306 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.00 [[ 9.99998155e-01 -9.72194859e-04 1.65688818e-03 2.37721879e-02] [ 9.82241443e-04 9.99981073e-01 -6.07353709e-03 4.60419730e-03] [-1.65095216e-03 6.07515335e-03 9.99980183e-01 -3.94457424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.142755096 meters SLAMing on 0.202755096 meters SLAMing on 0.26275509599999997 meters SLAMing on 0.32275509599999996 meters Centerline goodness : 0.126848 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:-0.03 [[ 0.9999029 -0.00665915 0.01224139 0.1403732 ] [ 0.00697494 0.99963924 -0.02593725 0.01529202] [-0.01206426 0.02602011 0.99958862 -0.02693517] [ 0. 0. 0. 1. ]] SLAMing on 0.38275509599999996 meters Centerline goodness : 0.126336 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.03 [[ 0.99982174 -0.00870959 0.01675183 0.16059702] [ 0.00893387 0.99987083 -0.01336065 0.01055994] [-0.0166333 0.01350792 0.99977041 -0.02859206] [ 0. 0. 0. 1. ]] SLAMing on 0.44275509599999996 meters Centerline goodness : 0.130351 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:0.01, Z:-0.03 [[ 0.9998084 -0.0083593 0.01769961 0.19781389] [ 0.00840667 0.99996127 -0.0026032 0.00650834] [-0.01767717 0.0027515 0.99983996 -0.026876 ] [ 0. 0. 0. 1. ]] SLAMing on 0.502755096 meters Centerline goodness : 0.860858 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:0.01, Z:-0.03 [[ 9.99772254e-01 -8.28221519e-03 1.96683889e-02 2.28916055e-01] [ 8.28316574e-03 9.99965693e-01 3.31383189e-05 8.82962820e-03] [-1.96679886e-02 1.29785753e-04 9.99806558e-01 -2.86644406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5627550960000001 meters Centerline goodness : 0.854331 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:0.01, Z:-0.03 [[ 0.99983076 -0.00666794 0.01714642 0.25960313] [ 0.00660219 0.99997064 0.00388853 0.00537339] [-0.01717185 -0.00377466 0.99984543 -0.02869812] [ 0. 0. 0. 1. ]] SLAMing on 0.622755096 meters Centerline goodness : 0.848615 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:-0.03 [[ 0.99979873 -0.01397646 0.0143928 0.2800331 ] [ 0.01386985 0.99987583 0.00748029 0.00851656] [-0.01449556 -0.00727916 0.99986844 -0.02919306] [ 0. 0. 0. 1. ]] SLAMing on 0.682755096 meters Centerline goodness : 0.130458 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.01, Z:-0.03 [[ 0.99971244 -0.02095793 0.01165345 0.29329546] [ 0.02088648 0.99976251 0.00621897 0.01157292] [-0.01178101 -0.00597379 0.99991276 -0.03060504] [ 0. 0. 0. 1. ]] SLAMing on 0.742755096 meters Centerline goodness : 0.131486 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:0.01, Z:-0.03 [[ 0.99927678 -0.03674262 0.00979276 0.34447407] [ 0.03664399 0.99927767 0.01006737 0.00754798] [-0.01015558 -0.00970124 0.99990137 -0.03019859] [ 0. 0. 0. 1. ]] SLAMing on 0.8027550960000001 meters Centerline goodness : 0.126014 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:0.00, Z:-0.03 [[ 0.99846887 -0.05481246 0.00745004 0.39951143] [ 0.05469759 0.99839277 0.01483397 0.00467467] [-0.00825116 -0.01440376 0.99986222 -0.02854155] [ 0. 0. 0. 1. ]] SLAMing on 0.862755096 meters Centerline goodness : 0.123662 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:-0.03 [[ 0.99761405 -0.06862151 0.00756987 0.4497879 ] [ 0.06847358 0.99748466 0.01832252 0.00761989] [-0.00880815 -0.01776046 0.99980347 -0.02920652] [ 0. 0. 0. 1. ]] SLAMing on 0.9227550959999999 meters Centerline goodness : 0.120195 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:-0.03 [[ 0.99681731 -0.07908843 0.01001371 0.4941809 ] [ 0.07887407 0.99667897 0.02024611 0.01364015] [-0.01158168 -0.01939185 0.99974488 -0.03024641] [ 0. 0. 0. 1. ]] SLAMing on 0.982755096 meters Centerline goodness : 0.123441 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:0.02, Z:-0.03 [[ 0.99649495 -0.08243644 0.01421437 0.52220482] [ 0.08216493 0.99644271 0.01873078 0.02207869] [-0.0157079 -0.01749721 0.99972352 -0.03197447] [ 0. 0. 0. 1. ]] SLAMing on 1.042755096 meters Centerline goodness : 0.849528 with order 1 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:-0.03 [[ 0.99620345 -0.0853495 0.01715068 0.56497651] [ 0.08492181 0.99609161 0.02428572 0.03554063] [-0.01915642 -0.02273706 0.99955793 -0.03178784] [ 0. 0. 0. 1. ]] SLAMing on 1.102755096 meters Centerline goodness : 0.851245 with order 2 Centerline is valid? [False, False] Translation: X:0.62, Y:0.05, Z:-0.03 [[ 0.99644595 -0.08258042 0.01661132 0.6173577 ] [ 0.08216956 0.99632792 0.02405913 0.0528688 ] [-0.01853713 -0.02260867 0.99957252 -0.02897651] [ 0. 0. 0. 1. ]] SLAMing on 1.162755096 meters Centerline goodness : 0.131448 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:0.06, Z:-0.03 [[ 0.99652708 -0.08064349 0.02074606 0.63605462] [ 0.08023825 0.99658148 0.01967687 0.06234012] [-0.02226195 -0.01794391 0.99959113 -0.03241215] [ 0. 0. 0. 1. ]] SLAMing on 1.222755096 meters Centerline goodness : 0.123781 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:0.08, Z:-0.03 [[ 0.9970759 -0.07380809 0.01979917 0.69032912] [ 0.07338999 0.99708066 0.021073 0.08435258] [-0.02129672 -0.01955832 0.99958187 -0.0322095 ] [ 0. 0. 0. 1. ]] SLAMing on 1.282755096 meters Centerline goodness : 0.201686 with order 2 Centerline is valid? [False, False] Translation: X:0.73, Y:0.10, Z:-0.03 [[ 0.99753441 -0.0671898 0.02026413 0.73286806] [ 0.06688309 0.99764116 0.01545215 0.10134854] [-0.02125456 -0.01405873 0.99967525 -0.03342665] [ 0. 0. 0. 1. ]] SLAMing on 1.3427550959999999 meters Centerline goodness : 0.185057 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:0.13, Z:-0.04 [[ 0.99807194 -0.0577945 0.02263193 0.79441701] [ 0.05763524 0.99830857 0.00762804 0.12886289] [-0.02303451 -0.00630893 0.99971476 -0.03575701] [ 0. 0. 0. 1. ]] SLAMing on 1.402755096 meters Centerline goodness : 0.828546 with order 3 Centerline is valid? [False, False] Translation: X:0.85, Y:0.15, Z:-0.04 [[ 9.98472823e-01 -4.92105550e-02 2.51066293e-02 8.54997552e-01] [ 4.92264659e-02 9.98787642e-01 -1.57001870e-05 1.54852736e-01] [-2.50754184e-02 1.25158684e-03 9.99684779e-01 -3.74561458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.462755096 meters Centerline goodness : 0.730871 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:0.17, Z:-0.04 [[ 0.99873501 -0.04409947 0.02415809 0.90089028] [ 0.04424659 0.999005 -0.00558928 0.17077653] [-0.02388757 0.00665113 0.99969253 -0.03790341] [ 0. 0. 0. 1. ]] SLAMing on 1.522755096 meters Centerline goodness : 0.734938 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:0.19, Z:-0.04 [[ 0.99885148 -0.04253588 0.02205501 0.96059188] [ 0.04268838 0.99906735 -0.00649057 0.19037992] [-0.02175836 0.00742461 0.99973569 -0.03884554] [ 0. 0. 0. 1. ]] SLAMing on 1.582755096 meters Centerline goodness : 0.716655 with order 3 Centerline is valid? [False, False] Translation: X:1.02, Y:0.21, Z:-0.04 [[ 0.99878757 -0.04439562 0.02127002 1.02015925] [ 0.04456499 0.99897791 -0.0075558 0.20863831] [-0.02091284 0.00849453 0.99974522 -0.04064509] [ 0. 0. 0. 1. ]] SLAMing on 1.642755096 meters Centerline goodness : 0.824385 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:0.22, Z:-0.04 [[ 0.99858144 -0.04824618 0.02252572 1.05626525] [ 0.04839118 0.99881082 -0.00593696 0.21864885] [-0.02221249 0.00701858 0.99972864 -0.04215399] [ 0. 0. 0. 1. ]] SLAMing on 1.702755096 meters Centerline goodness : 0.734456 with order 3 Centerline is valid? [False, False] Translation: X:1.12, Y:0.23, Z:-0.04 [[ 0.99850083 -0.04960782 0.02313356 1.12081858] [ 0.04985863 0.9987022 -0.01039377 0.23331409] [-0.02258792 0.0115316 0.99967835 -0.04387083] [ 0. 0. 0. 1. ]] SLAMing on 1.762755096 meters Centerline goodness : 0.928102 with order 3 Centerline is valid? [False, False] Translation: X:1.17, Y:0.24, Z:-0.04 [[ 9.98141823e-01 -5.65523681e-02 2.26876832e-02 1.16731779e+00] [ 5.65459791e-02 9.98399569e-01 9.23551097e-04 2.38122558e-01] [-2.27036021e-02 3.61062284e-04 9.99742175e-01 -4.32009165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8227550959999999 meters Centerline goodness : 0.944012 with order 2 Centerline is valid? [False, False] Translation: X:1.22, Y:0.25, Z:-0.04 [[ 0.99780691 -0.06370227 0.01798303 1.21766361] [ 0.06362653 0.99796246 0.00475329 0.24702646] [-0.01824919 -0.00359867 0.99982699 -0.04428819] [ 0. 0. 0. 1. ]] SLAMing on 1.882755096 meters Centerline goodness : 0.947996 with order 3 Centerline is valid? [False, False] Translation: X:1.24, Y:0.25, Z:-0.04 [[ 0.99799677 -0.06286492 0.00710249 1.24073297] [ 0.06284137 0.99801742 0.00349126 0.25305184] [-0.00730789 -0.00303793 0.99996868 -0.04091204] [ 0. 0. 0. 1. ]] SLAMing on 1.942755096 meters Centerline goodness : 0.949662 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:0.26, Z:-0.04 [[ 9.97974224e-01 -6.36056750e-02 -1.32880833e-03 1.28091569e+00] [ 6.36110924e-02 9.97964454e-01 4.53629485e-03 2.60743289e-01] [ 1.03756939e-03 -4.61163228e-03 9.99988828e-01 -3.91126577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.002755096 meters Centerline goodness : 0.953763 with order 1 Centerline is valid? [False, True] Translation: X:1.31, Y:0.27, Z:-0.04 [[ 0.99805349 -0.06221273 -0.00433674 1.31116634] [ 0.06222982 0.99805413 0.00392384 0.26871465] [ 0.00408419 -0.00418608 0.9999829 -0.03830497] [ 0. 0. 0. 1. ]] SLAMing on 2.062755096 meters Centerline goodness : 0.958753 with order 1 Centerline is valid? [True, True] Translation: X:1.37, Y:0.27, Z:-0.04 [[ 9.97918756e-01 -6.43485392e-02 -4.17388600e-03 1.37079096e+00] [ 6.43484065e-02 9.97927480e-01 -1.66226707e-04 2.74743597e-01] [ 4.17593199e-03 -1.02702165e-04 9.99991275e-01 -3.68117134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.122755096 meters Centerline goodness : 0.961132 with order 1 Centerline is valid? [True, True] Translation: X:1.43, Y:0.29, Z:-0.04 [[ 9.97572540e-01 -6.95097525e-02 -4.17388022e-03 1.43099311e+00] [ 6.95096642e-02 9.97581264e-01 -1.66371863e-04 2.88107199e-01] [ 4.17534917e-03 -1.24157010e-04 9.99991275e-01 -3.82219771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.182755096 meters Centerline goodness : 0.963172 with order 1 Centerline is valid? [True, True] Translation: X:1.49, Y:0.29, Z:-0.03 [[ 9.98015932e-01 -6.28233931e-02 -4.17387893e-03 1.49178280e+00] [ 6.28232463e-02 9.98024655e-01 -1.66404217e-04 2.87880836e-01] [ 4.17608816e-03 -9.61425637e-05 9.99991275e-01 -3.31886708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.242755096 meters Centerline goodness : 0.964997 with order 1 Centerline is valid? [True, True] Translation: X:1.55, Y:0.30, Z:-0.04 [[ 9.97708978e-01 -6.75231358e-02 -4.17387796e-03 1.55200074e+00] [ 6.75230300e-02 9.97717702e-01 -1.66428625e-04 2.98329988e-01] [ 4.17558970e-03 -1.15785553e-04 9.99991275e-01 -3.98725913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.302755096 meters Centerline goodness : 0.963368 with order 1 Centerline is valid? [True, True] Translation: X:1.61, Y:0.30, Z:-0.04 [[ 9.97954114e-01 -6.37978419e-02 -4.17387645e-03 1.60964345e+00] [ 6.37977034e-02 9.97962838e-01 -1.66466484e-04 3.01891120e-01] [ 4.17599378e-03 -1.00157819e-04 9.99991275e-01 -4.12175200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.362755096 meters Centerline goodness : 0.970430 with order 1 Centerline is valid? [True, True] Translation: X:1.67, Y:0.31, Z:-0.04 [[ 9.97091194e-01 -7.61034199e-02 -4.17386043e-03 1.67014401e+00] [ 7.61033873e-02 9.97099918e-01 -1.66866971e-04 3.11080627e-01] [ 4.17445504e-03 -1.51263329e-04 9.99991275e-01 -3.56483107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.422755096 meters Centerline goodness : 0.977455 with order 1 Centerline is valid? [True, True] Translation: X:1.73, Y:0.32, Z:-0.03 [[ 9.96174414e-01 -8.72875515e-02 -4.17385942e-03 1.72847983e+00] [ 8.72876167e-02 9.96183138e-01 -1.66892422e-04 3.16160929e-01] [ 4.17249600e-03 -1.98072280e-04 9.99991275e-01 -3.01012220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.482755096 meters Centerline goodness : 0.971311 with order 1 Centerline is valid? [True, True] Translation: X:1.79, Y:0.32, Z:-0.04 [[ 9.96399014e-01 -8.46852055e-02 -4.17384679e-03 1.78793163e+00] [ 8.46852466e-02 9.96407738e-01 -1.67207734e-04 3.15362336e-01] [ 4.17301326e-03 -1.86857623e-04 9.99991275e-01 -4.04288064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.542755096 meters Centerline goodness : 0.974313 with order 1 Centerline is valid? [True, True] Translation: X:1.85, Y:0.32, Z:-0.04 [[ 9.96308414e-01 -8.57445193e-02 -4.17384054e-03 1.84778043e+00] [ 8.57445690e-02 9.96317139e-01 -1.67363584e-04 3.20691311e-01] [ 4.17281937e-03 -1.91138411e-04 9.99991275e-01 -3.70132032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.602755096 meters Centerline goodness : 0.979713 with order 1 Centerline is valid? [True, True] Translation: X:1.91, Y:0.33, Z:-0.03 [[ 9.96077673e-01 -8.83846569e-02 -4.17383740e-03 1.90749765e+00] [ 8.83847294e-02 9.96086398e-01 -1.67441662e-04 3.27803303e-01] [ 4.17230194e-03 -2.02118589e-04 9.99991275e-01 -3.40561326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6627550959999997 meters Centerline goodness : 0.986019 with order 1 Centerline is valid? [True, True] Translation: X:1.97, Y:0.34, Z:-0.03 [[ 9.94768743e-01 -1.02067265e-01 -4.17382921e-03 1.96523628e+00] [ 1.02067456e-01 9.94777466e-01 -1.67645631e-04 3.43258560e-01] [ 4.16914238e-03 -2.59243496e-04 9.99991275e-01 -3.00767037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7227550959999998 meters Centerline goodness : 0.985686 with order 1 Centerline is valid? [True, True] Translation: X:2.02, Y:0.35, Z:-0.03 [[ 9.95274112e-01 -9.70155715e-02 -4.17381318e-03 2.02340632e+00] [ 9.70157171e-02 9.95282835e-01 -1.68043779e-04 3.47290937e-01] [ 4.17042748e-03 -2.37675855e-04 9.99991275e-01 -2.84578969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.782755096 meters Centerline goodness : 0.983941 with order 1 Centerline is valid? [True, True] Translation: X:2.08, Y:0.35, Z:-0.03 [[ 9.94809837e-01 -1.01665965e-01 -4.17379774e-03 2.08301398e+00] [ 1.01666150e-01 9.94818559e-01 -1.68426505e-04 3.52163219e-01] [ 4.16929469e-03 -2.56781602e-04 9.99991275e-01 -3.44938372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.842755096 meters Centerline goodness : 0.979546 with order 1 Centerline is valid? [True, True] Translation: X:2.14, Y:0.36, Z:-0.04 [[ 9.94483948e-01 -1.04805804e-01 -4.17379165e-03 2.14167790e+00] [ 1.04806016e-01 9.94492670e-01 -1.68577179e-04 3.60586920e-01] [ 4.16847307e-03 -2.69791176e-04 9.99991275e-01 -4.12747410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.902755096 meters Centerline goodness : 0.993907 with order 1 Centerline is valid? [True, True] Translation: X:2.20, Y:0.37, Z:-0.02 [[ 9.93261764e-01 -1.15817307e-01 -4.17379072e-03 2.20142995e+00] [ 1.15817615e-01 9.93270483e-01 -1.68600304e-04 3.74600404e-01] [ 4.16522995e-03 -3.15934250e-04 9.99991275e-01 -1.76330898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.962755096 meters Centerline goodness : 0.988831 with order 1 Centerline is valid? [True, True] Translation: X:2.26, Y:0.37, Z:-0.04 [[ 9.94105669e-01 -1.08335120e-01 -4.17378963e-03 2.26062271e+00] [ 1.08335363e-01 9.94114390e-01 -1.68627215e-04 3.73778686e-01] [ 4.16749258e-03 -2.84535743e-04 9.99991275e-01 -3.51705596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.022755096 meters Centerline goodness : 0.994383 with order 1 Centerline is valid? [True, True] Translation: X:2.32, Y:0.38, Z:-0.02 [[ 9.93587087e-01 -1.12992391e-01 -4.17378404e-03 2.32088916e+00] [ 1.12992673e-01 9.93595807e-01 -1.68765347e-04 3.78994983e-01] [ 4.16612352e-03 -3.03923948e-04 9.99991275e-01 -2.28049978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.082755096 meters Centerline goodness : 0.993592 with order 1 Centerline is valid? [True, True] Translation: X:2.38, Y:0.37, Z:0.01 [[ 9.95457652e-01 -9.51138453e-02 -4.17378167e-03 2.38064785e+00] [ 9.51139710e-02 9.95466375e-01 -1.68824142e-04 3.69071786e-01] [ 4.17091682e-03 -2.28927665e-04 9.99991275e-01 1.39495159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.142755096 meters Centerline goodness : 0.994265 with order 1 Centerline is valid? [True, True] Translation: X:2.44, Y:0.37, Z:0.01 [[ 9.95448280e-01 -9.52118764e-02 -4.17378032e-03 2.43769992e+00] [ 9.52120028e-02 9.95457004e-01 -1.68857404e-04 3.72615995e-01] [ 4.17089608e-03 -2.29305171e-04 9.99991275e-01 1.43368791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2027550959999997 meters Centerline goodness : 0.996296 with order 1 Centerline is valid? [True, True] Translation: X:2.50, Y:0.40, Z:-0.00 [[ 9.92703444e-01 -1.20509138e-01 -4.17375996e-03 2.49767083e+00] [ 1.20509485e-01 9.92712161e-01 -1.69359284e-04 3.95582055e-01] [ 4.16375161e-03 -3.34854117e-04 9.99991275e-01 -3.18584041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.262755096 meters Centerline goodness : 0.995903 with order 1 Centerline is valid? [True, True] Translation: X:2.56, Y:0.38, Z:0.02 [[ 9.94930859e-01 -1.00474704e-01 -4.17374971e-03 2.55894494e+00] [ 1.00474873e-01 9.94939582e-01 -1.69611351e-04 3.77857543e-01] [ 4.16967044e-03 -2.50605407e-04 9.99991275e-01 1.86256707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.322755096 meters Centerline goodness : 0.996529 with order 1 Centerline is valid? [True, True] Translation: X:2.62, Y:0.38, Z:0.02 [[ 9.94267872e-01 -1.06836222e-01 -4.17374938e-03 2.61629256e+00] [ 1.06836447e-01 9.94276594e-01 -1.69619580e-04 3.79980915e-01] [ 4.16798283e-03 -2.77261255e-04 9.99991275e-01 1.99579731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.382755096 meters Centerline goodness : 0.996754 with order 1 Centerline is valid? [True, True] Translation: X:2.67, Y:0.38, Z:0.02 [[ 9.93775029e-01 -1.11327318e-01 -4.17373385e-03 2.67436923e+00] [ 1.11327581e-01 9.93783750e-01 -1.70000876e-04 3.82006576e-01] [ 4.16671461e-03 -2.95709067e-04 9.99991275e-01 2.09529807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.442755096 meters Centerline goodness : 0.997661 with order 1 Centerline is valid? [True, True] Translation: X:2.73, Y:0.38, Z:0.02 [[ 9.93380314e-01 -1.14796048e-01 -4.17368431e-03 2.73232624e+00] [ 1.14796337e-01 9.93389033e-01 -1.71208575e-04 3.80537359e-01] [ 4.16574629e-03 -3.09048442e-04 9.99991275e-01 2.30685080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.502755096 meters Centerline goodness : 0.997735 with order 1 Centerline is valid? [True, True] Translation: X:2.79, Y:0.39, Z:0.03 [[ 9.93745953e-01 -1.11586562e-01 -4.17366917e-03 2.78878517e+00] [ 1.11586821e-01 9.93754674e-01 -1.71576664e-04 3.85457132e-01] [ 4.16674890e-03 -2.95222859e-04 9.99991275e-01 2.63372962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.562755096 meters Centerline goodness : 0.997959 with order 1 Centerline is valid? [True, True] Translation: X:2.85, Y:0.39, Z:0.03 [[ 9.94253103e-01 -1.06973581e-01 -4.17363617e-03 2.84703046e+00] [ 1.06973796e-01 9.94261825e-01 -1.72375801e-04 3.89011189e-01] [ 4.16812677e-03 -2.75084527e-04 9.99991275e-01 2.83671674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6227550959999997 meters Centerline goodness : 0.998351 with order 1 Centerline is valid? [True, True] Translation: X:2.91, Y:0.39, Z:0.03 [[ 9.94878465e-01 -1.00992179e-01 -4.17362126e-03 2.90622437e+00] [ 1.00992340e-01 9.94887188e-01 -1.72735971e-04 3.91997261e-01] [ 4.16972731e-03 -2.49652479e-04 9.99991275e-01 3.07580271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6827550959999997 meters Centerline goodness : 0.998494 with order 1 Centerline is valid? [True, True] Translation: X:2.96, Y:0.39, Z:0.03 [[ 9.94932584e-01 -1.00457630e-01 -4.17357722e-03 2.96291402e+00] [ 1.00457781e-01 9.94941307e-01 -1.73793734e-04 3.93900233e-01] [ 4.16992328e-03 -2.46355259e-04 9.99991275e-01 2.93419894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.742755096 meters Centerline goodness : 0.998901 with order 1 Centerline is valid? [True, True] Translation: X:3.02, Y:0.39, Z:0.03 [[ 9.94347159e-01 -1.06095754e-01 -4.17354291e-03 3.02042784e+00] [ 1.06095952e-01 9.94355881e-01 -1.74613584e-04 3.94953260e-01] [ 4.16851270e-03 -2.69169487e-04 9.99991275e-01 2.54900776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.802755096 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:3.08, Y:0.39, Z:0.03 [[ 9.94015300e-01 -1.09161193e-01 -4.17349841e-03 3.07959322e+00] [ 1.09161413e-01 9.94024021e-01 -1.75670897e-04 3.94836083e-01] [ 4.16773412e-03 -2.80965424e-04 9.99991275e-01 2.80093800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.862755096 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:3.14, Y:0.39, Z:0.03 [[ 9.93790347e-01 -1.11190503e-01 -4.17345349e-03 3.13770349e+00] [ 1.11190736e-01 9.93799069e-01 -1.76731562e-04 3.90439664e-01] [ 4.16722507e-03 -2.88415246e-04 9.99991275e-01 3.17132583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.922755096 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:3.20, Y:0.39, Z:0.03 [[ 9.93645200e-01 -1.12480216e-01 -4.17343791e-03 3.19603465e+00] [ 1.12480459e-01 9.93653921e-01 -1.77098831e-04 3.91833932e-01] [ 4.16687306e-03 -2.93456808e-04 9.99991275e-01 3.29101835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.982755096 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:3.25, Y:0.39, Z:0.03 [[ 9.93875028e-01 -1.10431025e-01 -4.17339003e-03 3.25402142e+00] [ 1.10431246e-01 9.93883750e-01 -1.78220101e-04 3.91579768e-01] [ 4.16754556e-03 -2.83744151e-04 9.99991275e-01 3.31235917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.042755096 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:3.31, Y:0.39, Z:0.03 [[ 9.94447173e-01 -1.05154183e-01 -4.17337528e-03 3.31172888e+00] [ 1.05154356e-01 9.94455896e-01 -1.78564796e-04 3.89005686e-01] [ 4.16901449e-03 -2.61275331e-04 9.99991275e-01 3.41343525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.102755096 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:3.37, Y:0.39, Z:0.04 [[ 9.94917004e-01 -1.00611820e-01 -4.17332820e-03 3.36998295e+00] [ 1.00611948e-01 9.94925728e-01 -1.79658502e-04 3.89911653e-01] [ 4.17022736e-03 -2.41141382e-04 9.99991275e-01 3.57928863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.162755096 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:3.43, Y:0.39, Z:0.04 [[ 9.95636408e-01 -9.32240695e-02 -4.17328057e-03 3.42658113e+00] [ 9.32241287e-02 9.95645132e-01 -1.80757952e-04 3.90131834e-01] [ 4.17195748e-03 -2.09081248e-04 9.99991275e-01 3.55573714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.222755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:3.48, Y:0.39, Z:0.03 [[ 9.96221937e-01 -8.67435097e-02 -4.17326003e-03 3.48469176e+00] [ 8.67435102e-02 9.96230661e-01 -1.81231157e-04 3.87227273e-01] [ 4.17325022e-03 -1.81456769e-04 9.99991275e-01 3.46359539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.54, Y:0.38, Z:0.03 [[ 9.96644638e-01 -8.17438002e-02 -4.17321306e-03 3.54323197e+00] [ 8.17437524e-02 9.96653363e-01 -1.82306245e-04 3.82024833e-01] [ 4.17414924e-03 -1.59439553e-04 9.99991275e-01 3.43513160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.60, Y:0.38, Z:0.03 [[ 9.96840017e-01 -7.93256913e-02 -4.17316021e-03 3.60049687e+00] [ 7.93256173e-02 9.96848741e-01 -1.83508202e-04 3.76186210e-01] [ 4.17456641e-03 -1.48110190e-04 9.99991275e-01 3.34204674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.66, Y:0.37, Z:0.04 [[ 9.96982831e-01 -7.75101268e-02 -4.17313737e-03 3.65889564e+00] [ 7.75100348e-02 9.96991555e-01 -1.84026057e-04 3.69004591e-01] [ 4.17484660e-03 -1.39989203e-04 9.99991275e-01 3.56901174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4627550959999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.72, Y:0.36, Z:0.04 [[ 9.96985393e-01 -7.74771630e-02 -4.17308561e-03 3.71762741e+00] [ 7.74770658e-02 9.96994117e-01 -1.85192409e-04 3.64441801e-01] [ 4.17488999e-03 -1.38684302e-04 9.99991275e-01 3.59306579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.77, Y:0.36, Z:0.04 [[ 9.96838038e-01 -7.93505677e-02 -4.17302937e-03 3.77480095e+00] [ 7.93504816e-02 9.96846762e-01 -1.86451136e-04 3.55544400e-01] [ 4.17466582e-03 -1.45270305e-04 9.99991275e-01 3.58411935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.83, Y:0.35, Z:0.04 [[ 9.96625590e-01 -8.19757246e-02 -4.17299090e-03 3.83328089e+00] [ 8.19756579e-02 9.96634314e-01 -1.87308124e-04 3.50280934e-01] [ 4.17430065e-03 -1.55407605e-04 9.99991275e-01 3.55274008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.89, Y:0.34, Z:0.04 [[ 9.96190275e-01 -8.71063846e-02 -4.17293580e-03 3.89059042e+00] [ 8.71063577e-02 9.96199000e-01 -1.88527853e-04 3.36576653e-01] [ 4.17349645e-03 -1.75679625e-04 9.99991275e-01 3.78592740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.702755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:3.95, Y:0.33, Z:0.04 [[ 9.95941595e-01 -8.99050936e-02 -4.17291191e-03 3.94904883e+00] [ 8.99050891e-02 9.95950320e-01 -1.89055185e-04 3.31637389e-01] [ 4.17300997e-03 -1.86878094e-04 9.99991275e-01 3.81146190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.01, Y:0.33, Z:0.03 [[ 9.95723483e-01 -9.22893952e-02 -4.17285774e-03 4.00848564e+00] [ 9.22894066e-02 9.95732208e-01 -1.90243383e-04 3.25234823e-01] [ 4.17260629e-03 -1.95680760e-04 9.99991275e-01 3.14140585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.07, Y:0.32, Z:0.04 [[ 9.95682168e-01 -9.27340665e-02 -4.17279756e-03 4.06621844e+00] [ 9.27340763e-02 9.95690893e-01 -1.91554133e-04 3.17548843e-01] [ 4.17258013e-03 -1.96233493e-04 9.99991275e-01 3.54096426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8827550959999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.12, Y:0.31, Z:0.04 [[ 9.95661028e-01 -9.29607765e-02 -4.17277173e-03 4.12385276e+00] [ 9.29607859e-02 9.95669752e-01 -1.92115243e-04 3.12072180e-01] [ 4.17256178e-03 -1.96622480e-04 9.99991275e-01 3.54467616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.942755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:4.18, Y:0.31, Z:0.04 [[ 9.95635000e-01 -9.32391276e-02 -4.17274893e-03 4.18145017e+00] [ 9.32391374e-02 9.95643725e-01 -1.92609173e-04 3.12424851e-01] [ 4.17253000e-03 -1.97295077e-04 9.99991275e-01 3.59638911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.24, Y:0.31, Z:0.04 [[ 9.95652877e-01 -9.30480373e-02 -4.17269660e-03 4.23992723e+00] [ 9.30480408e-02 9.95661601e-01 -1.93736307e-04 3.07092043e-01] [ 4.17262056e-03 -1.95367132e-04 9.99991275e-01 3.66521603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.30, Y:0.30, Z:0.04 [[ 9.95826256e-01 -9.11737720e-02 -4.17263148e-03 4.29808175e+00] [ 9.11737532e-02 9.95834981e-01 -1.95128933e-04 3.01931966e-01] [ 4.17304303e-03 -1.86119958e-04 9.99991275e-01 3.89320498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.36, Y:0.30, Z:0.04 [[ 9.95999180e-01 -8.92649056e-02 -4.17261157e-03 4.35631994e+00] [ 8.92648682e-02 9.96007904e-01 -1.95553631e-04 3.01126316e-01] [ 4.17341018e-03 -1.77696367e-04 9.99991275e-01 3.92237532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.41, Y:0.30, Z:0.04 [[ 9.96506293e-01 -8.34134100e-02 -4.17254771e-03 4.41482298e+00] [ 8.34133158e-02 9.96515017e-01 -1.96906835e-04 2.97839495e-01] [ 4.17443113e-03 -1.51827139e-04 9.99991275e-01 3.96167202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.47, Y:0.29, Z:0.04 [[ 9.97196855e-01 -7.47062490e-02 -4.17247950e-03 4.47353112e+00] [ 7.47060726e-02 9.97205577e-01 -1.98341831e-04 2.93880313e-01] [ 4.17563720e-03 -1.13923706e-04 9.99991275e-01 3.66814363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.302755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.53, Y:0.29, Z:0.04 [[ 9.96901000e-01 -7.85556253e-02 -4.17242338e-03 4.53166547e+00] [ 7.85554776e-02 9.96909724e-01 -1.99515440e-04 2.93221861e-01] [ 4.17520250e-03 -1.28869569e-04 9.99991276e-01 3.84754407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.59, Y:0.29, Z:0.04 [[ 9.96597610e-01 -8.23152229e-02 -4.17235360e-03 4.58950129e+00] [ 8.23151020e-02 9.96606333e-01 -2.00964232e-04 2.91006799e-01] [ 4.17473644e-03 -1.43167239e-04 9.99991276e-01 3.90448227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4227550959999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.65, Y:0.29, Z:0.04 [[ 9.95871678e-01 -9.06763141e-02 -4.17228740e-03 4.64786413e+00] [ 9.06762608e-02 9.95880402e-01 -2.02329261e-04 2.85264573e-01] [ 4.17344573e-03 -1.76833440e-04 9.99991276e-01 3.95740674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.71, Y:0.28, Z:0.04 [[ 9.95231932e-01 -9.74473886e-02 -4.17222032e-03 4.70662117e+00] [ 9.74473888e-02 9.95240657e-01 -2.03703247e-04 2.80977200e-01] [ 4.17221364e-03 -2.03840000e-04 9.99991276e-01 3.88289360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.77, Y:0.28, Z:0.04 [[ 9.95115618e-01 -9.86280918e-02 -4.17214775e-03 4.76557123e+00] [ 9.86280962e-02 9.95124342e-01 -2.05178880e-04 2.75719309e-01] [ 4.17204219e-03 -2.07314282e-04 9.99991276e-01 3.54009780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.82, Y:0.27, Z:0.04 [[ 9.95070212e-01 -9.90851516e-02 -4.17208093e-03 4.82264257e+00] [ 9.90851545e-02 9.95078936e-01 -2.06528741e-04 2.72602316e-01] [ 4.17201378e-03 -2.07880686e-04 9.99991276e-01 3.65714008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.88, Y:0.27, Z:0.04 [[ 9.95078650e-01 -9.90003730e-02 -4.17204818e-03 4.88127922e+00] [ 9.90003723e-02 9.95087375e-01 -2.07188195e-04 2.72076176e-01] [ 4.17206418e-03 -2.06865773e-04 9.99991276e-01 3.61896734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.94, Y:0.27, Z:0.04 [[ 9.95296107e-01 -9.67897388e-02 -4.17197771e-03 4.93914550e+00] [ 9.67897128e-02 9.95304832e-01 -2.08597560e-04 2.69062914e-01] [ 4.17257968e-03 -1.96188185e-04 9.99991276e-01 3.50070225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.00, Y:0.27, Z:0.04 [[ 9.95449685e-01 -9.51972653e-02 -4.17190590e-03 4.99717895e+00] [ 9.51972194e-02 9.95458410e-01 -2.10024044e-04 2.65694776e-01] [ 4.17295253e-03 -1.88085473e-04 9.99991276e-01 3.90839383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.842755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.06, Y:0.26, Z:0.04 [[ 9.95863452e-01 -9.07666276e-02 -4.17183130e-03 5.05510773e+00] [ 9.07665368e-02 9.95872176e-01 -2.11495505e-04 2.61730027e-01] [ 4.17380745e-03 -1.68042036e-04 9.99991276e-01 4.10299726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.11, Y:0.26, Z:0.04 [[ 9.96121021e-01 -8.78948657e-02 -4.17175548e-03 5.11358533e+00] [ 8.78947435e-02 9.96129745e-01 -2.12980572e-04 2.61361870e-01] [ 4.17432963e-03 -1.54520953e-04 9.99991276e-01 4.08300927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9627550959999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:5.17, Y:0.26, Z:0.04 [[ 9.96673876e-01 -8.13866220e-02 -4.17168055e-03 5.17134114e+00] [ 8.13864367e-02 9.96682598e-01 -2.14438356e-04 2.58547559e-01] [ 4.17529382e-03 -1.25793108e-04 9.99991276e-01 3.96259522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.23, Y:0.26, Z:0.04 [[ 9.97039409e-01 -7.67789924e-02 -4.17160405e-03 5.22992149e+00] [ 7.67787606e-02 9.97048131e-01 -2.15916292e-04 2.57106186e-01] [ 4.17586786e-03 -1.05013536e-04 9.99991276e-01 3.97638724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.29, Y:0.25, Z:0.04 [[ 9.97724926e-01 -6.72872205e-02 -4.17152989e-03 5.28785800e+00] [ 6.72868997e-02 9.97733645e-01 -2.17339702e-04 2.52577364e-01] [ 4.17669991e-03 -6.38440753e-05 9.99991276e-01 4.11864801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.35, Y:0.25, Z:0.04 [[ 9.97698547e-01 -6.76772368e-02 -4.17145823e-03 5.34649595e+00] [ 6.76769137e-02 9.97707265e-01 -2.18706595e-04 2.47179423e-01] [ 4.17669564e-03 -6.41081664e-05 9.99991276e-01 4.05785530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.202755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:5.40, Y:0.24, Z:0.04 [[ 9.97619023e-01 -6.88395621e-02 -4.17138157e-03 5.40437937e+00] [ 6.88392432e-02 9.97627741e-01 -2.20158984e-04 2.42185901e-01] [ 4.17664162e-03 -6.75199605e-05 9.99991276e-01 4.10653679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.46, Y:0.24, Z:0.04 [[ 9.97286834e-01 -7.34953798e-02 -4.17130850e-03 5.46224609e+00] [ 7.34950958e-02 9.97295554e-01 -2.21534833e-04 2.38521140e-01] [ 4.17630921e-03 -8.56369463e-05 9.99991276e-01 4.19800162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.52, Y:0.23, Z:0.04 [[ 9.96866753e-01 -7.89890971e-02 -4.17123693e-03 5.52089970e+00] [ 7.89888556e-02 9.96875474e-01 -2.22874406e-04 2.32884578e-01] [ 4.17580844e-03 -1.07305146e-04 9.99991276e-01 4.35700476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3827550959999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.58, Y:0.23, Z:0.05 [[ 9.96555863e-01 -8.28191565e-02 -4.17116739e-03 5.57876889e+00] [ 8.28189431e-02 9.96564585e-01 -2.24168322e-04 2.29947569e-01] [ 4.17540313e-03 -1.22055419e-04 9.99991276e-01 4.56617139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.64, Y:0.23, Z:0.04 [[ 9.96239343e-01 -8.65434697e-02 -4.17113319e-03 5.63731346e+00] [ 8.65432862e-02 9.96248066e-01 -2.24802827e-04 2.31231024e-01] [ 4.17493859e-03 -1.37026153e-04 9.99991276e-01 4.07315293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.70, Y:0.23, Z:0.04 [[ 9.96915389e-01 -7.83728889e-02 -4.17105842e-03 5.69682132e+00] [ 7.83726282e-02 9.96924109e-01 -2.26181744e-04 2.27776805e-01] [ 4.17595522e-03 -1.01412750e-04 9.99991276e-01 4.24710301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.562755096 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:5.75, Y:0.23, Z:0.04 [[ 9.97363914e-01 -7.24418833e-02 -4.17099839e-03 5.75492211e+00] [ 7.24415661e-02 9.97372632e-01 -2.27283287e-04 2.30181082e-01] [ 4.17650448e-03 -7.54695078e-05 9.99991276e-01 4.03321858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.622755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:5.81, Y:0.24, Z:0.04 [[ 9.97522460e-01 -7.02249669e-02 -4.17091989e-03 5.81392764e+00] [ 7.02246243e-02 9.97531177e-01 -2.28714964e-04 2.37548987e-01] [ 4.17668413e-03 -6.47529682e-05 9.99991276e-01 4.05544564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.682755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:5.87, Y:0.24, Z:0.04 [[ 9.97670634e-01 -6.80875120e-02 -4.17084641e-03 5.87183839e+00] [ 6.80871452e-02 9.97679351e-01 -2.30047182e-04 2.36840924e-01] [ 4.17683068e-03 -5.44697073e-05 9.99991276e-01 3.74283223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.93, Y:0.24, Z:0.04 [[ 9.97103388e-01 -7.59436489e-02 -4.17077716e-03 5.93008109e+00] [ 7.59433456e-02 9.97112107e-01 -2.31295943e-04 2.43365558e-01] [ 4.17629786e-03 -8.61168019e-05 9.99991276e-01 3.76537146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.802755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.99, Y:0.25, Z:0.04 [[ 9.96210316e-01 -8.68769933e-02 -4.17070734e-03 5.98807226e+00] [ 8.68767804e-02 9.96219038e-01 -2.32548085e-04 2.48544678e-01] [ 4.17514113e-03 -1.30670824e-04 9.99991276e-01 3.89271572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.05, Y:0.25, Z:0.04 [[ 9.95708074e-01 -9.24555974e-02 -4.17063559e-03 6.04581521e+00] [ 9.24554279e-02 9.95716797e-01 -2.33827872e-04 2.50160663e-01] [ 4.17439060e-03 -1.52773598e-04 9.99991276e-01 4.10441029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9227550959999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.10, Y:0.25, Z:0.04 [[ 9.95117096e-01 -9.86132444e-02 -4.17056385e-03 6.10373549e+00] [ 9.86131236e-02 9.95125819e-01 -2.35100519e-04 2.51892674e-01] [ 4.17341979e-03 -1.77319782e-04 9.99991276e-01 4.43866698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.16, Y:0.25, Z:0.05 [[ 9.94618608e-01 -1.03520199e-01 -4.17049137e-03 6.16193937e+00] [ 1.03520116e-01 9.94627332e-01 -2.36379237e-04 2.54588027e-01] [ 4.17255473e-03 -1.96622562e-04 9.99991276e-01 4.61234417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.22, Y:0.26, Z:0.05 [[ 9.94343402e-01 -1.06131078e-01 -4.17040075e-03 6.22107761e+00] [ 1.06131011e-01 9.94352127e-01 -2.37967391e-04 2.55949598e-01] [ 4.17210259e-03 -2.05987543e-04 9.99991276e-01 4.88920804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.28, Y:0.26, Z:0.05 [[ 9.93625397e-01 -1.12655133e-01 -4.17033100e-03 6.27849626e+00] [ 1.12655118e-01 9.93634121e-01 -2.39183555e-04 2.63633283e-01] [ 4.17072843e-03 -2.32150276e-04 9.99991276e-01 4.69125776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.34, Y:0.27, Z:0.05 [[ 9.93715846e-01 -1.11854487e-01 -4.17030652e-03 6.33651233e+00] [ 1.11854464e-01 9.93724570e-01 -2.39609548e-04 2.69529648e-01] [ 4.17093746e-03 -2.28363594e-04 9.99991276e-01 4.96679901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.222755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.39, Y:0.28, Z:0.05 [[ 9.93810746e-01 -1.11008156e-01 -4.17025770e-03 6.39478615e+00] [ 1.11008121e-01 9.93819470e-01 -2.40456288e-04 2.75257339e-01] [ 4.17117591e-03 -2.23964429e-04 9.99991276e-01 4.75007964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.45, Y:0.28, Z:0.05 [[ 9.93938787e-01 -1.09855799e-01 -4.17017881e-03 6.45234051e+00] [ 1.09855749e-01 9.93947512e-01 -2.41816765e-04 2.79410065e-01] [ 4.17150382e-03 -2.17767053e-04 9.99991276e-01 4.76205006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.342755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.51, Y:0.28, Z:0.05 [[ 9.94018144e-01 -1.09135418e-01 -4.17010410e-03 6.51016940e+00] [ 1.09135356e-01 9.94026868e-01 -2.43098267e-04 2.82188881e-01] [ 4.17172615e-03 -2.13461708e-04 9.99991276e-01 4.66683832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.57, Y:0.29, Z:0.05 [[ 9.94008906e-01 -1.09219533e-01 -4.17002250e-03 6.56781096e+00] [ 1.09219466e-01 9.94017630e-01 -2.44490022e-04 2.86829710e-01] [ 4.17177897e-03 -2.12422372e-04 9.99991276e-01 4.73089896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4627550959999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.63, Y:0.29, Z:0.05 [[ 9.94160565e-01 -1.07830346e-01 -4.16993959e-03 6.62526917e+00] [ 1.07830261e-01 9.94169289e-01 -2.45896015e-04 2.88253849e-01] [ 4.17214093e-03 -2.05185554e-04 9.99991276e-01 4.82343920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.68, Y:0.29, Z:0.05 [[ 9.94083172e-01 -1.08541506e-01 -4.16990403e-03 6.68302771e+00] [ 1.08541425e-01 9.94091896e-01 -2.46497719e-04 2.92785869e-01] [ 4.17202303e-03 -2.07568091e-04 9.99991276e-01 4.75426344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.74, Y:0.30, Z:0.05 [[ 9.93860509e-01 -1.10561754e-01 -4.16982331e-03 6.74097370e+00] [ 1.10561685e-01 9.93869233e-01 -2.47855578e-04 2.99192432e-01] [ 4.17166245e-03 -2.14688820e-04 9.99991276e-01 4.97125865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.80, Y:0.30, Z:0.05 [[ 9.93713296e-01 -1.11877160e-01 -4.16979851e-03 6.79880779e+00] [ 1.11877101e-01 9.93722020e-01 -2.48272214e-04 2.99470080e-01] [ 4.17139659e-03 -2.19793568e-04 9.99991276e-01 4.87508541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.86, Y:0.30, Z:0.05 [[ 9.93505563e-01 -1.13707119e-01 -4.16971590e-03 6.85549092e+00] [ 1.13707070e-01 9.93514288e-01 -2.49651883e-04 3.02153933e-01] [ 4.17105952e-03 -2.26095641e-04 9.99991276e-01 5.35983813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.762755095999999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:6.91, Y:0.30, Z:0.05 [[ 9.93577887e-01 -1.13073411e-01 -4.16968045e-03 6.91392092e+00] [ 1.13073354e-01 9.93586611e-01 -2.50242677e-04 3.02937027e-01] [ 4.17123446e-03 -2.22844162e-04 9.99991276e-01 5.27356613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.97, Y:0.31, Z:0.05 [[ 9.94020787e-01 -1.09111364e-01 -4.16960327e-03 6.97220976e+00] [ 1.09111267e-01 9.94029511e-01 -2.51522147e-04 3.07364419e-01] [ 4.17215262e-03 -2.04932453e-04 9.99991276e-01 5.34423686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8827550959999995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:7.03, Y:0.31, Z:0.05 [[ 9.94428053e-01 -1.05335000e-01 -4.16951831e-03 7.02857777e+00] [ 1.05334864e-01 9.94436776e-01 -2.52922662e-04 3.12516627e-01] [ 4.17296396e-03 -1.87682254e-04 9.99991276e-01 5.38243828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.09, Y:0.32, Z:0.05 [[ 9.94654934e-01 -1.03170620e-01 -4.16948175e-03 7.08688411e+00] [ 1.03170463e-01 9.94663657e-01 -2.53523942e-04 3.15990616e-01] [ 4.17338819e-03 -1.77998521e-04 9.99991276e-01 4.94565196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.15, Y:0.32, Z:0.05 [[ 9.95023622e-01 -9.95520304e-02 -4.16941228e-03 7.14607625e+00] [ 9.95518359e-02 9.95032345e-01 -2.54661274e-04 3.17720767e-01] [ 4.17405213e-03 -1.61678664e-04 9.99991276e-01 5.20741075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.062755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.20, Y:0.32, Z:0.05 [[ 9.95557620e-01 -9.40619078e-02 -4.16932831e-03 7.20359279e+00] [ 9.40616595e-02 9.95566341e-01 -2.56028760e-04 3.22983755e-01] [ 4.17492548e-03 -1.37282557e-04 9.99991276e-01 5.24207498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.122755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.26, Y:0.33, Z:0.05 [[ 9.95442694e-01 -9.52704562e-02 -4.16924684e-03 7.26241698e+00] [ 9.52702130e-02 9.95451415e-01 -2.57348584e-04 3.26207580e-01] [ 4.17480039e-03 -1.41029267e-04 9.99991276e-01 5.07490002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.32, Y:0.33, Z:0.05 [[ 9.95231241e-01 -9.74545788e-02 -4.16917192e-03 7.31985261e+00] [ 9.74543496e-02 9.95239962e-01 -2.58556719e-04 3.26939074e-01] [ 4.17452404e-03 -1.48980213e-04 9.99991276e-01 5.27624843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.242755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.38, Y:0.33, Z:0.06 [[ 9.94848658e-01 -1.01285569e-01 -4.16914531e-03 7.37845293e+00] [ 1.01285372e-01 9.94857380e-01 -2.58985061e-04 3.32426822e-01] [ 4.17393643e-03 -1.64622492e-04 9.99991276e-01 5.68589280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.302755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.44, Y:0.34, Z:0.06 [[ 9.94438811e-01 -1.05233406e-01 -4.16906662e-03 7.43598927e+00] [ 1.05233238e-01 9.94447534e-01 -2.60245669e-04 3.35758443e-01] [ 4.17330456e-03 -1.79925984e-04 9.99991276e-01 5.77557071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.362755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.49, Y:0.34, Z:0.06 [[ 9.93758437e-01 -1.11475510e-01 -4.16898841e-03 7.49432764e+00] [ 1.11475391e-01 9.93767160e-01 -2.61492532e-04 3.40210065e-01] [ 4.17215379e-03 -2.04879205e-04 9.99991276e-01 6.09873334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.55, Y:0.34, Z:0.06 [[ 9.93521996e-01 -1.13563477e-01 -4.16889253e-03 7.55179495e+00] [ 1.13563371e-01 9.93530720e-01 -2.63012272e-04 3.44552744e-01] [ 4.17179139e-03 -2.12125012e-04 9.99991276e-01 5.95110509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.482755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.61, Y:0.35, Z:0.06 [[ 9.93508508e-01 -1.13681420e-01 -4.16886688e-03 7.60975515e+00] [ 1.13681313e-01 9.93517232e-01 -2.63418232e-04 3.49648140e-01] [ 4.17178684e-03 -2.12214004e-04 9.99991276e-01 5.82537486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.542755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.67, Y:0.35, Z:0.06 [[ 9.93798852e-01 -1.11114643e-01 -4.16878353e-03 7.66772020e+00] [ 1.11114508e-01 9.93807575e-01 -2.64730851e-04 3.53340810e-01] [ 4.17238412e-03 -2.00123115e-04 9.99991276e-01 5.89321292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.73, Y:0.36, Z:0.06 [[ 9.94317953e-01 -1.06369311e-01 -4.16869927e-03 7.72637826e+00] [ 1.06369128e-01 9.94326676e-01 -2.66051019e-04 3.58214850e-01] [ 4.17334855e-03 -1.78881603e-04 9.99991276e-01 5.76096147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.79, Y:0.36, Z:0.06 [[ 9.94796066e-01 -1.01800835e-01 -4.16862051e-03 7.78557130e+00] [ 1.01800608e-01 9.94804787e-01 -2.67279397e-04 3.61452107e-01] [ 4.17417291e-03 -1.58479610e-04 9.99991276e-01 6.02775335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.722755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.84, Y:0.37, Z:0.06 [[ 9.94864042e-01 -1.01134371e-01 -4.16854070e-03 7.84353098e+00] [ 1.01134132e-01 9.94872763e-01 -2.68518373e-04 3.65035361e-01] [ 4.17432404e-03 -1.54442472e-04 9.99991276e-01 6.30064406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.782755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.90, Y:0.37, Z:0.06 [[ 9.94968572e-01 -1.00100771e-01 -4.16851281e-03 7.90213558e+00] [ 1.00100522e-01 9.94977293e-01 -2.68950722e-04 3.66853755e-01] [ 4.17449776e-03 -1.49672792e-04 9.99991276e-01 6.18667233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.96, Y:0.37, Z:0.07 [[ 9.94802483e-01 -1.01738112e-01 -4.16843689e-03 7.95895021e+00] [ 1.01737872e-01 9.94811204e-01 -2.70122220e-04 3.72578229e-01] [ 4.17428945e-03 -1.55369644e-04 9.99991276e-01 6.50538875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.902755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.02, Y:0.38, Z:0.07 [[ 9.94673129e-01 -1.02995098e-01 -4.16839939e-03 8.01708038e+00] [ 1.02994866e-01 9.94681851e-01 -2.70699712e-04 3.76616267e-01] [ 4.17411196e-03 -1.60066009e-04 9.99991276e-01 6.65234502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.962755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.08, Y:0.38, Z:0.07 [[ 9.94439556e-01 -1.05226400e-01 -4.16831541e-03 8.07544028e+00] [ 1.05226183e-01 9.94448277e-01 -2.71986675e-04 3.79294424e-01] [ 4.17379426e-03 -1.68141610e-04 9.99991276e-01 6.70267487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.13, Y:0.38, Z:0.06 [[ 9.93993928e-01 -1.09355831e-01 -4.16822983e-03 8.13337626e+00] [ 1.09355644e-01 9.94002650e-01 -2.73291988e-04 3.84137590e-01] [ 4.17311757e-03 -1.84168882e-04 9.99991276e-01 6.27025018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.19, Y:0.39, Z:0.06 [[ 9.93717892e-01 -1.11836387e-01 -4.16814174e-03 8.19102238e+00] [ 1.11836217e-01 9.93726615e-01 -2.74628893e-04 3.87999165e-01] [ 4.17270689e-03 -1.93245559e-04 9.99991276e-01 6.37373450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.142755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.25, Y:0.39, Z:0.06 [[ 9.93523200e-01 -1.13552977e-01 -4.16811483e-03 8.24920081e+00] [ 1.13552820e-01 9.93531923e-01 -2.75036833e-04 3.91221929e-01] [ 4.17238639e-03 -2.00045720e-04 9.99991276e-01 6.35091715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.202755095999999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:8.31, Y:0.39, Z:0.06 [[ 9.93347045e-01 -1.15083781e-01 -4.16803173e-03 8.30681554e+00] [ 1.15083632e-01 9.93355768e-01 -2.76290442e-04 3.94762139e-01] [ 4.17213490e-03 -2.05219936e-04 9.99991276e-01 6.35733226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.36, Y:0.40, Z:0.06 [[ 9.93618332e-01 -1.12717517e-01 -4.16794963e-03 8.36335246e+00] [ 1.12717342e-01 9.93627055e-01 -2.77523427e-04 4.00547532e-01] [ 4.17266926e-03 -1.94047839e-04 9.99991276e-01 6.27712692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.322755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.42, Y:0.41, Z:0.06 [[ 9.94265157e-01 -1.06861714e-01 -4.16791430e-03 8.42152191e+00] [ 1.06861486e-01 9.94273879e-01 -2.78053050e-04 4.05117331e-01] [ 4.17376154e-03 -1.68931054e-04 9.99991276e-01 6.29354940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.382755095999999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:8.48, Y:0.41, Z:0.06 [[ 9.94789159e-01 -1.01868338e-01 -4.16783470e-03 8.47924046e+00] [ 1.01868061e-01 9.94797879e-01 -2.79241001e-04 4.09778893e-01] [ 4.17459894e-03 -1.46783321e-04 9.99991276e-01 6.32618445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.442755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.54, Y:0.42, Z:0.06 [[ 9.95324164e-01 -9.65009712e-02 -4.16775538e-03 8.53709530e+00] [ 9.65006423e-02 9.95332883e-01 -2.80420024e-04 4.16397808e-01] [ 4.17536478e-03 -1.23082244e-04 9.99991276e-01 6.34569542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.502755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:8.60, Y:0.42, Z:0.06 [[ 9.95544756e-01 -9.41980341e-02 -4.16767354e-03 8.59529382e+00] [ 9.41976799e-02 9.95553473e-01 -2.81631003e-04 4.19865366e-01] [ 4.17567096e-03 -1.12208910e-04 9.99991276e-01 6.46384962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.562755095999998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:8.65, Y:0.42, Z:0.07 [[ 9.95373549e-01 -9.59902511e-02 -4.16759251e-03 8.65328487e+00] [ 9.59899076e-02 9.95382267e-01 -2.82825088e-04 4.21723123e-01] [ 4.17549613e-03 -1.18530208e-04 9.99991276e-01 6.69681256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.622755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.71, Y:0.43, Z:0.07 [[ 9.95017884e-01 -9.96094503e-02 -4.16756760e-03 8.71089682e+00] [ 9.96091370e-02 9.95026602e-01 -2.83191688e-04 4.27029145e-01] [ 4.17504920e-03 -1.33347017e-04 9.99991276e-01 6.73361523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.682755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:8.77, Y:0.42, Z:0.08 [[ 9.94826776e-01 -1.01500331e-01 -4.16748838e-03 8.77071417e+00] [ 1.01500029e-01 9.94835496e-01 -2.84352679e-04 4.22986561e-01] [ 4.17482726e-03 -1.40118533e-04 9.99991276e-01 7.58885591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.742755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.83, Y:0.43, Z:0.07 [[ 9.93494902e-01 -1.13800313e-01 -4.16741622e-03 8.82938493e+00] [ 1.13800115e-01 9.93503625e-01 -2.85406432e-04 4.31161920e-01] [ 4.17282246e-03 -1.90702611e-04 9.99991276e-01 6.93145005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.802755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.89, Y:0.44, Z:0.07 [[ 9.93069997e-01 -1.17450474e-01 -4.16739940e-03 8.88751999e+00] [ 1.17450307e-01 9.93078720e-01 -2.85651739e-04 4.36819428e-01] [ 4.17210559e-03 -2.05790168e-04 9.99991276e-01 6.85139250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.862755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.95, Y:0.44, Z:0.07 [[ 9.92744861e-01 -1.20167696e-01 -4.16731017e-03 8.94541450e+00] [ 1.20167547e-01 9.92753584e-01 -2.86947593e-04 4.41292542e-01] [ 4.17159394e-03 -2.15909692e-04 9.99991276e-01 6.67887929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.00, Y:0.45, Z:0.07 [[ 9.92752484e-01 -1.20104705e-01 -4.16722087e-03 9.00354802e+00] [ 1.20104550e-01 9.92761207e-01 -2.88238723e-04 4.45551461e-01] [ 4.17167405e-03 -2.14352479e-04 9.99991276e-01 6.64497717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.982755095999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:9.06, Y:0.45, Z:0.06 [[ 9.93132710e-01 -1.16919011e-01 -4.16713084e-03 9.06253434e+00] [ 1.16918823e-01 9.93141432e-01 -2.89534522e-04 4.52347396e-01] [ 4.17240238e-03 -1.99669830e-04 9.99991276e-01 6.44343521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.042755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.12, Y:0.46, Z:0.07 [[ 9.93695263e-01 -1.12037319e-01 -4.16705416e-03 9.11997974e+00] [ 1.12037084e-01 9.93703984e-01 -2.90633927e-04 4.59305272e-01] [ 4.17338016e-03 -1.78063039e-04 9.99991276e-01 6.98310804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.102755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:9.18, Y:0.47, Z:0.07 [[ 9.94186604e-01 -1.07590114e-01 -4.16702466e-03 9.17791843e+00] [ 1.07589838e-01 9.94195324e-01 -2.91056288e-04 4.65103604e-01] [ 4.17415121e-03 -1.58965244e-04 9.99991276e-01 7.13801209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.162755095999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:9.24, Y:0.47, Z:0.07 [[ 9.94361340e-01 -1.05963026e-01 -4.16693274e-03 9.23528046e+00] [ 1.05962730e-01 9.94370059e-01 -2.92366354e-04 4.71136124e-01] [ 4.17445318e-03 -1.50821768e-04 9.99991276e-01 7.06766038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.222755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.29, Y:0.48, Z:0.07 [[ 9.94249857e-01 -1.07004016e-01 -4.16684001e-03 9.29236464e+00] [ 1.07003724e-01 9.94258576e-01 -2.93681955e-04 4.76002811e-01] [ 4.17434157e-03 -1.53874157e-04 9.99991276e-01 6.99197175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.282755095999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:9.35, Y:0.48, Z:0.07 [[ 9.93628790e-01 -1.12625329e-01 -4.16680019e-03 9.35037631e+00] [ 1.12625084e-01 9.93637511e-01 -2.94245908e-04 4.78435489e-01] [ 4.17342851e-03 -1.76915014e-04 9.99991276e-01 6.93936797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.342755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:9.41, Y:0.48, Z:0.07 [[ 9.92857503e-01 -1.19233454e-01 -4.16670307e-03 9.40918068e+00] [ 1.19233261e-01 9.92866226e-01 -2.95614741e-04 4.82170106e-01] [ 4.17222592e-03 -2.03306279e-04 9.99991276e-01 7.07517910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.402755095999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:9.47, Y:0.49, Z:0.07 [[ 9.92298756e-01 -1.23797487e-01 -4.16665361e-03 9.46564239e+00] [ 1.23797331e-01 9.92307479e-01 -2.96310229e-04 4.86829095e-01] [ 4.17128401e-03 -2.21792324e-04 9.99991276e-01 6.97217847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.462755095999999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:9.52, Y:0.49, Z:0.07 [[ 9.91925429e-01 -1.26754027e-01 -4.16658419e-03 9.52366989e+00] [ 1.26753893e-01 9.91934152e-01 -2.97283302e-04 4.91037358e-01] [ 4.17065901e-03 -2.33247899e-04 9.99991276e-01 6.82094832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.522755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:9.58, Y:0.50, Z:0.07 [[ 9.91721650e-01 -1.28338647e-01 -4.16648086e-03 9.58117157e+00] [ 1.28338521e-01 9.91730374e-01 -2.98724401e-04 4.95906760e-01] [ 4.17036351e-03 -2.38468537e-04 9.99991276e-01 6.89792432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.582755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.64, Y:0.50, Z:0.07 [[ 9.91886101e-01 -1.27061421e-01 -4.16637593e-03 9.63926429e+00] [ 1.27061278e-01 9.91894824e-01 -3.00180776e-04 5.00419461e-01] [ 4.17074812e-03 -2.31639910e-04 9.99991276e-01 6.98907780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.642755095999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:9.70, Y:0.51, Z:0.07 [[ 9.91723773e-01 -1.28322248e-01 -4.16628559e-03 9.69699934e+00] [ 1.28322111e-01 9.91732497e-01 -3.01429466e-04 5.08274999e-01] [ 4.17052092e-03 -2.35691795e-04 9.99991276e-01 6.94379604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.702755095999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:9.75, Y:0.51, Z:0.07 [[ 9.92697969e-01 -1.20554488e-01 -4.16618632e-03 9.75360724e+00] [ 1.20554277e-01 9.92706691e-01 -3.02795414e-04 5.11797759e-01] [ 4.17230438e-03 -2.01667185e-04 9.99991276e-01 6.97362405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.81, Y:0.52, Z:0.07 [[ 9.93056208e-01 -1.17567052e-01 -4.16614401e-03 9.81097734e+00] [ 1.17566812e-01 9.93064929e-01 -3.03376379e-04 5.20351730e-01] [ 4.17291857e-03 -1.88530474e-04 9.99991276e-01 6.96443056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.822755095999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:9.87, Y:0.53, Z:0.07 [[ 9.93561330e-01 -1.13218933e-01 -4.16604030e-03 9.86815558e+00] [ 1.13218649e-01 9.93570050e-01 -3.04793914e-04 5.25669241e-01] [ 4.17376131e-03 -1.68842007e-04 9.99991276e-01 6.91730969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.882755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.92, Y:0.53, Z:0.07 [[ 9.94491871e-01 -1.04730912e-01 -4.16599609e-03 9.92479434e+00] [ 1.04730551e-01 9.94500587e-01 -3.05396953e-04 5.27963699e-01] [ 4.17507006e-03 -1.32592279e-04 9.99991276e-01 7.19127666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.942755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.98, Y:0.53, Z:0.07 [[ 9.94565220e-01 -1.04032051e-01 -4.16589854e-03 9.98243098e+00] [ 1.04031678e-01 9.94573937e-01 -3.06721877e-04 5.33495379e-01] [ 4.17520302e-03 -1.28330506e-04 9.99991276e-01 7.10857623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.002755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:10.04, Y:0.54, Z:0.07 [[ 9.94723503e-01 -1.02507550e-01 -4.16579931e-03 1.00403965e+01] [ 1.02507158e-01 9.94732219e-01 -3.08063751e-04 5.38628539e-01] [ 4.17543365e-03 -1.20585994e-04 9.99991276e-01 7.28761949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.062755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.10, Y:0.55, Z:0.07 [[ 9.94214220e-01 -1.07334665e-01 -4.16576627e-03 1.00977407e+01] [ 1.07334314e-01 9.94222938e-01 -3.08509958e-04 5.45900414e-01] [ 4.17481419e-03 -1.40404677e-04 9.99991276e-01 7.21568655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.122755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.15, Y:0.55, Z:0.07 [[ 9.93655403e-01 -1.12390337e-01 -4.16565991e-03 1.01542856e+01] [ 1.12390023e-01 9.93664122e-01 -3.09939401e-04 5.50112482e-01] [ 4.17410099e-03 -1.60205654e-04 9.99991276e-01 7.13425264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.21, Y:0.55, Z:0.07 [[ 9.93329694e-01 -1.15233530e-01 -4.16561439e-03 1.02108631e+01] [ 1.15233239e-01 9.93338414e-01 -3.10550031e-04 5.54729469e-01] [ 4.17365056e-03 -1.71538671e-04 9.99991276e-01 6.99883616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.242755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.27, Y:0.56, Z:0.07 [[ 9.93119322e-01 -1.17032737e-01 -4.16554683e-03 1.02682416e+01] [ 1.17032458e-01 9.93128042e-01 -3.11453578e-04 5.60971461e-01] [ 4.17337163e-03 -1.78193617e-04 9.99991276e-01 6.94618568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.302755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.33, Y:0.57, Z:0.07 [[ 9.92813252e-01 -1.19601405e-01 -4.16544219e-03 1.03256541e+01] [ 1.19601143e-01 9.92821972e-01 -3.12846839e-04 5.67958646e-01] [ 4.17295945e-03 -1.87593161e-04 9.99991276e-01 6.69376303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.362755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.38, Y:0.57, Z:0.07 [[ 9.92680927e-01 -1.20694770e-01 -4.16533755e-03 1.03833563e+01] [ 1.20694511e-01 9.92689647e-01 -3.14233825e-04 5.71346049e-01] [ 4.17281385e-03 -1.90799457e-04 9.99991276e-01 7.14820937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.44, Y:0.58, Z:0.07 [[ 9.92654002e-01 -1.20916018e-01 -4.16530536e-03 1.04401150e+01] [ 1.20915760e-01 9.92662722e-01 -3.14659972e-04 5.77917627e-01] [ 4.17279079e-03 -1.91302584e-04 9.99991276e-01 7.32711902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.482755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.50, Y:0.58, Z:0.08 [[ 9.93170895e-01 -1.16594272e-01 -4.16523901e-03 1.04975568e+01] [ 1.16593972e-01 9.93179614e-01 -3.15535862e-04 5.83911425e-01] [ 4.17362015e-03 -1.72260728e-04 9.99991276e-01 7.55958679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.542755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.56, Y:0.59, Z:0.08 [[ 9.93502505e-01 -1.13734009e-01 -4.16513517e-03 1.05556924e+01] [ 1.13733678e-01 9.93511223e-01 -3.16900683e-04 5.91230533e-01] [ 4.17415092e-03 -1.58874521e-04 9.99991276e-01 7.76170663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.61, Y:0.60, Z:0.08 [[ 9.93832411e-01 -1.10814220e-01 -4.16502813e-03 1.06125055e+01] [ 1.10813857e-01 9.93841128e-01 -3.18301336e-04 6.01586151e-01] [ 4.17464857e-03 -1.45204649e-04 9.99991276e-01 7.81731110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.662755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.67, Y:0.61, Z:0.08 [[ 9.93945476e-01 -1.09795468e-01 -4.16495591e-03 1.06698428e+01] [ 1.09795093e-01 9.93954192e-01 -3.19243465e-04 6.08584811e-01] [ 4.17482687e-03 -1.39981126e-04 9.99991276e-01 7.84710865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.722755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.73, Y:0.61, Z:0.08 [[ 9.93838746e-01 -1.10757397e-01 -4.16485504e-03 1.07277602e+01] [ 1.10757025e-01 9.93847462e-01 -3.20554125e-04 6.14859143e-01] [ 4.17473435e-03 -1.42707843e-04 9.99991276e-01 7.90160712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.782755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.78, Y:0.62, Z:0.08 [[ 9.93382650e-01 -1.14776151e-01 -4.16475292e-03 1.07849969e+01] [ 1.14775809e-01 9.93391368e-01 -3.21875407e-04 6.22498101e-01] [ 4.17417322e-03 -1.58267441e-04 9.99991276e-01 7.86768714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.84, Y:0.63, Z:0.08 [[ 9.92608436e-01 -1.21289526e-01 -4.16465204e-03 1.08420300e+01] [ 1.21289235e-01 9.92617155e-01 -3.23175356e-04 6.28471858e-01] [ 4.17310285e-03 -1.84340877e-04 9.99991276e-01 7.90800761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.902755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.90, Y:0.64, Z:0.08 [[ 9.91939382e-01 -1.26644853e-01 -4.16460874e-03 1.08995426e+01] [ 1.26644608e-01 9.91948103e-01 -3.23732430e-04 6.36374704e-01] [ 4.17207479e-03 -2.06302294e-04 9.99991276e-01 8.08339142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.962755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.96, Y:0.64, Z:0.08 [[ 9.91591834e-01 -1.29337894e-01 -4.16450301e-03 1.09569512e+01] [ 1.29337667e-01 9.91600556e-01 -3.25086836e-04 6.42833475e-01] [ 4.17156955e-03 -2.16273650e-04 9.99991276e-01 8.04368234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.01, Y:0.65, Z:0.08 [[ 9.91281990e-01 -1.31691586e-01 -4.16439861e-03 1.10145637e+01] [ 1.31691373e-01 9.91290712e-01 -3.26418834e-04 6.50105626e-01] [ 4.17111627e-03 -2.24842260e-04 9.99991276e-01 7.53613622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.082755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.07, Y:0.66, Z:0.08 [[ 9.91419431e-01 -1.30652857e-01 -4.16436253e-03 1.10723313e+01] [ 1.30652633e-01 9.91428153e-01 -3.26878431e-04 6.58864373e-01] [ 4.17137385e-03 -2.20011304e-04 9.99991276e-01 7.89118998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.142755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.13, Y:0.67, Z:0.08 [[ 9.91825913e-01 -1.27530454e-01 -4.16432815e-03 1.11300252e+01] [ 1.27530201e-01 9.91834634e-01 -3.27315840e-04 6.66962060e-01] [ 4.17206762e-03 -2.06437273e-04 9.99991276e-01 8.08869115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.202755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.19, Y:0.67, Z:0.08 [[ 9.92195834e-01 -1.24619767e-01 -4.16422146e-03 1.11874473e+01] [ 1.24619482e-01 9.92204554e-01 -3.28667671e-04 6.74206020e-01] [ 4.17271798e-03 -1.92840428e-04 9.99991276e-01 8.15806792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.25, Y:0.68, Z:0.08 [[ 9.92815644e-01 -1.19581589e-01 -4.16411509e-03 1.12452264e+01] [ 1.19581255e-01 9.92824362e-01 -3.30009827e-04 6.83174605e-01] [ 4.17369801e-03 -1.70311190e-04 9.99991276e-01 8.26745280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.322755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.30, Y:0.69, Z:0.08 [[ 9.93377663e-01 -1.14819338e-01 -4.16400262e-03 1.13019999e+01] [ 1.14818956e-01 9.93386379e-01 -3.31422918e-04 6.89936378e-01] [ 4.17451724e-03 -1.48878308e-04 9.99991276e-01 8.29916773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.382755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.36, Y:0.70, Z:0.08 [[ 9.93844514e-01 -1.10705663e-01 -4.16395448e-03 1.13595701e+01] [ 1.10705242e-01 9.93853228e-01 -3.32026616e-04 6.96067703e-01] [ 4.17511683e-03 -1.30988758e-04 9.99991276e-01 8.36578210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.442755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.42, Y:0.70, Z:0.08 [[ 9.94111915e-01 -1.08278178e-01 -4.16383952e-03 1.14178372e+01] [ 1.08277730e-01 9.94120627e-01 -3.33462060e-04 7.01289691e-01] [ 4.17546542e-03 -1.19352487e-04 9.99991276e-01 8.43502781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.48, Y:0.71, Z:0.08 [[ 9.94456094e-01 -1.05070171e-01 -4.16372300e-03 1.14755998e+01] [ 1.05069689e-01 9.94464805e-01 -3.34910696e-04 7.06690012e-01] [ 4.17586511e-03 -1.04427100e-04 9.99991276e-01 8.34143105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.562755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.53, Y:0.71, Z:0.08 [[ 9.94527758e-01 -1.04389667e-01 -4.16361537e-03 1.15323049e+01] [ 1.04389174e-01 9.94536469e-01 -3.36243502e-04 7.10713436e-01] [ 4.17596767e-03 -1.00232872e-04 9.99991276e-01 8.44692117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.622755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.59, Y:0.71, Z:0.08 [[ 9.94431122e-01 -1.05306264e-01 -4.16356515e-03 1.15898942e+01] [ 1.05305776e-01 9.94439832e-01 -3.36864142e-04 7.13332465e-01] [ 4.17588894e-03 -1.03459272e-04 9.99991276e-01 8.27952190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.65, Y:0.72, Z:0.08 [[ 9.93959603e-01 -1.09667562e-01 -4.16343697e-03 1.16479642e+01] [ 1.09667105e-01 9.93968315e-01 -3.38441042e-04 7.15806154e-01] [ 4.17544043e-03 -1.20195357e-04 9.99991276e-01 8.16366476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.742755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.71, Y:0.72, Z:0.08 [[ 9.93694943e-01 -1.12040288e-01 -4.16339696e-03 1.17053984e+01] [ 1.12039850e-01 9.93703657e-01 -3.38932540e-04 7.18176059e-01] [ 4.17515688e-03 -1.29670820e-04 9.99991276e-01 8.30083845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.802755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.76, Y:0.72, Z:0.08 [[ 9.93139051e-01 -1.16865269e-01 -4.16336053e-03 1.17632235e+01] [ 1.16864872e-01 9.93147767e-01 -3.39379446e-04 7.18744727e-01] [ 4.17449388e-03 -1.49499613e-04 9.99991276e-01 8.32354020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.862755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.82, Y:0.72, Z:0.08 [[ 9.92677456e-01 -1.20723382e-01 -4.16332580e-03 1.18209770e+01] [ 1.20723017e-01 9.92686173e-01 -3.39804931e-04 7.20876560e-01] [ 4.17389835e-03 -1.65292558e-04 9.99991276e-01 8.22245654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.88, Y:0.72, Z:0.08 [[ 9.92044258e-01 -1.25820736e-01 -4.16322267e-03 1.18792207e+01] [ 1.25820411e-01 9.92052976e-01 -3.41063727e-04 7.21237577e-01] [ 4.17305033e-03 -1.85468075e-04 9.99991276e-01 8.36170071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.982755095999998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:11.94, Y:0.72, Z:0.08 [[ 9.91895078e-01 -1.26991424e-01 -4.16311018e-03 1.19377955e+01] [ 1.26991103e-01 9.91903797e-01 -3.42431381e-04 7.20738136e-01] [ 4.17289064e-03 -1.89021953e-04 9.99991276e-01 7.92761376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.042755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.00, Y:0.72, Z:0.08 [[ 9.91642224e-01 -1.28951030e-01 -4.16301141e-03 1.19959938e+01] [ 1.28950721e-01 9.91650943e-01 -3.43627957e-04 7.23173554e-01] [ 4.17256537e-03 -1.96067331e-04 9.99991276e-01 8.47547430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.05, Y:0.72, Z:0.09 [[ 9.91855481e-01 -1.27300334e-01 -4.16297616e-03 1.20545799e+01] [ 1.27300009e-01 9.91864199e-01 -3.44054532e-04 7.24981689e-01] [ 4.17290527e-03 -1.88694527e-04 9.99991276e-01 8.66129715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.162755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.11, Y:0.73, Z:0.09 [[ 9.92374102e-01 -1.23192175e-01 -4.16285769e-03 1.21124981e+01] [ 1.23191807e-01 9.92382819e-01 -3.45481960e-04 7.26674551e-01] [ 4.17370912e-03 -1.69982613e-04 9.99991276e-01 8.91499186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.222755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.17, Y:0.73, Z:0.09 [[ 9.92748128e-01 -1.20140857e-01 -4.16282070e-03 1.21693094e+01] [ 1.20140461e-01 9.92756843e-01 -3.45927069e-04 7.30034062e-01] [ 4.17422871e-03 -1.56704747e-04 9.99991276e-01 8.87846839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.282755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.23, Y:0.73, Z:0.09 [[ 9.93245949e-01 -1.15953247e-01 -4.16277538e-03 1.22276121e+01] [ 1.15952812e-01 9.93254663e-01 -3.46471667e-04 7.32611176e-01] [ 4.17487057e-03 -1.38553931e-04 9.99991276e-01 8.90672198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.28, Y:0.73, Z:0.09 [[ 9.93636161e-01 -1.12560432e-01 -4.16267249e-03 1.22849023e+01] [ 1.12559962e-01 9.93644873e-01 -3.47703409e-04 7.33526509e-01] [ 4.17535582e-03 -1.23059578e-04 9.99991276e-01 9.02677743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.402755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.34, Y:0.74, Z:0.09 [[ 9.93662596e-01 -1.12326834e-01 -4.16262817e-03 1.23432366e+01] [ 1.12326360e-01 9.93671308e-01 -3.48233149e-04 7.35542539e-01] [ 4.17540011e-03 -1.21546617e-04 9.99991276e-01 9.13532057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.462755095999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:12.40, Y:0.74, Z:0.09 [[ 9.93598803e-01 -1.12889734e-01 -4.16252285e-03 1.24011677e+01] [ 1.12889259e-01 9.93607515e-01 -3.49487563e-04 7.36831840e-01] [ 4.17536754e-03 -1.22653697e-04 9.99991276e-01 8.77131265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.46, Y:0.74, Z:0.09 [[ 9.93185184e-01 -1.16472596e-01 -4.16240492e-03 1.24583563e+01] [ 1.16472147e-01 9.93193896e-01 -3.50886511e-04 7.38339023e-01] [ 4.17494383e-03 -1.36308954e-04 9.99991276e-01 9.19694996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.582755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.52, Y:0.74, Z:0.09 [[ 9.92847582e-01 -1.19316194e-01 -4.16235436e-03 1.25163900e+01] [ 1.19315768e-01 9.92856296e-01 -3.51485239e-04 7.40356246e-01] [ 4.17455762e-03 -1.47663236e-04 9.99991276e-01 9.20150717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.642755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.57, Y:0.74, Z:0.09 [[ 9.92124891e-01 -1.25183368e-01 -4.16224975e-03 1.25743344e+01] [ 1.25182988e-01 9.92133607e-01 -3.52719706e-04 7.41570299e-01] [ 4.17366250e-03 -1.71100862e-04 9.99991276e-01 8.59301117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.702755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.63, Y:0.74, Z:0.09 [[ 9.91961401e-01 -1.26472350e-01 -4.16213901e-03 1.26327191e+01] [ 1.26471976e-01 9.91970118e-01 -3.54021685e-04 7.42956132e-01] [ 4.17349148e-03 -1.75218096e-04 9.99991276e-01 9.10053129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.69, Y:0.74, Z:0.09 [[ 9.91822856e-01 -1.27554302e-01 -4.16202544e-03 1.26908538e+01] [ 1.27553932e-01 9.91831573e-01 -3.55351807e-04 7.44924827e-01] [ 4.17335489e-03 -1.78436664e-04 9.99991276e-01 9.13546030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.822755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.75, Y:0.75, Z:0.09 [[ 9.92033291e-01 -1.25907218e-01 -4.16191283e-03 1.27485868e+01] [ 1.25906828e-01 9.92042007e-01 -3.56665852e-04 7.46402724e-01] [ 4.17369916e-03 -1.70188845e-04 9.99991276e-01 9.08866737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.882755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.81, Y:0.75, Z:0.09 [[ 9.92266774e-01 -1.24053733e-01 -4.16179303e-03 1.28060943e+01] [ 1.24053320e-01 9.92275489e-01 -3.58058300e-04 7.50029955e-01] [ 4.17406368e-03 -1.60994891e-04 9.99991276e-01 9.17160229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.942755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.86, Y:0.76, Z:0.09 [[ 9.92471186e-01 -1.22407616e-01 -4.16167511e-03 1.28628901e+01] [ 1.22407184e-01 9.92479900e-01 -3.59423732e-04 7.57668779e-01] [ 4.17437510e-03 -1.52701231e-04 9.99991276e-01 9.26188131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.002755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.92, Y:0.76, Z:0.09 [[ 9.92731286e-01 -1.20279984e-01 -4.16162447e-03 1.29192102e+01] [ 1.20279530e-01 9.92739999e-01 -3.60009137e-04 7.62721615e-01] [ 4.17471296e-03 -1.43165901e-04 9.99991276e-01 9.26892970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.062755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.98, Y:0.77, Z:0.09 [[ 9.92996170e-01 -1.18073230e-01 -4.16157506e-03 1.29768380e+01] [ 1.18072755e-01 9.93004881e-01 -3.60579382e-04 7.67715995e-01] [ 4.17503912e-03 -1.33314686e-04 9.99991276e-01 9.36556940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.122755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.04, Y:0.77, Z:0.10 [[ 9.93120293e-01 -1.17024639e-01 -4.16146250e-03 1.30354840e+01] [ 1.17024149e-01 9.93129004e-01 -3.61873770e-04 7.70987879e-01] [ 4.17521725e-03 -1.27607423e-04 9.99991276e-01 9.63872653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.09, Y:0.78, Z:0.09 [[ 9.92877222e-01 -1.19069331e-01 -4.16135762e-03 1.30934272e+01] [ 1.19068854e-01 9.92885933e-01 -3.63075839e-04 7.77088125e-01] [ 4.17498464e-03 -1.34998351e-04 9.99991276e-01 9.31389023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.242755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.15, Y:0.78, Z:0.09 [[ 9.92437917e-01 -1.22677070e-01 -4.16132141e-03 1.31511665e+01] [ 1.22676623e-01 9.92446630e-01 -3.63490362e-04 7.81794438e-01] [ 4.17448135e-03 -1.49755239e-04 9.99991276e-01 9.22216775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.302755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.21, Y:0.79, Z:0.09 [[ 9.92205777e-01 -1.24540677e-01 -4.16120747e-03 1.32088327e+01] [ 1.24540240e-01 9.92214491e-01 -3.64790109e-04 7.86706987e-01] [ 4.17424156e-03 -1.56290925e-04 9.99991276e-01 9.30552783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.362755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.27, Y:0.79, Z:0.10 [[ 9.92273594e-01 -1.23999195e-01 -4.16107945e-03 1.32664704e+01] [ 1.23998748e-01 9.92282307e-01 -3.66244632e-04 7.88852461e-01] [ 4.17437955e-03 -1.52553764e-04 9.99991276e-01 9.72503414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.422755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.32, Y:0.80, Z:0.09 [[ 9.91810259e-01 -1.27652246e-01 -4.16102342e-03 1.33248844e+01] [ 1.27651828e-01 9.91818973e-01 -3.66880040e-04 7.97700089e-01] [ 4.17381504e-03 -1.67286861e-04 9.99991276e-01 9.26218959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.482755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.38, Y:0.80, Z:0.10 [[ 9.91977155e-01 -1.26348766e-01 -4.16092070e-03 1.33838638e+01] [ 1.26348332e-01 9.91985869e-01 -3.68041404e-04 8.00980588e-01] [ 4.17407611e-03 -1.60636724e-04 9.99991276e-01 9.62681212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.542755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.44, Y:0.81, Z:0.09 [[ 9.91703306e-01 -1.28480508e-01 -4.16080807e-03 1.34406002e+01] [ 1.28480088e-01 9.91712020e-01 -3.69310330e-04 8.11110723e-01] [ 4.17377255e-03 -1.68334711e-04 9.99991276e-01 9.34579052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.50, Y:0.82, Z:0.09 [[ 9.91756645e-01 -1.28068131e-01 -4.16076170e-03 1.34982163e+01] [ 1.28067704e-01 9.91765359e-01 -3.69832032e-04 8.18513603e-01] [ 4.17386301e-03 -1.66075823e-04 9.99991276e-01 9.36340826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.662755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.56, Y:0.82, Z:0.10 [[ 9.92092788e-01 -1.25437592e-01 -4.16064646e-03 1.35563151e+01] [ 1.25437137e-01 9.92101500e-01 -3.71123897e-04 8.24085550e-01] [ 4.17433649e-03 -1.53710238e-04 9.99991276e-01 9.58907457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.722755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.61, Y:0.83, Z:0.10 [[ 9.91972083e-01 -1.26388592e-01 -4.16052194e-03 1.36136924e+01] [ 1.26388139e-01 9.91980796e-01 -3.72514698e-04 8.33314777e-01] [ 4.17423947e-03 -1.56316446e-04 9.99991276e-01 9.52724102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.782755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.67, Y:0.84, Z:0.10 [[ 9.92437041e-01 -1.22684187e-01 -4.16048372e-03 1.36709736e+01] [ 1.22683701e-01 9.92445752e-01 -3.72941018e-04 8.40100448e-01] [ 4.17480836e-03 -1.40303060e-04 9.99991276e-01 9.60081058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.73, Y:0.85, Z:0.10 [[ 9.92686738e-01 -1.20647135e-01 -4.16035763e-03 1.37287057e+01] [ 1.20646625e-01 9.92695448e-01 -3.74342350e-04 8.48672912e-01] [ 4.17513142e-03 -1.30328420e-04 9.99991276e-01 9.72987106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.902755095999998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:13.79, Y:0.85, Z:0.10 [[ 9.92909518e-01 -1.18799749e-01 -4.16031901e-03 1.37851217e+01] [ 1.18799221e-01 9.92918227e-01 -3.74771131e-04 8.54648888e-01] [ 4.17537929e-03 -1.22128834e-04 9.99991276e-01 9.86390069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.962755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.84, Y:0.86, Z:0.10 [[ 9.93034603e-01 -1.17749606e-01 -4.16026722e-03 1.38427640e+01] [ 1.17749066e-01 9.93043311e-01 -3.75345161e-04 8.60298479e-01] [ 4.17552228e-03 -1.17136847e-04 9.99991276e-01 9.76245973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.022755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:13.90, Y:0.87, Z:0.10 [[ 9.92987513e-01 -1.18146064e-01 -4.16014699e-03 1.39008430e+01] [ 1.18145522e-01 9.92996220e-01 -3.76673028e-04 8.66799832e-01] [ 4.17551267e-03 -1.17471123e-04 9.99991276e-01 9.79972080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.082755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.96, Y:0.87, Z:0.10 [[ 9.92861921e-01 -1.19196894e-01 -4.16002786e-03 1.39583516e+01] [ 1.19196356e-01 9.92870629e-01 -3.77984138e-04 8.72787313e-01] [ 4.17542401e-03 -1.20574103e-04 9.99991276e-01 9.98177673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.142755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.02, Y:0.88, Z:0.10 [[ 9.92583976e-01 -1.21489698e-01 -4.15990814e-03 1.40159731e+01] [ 1.21489174e-01 9.92592684e-01 -3.79297187e-04 8.78318440e-01] [ 4.17517509e-03 -1.28899495e-04 9.99991276e-01 1.00276959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.202755095999999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:14.07, Y:0.88, Z:0.10 [[ 9.92146049e-01 -1.25015651e-01 -4.15979208e-03 1.40732995e+01] [ 1.25015153e-01 9.92154759e-01 -3.80565716e-04 8.83716521e-01] [ 4.17473419e-03 -1.42460273e-04 9.99991276e-01 9.84138817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.13, Y:0.89, Z:0.10 [[ 9.92033965e-01 -1.25901986e-01 -4.15967780e-03 1.41316497e+01] [ 1.25901491e-01 9.92042675e-01 -3.81810759e-04 8.88765718e-01] [ 4.17464863e-03 -1.44940396e-04 9.99991276e-01 1.02571275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.322755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.19, Y:0.90, Z:0.10 [[ 9.91794859e-01 -1.27771893e-01 -4.15955493e-03 1.41890624e+01] [ 1.27771408e-01 9.91803569e-01 -3.83144667e-04 8.96285259e-01] [ 4.17441655e-03 -1.51471281e-04 9.99991276e-01 9.95863957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.382755095999999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:14.25, Y:0.90, Z:0.10 [[ 9.91743049e-01 -1.28173413e-01 -4.15951464e-03 1.42462777e+01] [ 1.28172930e-01 9.91751760e-01 -3.83581571e-04 9.03346542e-01] [ 4.17437093e-03 -1.52722824e-04 9.99991276e-01 1.00994668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.442755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.30, Y:0.91, Z:0.10 [[ 9.91629181e-01 -1.29051410e-01 -4.15939068e-03 1.43037027e+01] [ 1.29050929e-01 9.91637892e-01 -3.84921072e-04 9.10529278e-01] [ 4.17428402e-03 -1.55074266e-04 9.99991276e-01 1.02227454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.502755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.36, Y:0.92, Z:0.10 [[ 9.91663528e-01 -1.28787220e-01 -4.15926679e-03 1.43612058e+01] [ 1.28786731e-01 9.91672239e-01 -3.86255130e-04 9.18031800e-01] [ 4.17437414e-03 -1.52623248e-04 9.99991276e-01 1.04478784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.562755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.42, Y:0.93, Z:0.11 [[ 9.91945765e-01 -1.26595023e-01 -4.15914132e-03 1.44173154e+01] [ 1.26594510e-01 9.91954475e-01 -3.87601520e-04 9.25856869e-01] [ 4.17474727e-03 -1.42044769e-04 9.99991276e-01 1.05153232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.622755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.47, Y:0.94, Z:0.11 [[ 9.92594959e-01 -1.21399960e-01 -4.15905670e-03 1.44747314e+01] [ 1.21399397e-01 9.92603665e-01 -3.88507384e-04 9.35387029e-01] [ 4.17545971e-03 -1.19276505e-04 9.99991276e-01 1.05704449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.53, Y:0.94, Z:0.11 [[ 9.93093053e-01 -1.17255660e-01 -4.15901887e-03 1.45321332e+01] [ 1.17255058e-01 9.93101757e-01 -3.88912014e-04 9.43586708e-01] [ 4.17593108e-03 -1.01440181e-04 9.99991276e-01 1.06316624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.742755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.59, Y:0.95, Z:0.11 [[ 9.93461034e-01 -1.14095917e-01 -4.15889782e-03 1.45900802e+01] [ 1.14095283e-01 9.93469735e-01 -3.90202123e-04 9.50212411e-01] [ 4.17625959e-03 -8.68600185e-05 9.99991276e-01 1.06958926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.802755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.65, Y:0.96, Z:0.11 [[ 9.93563247e-01 -1.13202383e-01 -4.15877488e-03 1.46480010e+01] [ 1.13201736e-01 9.93571947e-01 -3.91508023e-04 9.57010359e-01] [ 4.17636170e-03 -8.17925524e-05 9.99991276e-01 1.07563013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.862755095999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.71, Y:0.96, Z:0.11 [[ 9.93497172e-01 -1.13780817e-01 -4.15865216e-03 1.47057429e+01] [ 1.13780169e-01 9.93505873e-01 -3.92807327e-04 9.63550282e-01] [ 4.17633928e-03 -8.29191768e-05 9.99991276e-01 1.08744508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.922755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.76, Y:0.97, Z:0.11 [[ 9.93300127e-01 -1.15488374e-01 -4.15852316e-03 1.47649336e+01] [ 1.15487736e-01 9.93308828e-01 -3.94168242e-04 9.67741810e-01] [ 4.17621962e-03 -8.87310585e-05 9.99991276e-01 1.06815862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.982755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.82, Y:0.97, Z:0.11 [[ 9.92999172e-01 -1.18048093e-01 -4.15840675e-03 1.48225800e+01] [ 1.18047471e-01 9.93007874e-01 -3.95392620e-04 9.71727081e-01] [ 4.17600599e-03 -9.82648578e-05 9.99991276e-01 1.08653005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.88, Y:0.98, Z:0.11 [[ 9.92732096e-01 -1.20273409e-01 -4.15834568e-03 1.48798921e+01] [ 1.20272805e-01 9.92740800e-01 -3.96033820e-04 9.75953366e-01] [ 4.17579175e-03 -1.06980414e-04 9.99991276e-01 1.06926460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.94, Y:0.98, Z:0.11 [[ 9.92555197e-01 -1.21724644e-01 -4.15830643e-03 1.49380737e+01] [ 1.21724051e-01 9.92563901e-01 -3.96445536e-04 9.79559752e-01] [ 4.17564204e-03 -1.12671825e-04 9.99991276e-01 1.07193650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.00, Y:0.98, Z:0.11 [[ 9.92431923e-01 -1.22725658e-01 -4.15817861e-03 1.49960433e+01] [ 1.22725068e-01 9.92440628e-01 -3.97781667e-04 9.83547104e-01] [ 4.17556341e-03 -1.15541527e-04 9.99991276e-01 1.07512409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.05, Y:0.99, Z:0.11 [[ 9.92118255e-01 -1.25236094e-01 -4.15805024e-03 1.50543878e+01] [ 1.25235520e-01 9.92126960e-01 -3.99119056e-04 9.86566528e-01] [ 4.17529785e-03 -1.24762283e-04 9.99991276e-01 1.08356942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.11, Y:0.99, Z:0.11 [[ 9.91909322e-01 -1.26880295e-01 -4.15792087e-03 1.51127355e+01] [ 1.26879730e-01 9.91918028e-01 -4.00462214e-04 9.89664820e-01] [ 4.17512744e-03 -1.30333675e-04 9.99991276e-01 1.08061628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.17, Y:0.99, Z:0.11 [[ 9.91426220e-01 -1.30601546e-01 -4.15777814e-03 1.51706661e+01] [ 1.30601008e-01 9.91434927e-01 -4.01938665e-04 9.92582569e-01] [ 4.17466028e-03 -1.44517484e-04 9.99991276e-01 1.13274691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.23, Y:1.00, Z:0.11 [[ 9.91329234e-01 -1.31335692e-01 -4.15773359e-03 1.52287344e+01] [ 1.31335158e-01 9.91337942e-01 -4.02399025e-04 9.97452283e-01] [ 4.17456841e-03 -1.47146680e-04 9.99991276e-01 1.14414635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.29, Y:1.00, Z:0.12 [[ 9.91319613e-01 -1.31408289e-01 -4.15760625e-03 1.52867627e+01] [ 1.31407750e-01 9.91328321e-01 -4.03710457e-04 1.00304715e+00] [ 4.17460372e-03 -1.46135589e-04 9.99991276e-01 1.15342739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.35, Y:1.01, Z:0.11 [[ 9.91654108e-01 -1.28859789e-01 -4.15747894e-03 1.53457933e+01] [ 1.28859222e-01 9.91662814e-01 -4.05017192e-04 1.00936450e+00] [ 4.17500770e-03 -1.34092541e-04 9.99991276e-01 1.13685212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.40, Y:1.01, Z:0.11 [[ 9.92046856e-01 -1.25800444e-01 -4.15736853e-03 1.54032091e+01] [ 1.25799846e-01 9.92055560e-01 -4.06147444e-04 1.01386967e+00] [ 4.17543409e-03 -1.20079026e-04 9.99991276e-01 1.14709395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.642755096000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.46, Y:1.02, Z:0.12 [[ 9.92408163e-01 -1.22917681e-01 -4.15723839e-03 1.54623261e+01] [ 1.22917052e-01 9.92416864e-01 -4.07475124e-04 1.01689914e+00] [ 4.17579939e-03 -1.06613848e-04 9.99991276e-01 1.17386610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.52, Y:1.02, Z:0.12 [[ 9.92644149e-01 -1.20997155e-01 -4.15711119e-03 1.55198062e+01] [ 1.20996504e-01 9.92652849e-01 -4.08768758e-04 1.02450437e+00] [ 4.17602812e-03 -9.72340038e-05 9.99991276e-01 1.16680622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.58, Y:1.03, Z:0.12 [[ 9.92804279e-01 -1.19676153e-01 -4.15706580e-03 1.55776630e+01] [ 1.19675488e-01 9.92812978e-01 -4.09229882e-04 1.02870354e+00] [ 4.17616393e-03 -9.12137010e-05 9.99991276e-01 1.18114666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.64, Y:1.03, Z:0.12 [[ 9.92913921e-01 -1.18763066e-01 -4.15693621e-03 1.56351948e+01] [ 1.18762388e-01 9.92922619e-01 -4.10541993e-04 1.03385761e+00] [ 4.17627321e-03 -8.60548106e-05 9.99991276e-01 1.18626760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.69, Y:1.04, Z:0.12 [[ 9.92940616e-01 -1.18539672e-01 -4.15680471e-03 1.56929666e+01] [ 1.18538986e-01 9.92949313e-01 -4.11869164e-04 1.03883789e+00] [ 4.17631922e-03 -8.37817953e-05 9.99991276e-01 1.18983354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.75, Y:1.04, Z:0.12 [[ 9.92815750e-01 -1.19580968e-01 -4.15667386e-03 1.57506618e+01] [ 1.19580286e-01 9.92824448e-01 -4.13185523e-04 1.04287258e+00] [ 4.17625656e-03 -8.68391544e-05 9.99991276e-01 1.22219373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.002755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:15.81, Y:1.05, Z:0.12 [[ 9.92861313e-01 -1.19202079e-01 -4.15653331e-03 1.58088006e+01] [ 1.19201388e-01 9.92870010e-01 -4.14594633e-04 1.04636218e+00] [ 4.17631781e-03 -8.38295664e-05 9.99991276e-01 1.21106693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.87, Y:1.05, Z:0.12 [[ 9.92805916e-01 -1.19662598e-01 -4.15649047e-03 1.58665137e+01] [ 1.19661908e-01 9.92814613e-01 -4.15023695e-04 1.05209475e+00] [ 4.17628729e-03 -8.53356015e-05 9.99991276e-01 1.19044206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.92, Y:1.06, Z:0.12 [[ 9.92552007e-01 -1.21750721e-01 -4.15644991e-03 1.59240670e+01] [ 1.21750049e-01 9.92560705e-01 -4.15429467e-04 1.05545787e+00] [ 4.17610769e-03 -9.37126276e-05 9.99991276e-01 1.19114113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.98, Y:1.06, Z:0.12 [[ 9.92333982e-01 -1.23515150e-01 -4.15631894e-03 1.59822361e+01] [ 1.23514487e-01 9.92342682e-01 -4.16735741e-04 1.05949653e+00] [ 4.17596586e-03 -9.98245663e-05 9.99991276e-01 1.20478291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.04, Y:1.06, Z:0.12 [[ 9.92140895e-01 -1.25056671e-01 -4.15618968e-03 1.60414228e+01] [ 1.25056016e-01 9.92149595e-01 -4.18020854e-04 1.06349209e+00] [ 4.17583821e-03 -1.05020939e-04 9.99991276e-01 1.23532770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.302755096000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.10, Y:1.07, Z:0.12 [[ 9.92109315e-01 -1.25306956e-01 -4.15607357e-03 1.60990905e+01] [ 1.25306299e-01 9.92118015e-01 -4.19172098e-04 1.06936303e+00] [ 4.17584064e-03 -1.04917653e-04 9.99991276e-01 1.23531723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.16, Y:1.08, Z:0.12 [[ 9.92038452e-01 -1.25866745e-01 -4.15603285e-03 1.61566335e+01] [ 1.25866091e-01 9.92047152e-01 -4.19575423e-04 1.07510437e+00] [ 4.17579115e-03 -1.06868657e-04 9.99991276e-01 1.22767480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.21, Y:1.08, Z:0.12 [[ 9.92033649e-01 -1.25904600e-01 -4.15590368e-03 1.62137587e+01] [ 1.25903941e-01 9.92042348e-01 -4.20851032e-04 1.08041669e+00] [ 4.17581952e-03 -1.05746266e-04 9.99991276e-01 1.22415185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.27, Y:1.09, Z:0.12 [[ 9.92073954e-01 -1.25586619e-01 -4.15585611e-03 1.62724515e+01] [ 1.25585955e-01 9.92082653e-01 -4.21320202e-04 1.08621053e+00] [ 4.17586494e-03 -1.03936361e-04 9.99991276e-01 1.24811979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.33, Y:1.09, Z:0.13 [[ 9.92173369e-01 -1.24798777e-01 -4.15573750e-03 1.63288629e+01] [ 1.24798102e-01 9.92182068e-01 -4.22486934e-04 1.09114579e+00] [ 4.17597408e-03 -9.94478672e-05 9.99991276e-01 1.25337966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.39, Y:1.10, Z:0.12 [[ 9.92206537e-01 -1.24534806e-01 -4.15567921e-03 1.63865847e+01] [ 1.24534125e-01 9.92215235e-01 -4.23059468e-04 1.09716282e+00] [ 4.17601386e-03 -9.77615067e-05 9.99991276e-01 1.24908411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.44, Y:1.10, Z:0.12 [[ 9.92282824e-01 -1.23925493e-01 -4.15554389e-03 1.64430486e+01] [ 1.23924802e-01 9.92291521e-01 -4.24384586e-04 1.10412522e+00] [ 4.17610303e-03 -9.38654186e-05 9.99991276e-01 1.23924303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.50, Y:1.11, Z:0.12 [[ 9.92342594e-01 -1.23445969e-01 -4.15548580e-03 1.65009752e+01] [ 1.23445271e-01 9.92351291e-01 -4.24952560e-04 1.10941321e+00] [ 4.17616038e-03 -9.12765467e-05 9.99991276e-01 1.24777992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.56, Y:1.11, Z:0.12 [[ 9.92292211e-01 -1.23850320e-01 -4.15535223e-03 1.65588789e+01] [ 1.23849621e-01 9.92300907e-01 -4.26254717e-04 1.11473376e+00] [ 4.17615157e-03 -9.16695615e-05 9.99991276e-01 1.23833291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.62, Y:1.12, Z:0.12 [[ 9.92231579e-01 -1.24335142e-01 -4.15521868e-03 1.66159797e+01] [ 1.24334441e-01 9.92240275e-01 -4.27552593e-04 1.12048180e+00] [ 4.17613514e-03 -9.24056069e-05 9.99991276e-01 1.22407120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.67, Y:1.13, Z:0.12 [[ 9.92157681e-01 -1.24923459e-01 -4.15516133e-03 1.66737577e+01] [ 1.24922761e-01 9.92166377e-01 -4.28109216e-04 1.12551071e+00] [ 4.17609225e-03 -9.43223800e-05 9.99991276e-01 1.22686574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.73, Y:1.13, Z:0.12 [[ 9.92041617e-01 -1.25841828e-01 -4.15503442e-03 1.67311396e+01] [ 1.25841133e-01 9.92050314e-01 -4.29337426e-04 1.13126183e+00] [ 4.17603181e-03 -9.69536443e-05 9.99991276e-01 1.22296690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.022755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:16.79, Y:1.14, Z:0.12 [[ 9.91816949e-01 -1.27600454e-01 -4.15490833e-03 1.67875982e+01] [ 1.27599770e-01 9.91825647e-01 -4.30554206e-04 1.13617837e+00] [ 4.17588356e-03 -1.03134387e-04 9.99991276e-01 1.21600442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.85, Y:1.14, Z:0.12 [[ 9.91604665e-01 -1.29239798e-01 -4.15485408e-03 1.68454756e+01] [ 1.29239125e-01 9.91613363e-01 -4.31077146e-04 1.14085934e+00] [ 4.17572115e-03 -1.09511598e-04 9.99991276e-01 1.21583231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.142755096000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.90, Y:1.15, Z:0.12 [[ 9.91298913e-01 -1.31564442e-01 -4.15471818e-03 1.69044409e+01] [ 1.31563785e-01 9.91307613e-01 -4.32383013e-04 1.14636777e+00] [ 4.17548999e-03 -1.17989636e-04 9.99991276e-01 1.22796626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.96, Y:1.15, Z:0.12 [[ 9.90998375e-01 -1.33809419e-01 -4.15460084e-03 1.69619600e+01] [ 1.33808777e-01 9.91007075e-01 -4.33507507e-04 1.15176418e+00] [ 4.17524622e-03 -1.26316822e-04 9.99991276e-01 1.23537768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.02, Y:1.16, Z:0.12 [[ 9.90873784e-01 -1.34728933e-01 -4.15446801e-03 1.70193314e+01] [ 1.34728293e-01 9.90882485e-01 -4.34776754e-04 1.15776672e+00] [ 4.17516659e-03 -1.28915495e-04 9.99991276e-01 1.23793149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.08, Y:1.16, Z:0.12 [[ 9.90801763e-01 -1.35257561e-01 -4.15433585e-03 1.70759330e+01] [ 1.35256921e-01 9.90810464e-01 -4.36035948e-04 1.16358501e+00] [ 4.17513659e-03 -1.29877488e-04 9.99991276e-01 1.23531303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.13, Y:1.17, Z:0.12 [[ 9.90783293e-01 -1.35392795e-01 -4.15427902e-03 1.71334600e+01] [ 1.35392153e-01 9.90791993e-01 -4.36576642e-04 1.17079022e+00] [ 4.17513573e-03 -1.29903939e-04 9.99991276e-01 1.22260130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.19, Y:1.18, Z:0.12 [[ 9.90827279e-01 -1.35070521e-01 -4.15415189e-03 1.71909065e+01] [ 1.35069871e-01 9.90835979e-01 -4.37783078e-04 1.17773943e+00] [ 4.17521474e-03 -1.27333344e-04 9.99991276e-01 1.21372175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.25, Y:1.18, Z:0.12 [[ 9.90957104e-01 -1.34114732e-01 -4.15401656e-03 1.72484036e+01] [ 1.34114069e-01 9.90965804e-01 -4.39063393e-04 1.18459630e+00] [ 4.17537323e-03 -1.22019075e-04 9.99991276e-01 1.22086647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.562755096 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:17.31, Y:1.19, Z:0.12 [[ 9.91077242e-01 -1.33224040e-01 -4.15388248e-03 1.73058956e+01] [ 1.33223364e-01 9.91085940e-01 -4.40328278e-04 1.19199735e+00] [ 4.17551683e-03 -1.16994862e-04 9.99991276e-01 1.22020101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.36, Y:1.20, Z:0.12 [[ 9.91327730e-01 -1.31347168e-01 -4.15374944e-03 1.73640669e+01] [ 1.31346470e-01 9.91336426e-01 -4.41579718e-04 1.19595402e+00] [ 4.17576337e-03 -1.07830108e-04 9.99991276e-01 1.21581892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.42, Y:1.20, Z:0.12 [[ 9.91545221e-01 -1.29695113e-01 -4.15370861e-03 1.74213913e+01] [ 1.29694398e-01 9.91553916e-01 -4.41963470e-04 1.20356939e+00] [ 4.17594654e-03 -1.00485973e-04 9.99991276e-01 1.20209227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.48, Y:1.21, Z:0.12 [[ 9.91558657e-01 -1.29592351e-01 -4.15356353e-03 1.74787726e+01] [ 1.29591630e-01 9.91567352e-01 -4.43322762e-04 1.21307681e+00] [ 4.17598922e-03 -9.86865459e-05 9.99991276e-01 1.19783089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.54, Y:1.22, Z:0.12 [[ 9.91748110e-01 -1.28134442e-01 -4.15351913e-03 1.75365336e+01] [ 1.28133707e-01 9.91756803e-01 -4.43738358e-04 1.22097461e+00] [ 4.17613902e-03 -9.21291251e-05 9.99991276e-01 1.19392326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.59, Y:1.23, Z:0.12 [[ 9.91733636e-01 -1.28246424e-01 -4.15337797e-03 1.75945536e+01] [ 1.28245684e-01 9.91742329e-01 -4.45055666e-04 1.22817872e+00] [ 4.17615754e-03 -9.12761265e-05 9.99991276e-01 1.18793642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.65, Y:1.24, Z:0.12 [[ 9.91574877e-01 -1.29468198e-01 -4.15323810e-03 1.76520400e+01] [ 1.29467464e-01 9.91583570e-01 -4.46357161e-04 1.23584315e+00] [ 4.17607172e-03 -9.51126563e-05 9.99991276e-01 1.18185936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.71, Y:1.24, Z:0.12 [[ 9.91350413e-01 -1.31175873e-01 -4.15309621e-03 1.77091188e+01] [ 1.31175148e-01 9.91359108e-01 -4.47673482e-04 1.24230671e+00] [ 4.17593371e-03 -1.00981718e-04 9.99991276e-01 1.18642888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.77, Y:1.25, Z:0.12 [[ 9.90886119e-01 -1.34638224e-01 -4.15305264e-03 1.77671650e+01] [ 1.34637528e-01 9.90894815e-01 -4.48077301e-04 1.24924376e+00] [ 4.17556666e-03 -1.15163161e-04 9.99991276e-01 1.17017601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.82, Y:1.26, Z:0.12 [[ 9.90467667e-01 -1.37682800e-01 -4.15293415e-03 1.78246733e+01] [ 1.37682126e-01 9.90476365e-01 -4.49172756e-04 1.25516817e+00] [ 4.17522649e-03 -1.26893713e-04 9.99991276e-01 1.17207232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.88, Y:1.26, Z:0.12 [[ 9.90185301e-01 -1.39699050e-01 -4.15278214e-03 1.78818096e+01] [ 1.39698387e-01 9.90194000e-01 -4.50573790e-04 1.26223227e+00] [ 4.17500469e-03 -1.33985425e-04 9.99991276e-01 1.17639336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.94, Y:1.27, Z:0.12 [[ 9.89862381e-01 -1.41969091e-01 -4.15263297e-03 1.79394774e+01] [ 1.41968443e-01 9.89871081e-01 -4.51944452e-04 1.26986151e+00] [ 4.17473343e-03 -1.42180027e-04 9.99991276e-01 1.16069109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.00, Y:1.28, Z:0.12 [[ 9.89686247e-01 -1.43191794e-01 -4.15248748e-03 1.79963723e+01] [ 1.43191151e-01 9.89694947e-01 -4.53277255e-04 1.27656158e+00] [ 4.17460147e-03 -1.45997198e-04 9.99991276e-01 1.15994646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.05, Y:1.28, Z:0.12 [[ 9.89886605e-01 -1.41800097e-01 -4.15242524e-03 1.80541667e+01] [ 1.41799439e-01 9.89895304e-01 -4.53846772e-04 1.28333764e+00] [ 4.17482176e-03 -1.39554731e-04 9.99991276e-01 1.16731867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.11, Y:1.29, Z:0.12 [[ 9.90119922e-01 -1.40161689e-01 -4.15233447e-03 1.81112451e+01] [ 1.40161014e-01 9.90128620e-01 -4.54675727e-04 1.29106736e+00] [ 4.17507331e-03 -1.31811913e-04 9.99991276e-01 1.17192973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.17, Y:1.30, Z:0.12 [[ 9.90019235e-01 -1.40871126e-01 -4.15218839e-03 1.81686628e+01] [ 1.40870451e-01 9.90027933e-01 -4.56005851e-04 1.29869403e+00] [ 4.17502055e-03 -1.33466087e-04 9.99991276e-01 1.17327698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.23, Y:1.30, Z:0.12 [[ 9.90472565e-01 -1.37647585e-01 -4.15204123e-03 1.82251710e+01] [ 1.37646877e-01 9.90481261e-01 -4.57341868e-04 1.30313791e+00] [ 4.17547104e-03 -1.18530934e-04 9.99991276e-01 1.16223075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.28, Y:1.31, Z:0.12 [[ 9.90493421e-01 -1.37497432e-01 -4.15197259e-03 1.82822754e+01] [ 1.37496719e-01 9.90502116e-01 -4.57964129e-04 1.31225051e+00] [ 4.17550653e-03 -1.17272153e-04 9.99991276e-01 1.21558389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.642755096000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.34, Y:1.32, Z:0.12 [[ 9.90343245e-01 -1.38574959e-01 -4.15185626e-03 1.83413684e+01] [ 1.38574251e-01 9.90351941e-01 -4.59016386e-04 1.31801803e+00] [ 4.17540708e-03 -1.20756595e-04 9.99991276e-01 1.18478539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.40, Y:1.32, Z:0.12 [[ 9.90464064e-01 -1.37708756e-01 -4.15172470e-03 1.83992696e+01] [ 1.37708036e-01 9.90472758e-01 -4.60203209e-04 1.32315123e+00] [ 4.17554423e-03 -1.15911114e-04 9.99991276e-01 1.17249117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.46, Y:1.33, Z:0.12 [[ 9.90525685e-01 -1.37264827e-01 -4.15157909e-03 1.84570872e+01] [ 1.37264097e-01 9.90534378e-01 -4.61513102e-04 1.33010324e+00] [ 4.17563133e-03 -1.12722175e-04 9.99991276e-01 1.15404106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.51, Y:1.34, Z:0.12 [[ 9.90403873e-01 -1.38140997e-01 -4.15142750e-03 1.85138606e+01] [ 1.38140269e-01 9.90412566e-01 -4.62872652e-04 1.33662743e+00] [ 4.17556766e-03 -1.15048446e-04 9.99991276e-01 1.17594711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.882755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:18.57, Y:1.34, Z:0.12 [[ 9.90168012e-01 -1.39821582e-01 -4.15136228e-03 1.85713632e+01] [ 1.39820867e-01 9.90176707e-01 -4.63456890e-04 1.34341298e+00] [ 4.17538351e-03 -1.21546885e-04 9.99991276e-01 1.15952562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.63, Y:1.35, Z:0.12 [[ 9.89886352e-01 -1.41801898e-01 -4.15121900e-03 1.86290749e+01] [ 1.41801195e-01 9.89895048e-01 -4.64736688e-04 1.35094844e+00] [ 4.17517168e-03 -1.28611310e-04 9.99991276e-01 1.16548022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.69, Y:1.36, Z:0.12 [[ 9.89820843e-01 -1.42258454e-01 -4.15107366e-03 1.86869658e+01] [ 1.42257750e-01 9.89829539e-01 -4.66031338e-04 1.35655044e+00] [ 4.17515222e-03 -1.29234865e-04 9.99991276e-01 1.17768253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.74, Y:1.36, Z:0.12 [[ 9.89646769e-01 -1.43464431e-01 -4.15092747e-03 1.87446268e+01] [ 1.43463732e-01 9.89655465e-01 -4.67329810e-04 1.36325001e+00] [ 4.17503326e-03 -1.33016108e-04 9.99991276e-01 1.17289612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.80, Y:1.37, Z:0.12 [[ 9.89604641e-01 -1.43754740e-01 -4.15078083e-03 1.88019106e+01] [ 1.43754038e-01 9.89613337e-01 -4.68628592e-04 1.37139728e+00] [ 4.17503565e-03 -1.32934474e-04 9.99991276e-01 1.18403209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.86, Y:1.38, Z:0.12 [[ 9.89688650e-01 -1.43175237e-01 -4.15062953e-03 1.88583996e+01] [ 1.43174524e-01 9.89697345e-01 -4.69964895e-04 1.37853295e+00] [ 4.17515436e-03 -1.29145485e-04 9.99991276e-01 1.17483631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.92, Y:1.39, Z:0.12 [[ 9.89819624e-01 -1.42266953e-01 -4.15048326e-03 1.89156762e+01] [ 1.42266227e-01 9.89828318e-01 -4.71253094e-04 1.38540530e+00] [ 4.17530961e-03 -1.24018034e-04 9.99991276e-01 1.18042443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.97, Y:1.39, Z:0.12 [[ 9.89846717e-01 -1.42078331e-01 -4.15033173e-03 1.89725601e+01] [ 1.42077597e-01 9.89855410e-01 -4.72583912e-04 1.39185516e+00] [ 4.17537225e-03 -1.21883525e-04 9.99991276e-01 1.17967911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.03, Y:1.40, Z:0.12 [[ 9.89792219e-01 -1.42457495e-01 -4.15026850e-03 1.90299186e+01] [ 1.42456762e-01 9.89800913e-01 -4.73138508e-04 1.39899929e+00] [ 4.17534168e-03 -1.22925000e-04 9.99991276e-01 1.18309037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.09, Y:1.41, Z:0.12 [[ 9.89730533e-01 -1.42885437e-01 -4.15012383e-03 1.90880169e+01] [ 1.42884702e-01 9.89739227e-01 -4.74404088e-04 1.40515165e+00] [ 4.17532579e-03 -1.23456998e-04 9.99991276e-01 1.19903487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.14, Y:1.41, Z:0.12 [[ 9.89741671e-01 -1.42808273e-01 -4.14998049e-03 1.91444767e+01] [ 1.42807533e-01 9.89750364e-01 -4.75654722e-04 1.41122963e+00] [ 4.17537213e-03 -1.21873177e-04 9.99991276e-01 1.20403710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.542755096 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:19.20, Y:1.42, Z:0.12 [[ 9.89574927e-01 -1.43959169e-01 -4.14991887e-03 1.92028264e+01] [ 1.43958436e-01 9.89583620e-01 -4.76191740e-04 1.41956190e+00] [ 4.17524391e-03 -1.26188425e-04 9.99991276e-01 1.16660730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.26, Y:1.43, Z:0.12 [[ 9.89992149e-01 -1.41061419e-01 -4.14978789e-03 1.92598566e+01] [ 1.41060656e-01 9.90000840e-01 -4.77330457e-04 1.42595161e+00] [ 4.17562641e-03 -1.12818397e-04 9.99991276e-01 1.18990097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.32, Y:1.43, Z:0.12 [[ 9.90144823e-01 -1.39985749e-01 -4.14973754e-03 1.93180445e+01] [ 1.39984975e-01 9.90153513e-01 -4.77767789e-04 1.43232905e+00] [ 4.17575788e-03 -1.07841603e-04 9.99991276e-01 1.17155915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.38, Y:1.44, Z:0.12 [[ 9.90278051e-01 -1.39040144e-01 -4.14960186e-03 1.93752876e+01] [ 1.39039357e-01 9.90286740e-01 -4.78943265e-04 1.43906297e+00] [ 4.17588804e-03 -1.02670970e-04 9.99991276e-01 1.17168351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.43, Y:1.45, Z:0.12 [[ 9.90314350e-01 -1.38781374e-01 -4.14945245e-03 1.94328816e+01] [ 1.38780579e-01 9.90323038e-01 -4.80234269e-04 1.44643342e+00] [ 4.17594593e-03 -1.00280525e-04 9.99991276e-01 1.17705865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.49, Y:1.45, Z:0.12 [[ 9.90239047e-01 -1.39317671e-01 -4.14930410e-03 1.94900429e+01] [ 1.39316876e-01 9.90247735e-01 -4.81512629e-04 1.45267781e+00] [ 4.17592221e-03 -1.01255477e-04 9.99991276e-01 1.17960320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.55, Y:1.46, Z:0.12 [[ 9.89907338e-01 -1.41655379e-01 -4.14924027e-03 1.95479780e+01] [ 1.41654602e-01 9.89916027e-01 -4.82062032e-04 1.46077323e+00] [ 4.17568613e-03 -1.10562237e-04 9.99991276e-01 1.17293959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.61, Y:1.47, Z:0.12 [[ 9.89966194e-01 -1.41243477e-01 -4.14908006e-03 1.96057561e+01] [ 1.41242691e-01 9.89974883e-01 -4.83437046e-04 1.46613810e+00] [ 4.17576738e-03 -1.07440899e-04 9.99991276e-01 1.18217676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.022755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:19.66, Y:1.47, Z:0.12 [[ 9.89893133e-01 -1.41754616e-01 -4.14892195e-03 1.96632923e+01] [ 1.41753828e-01 9.89901822e-01 -4.84790203e-04 1.47290406e+00] [ 4.17574664e-03 -1.08235076e-04 9.99991276e-01 1.19116909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.72, Y:1.48, Z:0.12 [[ 9.89719428e-01 -1.42962376e-01 -4.14876393e-03 1.97208539e+01] [ 1.42961594e-01 9.89728117e-01 -4.86138723e-04 1.47967670e+00] [ 4.17564786e-03 -1.11972965e-04 9.99991276e-01 1.17406251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.78, Y:1.49, Z:0.12 [[ 9.89853247e-01 -1.42032879e-01 -4.14859367e-03 1.97775810e+01] [ 1.42032082e-01 9.89861935e-01 -4.87587350e-04 1.48531975e+00] [ 4.17578840e-03 -1.06593477e-04 9.99991276e-01 1.18118806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.83, Y:1.49, Z:0.12 [[ 9.89654904e-01 -1.43408370e-01 -4.14852066e-03 1.98338981e+01] [ 1.43407582e-01 9.89663593e-01 -4.88207765e-04 1.49231082e+00] [ 4.17565294e-03 -1.11772109e-04 9.99991276e-01 1.20511460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.89, Y:1.50, Z:0.13 [[ 9.90392231e-01 -1.38224528e-01 -4.14845250e-03 1.98918444e+01] [ 1.38223692e-01 9.90400915e-01 -4.88786263e-04 1.49539901e+00] [ 4.17619340e-03 -8.93243057e-05 9.99991276e-01 1.25120546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.95, Y:1.50, Z:0.12 [[ 9.89501715e-01 -1.44461578e-01 -4.14828792e-03 1.99491920e+01] [ 1.44460792e-01 9.89510404e-01 -4.90179050e-04 1.50496102e+00] [ 4.17558610e-03 -1.14231949e-04 9.99991276e-01 1.22862797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.01, Y:1.51, Z:0.12 [[ 9.89576219e-01 -1.43950334e-01 -4.14823656e-03 2.00063783e+01] [ 1.43949541e-01 9.89584907e-01 -4.90613374e-04 1.51246749e+00] [ 4.17565625e-03 -1.11637422e-04 9.99991276e-01 1.23734805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.06, Y:1.52, Z:0.12 [[ 9.89635084e-01 -1.43545096e-01 -4.14808328e-03 2.00643158e+01] [ 1.43544294e-01 9.89643771e-01 -4.91905873e-04 1.51950015e+00] [ 4.17573546e-03 -1.08626377e-04 9.99991276e-01 1.23837979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.12, Y:1.53, Z:0.12 [[ 9.89800676e-01 -1.42398792e-01 -4.14793138e-03 2.01217925e+01] [ 1.42397974e-01 9.89809362e-01 -4.93183465e-04 1.52641676e+00] [ 4.17589004e-03 -1.02503699e-04 9.99991276e-01 1.24100609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.18, Y:1.53, Z:0.12 [[ 9.89978898e-01 -1.41154445e-01 -4.14777301e-03 2.01800167e+01] [ 1.41153612e-01 9.89987582e-01 -4.94511803e-04 1.53426960e+00] [ 4.17604631e-03 -9.59168915e-05 9.99991276e-01 1.22396818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.24, Y:1.54, Z:0.12 [[ 9.89697213e-01 -1.43116121e-01 -4.14764487e-03 2.02383068e+01] [ 1.43115300e-01 9.89705898e-01 -4.95584214e-04 1.54123681e+00] [ 4.17587468e-03 -1.03113123e-04 9.99991276e-01 1.24951200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.682755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:20.29, Y:1.55, Z:0.13 [[ 9.89523436e-01 -1.44312741e-01 -4.14750197e-03 2.02949927e+01] [ 1.44311925e-01 9.89532123e-01 -4.96777274e-04 1.54850806e+00] [ 4.17577772e-03 -1.06961238e-04 9.99991276e-01 1.25773698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.35, Y:1.56, Z:0.13 [[ 9.89402187e-01 -1.45141697e-01 -4.14739461e-03 2.03529434e+01] [ 1.45140885e-01 9.89410873e-01 -4.97671984e-04 1.55685497e+00] [ 4.17571028e-03 -1.09558774e-04 9.99991276e-01 1.26653423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.41, Y:1.56, Z:0.13 [[ 9.89331422e-01 -1.45623271e-01 -4.14723277e-03 2.04097162e+01] [ 1.45622458e-01 9.89340109e-01 -4.99016979e-04 1.56363029e+00] [ 4.17569221e-03 -1.10237052e-04 9.99991276e-01 1.26871809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.862755096 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:20.47, Y:1.57, Z:0.13 [[ 9.89254090e-01 -1.46147688e-01 -4.14716328e-03 2.04676965e+01] [ 1.46146877e-01 9.89262776e-01 -4.99593876e-04 1.57066411e+00] [ 4.17564875e-03 -1.11869675e-04 9.99991276e-01 1.26761180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.922755096 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:20.53, Y:1.58, Z:0.13 [[ 9.89250385e-01 -1.46172768e-01 -4.14700669e-03 2.05254727e+01] [ 1.46171952e-01 9.89259071e-01 -5.00890250e-04 1.57897737e+00] [ 4.17568050e-03 -1.10670191e-04 9.99991276e-01 1.26973274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.982755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:20.58, Y:1.59, Z:0.13 [[ 9.89216603e-01 -1.46401214e-01 -4.14684857e-03 2.05835059e+01] [ 1.46400395e-01 9.89225289e-01 -5.02195962e-04 1.58697058e+00] [ 4.17568957e-03 -1.10319683e-04 9.99991276e-01 1.27147334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.042755096 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:20.64, Y:1.59, Z:0.13 [[ 9.89002539e-01 -1.47840396e-01 -4.14668501e-03 2.06401374e+01] [ 1.47839583e-01 9.89011226e-01 -5.03542865e-04 1.59362045e+00] [ 4.17556200e-03 -1.15039010e-04 9.99991276e-01 1.27201347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.70, Y:1.60, Z:0.13 [[ 9.88849846e-01 -1.48858280e-01 -4.14657484e-03 2.06977485e+01] [ 1.48857472e-01 9.88858533e-01 -5.04448501e-04 1.60066209e+00] [ 4.17546725e-03 -1.18424825e-04 9.99991276e-01 1.28145582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.76, Y:1.61, Z:0.13 [[ 9.88825485e-01 -1.49020027e-01 -4.14641250e-03 2.07554168e+01] [ 1.49019215e-01 9.88834171e-01 -5.05779354e-04 1.60829869e+00] [ 4.17548562e-03 -1.17767620e-04 9.99991276e-01 1.28626600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.81, Y:1.62, Z:0.13 [[ 9.88901517e-01 -1.48514637e-01 -4.14625064e-03 2.08120641e+01] [ 1.48513816e-01 9.88910203e-01 -5.07102785e-04 1.61542684e+00] [ 4.17558175e-03 -1.14300789e-04 9.99991276e-01 1.28437490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.282755096 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:20.87, Y:1.62, Z:0.13 [[ 9.89345294e-01 -1.45529026e-01 -4.14618111e-03 2.08696157e+01] [ 1.45528176e-01 9.89353977e-01 -5.07670596e-04 1.62319513e+00] [ 4.17592158e-03 -1.01124660e-04 9.99991276e-01 1.27203801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.342755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:20.93, Y:1.63, Z:0.13 [[ 9.89755944e-01 -1.42709433e-01 -4.14601342e-03 2.09259038e+01] [ 1.42708552e-01 9.89764624e-01 -5.09036401e-04 1.63117557e+00] [ 4.17622171e-03 -8.78497686e-05 9.99991276e-01 1.28612071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.98, Y:1.64, Z:0.13 [[ 9.90253015e-01 -1.39218452e-01 -4.14593521e-03 2.09833636e+01] [ 1.39217538e-01 9.90261691e-01 -5.09672649e-04 1.64044222e+00] [ 4.17651665e-03 -7.24820148e-05 9.99991276e-01 1.28721871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.04, Y:1.65, Z:0.13 [[ 9.90549385e-01 -1.37093867e-01 -4.14577471e-03 2.10409032e+01] [ 1.37092929e-01 9.90558059e-01 -5.10974824e-04 1.64826369e+00] [ 4.17668207e-03 -6.22106016e-05 9.99991276e-01 1.28251781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.10, Y:1.66, Z:0.13 [[ 9.90588078e-01 -1.36814012e-01 -4.14561919e-03 2.10985009e+01] [ 1.36813066e-01 9.90596751e-01 -5.12233532e-04 1.65511472e+00] [ 4.17671762e-03 -5.97624430e-05 9.99991276e-01 1.29186703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.16, Y:1.66, Z:0.13 [[ 9.90560912e-01 -1.37010563e-01 -4.14545965e-03 2.11570472e+01] [ 1.37009614e-01 9.90569585e-01 -5.13521381e-04 1.66279289e+00] [ 4.17672410e-03 -5.92936191e-05 9.99991276e-01 1.27044485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.22, Y:1.67, Z:0.13 [[ 9.90668357e-01 -1.36231502e-01 -4.14532860e-03 2.12158658e+01] [ 1.36230542e-01 9.90677028e-01 -5.14577151e-04 1.67021695e+00] [ 4.17678343e-03 -5.49450591e-05 9.99991276e-01 1.28276235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.27, Y:1.68, Z:0.13 [[ 9.90497398e-01 -1.37468983e-01 -4.14518402e-03 2.12736253e+01] [ 1.37468029e-01 9.90506070e-01 -5.15739139e-04 1.67739476e+00] [ 4.17672807e-03 -5.89920006e-05 9.99991276e-01 1.28911269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.762755096 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:21.33, Y:1.68, Z:0.13 [[ 9.90175277e-01 -1.39770312e-01 -4.14501590e-03 2.13310143e+01] [ 1.39769371e-01 9.90183950e-01 -5.17086824e-04 1.68458847e+00] [ 4.17660160e-03 -6.73396770e-05 9.99991276e-01 1.26801719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.39, Y:1.69, Z:0.13 [[ 9.90121022e-01 -1.40154139e-01 -4.14483337e-03 2.13898982e+01] [ 1.40153196e-01 9.90129695e-01 -5.18545856e-04 1.69092032e+00] [ 4.17659894e-03 -6.74884905e-05 9.99991276e-01 1.29007645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.45, Y:1.70, Z:0.13 [[ 9.90141675e-01 -1.40008163e-01 -4.14467206e-03 2.14476064e+01] [ 1.40007213e-01 9.90150347e-01 -5.19831974e-04 1.69651956e+00] [ 4.17662920e-03 -6.55766833e-05 9.99991276e-01 1.28970617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.51, Y:1.70, Z:0.13 [[ 9.89734359e-01 -1.42859096e-01 -4.14450652e-03 2.15056978e+01] [ 1.42858166e-01 9.89743034e-01 -5.21148462e-04 1.70343336e+00] [ 4.17644725e-03 -7.62780593e-05 9.99991276e-01 1.28317177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.56, Y:1.71, Z:0.13 [[ 9.89709174e-01 -1.43033473e-01 -4.14439953e-03 2.15631570e+01] [ 1.43032541e-01 9.89717849e-01 -5.21997857e-04 1.71026544e+00] [ 4.17644936e-03 -7.61579270e-05 9.99991276e-01 1.30565846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.062755096 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:21.62, Y:1.72, Z:0.13 [[ 9.89778845e-01 -1.42550566e-01 -4.14422564e-03 2.16205356e+01] [ 1.42549624e-01 9.89787518e-01 -5.23374822e-04 1.71578041e+00] [ 4.17651018e-03 -7.27324794e-05 9.99991276e-01 1.30092282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.68, Y:1.72, Z:0.13 [[ 9.89691839e-01 -1.43153382e-01 -4.14404544e-03 2.16780079e+01] [ 1.43152439e-01 9.89700512e-01 -5.24797702e-04 1.72259866e+00] [ 4.17649046e-03 -7.38422104e-05 9.99991276e-01 1.31166347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.182755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:21.74, Y:1.73, Z:0.13 [[ 9.89842444e-01 -1.42108282e-01 -4.14385994e-03 2.17360389e+01] [ 1.42107324e-01 9.89851116e-01 -5.26258396e-04 1.73012070e+00] [ 4.17659006e-03 -6.79599511e-05 9.99991276e-01 1.31592478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.242755096 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:21.79, Y:1.74, Z:0.13 [[ 9.89989919e-01 -1.41077247e-01 -4.14369086e-03 2.17927135e+01] [ 1.41076274e-01 9.89998589e-01 -5.27586341e-04 1.73723080e+00] [ 4.17667854e-03 -6.22713103e-05 9.99991276e-01 1.31503259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.302755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:21.85, Y:1.74, Z:0.13 [[ 9.89981597e-01 -1.41135640e-01 -4.14361871e-03 2.18501019e+01] [ 1.41134666e-01 9.89990266e-01 -5.28152432e-04 1.74459490e+00] [ 4.17668332e-03 -6.19470541e-05 9.99991276e-01 1.31871660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.91, Y:1.75, Z:0.13 [[ 9.89837248e-01 -1.42144484e-01 -4.14344883e-03 2.19078420e+01] [ 1.42143513e-01 9.89845918e-01 -5.29481790e-04 1.75172053e+00] [ 4.17663883e-03 -6.48635758e-05 9.99991276e-01 1.33036342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.96, Y:1.76, Z:0.13 [[ 9.89625862e-01 -1.43608797e-01 -4.14327695e-03 2.19642241e+01] [ 1.43607833e-01 9.89634533e-01 -5.30823424e-04 1.75985521e+00] [ 4.17656086e-03 -6.96904333e-05 9.99991276e-01 1.34111904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.02, Y:1.77, Z:0.13 [[ 9.89481824e-01 -1.44597903e-01 -4.14320317e-03 2.20210194e+01] [ 1.44596945e-01 9.89490496e-01 -5.31398628e-04 1.76739839e+00] [ 4.17649929e-03 -7.32852360e-05 9.99991276e-01 1.34076255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.08, Y:1.78, Z:0.13 [[ 9.89143151e-01 -1.46896769e-01 -4.14309079e-03 2.20785139e+01] [ 1.46895828e-01 9.89151825e-01 -5.32273347e-04 1.77635803e+00] [ 4.17633506e-03 -8.21082160e-05 9.99991276e-01 1.32617814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.14, Y:1.78, Z:0.13 [[ 9.89314626e-01 -1.45737454e-01 -4.14298518e-03 2.21362746e+01] [ 1.45736499e-01 9.89323298e-01 -5.33094176e-04 1.78457367e+00] [ 4.17644355e-03 -7.63862901e-05 9.99991276e-01 1.33896890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.19, Y:1.79, Z:0.13 [[ 9.89219033e-01 -1.46384908e-01 -4.14281391e-03 2.21939944e+01] [ 1.46383954e-01 9.89227705e-01 -5.34421840e-04 1.79238928e+00] [ 4.17641759e-03 -7.77812228e-05 9.99991276e-01 1.33735458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.722755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:22.25, Y:1.80, Z:0.13 [[ 9.89116417e-01 -1.47076690e-01 -4.14264548e-03 2.22502237e+01] [ 1.47075736e-01 9.89125089e-01 -5.35724270e-04 1.80008753e+00] [ 4.17638713e-03 -7.93889614e-05 9.99991276e-01 1.32476780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.31, Y:1.81, Z:0.14 [[ 9.89443275e-01 -1.44861467e-01 -4.14246266e-03 2.23083732e+01] [ 1.44860487e-01 9.89451945e-01 -5.37134203e-04 1.80688049e+00] [ 4.17657778e-03 -6.86153353e-05 9.99991276e-01 1.35530454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.37, Y:1.82, Z:0.14 [[ 9.89358659e-01 -1.45438250e-01 -4.14228025e-03 2.23664151e+01] [ 1.45437270e-01 9.89367328e-01 -5.38537232e-04 1.81621475e+00] [ 4.17656066e-03 -6.96354573e-05 9.99991276e-01 1.35084041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.42, Y:1.83, Z:0.14 [[ 9.89711197e-01 -1.43019540e-01 -4.14214050e-03 2.24237276e+01] [ 1.43018534e-01 9.89719863e-01 -5.39610020e-04 1.82536276e+00] [ 4.17673350e-03 -5.83447828e-05 9.99991276e-01 1.35930336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.962755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:22.48, Y:1.83, Z:0.14 [[ 9.89874716e-01 -1.41883371e-01 -4.14198063e-03 2.24811226e+01] [ 1.41882350e-01 9.89883380e-01 -5.40834372e-04 1.83256757e+00] [ 4.17681319e-03 -5.23156747e-05 9.99991276e-01 1.37208993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.54, Y:1.84, Z:0.14 [[ 9.89819136e-01 -1.42270599e-01 -4.14179626e-03 2.25387965e+01] [ 1.42269575e-01 9.89827800e-01 -5.42242627e-04 1.84013713e+00] [ 4.17681026e-03 -5.25294670e-05 9.99991276e-01 1.35721632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.082755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:22.59, Y:1.85, Z:0.14 [[ 9.89893519e-01 -1.41752130e-01 -4.14173470e-03 2.25947913e+01] [ 1.41751100e-01 9.89902183e-01 -5.42712401e-04 1.84807273e+00] [ 4.17684286e-03 -4.98679604e-05 9.99991276e-01 1.36329288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.65, Y:1.86, Z:0.14 [[ 9.89722343e-01 -1.42942401e-01 -4.14165393e-03 2.26523482e+01] [ 1.42941378e-01 9.89731007e-01 -5.43328081e-04 1.85616183e+00] [ 4.17678794e-03 -5.42697803e-05 9.99991276e-01 1.35381128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.71, Y:1.86, Z:0.13 [[ 9.89333135e-01 -1.45611799e-01 -4.14146345e-03 2.27101388e+01] [ 1.45610794e-01 9.89341801e-01 -5.44776190e-04 1.86421779e+00] [ 4.17664875e-03 -6.40766453e-05 9.99991276e-01 1.34854461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.77, Y:1.87, Z:0.14 [[ 9.88950234e-01 -1.48190022e-01 -4.14140401e-03 2.27693668e+01] [ 1.48189038e-01 9.88958903e-01 -5.45227632e-04 1.86940739e+00] [ 4.17647566e-03 -7.45076812e-05 9.99991276e-01 1.36560626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.322755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:22.83, Y:1.88, Z:0.14 [[ 9.88734940e-01 -1.49619749e-01 -4.14127614e-03 2.28273610e+01] [ 1.49618773e-01 9.88743609e-01 -5.46197197e-04 1.87673457e+00] [ 4.17638220e-03 -7.95684007e-05 9.99991276e-01 1.38205009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.89, Y:1.88, Z:0.14 [[ 9.88532203e-01 -1.50953422e-01 -4.14111129e-03 2.28852062e+01] [ 1.50952452e-01 9.88540873e-01 -5.47444172e-04 1.88383671e+00] [ 4.17629634e-03 -8.39447113e-05 9.99991276e-01 1.39803690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.94, Y:1.89, Z:0.14 [[ 9.88384484e-01 -1.51917623e-01 -4.14094429e-03 2.29427798e+01] [ 1.51916656e-01 9.88393155e-01 -5.48704445e-04 1.89023042e+00] [ 4.17623887e-03 -8.67474515e-05 9.99991276e-01 1.39121242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.00, Y:1.90, Z:0.14 [[ 9.88203953e-01 -1.53087558e-01 -4.14076589e-03 2.30003978e+01] [ 1.53086596e-01 9.88212625e-01 -5.50047454e-04 1.89721669e+00] [ 4.17616255e-03 -9.03366884e-05 9.99991276e-01 1.41298786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.06, Y:1.90, Z:0.14 [[ 9.88084068e-01 -1.53859449e-01 -4.14056741e-03 2.30586059e+01] [ 1.53858488e-01 9.88092739e-01 -5.51537543e-04 1.90357217e+00] [ 4.17612385e-03 -9.20959811e-05 9.99991276e-01 1.42155541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.12, Y:1.91, Z:0.14 [[ 9.87957622e-01 -1.54669303e-01 -4.14039153e-03 2.31163060e+01] [ 1.54668344e-01 9.87966294e-01 -5.52854722e-04 1.90941252e+00] [ 4.17607693e-03 -9.41904641e-05 9.99991276e-01 1.42725122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.682755096 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:23.17, Y:1.91, Z:0.14 [[ 9.88469762e-01 -1.51361780e-01 -4.14021273e-03 2.31746671e+01] [ 1.51360786e-01 9.88478429e-01 -5.54190477e-04 1.91231218e+00] [ 4.17639423e-03 -7.88653259e-05 9.99991276e-01 1.39020862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.742755096 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:23.23, Y:1.92, Z:0.14 [[ 9.87956399e-01 -1.54677127e-01 -4.14012009e-03 2.32331984e+01] [ 1.54676160e-01 9.87965069e-01 -5.54881665e-04 1.92127267e+00] [ 4.17612154e-03 -9.21789847e-05 9.99991276e-01 1.43232141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.802755096 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:23.29, Y:1.93, Z:0.14 [[ 9.88193366e-01 -1.53155910e-01 -4.13993528e-03 2.32904095e+01] [ 1.53154923e-01 9.88202034e-01 -5.56257152e-04 1.92639492e+00] [ 4.17628653e-03 -8.43618429e-05 9.99991276e-01 1.43289184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.862755096 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:23.35, Y:1.93, Z:0.14 [[ 9.88033266e-01 -1.54185364e-01 -4.13987888e-03 2.33484870e+01] [ 1.54184385e-01 9.88041935e-01 -5.56676561e-04 1.93276006e+00] [ 4.17620532e-03 -8.82897172e-05 9.99991276e-01 1.44260773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.922755096 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:23.41, Y:1.94, Z:0.14 [[ 9.88299351e-01 -1.52470508e-01 -4.13969834e-03 2.34063293e+01] [ 1.52469508e-01 9.88308018e-01 -5.58015898e-04 1.93769353e+00] [ 4.17637803e-03 -7.96910192e-05 9.99991276e-01 1.44145891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.982755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:23.46, Y:1.94, Z:0.14 [[ 9.88561004e-01 -1.50764738e-01 -4.13952793e-03 2.34629095e+01] [ 1.50763718e-01 9.88569668e-01 -5.59277243e-04 1.94461981e+00] [ 4.17653104e-03 -7.12109472e-05 9.99991276e-01 1.44075602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.042755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:23.52, Y:1.95, Z:0.14 [[ 9.88781388e-01 -1.49312532e-01 -4.13944848e-03 2.35207665e+01] [ 1.49311496e-01 9.88790050e-01 -5.59864661e-04 1.95097094e+00] [ 4.17664028e-03 -6.44834899e-05 9.99991276e-01 1.44836666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.102755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:23.58, Y:1.96, Z:0.14 [[ 9.88766566e-01 -1.49410654e-01 -4.13927509e-03 2.35786573e+01] [ 1.49409614e-01 9.88775228e-01 -5.61143695e-04 1.95795646e+00] [ 4.17665351e-03 -6.36073677e-05 9.99991276e-01 1.44929234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.162755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:23.64, Y:1.97, Z:0.14 [[ 9.88523536e-01 -1.51010219e-01 -4.13909745e-03 2.36361905e+01] [ 1.51009187e-01 9.88532199e-01 -5.62450897e-04 1.96526380e+00] [ 4.17656694e-03 -6.90457936e-05 9.99991276e-01 1.44770460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.222755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:23.69, Y:1.97, Z:0.15 [[ 9.88531799e-01 -1.50956125e-01 -4.13891300e-03 2.36940392e+01] [ 1.50955087e-01 9.88540461e-01 -5.63805007e-04 1.97159451e+00] [ 4.17659278e-03 -6.74507944e-05 9.99991276e-01 1.47388167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.75, Y:1.98, Z:0.15 [[ 9.88698269e-01 -1.49861947e-01 -4.13872914e-03 2.37507978e+01] [ 1.49860894e-01 9.88706930e-01 -5.65151414e-04 1.98037571e+00] [ 4.17668487e-03 -6.14694247e-05 9.99991276e-01 1.47186271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.81, Y:1.99, Z:0.15 [[ 9.88810993e-01 -1.49116367e-01 -4.13865029e-03 2.38081892e+01] [ 1.49115305e-01 9.88819653e-01 -5.65728274e-04 1.98832660e+00] [ 4.17673809e-03 -5.77377617e-05 9.99991276e-01 1.48212607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.86, Y:2.00, Z:0.15 [[ 9.88663149e-01 -1.50093477e-01 -4.13845347e-03 2.38646078e+01] [ 1.50092418e-01 9.88671808e-01 -5.67164422e-04 1.99798636e+00] [ 4.17669995e-03 -6.04159240e-05 9.99991276e-01 1.46234157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.462755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:23.92, Y:2.01, Z:0.15 [[ 9.88391939e-01 -1.51869189e-01 -4.13824724e-03 2.39223115e+01] [ 1.51868139e-01 9.88400599e-01 -5.68665153e-04 2.00738649e+00] [ 4.17660877e-03 -6.64038538e-05 9.99991276e-01 1.46886539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.98, Y:2.01, Z:0.15 [[ 9.87728993e-01 -1.56122747e-01 -4.13805898e-03 2.39804431e+01] [ 1.56121729e-01 9.87737658e-01 -5.70031794e-04 2.01466351e+00] [ 4.17631162e-03 -8.30039923e-05 9.99991276e-01 1.47805848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.04, Y:2.02, Z:0.15 [[ 9.87216148e-01 -1.59333472e-01 -4.13788704e-03 2.40370764e+01] [ 1.59332477e-01 9.87224815e-01 -5.71277176e-04 2.02237585e+00] [ 4.17604835e-03 -9.53257371e-05 9.99991276e-01 1.48044126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.09, Y:2.03, Z:0.15 [[ 9.86366492e-01 -1.64511465e-01 -4.13780837e-03 2.40949157e+01] [ 1.64510512e-01 9.86375164e-01 -5.71846456e-04 2.03123483e+00] [ 4.17550671e-03 -1.16662792e-04 9.99991276e-01 1.48838796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.15, Y:2.04, Z:0.15 [[ 9.85674050e-01 -1.68610640e-01 -4.13763106e-03 2.41524654e+01] [ 1.68609719e-01 9.85682725e-01 -5.73126524e-04 2.03868670e+00] [ 4.17502669e-03 -1.32728867e-04 9.99991276e-01 1.49406789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.21, Y:2.05, Z:0.15 [[ 9.85428599e-01 -1.70039283e-01 -4.13745009e-03 2.42099420e+01] [ 1.70038369e-01 9.85437275e-01 -5.74429995e-04 2.04881553e+00] [ 4.17487321e-03 -1.37465519e-04 9.99991276e-01 1.50614783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.27, Y:2.06, Z:0.15 [[ 9.85319465e-01 -1.70670546e-01 -4.13727186e-03 2.42671210e+01] [ 1.70669632e-01 9.85328141e-01 -5.75710803e-04 2.05744529e+00] [ 4.17482727e-03 -1.38847605e-04 9.99991276e-01 1.49632015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.882755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:24.33, Y:2.07, Z:0.15 [[ 9.85213333e-01 -1.71282146e-01 -4.13709389e-03 2.43250448e+01] [ 1.71281232e-01 9.85222009e-01 -5.76986935e-04 2.06613002e+00] [ 4.17478351e-03 -1.40151315e-04 9.99991276e-01 1.50045440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.38, Y:2.07, Z:0.15 [[ 9.85068271e-01 -1.72114460e-01 -4.13691670e-03 2.43824120e+01] [ 1.72113547e-01 9.85076947e-01 -5.78254518e-04 2.07446994e+00] [ 4.17470724e-03 -1.42399231e-04 9.99991276e-01 1.51187394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.44, Y:2.08, Z:0.15 [[ 9.85297434e-01 -1.70797699e-01 -4.13673399e-03 2.44403614e+01] [ 1.70796769e-01 9.85306109e-01 -5.79558646e-04 2.08027996e+00] [ 4.17493656e-03 -1.35503154e-04 9.99991276e-01 1.52151323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.062755096 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:24.50, Y:2.09, Z:0.15 [[ 9.85150005e-01 -1.71646021e-01 -4.13654716e-03 2.44977021e+01] [ 1.71645094e-01 9.85158680e-01 -5.80889119e-04 2.08895142e+00] [ 4.17486264e-03 -1.37755105e-04 9.99991276e-01 1.53550853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.56, Y:2.10, Z:0.15 [[ 9.85026870e-01 -1.72351257e-01 -4.13635850e-03 2.45558497e+01] [ 1.72350330e-01 9.85035545e-01 -5.82229447e-04 2.09918442e+00] [ 4.17480812e-03 -1.39391102e-04 9.99991276e-01 1.53021991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.182755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:24.61, Y:2.11, Z:0.15 [[ 9.85095821e-01 -1.71956724e-01 -4.13618323e-03 2.46125296e+01] [ 1.71955788e-01 9.85104495e-01 -5.83471911e-04 2.10858288e+00] [ 4.17490461e-03 -1.36464904e-04 9.99991276e-01 1.51728345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.67, Y:2.12, Z:0.15 [[ 9.84935813e-01 -1.72870870e-01 -4.13604833e-03 2.46696301e+01] [ 1.72869939e-01 9.84944487e-01 -5.84426593e-04 2.11940693e+00] [ 4.17480833e-03 -1.39375740e-04 9.99991276e-01 1.51260472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.73, Y:2.13, Z:0.15 [[ 9.85290705e-01 -1.70836529e-01 -4.13598517e-03 2.47272252e+01] [ 1.70835577e-01 9.85299378e-01 -5.84873265e-04 2.12654416e+00] [ 4.17510133e-03 -1.30303221e-04 9.99991276e-01 1.52961423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.78, Y:2.13, Z:0.15 [[ 9.84851008e-01 -1.73353354e-01 -4.13592397e-03 2.47848040e+01] [ 1.73352423e-01 9.84859683e-01 -5.85305661e-04 2.13388648e+00] [ 4.17476947e-03 -1.40533571e-04 9.99991276e-01 1.54202977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.84, Y:2.14, Z:0.16 [[ 9.84386921e-01 -1.75969560e-01 -4.13573937e-03 2.48419983e+01] [ 1.75968646e-01 9.84395597e-01 -5.86607158e-04 2.14298414e+00] [ 4.17442863e-03 -1.50312045e-04 9.99991276e-01 1.55894401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.482755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.90, Y:2.15, Z:0.16 [[ 9.84074765e-01 -1.77706932e-01 -4.13555696e-03 2.48999068e+01] [ 1.77706028e-01 9.84083443e-01 -5.87890375e-04 2.15138098e+00] [ 4.17420532e-03 -1.56385317e-04 9.99991276e-01 1.56630839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.96, Y:2.16, Z:0.16 [[ 9.83743760e-01 -1.79530256e-01 -4.13537677e-03 2.49576206e+01] [ 1.79529363e-01 9.83752439e-01 -5.89155142e-04 2.15959355e+00] [ 4.17395815e-03 -1.62843862e-04 9.99991276e-01 1.55778102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.602755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:25.02, Y:2.17, Z:0.16 [[ 9.83761755e-01 -1.79431629e-01 -4.13519581e-03 2.50150768e+01] [ 1.79430730e-01 9.83770433e-01 -5.90422537e-04 2.16917265e+00] [ 4.17402385e-03 -1.61146092e-04 9.99991276e-01 1.56557326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.07, Y:2.18, Z:0.16 [[ 9.83853283e-01 -1.78929089e-01 -4.13499786e-03 2.50711581e+01] [ 1.78928180e-01 9.83861960e-01 -5.91805614e-04 2.17833590e+00] [ 4.17415834e-03 -1.57617745e-04 9.99991276e-01 1.56760073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.13, Y:2.19, Z:0.16 [[ 9.84144676e-01 -1.77319369e-01 -4.13491525e-03 2.51285982e+01] [ 1.77318443e-01 9.84153351e-01 -5.92382224e-04 2.18779358e+00] [ 4.17443155e-03 -1.50206924e-04 9.99991276e-01 1.57184559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.19, Y:2.20, Z:0.16 [[ 9.84424567e-01 -1.75758855e-01 -4.13472395e-03 2.51861259e+01] [ 1.75757910e-01 9.84433240e-01 -5.93714532e-04 2.19716677e+00] [ 4.17471028e-03 -1.42243269e-04 9.99991276e-01 1.57911328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.24, Y:2.21, Z:0.16 [[ 9.84926276e-01 -1.72925231e-01 -4.13453256e-03 2.52428147e+01] [ 1.72924256e-01 9.84934946e-01 -5.95044357e-04 2.20805648e+00] [ 4.17514378e-03 -1.28886142e-04 9.99991276e-01 1.59184682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.30, Y:2.22, Z:0.16 [[ 9.85186169e-01 -1.71438387e-01 -4.13434393e-03 2.52999489e+01] [ 1.71437393e-01 9.85194836e-01 -5.96352030e-04 2.21777308e+00] [ 4.17537192e-03 -1.21263373e-04 9.99991276e-01 1.59327489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.36, Y:2.23, Z:0.16 [[ 9.85299515e-01 -1.70785753e-01 -4.13415721e-03 2.53559413e+01] [ 1.70784748e-01 9.85308182e-01 -5.97643680e-04 2.22711044e+00] [ 4.17548795e-03 -1.17192968e-04 9.99991276e-01 1.58596408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.41, Y:2.24, Z:0.16 [[ 9.84883513e-01 -1.73168631e-01 -4.13407688e-03 2.54120562e+01] [ 1.73167644e-01 9.84892181e-01 -5.98198790e-04 2.23695715e+00] [ 4.17520927e-03 -1.26732229e-04 9.99991276e-01 1.57234977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.47, Y:2.25, Z:0.16 [[ 9.84437242e-01 -1.75687868e-01 -4.13395321e-03 2.54696795e+01] [ 1.75686900e-01 9.84445912e-01 -5.99052238e-04 2.24613631e+00] [ 4.17489955e-03 -1.36552089e-04 9.99991276e-01 1.57044169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.53, Y:2.25, Z:0.16 [[ 9.83791181e-01 -1.79270253e-01 -4.13377639e-03 2.55272503e+01] [ 1.79269312e-01 9.83799854e-01 -6.00269953e-04 2.25452359e+00] [ 4.17441915e-03 -1.50518961e-04 9.99991276e-01 1.57369371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.59, Y:2.26, Z:0.16 [[ 9.82962899e-01 -1.83757592e-01 -4.13359305e-03 2.55850156e+01] [ 1.83756685e-01 9.82971576e-01 -6.01529820e-04 2.26259267e+00] [ 4.17374014e-03 -1.68293858e-04 9.99991276e-01 1.57045583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.64, Y:2.27, Z:0.16 [[ 9.82493166e-01 -1.86252769e-01 -4.13341012e-03 2.56417472e+01] [ 1.86251879e-01 9.82501844e-01 -6.02784154e-04 2.27152838e+00] [ 4.17335329e-03 -1.77624089e-04 9.99991276e-01 1.57363300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.70, Y:2.28, Z:0.16 [[ 9.82343137e-01 -1.87042447e-01 -4.13328695e-03 2.56989875e+01] [ 1.87041560e-01 9.82351816e-01 -6.03627570e-04 2.28080056e+00] [ 4.17324592e-03 -1.80127038e-04 9.99991276e-01 1.56847368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.76, Y:2.29, Z:0.16 [[ 9.83315755e-01 -1.81859953e-01 -4.13310772e-03 2.57572735e+01] [ 1.81859015e-01 9.83324429e-01 -6.04852294e-04 2.28584894e+00] [ 4.17418420e-03 -1.56882107e-04 9.99991276e-01 1.58342465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.81, Y:2.30, Z:0.15 [[ 9.82985096e-01 -1.83638828e-01 -4.13291518e-03 2.58138722e+01] [ 1.83637900e-01 9.82993771e-01 -6.06165100e-04 2.30084585e+00] [ 4.17394532e-03 -1.63108606e-04 9.99991276e-01 1.54698362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.502755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:25.87, Y:2.31, Z:0.16 [[ 9.84387107e-01 -1.75968587e-01 -4.13272533e-03 2.58727851e+01] [ 1.75967586e-01 9.84395774e-01 -6.07456656e-04 2.30555821e+00] [ 4.17513064e-03 -1.29253198e-04 9.99991276e-01 1.57800100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.93, Y:2.32, Z:0.15 [[ 9.84471494e-01 -1.75495869e-01 -4.13254559e-03 2.59294670e+01] [ 1.75494859e-01 9.84480159e-01 -6.08677016e-04 2.32017626e+00] [ 4.17522944e-03 -1.26015333e-04 9.99991276e-01 1.54463820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.99, Y:2.33, Z:0.16 [[ 9.84843232e-01 -1.73397610e-01 -4.13248278e-03 2.59872818e+01] [ 1.73396579e-01 9.84851895e-01 -6.09103135e-04 2.32924351e+00] [ 4.17550053e-03 -1.16687278e-04 9.99991276e-01 1.55208527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.04, Y:2.34, Z:0.16 [[ 9.85150554e-01 -1.71642973e-01 -4.13227977e-03 2.60434088e+01] [ 1.71641922e-01 9.85159215e-01 -6.10477329e-04 2.33758570e+00] [ 4.17573763e-03 -1.07860361e-04 9.99991276e-01 1.56186993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.10, Y:2.35, Z:0.16 [[ 9.85037349e-01 -1.72291460e-01 -4.13219104e-03 2.61008694e+01] [ 1.72290411e-01 9.85046010e-01 -6.11077300e-04 2.34572437e+00] [ 4.17568170e-03 -1.10002929e-04 9.99991276e-01 1.56123986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.16, Y:2.35, Z:0.16 [[ 9.84836121e-01 -1.73438003e-01 -4.13199798e-03 2.61581439e+01] [ 1.73436959e-01 9.84844783e-01 -6.12379936e-04 2.35370924e+00] [ 4.17558661e-03 -1.13547284e-04 9.99991276e-01 1.55636988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.22, Y:2.36, Z:0.16 [[ 9.84319253e-01 -1.76347769e-01 -4.13179509e-03 2.62160106e+01] [ 1.76346745e-01 9.84327917e-01 -6.13745873e-04 2.36004121e+00] [ 4.17527397e-03 -1.24506735e-04 9.99991276e-01 1.55327050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.27, Y:2.37, Z:0.15 [[ 9.83839567e-01 -1.79004573e-01 -4.13159689e-03 2.62740239e+01] [ 1.79003566e-01 9.83848233e-01 -6.15077173e-04 2.36751726e+00] [ 4.17496593e-03 -1.34433320e-04 9.99991276e-01 1.54646593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.982755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.33, Y:2.37, Z:0.15 [[ 9.83269888e-01 -1.82107823e-01 -4.13140020e-03 2.63307963e+01] [ 1.82106838e-01 9.83278556e-01 -6.16395496e-04 2.37274928e+00] [ 4.17456767e-03 -1.46273098e-04 9.99991276e-01 1.54326439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.39, Y:2.38, Z:0.15 [[ 9.82827098e-01 -1.84482594e-01 -4.13131584e-03 2.63883394e+01] [ 1.84481628e-01 9.82835769e-01 -6.16960426e-04 2.37887233e+00] [ 4.17422344e-03 -1.55786447e-04 9.99991276e-01 1.52936914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.45, Y:2.39, Z:0.15 [[ 9.82711316e-01 -1.85098360e-01 -4.13112093e-03 2.64459822e+01] [ 1.85097394e-01 9.82719987e-01 -6.18262785e-04 2.38598740e+00] [ 4.17417453e-03 -1.57085882e-04 9.99991276e-01 1.51930548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.162755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:26.50, Y:2.39, Z:0.15 [[ 9.82877379e-01 -1.84214529e-01 -4.13092231e-03 2.65029306e+01] [ 1.84213550e-01 9.82886048e-01 -6.19587009e-04 2.39104922e+00] [ 4.17436283e-03 -1.51993806e-04 9.99991276e-01 1.51341481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.222755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:26.56, Y:2.40, Z:0.15 [[ 9.83242778e-01 -1.82254154e-01 -4.13083717e-03 2.65592454e+01] [ 1.82253155e-01 9.83251444e-01 -6.20154152e-04 2.39746261e+00] [ 4.17467728e-03 -1.43096015e-04 9.99991276e-01 1.50653331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.282755096 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:26.62, Y:2.40, Z:0.15 [[ 9.83804895e-01 -1.79195049e-01 -4.13070709e-03 2.66171911e+01] [ 1.79194020e-01 9.83813558e-01 -6.21019335e-04 2.40481038e+00] [ 4.17512923e-03 -1.29236146e-04 9.99991276e-01 1.50813811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.342755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:26.67, Y:2.41, Z:0.15 [[ 9.84552730e-01 -1.75039600e-01 -4.13051213e-03 2.66746395e+01] [ 1.75038529e-01 9.84561388e-01 -6.22313354e-04 2.41273050e+00] [ 4.17567224e-03 -1.10298455e-04 9.99991276e-01 1.51411041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.402755096 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:26.73, Y:2.42, Z:0.15 [[ 9.85064725e-01 -1.72134915e-01 -4.13031788e-03 2.67324369e+01] [ 1.72133813e-01 9.85073379e-01 -6.23599966e-04 2.41983689e+00] [ 4.17600951e-03 -9.66810346e-05 9.99991276e-01 1.51667380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.462755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:26.79, Y:2.43, Z:0.15 [[ 9.85040933e-01 -1.72271015e-01 -4.13012152e-03 2.67899327e+01] [ 1.72269908e-01 9.85049587e-01 -6.24897745e-04 2.42802769e+00] [ 4.17602627e-03 -9.59457977e-05 9.99991276e-01 1.51751724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.522755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:26.85, Y:2.44, Z:0.15 [[ 9.85154173e-01 -1.71622256e-01 -4.12992375e-03 2.68473752e+01] [ 1.71621138e-01 9.85162826e-01 -6.26202050e-04 2.43759713e+00] [ 4.17611756e-03 -9.18766502e-05 9.99991276e-01 1.52201447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.582755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:26.91, Y:2.45, Z:0.15 [[ 9.85104374e-01 -1.71907876e-01 -4.12972509e-03 2.69050737e+01] [ 1.71906756e-01 9.85113026e-01 -6.27509513e-04 2.44770152e+00] [ 4.17611980e-03 -9.17652750e-05 9.99991276e-01 1.52462160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.642755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:26.96, Y:2.46, Z:0.15 [[ 9.84808264e-01 -1.73596171e-01 -4.12952468e-03 2.69625277e+01] [ 1.73595060e-01 9.84816917e-01 -6.28825600e-04 2.45603094e+00] [ 4.17598748e-03 -9.75924361e-05 9.99991276e-01 1.52902695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.02, Y:2.47, Z:0.15 [[ 9.84489418e-01 -1.75395366e-01 -4.12931985e-03 2.70201072e+01] [ 1.75394264e-01 9.84498073e-01 -6.30167800e-04 2.46709786e+00] [ 4.17583594e-03 -1.03865486e-04 9.99991276e-01 1.52425967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.762755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:27.08, Y:2.48, Z:0.15 [[ 9.84099166e-01 -1.77571908e-01 -4.12912794e-03 2.70773641e+01] [ 1.77570821e-01 9.84107822e-01 -6.31422762e-04 2.47625337e+00] [ 4.17563005e-03 -1.11830024e-04 9.99991276e-01 1.51686938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.822755095999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:27.13, Y:2.49, Z:0.15 [[ 9.83750160e-01 -1.79495334e-01 -4.12892359e-03 2.71339943e+01] [ 1.79494258e-01 9.83758818e-01 -6.32756176e-04 2.48567515e+00] [ 4.17544177e-03 -1.18644085e-04 9.99991276e-01 1.50869192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.882755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:27.19, Y:2.50, Z:0.15 [[ 9.83349238e-01 -1.81678914e-01 -4.12886109e-03 2.71913009e+01] [ 1.81677856e-01 9.83357898e-01 -6.33163744e-04 2.49647138e+00] [ 4.17518067e-03 -1.27501544e-04 9.99991276e-01 1.50521228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.25, Y:2.51, Z:0.15 [[ 9.83399352e-01 -1.81407463e-01 -4.12866322e-03 2.72484652e+01] [ 1.81406397e-01 9.83408011e-01 -6.34451405e-04 2.50501177e+00] [ 4.17525471e-03 -1.25046818e-04 9.99991276e-01 1.51063539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.31, Y:2.51, Z:0.15 [[ 9.83822211e-01 -1.79100007e-01 -4.12846127e-03 2.73055971e+01] [ 1.79098915e-01 9.83830867e-01 -6.35762796e-04 2.51436643e+00] [ 4.17557275e-03 -1.13925375e-04 9.99991276e-01 1.51803872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.36, Y:2.52, Z:0.15 [[ 9.84056617e-01 -1.77807568e-01 -4.12826013e-03 2.73632480e+01] [ 1.77806459e-01 9.84065271e-01 -6.37066215e-04 2.52390413e+00] [ 4.17575262e-03 -1.07122090e-04 9.99991276e-01 1.51582423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.42, Y:2.53, Z:0.15 [[ 9.84397780e-01 -1.75908982e-01 -4.12805710e-03 2.74203552e+01] [ 1.75907851e-01 9.84406431e-01 -6.38379105e-04 2.53470392e+00] [ 4.17598257e-03 -9.77386792e-05 9.99991276e-01 1.53039120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.182755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:27.48, Y:2.54, Z:0.16 [[ 9.84521219e-01 -1.75216810e-01 -4.12785427e-03 2.74784004e+01] [ 1.75215667e-01 9.84529868e-01 -6.39687954e-04 2.54116561e+00] [ 4.17607990e-03 -9.34783758e-05 9.99991276e-01 1.55938867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.54, Y:2.55, Z:0.15 [[ 9.84527555e-01 -1.75181205e-01 -4.12779102e-03 2.75363959e+01] [ 1.75180061e-01 9.84536204e-01 -6.40095795e-04 2.55177596e+00] [ 4.17609246e-03 -9.29147333e-05 9.99991276e-01 1.53951043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.302755096 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:27.59, Y:2.56, Z:0.15 [[ 9.84310317e-01 -1.76397743e-01 -4.12760780e-03 2.75928781e+01] [ 1.76396604e-01 9.84318966e-01 -6.41275103e-04 2.56299105e+00] [ 4.17600213e-03 -9.68822982e-05 9.99991276e-01 1.53348020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.65, Y:2.57, Z:0.15 [[ 9.84037729e-01 -1.77912091e-01 -4.12746677e-03 2.76494920e+01] [ 1.77910962e-01 9.84046380e-01 -6.42181564e-04 2.57404330e+00] [ 4.17587060e-03 -1.02390696e-04 9.99991276e-01 1.53087700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.422755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:27.71, Y:2.58, Z:0.15 [[ 9.83322855e-01 -1.81821695e-01 -4.12726094e-03 2.77064767e+01] [ 1.81820595e-01 9.83331509e-01 -6.43501683e-04 2.58442202e+00] [ 4.17546830e-03 -1.17651126e-04 9.99991276e-01 1.53014406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.482755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.76, Y:2.59, Z:0.15 [[ 9.82942621e-01 -1.83866179e-01 -4.12707193e-03 2.77642531e+01] [ 1.83865092e-01 9.82951277e-01 -6.44711659e-04 2.59430360e+00] [ 4.17525129e-03 -1.25109890e-04 9.99991276e-01 1.52160155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.82, Y:2.60, Z:0.15 [[ 9.82432741e-01 -1.86571377e-01 -4.12687465e-03 2.78198428e+01] [ 1.86570308e-01 9.82441399e-01 -6.45971987e-04 2.60497084e+00] [ 4.17493239e-03 -1.35328243e-04 9.99991276e-01 1.50785675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.602755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:27.88, Y:2.62, Z:0.15 [[ 9.82254245e-01 -1.87508848e-01 -4.12678309e-03 2.78767816e+01] [ 1.87507785e-01 9.82262904e-01 -6.46556423e-04 2.61597979e+00] [ 4.17482099e-03 -1.38721163e-04 9.99991276e-01 1.50204392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.662755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:27.93, Y:2.63, Z:0.15 [[ 9.82271351e-01 -1.87419219e-01 -4.12658390e-03 2.79339582e+01] [ 1.87418149e-01 9.82280010e-01 -6.47825233e-04 2.62602034e+00] [ 4.17487577e-03 -1.37056550e-04 9.99991276e-01 1.50921905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.99, Y:2.64, Z:0.15 [[ 9.82740382e-01 -1.84944084e-01 -4.12638413e-03 2.79907169e+01] [ 1.84942988e-01 9.82749037e-01 -6.49095162e-04 2.63533220e+00] [ 4.17524634e-03 -1.25253782e-04 9.99991276e-01 1.53292316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.05, Y:2.64, Z:0.15 [[ 9.83259133e-01 -1.82166001e-01 -4.12619897e-03 2.80476676e+01] [ 1.82164875e-01 9.83267784e-01 -6.50270100e-04 2.64250681e+00] [ 4.17561562e-03 -1.12264504e-04 9.99991276e-01 1.53343051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.10, Y:2.65, Z:0.15 [[ 9.83554339e-01 -1.80565328e-01 -4.12611998e-03 2.81040918e+01] [ 1.80564185e-01 9.83562988e-01 -6.50770913e-04 2.65476180e+00] [ 4.17580556e-03 -1.04960937e-04 9.99991276e-01 1.51405012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.16, Y:2.66, Z:0.15 [[ 9.83934332e-01 -1.78483070e-01 -4.12591305e-03 2.81612673e+01] [ 1.78481904e-01 9.83942978e-01 -6.52080237e-04 2.66452373e+00] [ 4.17604846e-03 -9.47966832e-05 9.99991276e-01 1.52589032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.22, Y:2.67, Z:0.15 [[ 9.84563070e-01 -1.74981544e-01 -4.12570805e-03 2.82186454e+01] [ 1.74980342e-01 9.84571711e-01 -6.53374687e-04 2.67302879e+00] [ 4.17638394e-03 -7.86292169e-05 9.99991276e-01 1.52881581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.022755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:28.28, Y:2.68, Z:0.15 [[ 9.84534997e-01 -1.75139426e-01 -4.12564457e-03 2.82768929e+01] [ 1.75138223e-01 9.84543638e-01 -6.53775246e-04 2.67909944e+00] [ 4.17637894e-03 -7.88934501e-05 9.99991276e-01 1.52388446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.082755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:28.33, Y:2.69, Z:0.15 [[ 9.84651230e-01 -1.74484775e-01 -4.12543732e-03 2.83342746e+01] [ 1.74483562e-01 9.84659869e-01 -6.55080463e-04 2.68689530e+00] [ 4.17645414e-03 -7.47952136e-05 9.99991276e-01 1.51964592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.39, Y:2.70, Z:0.15 [[ 9.85014304e-01 -1.72423324e-01 -4.12522640e-03 2.83910892e+01] [ 1.72422087e-01 9.85022940e-01 -6.56406005e-04 2.69566930e+00] [ 4.17662234e-03 -6.47108404e-05 9.99991276e-01 1.51532907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.202755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:28.45, Y:2.71, Z:0.15 [[ 9.85457456e-01 -1.69872260e-01 -4.12516176e-03 2.84477858e+01] [ 1.69870999e-01 9.85466089e-01 -6.56811983e-04 2.70521270e+00] [ 4.17678116e-03 -5.34850835e-05 9.99991276e-01 1.53420559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.262755096 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:28.51, Y:2.71, Z:0.16 [[ 9.85924617e-01 -1.67139562e-01 -4.12509863e-03 2.85058028e+01] [ 1.67138275e-01 9.85933246e-01 -6.57208193e-04 2.71442128e+00] [ 4.17691738e-03 -4.15041358e-05 9.99991276e-01 1.55058607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.322755095999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.56, Y:2.72, Z:0.15 [[ 9.85880291e-01 -1.67400828e-01 -4.12492019e-03 2.85629562e+01] [ 1.67399539e-01 9.85888919e-01 -6.58326305e-04 2.72405866e+00] [ 4.17691747e-03 -4.14788063e-05 9.99991276e-01 1.54098530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.62, Y:2.73, Z:0.15 [[ 9.85936176e-01 -1.67071373e-01 -4.12470834e-03 2.86205165e+01] [ 1.67070076e-01 9.85944803e-01 -6.59650936e-04 2.73478198e+00] [ 4.17694354e-03 -3.87416133e-05 9.99991276e-01 1.54565363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.442755096 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:28.68, Y:2.75, Z:0.15 [[ 9.85931175e-01 -1.67100885e-01 -4.12452320e-03 2.86789105e+01] [ 1.67099583e-01 9.85939802e-01 -6.60806548e-04 2.74557590e+00] [ 4.17695294e-03 -3.76963296e-05 9.99991276e-01 1.53296978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.74, Y:2.75, Z:0.15 [[ 9.85596384e-01 -1.69064360e-01 -4.12433726e-03 2.87371559e+01] [ 1.69063070e-01 9.85605012e-01 -6.61965051e-04 2.75479185e+00] [ 4.17688217e-03 -4.48427569e-05 9.99991276e-01 1.52434835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.79, Y:2.77, Z:0.15 [[ 9.85089446e-01 -1.71993533e-01 -4.12414877e-03 2.87944621e+01] [ 1.71992264e-01 9.85098077e-01 -6.63137282e-04 2.76570671e+00] [ 4.17674634e-03 -5.60721466e-05 9.99991276e-01 1.53243548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.85, Y:2.78, Z:0.16 [[ 9.84205156e-01 -1.76983621e-01 -4.12408277e-03 2.88524190e+01] [ 1.76982394e-01 9.84213794e-01 -6.63547471e-04 2.77870583e+00] [ 4.17641618e-03 -7.68231979e-05 9.99991276e-01 1.55085218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.91, Y:2.79, Z:0.16 [[ 9.83507892e-01 -1.80818197e-01 -4.12389980e-03 2.89092016e+01] [ 1.80816998e-01 9.83516533e-01 -6.64682655e-04 2.78928948e+00] [ 4.17611036e-03 -9.19505471e-05 9.99991276e-01 1.58263882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.97, Y:2.80, Z:0.15 [[ 9.82506844e-01 -1.86180812e-01 -4.12383179e-03 2.89673554e+01] [ 1.86179659e-01 9.82515492e-01 -6.65104355e-04 2.80056054e+00] [ 4.17555829e-03 -1.14304015e-04 9.99991276e-01 1.54900467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.802755096 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:29.02, Y:2.81, Z:0.15 [[ 9.81488205e-01 -1.91478197e-01 -4.12363481e-03 2.90238104e+01] [ 1.91477086e-01 9.81496858e-01 -6.66323397e-04 2.81236909e+00] [ 4.17492101e-03 -1.35593020e-04 9.99991276e-01 1.53724453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.862755096 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:29.08, Y:2.82, Z:0.16 [[ 9.81215898e-01 -1.92868760e-01 -4.12342183e-03 2.90818638e+01] [ 1.92867655e-01 9.81224552e-01 -6.67638808e-04 2.82038986e+00] [ 4.17476940e-03 -1.40176886e-04 9.99991276e-01 1.58406601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.922755096 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:29.14, Y:2.83, Z:0.15 [[ 9.80221719e-01 -1.97859496e-01 -4.12321537e-03 2.91383956e+01] [ 1.97858430e-01 9.80230378e-01 -6.68911446e-04 2.83384236e+00] [ 4.17405144e-03 -1.60131391e-04 9.99991276e-01 1.49854870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.982755095999998 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:29.20, Y:2.85, Z:0.15 [[ 9.80060482e-01 -1.98656618e-01 -4.12314170e-03 2.91957587e+01] [ 1.98655558e-01 9.80069141e-01 -6.69365199e-04 2.84643259e+00] [ 4.17393777e-03 -1.63066635e-04 9.99991276e-01 1.47020268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.042755096 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:29.25, Y:2.86, Z:0.14 [[ 9.79889677e-01 -1.99497424e-01 -4.12294277e-03 2.92528941e+01] [ 1.99496365e-01 9.79898337e-01 -6.70588310e-04 2.85978903e+00] [ 4.17384540e-03 -1.65409534e-04 9.99991276e-01 1.42588887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.102755096 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:29.31, Y:2.87, Z:0.14 [[ 9.79979398e-01 -1.99056232e-01 -4.12273707e-03 2.93099056e+01] [ 1.99055164e-01 9.79988056e-01 -6.71850522e-04 2.87019454e+00] [ 4.17396912e-03 -1.62252435e-04 9.99991276e-01 1.40914414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.162755096 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:29.37, Y:2.88, Z:0.14 [[ 9.80462994e-01 -1.96660424e-01 -4.12252389e-03 2.93663571e+01] [ 1.96659329e-01 9.80471649e-01 -6.73156067e-04 2.88296398e+00] [ 4.17440096e-03 -1.50728171e-04 9.99991276e-01 1.37795801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.222755096 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:29.42, Y:2.90, Z:0.14 [[ 9.80912046e-01 -1.94408241e-01 -4.12230894e-03 2.94238706e+01] [ 1.94407121e-01 9.80920698e-01 -6.74469854e-04 2.89653642e+00] [ 4.17478066e-03 -1.39810607e-04 9.99991276e-01 1.41374762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.282755096 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:29.48, Y:2.91, Z:0.13 [[ 9.81738009e-01 -1.90193297e-01 -4.12210529e-03 2.94803727e+01] [ 1.90192135e-01 9.81746655e-01 -6.75712163e-04 2.90674754e+00] [ 4.17537901e-03 -1.20619693e-04 9.99991276e-01 1.34159952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.342755096 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:29.54, Y:2.92, Z:0.14 [[ 9.82114108e-01 -1.88241567e-01 -4.12201239e-03 2.95379382e+01] [ 1.88240386e-01 9.82122752e-01 -6.76278454e-04 2.92128745e+00] [ 4.17562586e-03 -1.11746592e-04 9.99991276e-01 1.38486380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.402755096 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:29.59, Y:2.93, Z:0.13 [[ 9.82715772e-01 -1.85074910e-01 -4.12179053e-03 2.95941168e+01] [ 1.85073695e-01 9.82724411e-01 -6.77627933e-04 2.93434539e+00] [ 4.17599610e-03 -9.69193474e-05 9.99991276e-01 1.33328609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.462755096 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:29.65, Y:2.95, Z:0.13 [[ 9.82798730e-01 -1.84633876e-01 -4.12172195e-03 2.96501430e+01] [ 1.84632655e-01 9.82807368e-01 -6.78044809e-04 2.94912028e+00] [ 4.17604874e-03 -9.46228901e-05 9.99991276e-01 1.33572854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.522755096 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:29.71, Y:2.96, Z:0.13 [[ 9.83328873e-01 -1.81789275e-01 -4.12149572e-03 2.97073210e+01] [ 1.81788024e-01 9.83337507e-01 -6.79417197e-04 2.96255760e+00] [ 4.17633208e-03 -8.11480155e-05 9.99991276e-01 1.29913170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.582755096 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:29.76, Y:2.97, Z:0.13 [[ 9.83865458e-01 -1.78862447e-01 -4.12128395e-03 2.97643080e+01] [ 1.78861164e-01 9.83874088e-01 -6.80699321e-04 2.97330225e+00] [ 4.17657604e-03 -6.74210954e-05 9.99991276e-01 1.31493276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.642755096 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:29.82, Y:2.99, Z:0.13 [[ 9.84014006e-01 -1.78043400e-01 -4.12117198e-03 2.98208134e+01] [ 1.78042108e-01 9.84022634e-01 -6.81376566e-04 2.98601338e+00] [ 4.17664111e-03 -6.32580609e-05 9.99991276e-01 1.31658631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.702755096 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:29.88, Y:3.00, Z:0.13 [[ 9.84020662e-01 -1.78006615e-01 -4.12095035e-03 2.98774197e+01] [ 1.78005317e-01 9.84029289e-01 -6.82714350e-04 2.99845223e+00] [ 4.17666351e-03 -6.17460470e-05 9.99991276e-01 1.32108962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.762755096 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:29.93, Y:3.01, Z:0.13 [[ 9.83955926e-01 -1.78364111e-01 -4.12072869e-03 2.99331504e+01] [ 1.78362810e-01 9.83964552e-01 -6.84049613e-04 3.00913918e+00] [ 4.17666087e-03 -6.19100803e-05 9.99991276e-01 1.32110521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.822755095999998 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:29.99, Y:3.02, Z:0.13 [[ 9.83482688e-01 -1.80955308e-01 -4.12063360e-03 2.99902889e+01] [ 1.80954027e-01 9.83491317e-01 -6.84621951e-04 3.01963518e+00] [ 4.17649335e-03 -7.23314078e-05 9.99991276e-01 1.33471766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.882755096 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:30.05, Y:3.03, Z:0.13 [[ 9.83087758e-01 -1.83088726e-01 -4.12041533e-03 3.00475136e+01] [ 1.83087458e-01 9.83096390e-01 -6.85933139e-04 3.02874583e+00] [ 4.17635206e-03 -8.00638970e-05 9.99991276e-01 1.34120529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.10, Y:3.04, Z:0.14 [[ 9.82229589e-01 -1.87638106e-01 -4.12019440e-03 3.01046515e+01] [ 1.87636873e-01 9.82238226e-01 -6.87257607e-04 3.03629299e+00] [ 4.17596815e-03 -9.80556350e-05 9.99991276e-01 1.35048868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.16, Y:3.04, Z:0.14 [[ 9.81264321e-01 -1.92622321e-01 -4.11997450e-03 3.01624756e+01] [ 1.92621127e-01 9.81272963e-01 -6.88573387e-04 3.04140290e+00] [ 4.17545418e-03 -1.17921633e-04 9.99991276e-01 1.36805868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.062755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:30.22, Y:3.05, Z:0.14 [[ 9.80411712e-01 -1.96915981e-01 -4.11975442e-03 3.02200897e+01] [ 1.96914819e-01 9.80420358e-01 -6.89887627e-04 3.04533470e+00] [ 4.17494100e-03 -1.34866784e-04 9.99991276e-01 1.38308598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.28, Y:3.05, Z:0.14 [[ 9.79814843e-01 -1.99864711e-01 -4.11965364e-03 3.02790036e+01] [ 1.99863572e-01 9.79823492e-01 -6.90488875e-04 3.05055155e+00] [ 4.17453778e-03 -1.46817443e-04 9.99991276e-01 1.40537982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.182755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.34, Y:3.06, Z:0.14 [[ 9.80387481e-01 -1.97036588e-01 -4.11945966e-03 3.03374561e+01] [ 1.97035420e-01 9.80396127e-01 -6.91644238e-04 3.05802060e+00] [ 4.17498151e-03 -1.33600111e-04 9.99991276e-01 1.42738225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.242755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.40, Y:3.06, Z:0.14 [[ 9.81033630e-01 -1.93793829e-01 -4.11926385e-03 3.03952028e+01] [ 1.93792627e-01 9.81042271e-01 -6.92808455e-04 3.06239591e+00] [ 4.17543397e-03 -1.18614569e-04 9.99991276e-01 1.43500412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.45, Y:3.07, Z:0.14 [[ 9.81442959e-01 -1.91710071e-01 -4.11904183e-03 3.04530709e+01] [ 1.91708845e-01 9.81451597e-01 -6.94125945e-04 3.07141113e+00] [ 4.17571112e-03 -1.08411730e-04 9.99991276e-01 1.43500116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.362755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.51, Y:3.08, Z:0.14 [[ 9.81935295e-01 -1.89172173e-01 -4.11882242e-03 3.05102282e+01] [ 1.89170920e-01 9.81943929e-01 -6.95425502e-04 3.08275599e+00] [ 4.17600782e-03 -9.62985782e-05 9.99991276e-01 1.44373361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.422755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.57, Y:3.09, Z:0.15 [[ 9.82023016e-01 -1.88716278e-01 -4.11859981e-03 3.05690224e+01] [ 1.88715015e-01 9.82031648e-01 -6.96741379e-04 3.09005962e+00] [ 4.17608180e-03 -9.30255550e-05 9.99991276e-01 1.46510316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.63, Y:3.10, Z:0.15 [[ 9.81814588e-01 -1.89797667e-01 -4.11840708e-03 3.06265789e+01] [ 1.89796409e-01 9.81823220e-01 -6.97878750e-04 3.09811800e+00] [ 4.17600346e-03 -9.64713352e-05 9.99991276e-01 1.47991465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.68, Y:3.11, Z:0.15 [[ 9.81474646e-01 -1.91547800e-01 -4.11818765e-03 3.06841643e+01] [ 1.91546552e-01 9.81483280e-01 -6.99171196e-04 3.10808303e+00] [ 4.17585703e-03 -1.02605841e-04 9.99991276e-01 1.50129682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.602755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.74, Y:3.12, Z:0.15 [[ 9.81032089e-01 -1.93801656e-01 -4.11796946e-03 3.07413523e+01] [ 1.93800422e-01 9.81040726e-01 -7.00453961e-04 3.11771272e+00] [ 4.17564488e-03 -1.10896405e-04 9.99991276e-01 1.50212003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.80, Y:3.13, Z:0.15 [[ 9.80908554e-01 -1.94425959e-01 -4.11774777e-03 3.07981415e+01] [ 1.94424725e-01 9.80917190e-01 -7.01754780e-04 3.12804592e+00] [ 4.17560892e-03 -1.12234709e-04 9.99991276e-01 1.51422945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.85, Y:3.14, Z:0.15 [[ 9.80582278e-01 -1.96064891e-01 -4.11752936e-03 3.08548242e+01] [ 1.96063666e-01 9.80590916e-01 -7.03033952e-04 3.13847573e+00] [ 4.17545216e-03 -1.17915268e-04 9.99991276e-01 1.50885035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.782755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.91, Y:3.15, Z:0.15 [[ 9.80575082e-01 -1.96100885e-01 -4.11731173e-03 3.09120367e+01] [ 1.96099655e-01 9.80583719e-01 -7.04306199e-04 3.15004939e+00] [ 4.17548392e-03 -1.16778303e-04 9.99991276e-01 1.47170670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.97, Y:3.16, Z:0.15 [[ 9.80450877e-01 -1.96720936e-01 -4.11707381e-03 3.09673293e+01] [ 1.96719705e-01 9.80459514e-01 -7.05694261e-04 3.16275049e+00] [ 4.17544902e-03 -1.18010988e-04 9.99991276e-01 1.48082715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.02, Y:3.17, Z:0.15 [[ 9.80297798e-01 -1.97482346e-01 -4.11696292e-03 3.10246477e+01] [ 1.97481120e-01 9.80306436e-01 -7.06340549e-04 3.17375833e+00] [ 4.17537504e-03 -1.20598363e-04 9.99991276e-01 1.48175826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.962755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.08, Y:3.18, Z:0.15 [[ 9.80405612e-01 -1.96946408e-01 -4.11673746e-03 3.10825699e+01] [ 1.96945171e-01 9.80414249e-01 -7.07652195e-04 3.18190577e+00] [ 4.17547762e-03 -1.16985379e-04 9.99991276e-01 1.47022995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.14, Y:3.19, Z:0.15 [[ 9.80010564e-01 -1.98902865e-01 -4.11649985e-03 3.11395025e+01] [ 1.98901639e-01 9.80019201e-01 -7.09031693e-04 3.19381594e+00] [ 4.17527733e-03 -1.23920020e-04 9.99991276e-01 1.46377264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.20, Y:3.21, Z:0.15 [[ 9.79775647e-01 -2.00056836e-01 -4.11639076e-03 3.11965294e+01] [ 2.00055618e-01 9.79784285e-01 -7.09664450e-04 3.20699562e+00] [ 4.17514821e-03 -1.28195152e-04 9.99991276e-01 1.51035804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.142755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.26, Y:3.22, Z:0.15 [[ 9.80095165e-01 -1.98485579e-01 -4.11616313e-03 3.12553277e+01] [ 1.98484342e-01 9.80103801e-01 -7.10982295e-04 3.21550258e+00] [ 4.17538686e-03 -1.20163622e-04 9.99991276e-01 1.48718348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.31, Y:3.23, Z:0.15 [[ 9.79616533e-01 -2.00834525e-01 -4.11596562e-03 3.13118130e+01] [ 2.00833304e-01 9.79625172e-01 -7.12123869e-04 3.22689874e+00] [ 4.17512259e-03 -1.29014660e-04 9.99991276e-01 1.48970359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.37, Y:3.24, Z:0.15 [[ 9.79093685e-01 -2.03368180e-01 -4.11573293e-03 3.13688355e+01] [ 2.03366975e-01 9.79102326e-01 -7.13466201e-04 3.23815894e+00] [ 4.17482001e-03 -1.38453905e-04 9.99991276e-01 1.47757006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.322755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.43, Y:3.25, Z:0.15 [[ 9.78820036e-01 -2.04681216e-01 -4.11549197e-03 3.14257435e+01] [ 2.04680017e-01 9.78828677e-01 -7.14853426e-04 3.24989267e+00] [ 4.17467863e-03 -1.42646110e-04 9.99991276e-01 1.49451489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.48, Y:3.26, Z:0.15 [[ 9.79018785e-01 -2.03728454e-01 -4.11541830e-03 3.14825231e+01] [ 2.03727245e-01 9.79027425e-01 -7.15277324e-04 3.25911795e+00] [ 4.17482972e-03 -1.38152895e-04 9.99991276e-01 1.52135967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.54, Y:3.27, Z:0.15 [[ 9.78751388e-01 -2.05009232e-01 -4.11531106e-03 3.15392925e+01] [ 2.05008032e-01 9.78760029e-01 -7.15893770e-04 3.27299267e+00] [ 4.17466680e-03 -1.42989799e-04 9.99991276e-01 1.51179608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.502755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.60, Y:3.28, Z:0.15 [[ 9.79114260e-01 -2.03269111e-01 -4.11509520e-03 3.15965249e+01] [ 2.03267891e-01 9.79122898e-01 -7.17132436e-04 3.28095327e+00] [ 4.17495481e-03 -1.34312127e-04 9.99991276e-01 1.51068731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.65, Y:3.29, Z:0.15 [[ 9.79549789e-01 -2.01159836e-01 -4.11487808e-03 3.16529763e+01] [ 2.01158591e-01 9.79558424e-01 -7.18376071e-04 3.29061139e+00] [ 4.17527190e-03 -1.24057950e-04 9.99991276e-01 1.49427865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.71, Y:3.30, Z:0.15 [[ 9.79835051e-01 -1.99765714e-01 -4.11478505e-03 3.17103217e+01] [ 1.99764455e-01 9.79843684e-01 -7.18908542e-04 3.29854995e+00] [ 4.17545943e-03 -1.17576007e-04 9.99991276e-01 1.48219944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.682755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.77, Y:3.31, Z:0.15 [[ 9.80011523e-01 -1.98898175e-01 -4.11457186e-03 3.17683460e+01] [ 1.98896904e-01 9.80020154e-01 -7.20126694e-04 3.30686260e+00] [ 4.17559523e-03 -1.12643143e-04 9.99991276e-01 1.50966934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.742755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.82, Y:3.32, Z:0.15 [[ 9.80166317e-01 -1.98133953e-01 -4.11437125e-03 3.18244821e+01] [ 1.98132670e-01 9.80174946e-01 -7.21271002e-04 3.31893761e+00] [ 4.17571190e-03 -1.08225818e-04 9.99991276e-01 1.50426063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.802755096 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:31.88, Y:3.33, Z:0.15 [[ 9.79803925e-01 -1.99918337e-01 -4.11429958e-03 3.18816631e+01] [ 1.99917068e-01 9.79812556e-01 -7.21679598e-04 3.32711162e+00] [ 4.17551937e-03 -1.15414206e-04 9.99991276e-01 1.50287052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.862755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.94, Y:3.34, Z:0.15 [[ 9.78975300e-01 -2.03937334e-01 -4.11407181e-03 3.19386513e+01] [ 2.03936095e-01 9.78983936e-01 -7.22975703e-04 3.33625257e+00] [ 4.17505195e-03 -1.31232384e-04 9.99991276e-01 1.48278157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.922755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.00, Y:3.35, Z:0.15 [[ 9.79111596e-01 -2.03281969e-01 -4.11384320e-03 3.19950841e+01] [ 2.03280718e-01 9.79120230e-01 -7.24274212e-04 3.34801182e+00] [ 4.17517899e-03 -1.27119720e-04 9.99991276e-01 1.47777030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.982755096 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:32.05, Y:3.36, Z:0.15 [[ 9.79325902e-01 -2.02247019e-01 -4.11362949e-03 3.20520157e+01] [ 2.02245754e-01 9.79334534e-01 -7.25485964e-04 3.35537270e+00] [ 4.17534680e-03 -1.21476903e-04 9.99991276e-01 1.49252044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04275509599999 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:32.11, Y:3.37, Z:0.15 [[ 9.79422893e-01 -2.01776796e-01 -4.11352990e-03 3.21091448e+01] [ 2.01775525e-01 9.79431524e-01 -7.26050209e-04 3.36578626e+00] [ 4.17542095e-03 -1.18899461e-04 9.99991276e-01 1.50804838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.102755095999996 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:32.17, Y:3.37, Z:0.15 [[ 9.79590248e-01 -2.00962749e-01 -4.11331292e-03 3.21665185e+01] [ 2.00961465e-01 9.79598877e-01 -7.27277431e-04 3.37437144e+00] [ 4.17555239e-03 -1.14183512e-04 9.99991276e-01 1.50720128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.162755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:32.22, Y:3.38, Z:0.15 [[ 9.79829202e-01 -1.99794437e-01 -4.11304227e-03 3.22241286e+01] [ 1.99793137e-01 9.79837829e-01 -7.28804859e-04 3.38355282e+00] [ 4.17572556e-03 -1.07653334e-04 9.99991276e-01 1.54123281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22275509599999 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:32.28, Y:3.40, Z:0.15 [[ 9.78758431e-01 -2.04975652e-01 -4.11280534e-03 3.22799612e+01] [ 2.04974392e-01 9.78767064e-01 -7.30139474e-04 3.39784708e+00] [ 4.17513922e-03 -1.28389604e-04 9.99991276e-01 1.49396800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.282755095999995 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:32.34, Y:3.41, Z:0.15 [[ 9.78568451e-01 -2.05880724e-01 -4.11272421e-03 3.23376241e+01] [ 2.05879470e-01 9.78577084e-01 -7.30596158e-04 3.40750836e+00] [ 4.17503333e-03 -1.31787132e-04 9.99991276e-01 1.50168831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.342755096 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:32.40, Y:3.41, Z:0.16 [[ 9.79204709e-01 -2.02832999e-01 -4.11246055e-03 3.23965858e+01] [ 2.02831712e-01 9.79213338e-01 -7.32077279e-04 3.41481815e+00] [ 4.17546565e-03 -1.17283895e-04 9.99991276e-01 1.56351342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40275509599999 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:32.45, Y:3.43, Z:0.15 [[ 9.79061641e-01 -2.03522460e-01 -4.11222416e-03 3.24525520e+01] [ 2.03521174e-01 9.79070270e-01 -7.33402705e-04 3.42878336e+00] [ 4.17542034e-03 -1.18878231e-04 9.99991276e-01 1.52913172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.462755095999995 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:32.51, Y:3.44, Z:0.15 [[ 9.79277255e-01 -2.02482462e-01 -4.11215256e-03 3.25096486e+01] [ 2.02481164e-01 9.79285883e-01 -7.33803968e-04 3.43933658e+00] [ 4.17555538e-03 -1.14035900e-04 9.99991276e-01 1.53005086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.522755096 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:32.57, Y:3.45, Z:0.16 [[ 9.80058520e-01 -1.98666529e-01 -4.11192493e-03 3.25689238e+01] [ 1.98665193e-01 9.80067141e-01 -7.35077275e-04 3.44559479e+00] [ 4.17599776e-03 -9.64776123e-05 9.99991276e-01 1.59286912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.582755096 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:32.63, Y:3.46, Z:0.16 [[ 9.80154831e-01 -1.98190819e-01 -4.11182268e-03 3.26271238e+01] [ 1.98189476e-01 9.80163451e-01 -7.35648800e-04 3.45674923e+00] [ 4.17605715e-03 -9.38702557e-05 9.99991276e-01 1.55234550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.642755095999995 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:32.68, Y:3.46, Z:0.16 [[ 9.80664007e-01 -1.95655821e-01 -4.11159059e-03 3.26844489e+01] [ 1.95654450e-01 9.80672623e-01 -7.36943661e-04 3.46484983e+00] [ 4.17631165e-03 -8.17568732e-05 9.99991276e-01 1.58171977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.702755096 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:32.74, Y:3.48, Z:0.15 [[ 9.81112763e-01 -1.93392971e-01 -4.11150782e-03 3.27410161e+01] [ 1.93391578e-01 9.81121376e-01 -7.37405207e-04 3.47605556e+00] [ 4.17649719e-03 -7.16533253e-05 9.99991276e-01 1.52640125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.762755096 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:32.80, Y:3.49, Z:0.15 [[ 9.81180491e-01 -1.93049062e-01 -4.11139737e-03 3.27985874e+01] [ 1.93047663e-01 9.81189103e-01 -7.38020495e-04 3.48522873e+00] [ 4.17653246e-03 -6.95643434e-05 9.99991276e-01 1.51960138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.822755095999995 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:32.86, Y:3.50, Z:0.15 [[ 9.81076144e-01 -1.93578659e-01 -4.11118016e-03 3.28569976e+01] [ 1.93577261e-01 9.81084756e-01 -7.39228467e-04 3.49580193e+00] [ 4.17651504e-03 -7.05915806e-05 9.99991276e-01 1.53097392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.882755096 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:32.91, Y:3.51, Z:0.15 [[ 9.80830054e-01 -1.94821727e-01 -4.11099320e-03 3.29141214e+01] [ 1.94820335e-01 9.80838666e-01 -7.40266774e-04 3.50612225e+00] [ 4.17644113e-03 -7.48291726e-05 9.99991276e-01 1.54111112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.942755096 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:32.97, Y:3.52, Z:0.15 [[ 9.80125334e-01 -1.98336662e-01 -4.11077260e-03 3.29700304e+01] [ 1.98335296e-01 9.80133950e-01 -7.41489754e-04 3.51572818e+00] [ 4.17617239e-03 -8.85584057e-05 9.99991276e-01 1.53344433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.002755095999994 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:33.03, Y:3.53, Z:0.15 [[ 9.79444608e-01 -2.01671422e-01 -4.11062381e-03 3.30275308e+01] [ 2.01670082e-01 9.79453229e-01 -7.42313684e-04 3.52566775e+00] [ 4.17586722e-03 -1.01934706e-04 9.99991276e-01 1.53757829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.062755096 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:33.08, Y:3.54, Z:0.15 [[ 9.78624904e-01 -2.05612260e-01 -4.11041988e-03 3.30841356e+01] [ 2.05610949e-01 9.78633529e-01 -7.43441179e-04 3.53919039e+00] [ 4.17545534e-03 -1.17597281e-04 9.99991276e-01 1.53402746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.122755096 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:33.14, Y:3.55, Z:0.15 [[ 9.78216746e-01 -2.07545425e-01 -4.11020880e-03 3.31410782e+01] [ 2.07544126e-01 9.78225373e-01 -7.44606362e-04 3.55036405e+00] [ 4.17525018e-03 -1.24663281e-04 9.99991276e-01 1.54684514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.182755095999994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:33.20, Y:3.56, Z:0.15 [[ 9.78165435e-01 -2.07787127e-01 -4.10998007e-03 3.31978653e+01] [ 2.07785826e-01 9.78174061e-01 -7.45866705e-04 3.56065690e+00] [ 4.17525740e-03 -1.24414574e-04 9.99991276e-01 1.54020547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.242755095999996 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:33.25, Y:3.57, Z:0.15 [[ 9.77999690e-01 -2.08565858e-01 -4.10973961e-03 3.32548508e+01] [ 2.08564558e-01 9.78008316e-01 -7.47189300e-04 3.57264959e+00] [ 4.17519770e-03 -1.26395123e-04 9.99991276e-01 1.50515115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.302755096 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:33.31, Y:3.58, Z:0.15 [[ 9.77741406e-01 -2.09773340e-01 -4.10950618e-03 3.33117889e+01] [ 2.09772045e-01 9.77750034e-01 -7.48470986e-04 3.58287997e+00] [ 4.17507906e-03 -1.30248441e-04 9.99991276e-01 1.49788312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.362755095999994 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:33.37, Y:3.59, Z:0.15 [[ 9.77608715e-01 -2.10390863e-01 -4.10925562e-03 3.33693445e+01] [ 2.10389567e-01 9.77617342e-01 -7.49844064e-04 3.59205397e+00] [ 4.17503990e-03 -1.31490422e-04 9.99991276e-01 1.51331022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.422755095999996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:33.43, Y:3.60, Z:0.15 [[ 9.77075804e-01 -2.12852036e-01 -4.10898809e-03 3.34258928e+01] [ 2.12850756e-01 9.77084434e-01 -7.51307242e-04 3.60216813e+00] [ 4.17474558e-03 -1.40517094e-04 9.99991276e-01 1.49531085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.482755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:33.48, Y:3.61, Z:0.15 [[ 9.76855509e-01 -2.13860781e-01 -4.10872987e-03 3.34828418e+01] [ 2.13859505e-01 9.76864139e-01 -7.52716727e-04 3.61402707e+00] [ 4.17464745e-03 -1.43395455e-04 9.99991276e-01 1.52767876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.54, Y:3.62, Z:0.15 [[ 9.76934808e-01 -2.13498248e-01 -4.10846661e-03 3.35396806e+01] [ 2.13496962e-01 9.76943437e-01 -7.54150904e-04 3.62420406e+00] [ 4.17474939e-03 -1.40388874e-04 9.99991276e-01 1.53548920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.602755095999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:33.60, Y:3.64, Z:0.15 [[ 9.77445937e-01 -2.11145832e-01 -4.10822969e-03 3.35962235e+01] [ 2.11144520e-01 9.77454562e-01 -7.55439355e-04 3.63556566e+00] [ 4.17511572e-03 -1.29029057e-04 9.99991276e-01 1.54075596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.65, Y:3.65, Z:0.15 [[ 9.78017075e-01 -2.08484352e-01 -4.10815705e-03 3.36527900e+01] [ 2.08483015e-01 9.78025696e-01 -7.55834160e-04 3.64875895e+00] [ 4.17546275e-03 -1.17262253e-04 9.99991276e-01 1.54351990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.71, Y:3.66, Z:0.15 [[ 9.78224718e-01 -2.07507896e-01 -4.10792556e-03 3.37091054e+01] [ 2.07506545e-01 9.78233337e-01 -7.57090194e-04 3.66255427e+00] [ 4.17561192e-03 -1.11817098e-04 9.99991276e-01 1.54647115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.782755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.77, Y:3.67, Z:0.15 [[ 9.78395705e-01 -2.06700196e-01 -4.10769763e-03 3.37664108e+01] [ 2.06698832e-01 9.78404322e-01 -7.58324858e-04 3.67343279e+00] [ 4.17573501e-03 -1.07114520e-04 9.99991276e-01 1.53801377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.82, Y:3.68, Z:0.15 [[ 9.78113786e-01 -2.08030164e-01 -4.10762767e-03 3.38238956e+01] [ 2.08028811e-01 9.78122405e-01 -7.58703653e-04 3.68420247e+00] [ 4.17559589e-03 -1.12406396e-04 9.99991276e-01 1.52913506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.88, Y:3.70, Z:0.15 [[ 9.77688526e-01 -2.10019700e-01 -4.10740487e-03 3.38805398e+01] [ 2.10018359e-01 9.77697147e-01 -7.59907897e-04 3.69531265e+00] [ 4.17539365e-03 -1.19677200e-04 9.99991276e-01 1.54143105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.962755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.94, Y:3.70, Z:0.15 [[ 9.76698968e-01 -2.14574593e-01 -4.10733656e-03 3.39376213e+01] [ 2.14573291e-01 9.76707594e-01 -7.60276945e-04 3.70461413e+00] [ 4.17480292e-03 -1.38763014e-04 9.99991276e-01 1.54015264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.99, Y:3.71, Z:0.15 [[ 9.75523115e-01 -2.19858554e-01 -4.10709813e-03 3.39943654e+01] [ 2.19857294e-01 9.75531748e-01 -7.61562763e-04 3.71457775e+00] [ 4.17404071e-03 -1.60053402e-04 9.99991276e-01 1.54803352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.05, Y:3.73, Z:0.16 [[ 9.74934858e-01 -2.22452593e-01 -4.10686296e-03 3.40509193e+01] [ 2.22451350e-01 9.74943493e-01 -7.62828886e-04 3.72531114e+00] [ 4.17365258e-03 -1.69868738e-04 9.99991276e-01 1.55851826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.142755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.11, Y:3.74, Z:0.16 [[ 9.74616930e-01 -2.23841405e-01 -4.10663176e-03 3.41071956e+01] [ 2.23840169e-01 9.74625567e-01 -7.64071493e-04 3.73607986e+00] [ 4.17345914e-03 -1.74552132e-04 9.99991276e-01 1.57277811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.16, Y:3.75, Z:0.16 [[ 9.75026563e-01 -2.22050304e-01 -4.10653469e-03 3.41645315e+01] [ 2.22049050e-01 9.75035197e-01 -7.64592870e-04 3.74811642e+00] [ 4.17379393e-03 -1.66353768e-04 9.99991276e-01 1.55672494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.22, Y:3.76, Z:0.15 [[ 9.75634979e-01 -2.19361635e-01 -4.10633011e-03 3.42224458e+01] [ 2.19360352e-01 9.75643608e-01 -7.65689983e-04 3.76064648e+00] [ 4.17427773e-03 -1.53732089e-04 9.99991276e-01 1.54129266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.322755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.28, Y:3.77, Z:0.15 [[ 9.76729045e-01 -2.14437668e-01 -4.10611876e-03 3.42794679e+01] [ 2.14436337e-01 9.76737667e-01 -7.66821691e-04 3.77236945e+00] [ 4.17503632e-03 -1.31524050e-04 9.99991276e-01 1.53554401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.34, Y:3.78, Z:0.15 [[ 9.77119604e-01 -2.12650933e-01 -4.10604464e-03 3.43369029e+01] [ 2.12649585e-01 9.77128224e-01 -7.67218400e-04 3.78252317e+00] [ 4.17528181e-03 -1.23484549e-04 9.99991276e-01 1.53864721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.39, Y:3.79, Z:0.16 [[ 9.77307291e-01 -2.11786687e-01 -4.10580778e-03 3.43941050e+01] [ 2.11785326e-01 9.77315909e-01 -7.68483856e-04 3.79182717e+00] [ 4.17542591e-03 -1.18504963e-04 9.99991276e-01 1.56068661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.502755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.45, Y:3.80, Z:0.16 [[ 9.76769755e-01 -2.14252161e-01 -4.10564341e-03 3.44516546e+01] [ 2.14250818e-01 9.76778376e-01 -7.69361018e-04 3.80162924e+00] [ 4.17514096e-03 -1.28148886e-04 9.99991276e-01 1.55811920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.51, Y:3.81, Z:0.16 [[ 9.76996332e-01 -2.13216584e-01 -4.10551233e-03 3.45102650e+01] [ 2.13215229e-01 9.77004950e-01 -7.70059858e-04 3.80644113e+00] [ 4.17529540e-03 -1.23012094e-04 9.99991276e-01 1.58984529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.57, Y:3.82, Z:0.16 [[ 9.76201498e-01 -2.16826616e-01 -4.10528115e-03 3.45671308e+01] [ 2.16825288e-01 9.76210121e-01 -7.71290341e-04 3.82161896e+00] [ 4.17485328e-03 -1.37193980e-04 9.99991276e-01 1.57960412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.682755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.62, Y:3.83, Z:0.16 [[ 9.76026959e-01 -2.17610944e-01 -4.10507017e-03 3.46242479e+01] [ 2.17609617e-01 9.76035582e-01 -7.72411641e-04 3.83259943e+00] [ 4.17477978e-03 -1.39408164e-04 9.99991276e-01 1.58327287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.742755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.68, Y:3.84, Z:0.16 [[ 9.76142121e-01 -2.17093778e-01 -4.10499623e-03 3.46812984e+01] [ 2.17092446e-01 9.76150743e-01 -7.72804369e-04 3.84321912e+00] [ 4.17486614e-03 -1.36796775e-04 9.99991276e-01 1.57528912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.74, Y:3.86, Z:0.15 [[ 9.75306477e-01 -2.20817631e-01 -4.10475051e-03 3.47373718e+01] [ 2.20816326e-01 9.75315103e-01 -7.74107339e-04 3.86167494e+00] [ 4.17436171e-03 -1.51404023e-04 9.99991276e-01 1.52721743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.862755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.79, Y:3.87, Z:0.15 [[ 9.76536982e-01 -2.15310651e-01 -4.10449071e-03 3.47945917e+01] [ 2.15309291e-01 9.76545599e-01 -7.75482408e-04 3.86774195e+00] [ 4.17519196e-03 -1.26447736e-04 9.99991276e-01 1.54828492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.922755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.85, Y:3.88, Z:0.15 [[ 9.77077767e-01 -2.12843116e-01 -4.10437949e-03 3.48527464e+01] [ 2.12841733e-01 9.77086380e-01 -7.76070597e-04 3.87695252e+00] [ 4.17551459e-03 -1.15301916e-04 9.99991276e-01 1.54019909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.91, Y:3.89, Z:0.15 [[ 9.76646265e-01 -2.14814404e-01 -4.10416757e-03 3.49104684e+01] [ 2.14813033e-01 9.76654881e-01 -7.77189706e-04 3.88608915e+00] [ 4.17530683e-03 -1.22589258e-04 9.99991276e-01 1.54370154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.97, Y:3.90, Z:0.16 [[ 9.76087951e-01 -2.17337226e-01 -4.10392651e-03 3.49672796e+01] [ 2.17335872e-01 9.76096569e-01 -7.78460536e-04 3.89802661e+00] [ 4.17501704e-03 -1.32084498e-04 9.99991276e-01 1.57503933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.102755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.02, Y:3.91, Z:0.16 [[ 9.76154414e-01 -2.17038522e-01 -4.10366256e-03 3.50244859e+01] [ 2.17037160e-01 9.76163031e-01 -7.79849473e-04 3.91322327e+00] [ 4.17510106e-03 -1.29393761e-04 9.99991276e-01 1.56427973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.08, Y:3.92, Z:0.16 [[ 9.76179519e-01 -2.16925582e-01 -4.10343701e-03 3.50816605e+01] [ 2.16924214e-01 9.76188135e-01 -7.81034502e-04 3.92400755e+00] [ 4.17515288e-03 -1.27704963e-04 9.99991276e-01 1.55553979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.14, Y:3.93, Z:0.16 [[ 9.75976613e-01 -2.17836668e-01 -4.10331723e-03 3.51398237e+01] [ 2.17835305e-01 9.75985230e-01 -7.81663243e-04 3.93289516e+00] [ 4.17505193e-03 -1.30962318e-04 9.99991276e-01 1.57732881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.282755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.19, Y:3.95, Z:0.16 [[ 9.75364554e-01 -2.20560994e-01 -4.10309287e-03 3.51949279e+01] [ 2.20559650e-01 9.75373174e-01 -7.82839213e-04 3.94731848e+00] [ 4.17471051e-03 -1.41423105e-04 9.99991276e-01 1.56471785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.25, Y:3.96, Z:0.16 [[ 9.75749531e-01 -2.18851593e-01 -4.10292051e-03 3.52527868e+01] [ 2.18850230e-01 9.75758148e-01 -7.83741534e-04 3.95673033e+00] [ 4.17498120e-03 -1.33189662e-04 9.99991276e-01 1.59792095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.31, Y:3.97, Z:0.16 [[ 9.75152983e-01 -2.21494530e-01 -4.10269839e-03 3.53086436e+01] [ 2.21493186e-01 9.75161603e-01 -7.84902564e-04 3.97337921e+00] [ 4.17464556e-03 -1.43319659e-04 9.99991276e-01 1.56220383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.462755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.37, Y:3.98, Z:0.15 [[ 9.75456522e-01 -2.20153904e-01 -4.10258154e-03 3.53661792e+01] [ 2.20152546e-01 9.75465140e-01 -7.85512804e-04 3.98476430e+00] [ 4.17485899e-03 -1.36960183e-04 9.99991276e-01 1.54442958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.42, Y:3.99, Z:0.16 [[ 9.76790335e-01 -2.14158383e-01 -4.10233538e-03 3.54245711e+01] [ 2.14156966e-01 9.76798943e-01 -7.86796292e-04 3.99043602e+00] [ 4.17565589e-03 -1.10008687e-04 9.99991276e-01 1.60831503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.48, Y:4.01, Z:0.16 [[ 9.75994155e-01 -2.17758083e-01 -4.10208889e-03 3.54795948e+01] [ 2.17756692e-01 9.76002767e-01 -7.88079340e-04 4.00788218e+00] [ 4.17526075e-03 -1.24096478e-04 9.99991276e-01 1.59729518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.642755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.54, Y:4.02, Z:0.16 [[ 9.76064596e-01 -2.17442127e-01 -4.10195785e-03 3.55362965e+01] [ 2.17440731e-01 9.76073208e-01 -7.88760805e-04 4.01700969e+00] [ 4.17532098e-03 -1.22051215e-04 9.99991276e-01 1.61564977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.59, Y:4.03, Z:0.16 [[ 9.76024474e-01 -2.17622152e-01 -4.10188497e-03 3.55928677e+01] [ 2.17620755e-01 9.76033086e-01 -7.89139604e-04 4.02770129e+00] [ 4.17530971e-03 -1.22435739e-04 9.99991276e-01 1.62716614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.65, Y:4.03, Z:0.16 [[ 9.76770975e-01 -2.14246675e-01 -4.10165358e-03 3.56515456e+01] [ 2.14245244e-01 9.76779581e-01 -7.90340481e-04 4.03455839e+00] [ 4.17573929e-03 -1.06778131e-04 9.99991276e-01 1.64949511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.822755095999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:35.71, Y:4.05, Z:0.16 [[ 9.75966966e-01 -2.17879919e-01 -4.10142293e-03 3.57095564e+01] [ 2.17878515e-01 9.75975577e-01 -7.91535605e-04 4.04716214e+00] [ 4.17534832e-03 -1.21099334e-04 9.99991276e-01 1.61451563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.77, Y:4.06, Z:0.16 [[ 9.75959589e-01 -2.17912966e-01 -4.10118535e-03 3.57668946e+01] [ 2.17911557e-01 9.75968199e-01 -7.92764662e-04 4.05730084e+00] [ 4.17538018e-03 -1.19989413e-04 9.99991276e-01 1.62406609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.82, Y:4.07, Z:0.16 [[ 9.76380477e-01 -2.16019317e-01 -4.10109402e-03 3.58235893e+01] [ 2.16017889e-01 9.76389083e-01 -7.93236879e-04 4.06687338e+00] [ 4.17561792e-03 -1.11408670e-04 9.99991276e-01 1.58931270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.002755095999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:35.88, Y:4.08, Z:0.16 [[ 9.76379896e-01 -2.16021943e-01 -4.10101928e-03 3.58811895e+01] [ 2.16020513e-01 9.76388503e-01 -7.93623059e-04 4.07735840e+00] [ 4.17562807e-03 -1.11026691e-04 9.99991276e-01 1.59531095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.94, Y:4.09, Z:0.16 [[ 9.76685032e-01 -2.14638144e-01 -4.10077227e-03 3.59380496e+01] [ 2.14636697e-01 9.76693635e-01 -7.94897371e-04 4.08831407e+00] [ 4.17581347e-03 -1.03811852e-04 9.99991276e-01 1.59829825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.00, Y:4.10, Z:0.16 [[ 9.77071814e-01 -2.12870514e-01 -4.10055120e-03 3.59950564e+01] [ 2.12869047e-01 9.77080414e-01 -7.96036130e-04 4.09855680e+00] [ 4.17602089e-03 -9.50959616e-05 9.99991276e-01 1.62911487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.182755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.05, Y:4.11, Z:0.16 [[ 9.77161574e-01 -2.12458102e-01 -4.10029915e-03 3.60524772e+01] [ 2.12456626e-01 9.77170173e-01 -7.97332317e-04 4.10848942e+00] [ 4.17608974e-03 -9.20132206e-05 9.99991276e-01 1.63812246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.242755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.11, Y:4.12, Z:0.16 [[ 9.77562265e-01 -2.10606761e-01 -4.10004926e-03 3.61090557e+01] [ 2.10605263e-01 9.77570860e-01 -7.98615225e-04 4.12076124e+00] [ 4.17628245e-03 -8.27958440e-05 9.99991276e-01 1.64447980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.17, Y:4.13, Z:0.17 [[ 9.77539222e-01 -2.10713693e-01 -4.09980201e-03 3.61664302e+01] [ 2.10712191e-01 9.77547816e-01 -7.99882510e-04 4.13496773e+00] [ 4.17629870e-03 -8.19617378e-05 9.99991276e-01 1.68130431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.362755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.22, Y:4.15, Z:0.17 [[ 9.77454455e-01 -2.11106567e-01 -4.09956051e-03 3.62235319e+01] [ 2.11105063e-01 9.77463048e-01 -8.01118360e-04 4.14623850e+00] [ 4.17629026e-03 -8.23812680e-05 9.99991276e-01 1.69349461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.422755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.28, Y:4.16, Z:0.17 [[ 9.77481459e-01 -2.10981497e-01 -4.09931086e-03 3.62806570e+01] [ 2.10979987e-01 9.77490052e-01 -8.02393764e-04 4.15709968e+00] [ 4.17632582e-03 -8.05475238e-05 9.99991276e-01 1.67432589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.482755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:36.34, Y:4.17, Z:0.17 [[ 9.77472437e-01 -2.11023300e-01 -4.09902364e-03 3.63381580e+01] [ 2.11021784e-01 9.77481028e-01 -8.03858374e-04 4.16682981e+00] [ 4.17635069e-03 -7.92338748e-05 9.99991276e-01 1.65035318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.39, Y:4.18, Z:0.17 [[ 9.77016995e-01 -2.13122011e-01 -4.09873309e-03 3.63940636e+01] [ 2.13120507e-01 9.77025589e-01 -8.05337095e-04 4.17886238e+00] [ 4.17620217e-03 -8.66960447e-05 9.99991276e-01 1.65935190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.602755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.45, Y:4.19, Z:0.17 [[ 9.77616454e-01 -2.10355105e-01 -4.09860849e-03 3.64529779e+01] [ 2.10353574e-01 9.77625043e-01 -8.05970731e-04 4.18624517e+00] [ 4.17644236e-03 -7.42266973e-05 9.99991276e-01 1.66653762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.51, Y:4.20, Z:0.17 [[ 9.76885340e-01 -2.13724674e-01 -4.09838940e-03 3.65097978e+01] [ 2.13723168e-01 9.76893933e-01 -8.07083297e-04 4.20267135e+00] [ 4.17618535e-03 -8.74929230e-05 9.99991276e-01 1.65476972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.57, Y:4.21, Z:0.17 [[ 9.76222627e-01 -2.16731601e-01 -4.09817618e-03 3.65667556e+01] [ 2.16730117e-01 9.76231224e-01 -8.08164530e-04 4.21234094e+00] [ 4.17592234e-03 -9.92497012e-05 9.99991276e-01 1.65200373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.782755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.62, Y:4.22, Z:0.17 [[ 9.75384771e-01 -2.20471665e-01 -4.09791257e-03 3.66242005e+01] [ 2.20470208e-01 9.75393373e-01 -8.09498972e-04 4.22482617e+00] [ 4.17554835e-03 -1.13894667e-04 9.99991276e-01 1.67546921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.68, Y:4.24, Z:0.17 [[ 9.74160737e-01 -2.25818661e-01 -4.09768568e-03 3.66815631e+01] [ 2.25817246e-01 9.74169346e-01 -8.10645891e-04 4.23681448e+00] [ 4.17489874e-03 -1.35628697e-04 9.99991276e-01 1.69026524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.74, Y:4.25, Z:0.17 [[ 9.73739316e-01 -2.27628987e-01 -4.09746278e-03 3.67382219e+01] [ 2.27627584e-01 9.73747926e-01 -8.11770977e-04 4.25009264e+00] [ 4.17467849e-03 -1.42242237e-04 9.99991276e-01 1.67644495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.962755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.80, Y:4.26, Z:0.16 [[ 9.73135688e-01 -2.30195884e-01 -4.09738511e-03 3.67952178e+01] [ 2.30194502e-01 9.73144302e-01 -8.12162801e-04 4.26393278e+00] [ 4.17430351e-03 -1.52850919e-04 9.99991276e-01 1.63686451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.85, Y:4.27, Z:0.16 [[ 9.74434125e-01 -2.24636037e-01 -4.09716412e-03 3.68535265e+01] [ 2.24634601e-01 9.74442730e-01 -8.13276127e-04 4.27260233e+00] [ 4.17514292e-03 -1.27880817e-04 9.99991276e-01 1.64554956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.91, Y:4.28, Z:0.16 [[ 9.74929973e-01 -2.22474186e-01 -4.09694339e-03 3.69102847e+01] [ 2.22472727e-01 9.74938574e-01 -8.14386571e-04 4.28488929e+00] [ 4.17544813e-03 -1.17488289e-04 9.99991276e-01 1.64128171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.142755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.97, Y:4.29, Z:0.17 [[ 9.75254394e-01 -2.21047698e-01 -4.09665550e-03 3.69669172e+01] [ 2.21046220e-01 9.75262992e-01 -8.15832168e-04 4.29457968e+00] [ 4.17565433e-03 -1.09906308e-04 9.99991276e-01 1.65241637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.02, Y:4.31, Z:0.17 [[ 9.75595089e-01 -2.19539154e-01 -4.09654486e-03 3.70231792e+01] [ 2.19537660e-01 9.75603684e-01 -8.16387371e-04 4.30690506e+00] [ 4.17583325e-03 -1.02882364e-04 9.99991276e-01 1.66515031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.08, Y:4.32, Z:0.17 [[ 9.75556247e-01 -2.19711697e-01 -4.09629125e-03 3.70800527e+01] [ 2.19710199e-01 9.75564841e-01 -8.17657921e-04 4.31949071e+00] [ 4.17584673e-03 -1.02325673e-04 9.99991276e-01 1.66422132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.322755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.14, Y:4.33, Z:0.17 [[ 9.75516106e-01 -2.19889857e-01 -4.09601329e-03 3.71361135e+01] [ 2.19888356e-01 9.75524700e-01 -8.19047940e-04 4.33174519e+00] [ 4.17586247e-03 -1.01671171e-04 9.99991276e-01 1.70479020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.19, Y:4.34, Z:0.17 [[ 9.75181529e-01 -2.21368943e-01 -4.09592781e-03 3.71924483e+01] [ 2.21367452e-01 9.75190125e-01 -8.19475210e-04 4.34365721e+00] [ 4.17571471e-03 -1.07568016e-04 9.99991276e-01 1.71159821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.25, Y:4.36, Z:0.17 [[ 9.74555721e-01 -2.24107946e-01 -4.09567730e-03 3.72487603e+01] [ 2.24106475e-01 9.74564320e-01 -8.20725339e-04 4.35789159e+00] [ 4.17543203e-03 -1.18025226e-04 9.99991276e-01 1.70197757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.502755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.31, Y:4.37, Z:0.17 [[ 9.74741774e-01 -2.23297338e-01 -4.09541847e-03 3.73050766e+01] [ 2.23295853e-01 9.74750371e-01 -8.22014858e-04 4.37103381e+00] [ 4.17556441e-03 -1.13237742e-04 9.99991276e-01 1.68343367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.36, Y:4.39, Z:0.16 [[ 9.74454027e-01 -2.24549720e-01 -4.09533336e-03 3.73609492e+01] [ 2.24548245e-01 9.74462626e-01 -8.22438688e-04 4.38539188e+00] [ 4.17542767e-03 -1.18171225e-04 9.99991276e-01 1.63691436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.42, Y:4.40, Z:0.16 [[ 9.74801064e-01 -2.23038372e-01 -4.09505721e-03 3.74187010e+01] [ 2.23036878e-01 9.74809660e-01 -8.23811402e-04 4.39715717e+00] [ 4.17564287e-03 -1.10296543e-04 9.99991276e-01 1.64033570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.682755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.47, Y:4.41, Z:0.16 [[ 9.74791467e-01 -2.23080320e-01 -4.09479226e-03 3.74745586e+01] [ 2.23078821e-01 9.74800061e-01 -8.25126202e-04 4.41045507e+00] [ 4.17567317e-03 -1.09135450e-04 9.99991276e-01 1.61067930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.742755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.53, Y:4.42, Z:0.16 [[ 9.74604104e-01 -2.23897462e-01 -4.09467877e-03 3.75320521e+01] [ 2.23895967e-01 9.74612700e-01 -8.25689042e-04 4.42144131e+00] [ 4.17559561e-03 -1.12062134e-04 9.99991276e-01 1.61375174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.59, Y:4.43, Z:0.16 [[ 9.74964596e-01 -2.22322450e-01 -4.09441666e-03 3.75894987e+01] [ 2.22320936e-01 9.74973188e-01 -8.26986764e-04 4.42945296e+00] [ 4.17580418e-03 -1.03991728e-04 9.99991276e-01 1.57267989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.862755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.65, Y:4.44, Z:0.17 [[ 9.74254522e-01 -2.25413760e-01 -4.09432852e-03 3.76470774e+01] [ 2.25412272e-01 9.74263118e-01 -8.27422904e-04 4.44103466e+00] [ 4.17546577e-03 -1.16791386e-04 9.99991276e-01 1.65154096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.922755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.70, Y:4.45, Z:0.17 [[ 9.74769626e-01 -2.23175747e-01 -4.09408062e-03 3.77048444e+01] [ 2.23174234e-01 9.74778218e-01 -8.28647696e-04 4.45034728e+00] [ 4.17575468e-03 -1.05952702e-04 9.99991276e-01 1.67923714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.76, Y:4.47, Z:0.17 [[ 9.74584014e-01 -2.23984909e-01 -4.09380958e-03 3.77602192e+01] [ 2.23983397e-01 9.74592607e-01 -8.29984578e-04 4.46528369e+00] [ 4.17570057e-03 -1.08055675e-04 9.99991276e-01 1.65734036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.82, Y:4.48, Z:0.16 [[ 9.74926753e-01 -2.22488357e-01 -4.09360869e-03 3.78164673e+01] [ 2.22486828e-01 9.74935342e-01 -8.30974173e-04 4.47577170e+00] [ 4.17588587e-03 -1.00635059e-04 9.99991276e-01 1.63178206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.102755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.87, Y:4.49, Z:0.16 [[ 9.76196832e-01 -2.16847846e-01 -4.09342185e-03 3.78745472e+01] [ 2.16846263e-01 9.76205412e-01 -8.31893557e-04 4.48618033e+00] [ 4.17641489e-03 -7.55513758e-05 9.99991276e-01 1.62778974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.93, Y:4.51, Z:0.16 [[ 9.76649133e-01 -2.14801573e-01 -4.09318987e-03 3.79293847e+01] [ 2.14799968e-01 9.76657709e-01 -8.33033418e-04 4.50572708e+00] [ 4.17658233e-03 -6.56356868e-05 9.99991276e-01 1.58675940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.98, Y:4.52, Z:0.16 [[ 9.77101601e-01 -2.12733890e-01 -4.09306820e-03 3.79842091e+01] [ 2.12732264e-01 9.77110172e-01 -8.33630786e-04 4.52115516e+00] [ 4.17672010e-03 -5.61856906e-05 9.99991276e-01 1.59506214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.282755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.04, Y:4.53, Z:0.16 [[ 9.76233540e-01 -2.16682541e-01 -4.09290031e-03 3.80408287e+01] [ 2.16680946e-01 9.76242117e-01 -8.34454289e-04 4.53491780e+00] [ 4.17647334e-03 -7.22312457e-05 9.99991276e-01 1.60662713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.342755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:38.10, Y:4.55, Z:0.16 [[ 9.75107493e-01 -2.21694896e-01 -4.09265211e-03 3.80979026e+01] [ 2.21693340e-01 9.75116078e-01 -8.35669835e-04 4.54635203e+00] [ 4.17607461e-03 -9.24457969e-05 9.99991276e-01 1.60945996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.16, Y:4.56, Z:0.16 [[ 9.73295224e-01 -2.29520498e-01 -4.09239621e-03 3.81551388e+01] [ 2.29519006e-01 9.73303820e-01 -8.36921121e-04 4.55605389e+00] [ 4.17523542e-03 -1.24711383e-04 9.99991276e-01 1.61578282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.462755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.21, Y:4.57, Z:0.16 [[ 9.72041937e-01 -2.34771650e-01 -4.09212751e-03 3.82104426e+01] [ 2.34770199e-01 9.72050539e-01 -8.38232909e-04 4.56875843e+00] [ 4.17454807e-03 -1.45912050e-04 9.99991276e-01 1.61691832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.27, Y:4.58, Z:0.16 [[ 9.71766589e-01 -2.35908781e-01 -4.09194722e-03 3.82679704e+01] [ 2.35907336e-01 9.71775192e-01 -8.39112065e-04 4.57957902e+00] [ 4.17440671e-03 -1.49899301e-04 9.99991276e-01 1.63066658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.33, Y:4.59, Z:0.16 [[ 9.71709522e-01 -2.36143735e-01 -4.09167191e-03 3.83253136e+01] [ 2.36142287e-01 9.71718125e-01 -8.40452430e-04 4.58988196e+00] [ 4.17441933e-03 -1.49541131e-04 9.99991276e-01 1.63254341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.642755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.38, Y:4.60, Z:0.16 [[ 9.72492336e-01 -2.32898941e-01 -4.09139361e-03 3.83818513e+01] [ 2.32897458e-01 9.72500933e-01 -8.41805010e-04 4.60288461e+00] [ 4.17493960e-03 -1.34226251e-04 9.99991276e-01 1.64532808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.44, Y:4.62, Z:0.16 [[ 9.72700827e-01 -2.32026646e-01 -4.09113666e-03 3.84387990e+01] [ 2.32025150e-01 9.72709422e-01 -8.43051936e-04 4.61604178e+00] [ 4.17509769e-03 -1.29209282e-04 9.99991276e-01 1.63444423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.50, Y:4.63, Z:0.16 [[ 9.72664360e-01 -2.32179472e-01 -4.09087882e-03 3.84964724e+01] [ 2.32177973e-01 9.72672954e-01 -8.44301269e-04 4.62593759e+00] [ 4.17511661e-03 -1.28590198e-04 9.99991276e-01 1.63602479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.822755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.55, Y:4.64, Z:0.16 [[ 9.72267068e-01 -2.33837581e-01 -4.09062547e-03 3.85541792e+01] [ 2.33836091e-01 9.72275664e-01 -8.45526961e-04 4.63513775e+00] [ 4.17493157e-03 -1.34457849e-04 9.99991276e-01 1.64436304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.61, Y:4.64, Z:0.17 [[ 9.71674250e-01 -2.36288851e-01 -4.09037476e-03 3.86110828e+01] [ 2.36287377e-01 9.71682849e-01 -8.46738081e-04 4.64474120e+00] [ 4.17462176e-03 -1.43750333e-04 9.99991276e-01 1.67411405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.67, Y:4.65, Z:0.17 [[ 9.71485472e-01 -2.37063808e-01 -4.09011803e-03 3.86668997e+01] [ 2.37062336e-01 9.71494071e-01 -8.47976347e-04 4.65453613e+00] [ 4.17454992e-03 -1.45816234e-04 9.99991276e-01 1.69163912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.002755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.72, Y:4.67, Z:0.17 [[ 9.71464927e-01 -2.37147985e-01 -4.09000775e-03 3.87242255e+01] [ 2.37146512e-01 9.71473526e-01 -8.48507920e-04 4.66576845e+00] [ 4.17455620e-03 -1.45635387e-04 9.99991276e-01 1.69668012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.78, Y:4.68, Z:0.17 [[ 9.71728684e-01 -2.36064902e-01 -4.08976745e-03 3.87812488e+01] [ 2.36063415e-01 9.71737281e-01 -8.49664595e-04 4.67847987e+00] [ 4.17475549e-03 -1.39801010e-04 9.99991276e-01 1.70059951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.122755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:38.84, Y:4.69, Z:0.17 [[ 9.71691243e-01 -2.36218975e-01 -4.08951444e-03 3.88369181e+01] [ 2.36217483e-01 9.71699839e-01 -8.50880617e-04 4.69114606e+00] [ 4.17477467e-03 -1.39221563e-04 9.99991276e-01 1.69828915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.182755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.89, Y:4.70, Z:0.17 [[ 9.72042364e-01 -2.34769929e-01 -4.08940574e-03 3.88934828e+01] [ 2.34768423e-01 9.72050957e-01 -8.51402713e-04 4.70299589e+00] [ 4.17499452e-03 -1.32463829e-04 9.99991276e-01 1.70625388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.242755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.95, Y:4.72, Z:0.17 [[ 9.72613874e-01 -2.32390899e-01 -4.08914893e-03 3.89504111e+01] [ 2.32389367e-01 9.72622463e-01 -8.52634366e-04 4.71573366e+00] [ 4.17534257e-03 -1.20990716e-04 9.99991276e-01 1.71172230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.01, Y:4.73, Z:0.17 [[ 9.73015846e-01 -2.30702070e-01 -4.08889484e-03 3.90071319e+01] [ 2.30700518e-01 9.73024430e-01 -8.53851154e-04 4.72905196e+00] [ 4.17557980e-03 -1.12499453e-04 9.99991276e-01 1.71182135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.362755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.06, Y:4.74, Z:0.17 [[ 9.73609169e-01 -2.28185164e-01 -4.08863167e-03 3.90629766e+01] [ 2.28183583e-01 9.73617749e-01 -8.55109465e-04 4.74076125e+00] [ 4.17588765e-03 -1.00416211e-04 9.99991276e-01 1.71914770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.422755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.12, Y:4.75, Z:0.17 [[ 9.73878630e-01 -2.27032370e-01 -4.08851854e-03 3.91201491e+01] [ 2.27030778e-01 9.73887208e-01 -8.55650046e-04 4.75194856e+00] [ 4.17601616e-03 -9.49202471e-05 9.99991276e-01 1.72789371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.18, Y:4.76, Z:0.17 [[ 9.74141984e-01 -2.25899715e-01 -4.08825264e-03 3.91767658e+01] [ 2.25898107e-01 9.74150559e-01 -8.56918586e-04 4.76276057e+00] [ 4.17615126e-03 -8.87681617e-05 9.99991276e-01 1.73555002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.23, Y:4.77, Z:0.18 [[ 9.74568129e-01 -2.24054125e-01 -4.08797886e-03 3.92342597e+01] [ 2.24052495e-01 9.74576699e-01 -8.58222689e-04 4.77153905e+00] [ 4.17633728e-03 -7.95253852e-05 9.99991276e-01 1.75394411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.602755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.29, Y:4.78, Z:0.17 [[ 9.73976641e-01 -2.26611549e-01 -4.08770205e-03 3.92906324e+01] [ 2.26609937e-01 9.73985214e-01 -8.59539103e-04 4.78370585e+00] [ 4.17614285e-03 -8.91428949e-05 9.99991276e-01 1.73280256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.35, Y:4.79, Z:0.18 [[ 9.73865450e-01 -2.27088921e-01 -4.08741378e-03 3.93488720e+01] [ 2.27087307e-01 9.73874024e-01 -8.60907765e-04 4.79256196e+00] [ 4.17612872e-03 -8.97914591e-05 9.99991276e-01 1.75025497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.40, Y:4.81, Z:0.17 [[ 9.72471924e-01 -2.32984231e-01 -4.08713489e-03 3.94045876e+01] [ 2.32982664e-01 9.72480506e-01 -8.62229756e-04 4.80698801e+00] [ 4.17554494e-03 -1.13737344e-04 9.99991276e-01 1.72107677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.782755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.46, Y:4.82, Z:0.17 [[ 9.72244546e-01 -2.33931270e-01 -4.08704378e-03 3.94611360e+01] [ 2.33929709e-01 9.72253129e-01 -8.62661391e-04 4.81912763e+00] [ 4.17544458e-03 -1.17363131e-04 9.99991276e-01 1.69277865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.52, Y:4.83, Z:0.17 [[ 9.72124723e-01 -2.34428710e-01 -4.08696375e-03 3.95179805e+01] [ 2.34427152e-01 9.72133307e-01 -8.63040416e-04 4.83014098e+00] [ 4.17539503e-03 -1.19112344e-04 9.99991276e-01 1.68479534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.57, Y:4.84, Z:0.17 [[ 9.71888118e-01 -2.35407701e-01 -4.08671449e-03 3.95746552e+01] [ 2.35406146e-01 9.71896702e-01 -8.64219096e-04 4.84090956e+00] [ 4.17530817e-03 -1.22113439e-04 9.99991276e-01 1.69685519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.962755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.63, Y:4.85, Z:0.17 [[ 9.71409770e-01 -2.37373882e-01 -4.08645231e-03 3.96317519e+01] [ 2.37372340e-01 9.71418356e-01 -8.65457058e-04 4.85147084e+00] [ 4.17509168e-03 -1.29297305e-04 9.99991276e-01 1.69692511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.69, Y:4.86, Z:0.17 [[ 9.71411501e-01 -2.37366804e-01 -4.08619201e-03 3.96905934e+01] [ 2.37365256e-01 9.71420086e-01 -8.66684289e-04 4.85773817e+00] [ 4.17513107e-03 -1.28012926e-04 9.99991276e-01 1.72025078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.75, Y:4.87, Z:0.17 [[ 9.70174573e-01 -2.42372858e-01 -4.08595420e-03 3.97471203e+01] [ 2.42371350e-01 9.70183166e-01 -8.67803982e-04 4.86955094e+00] [ 4.17445611e-03 -1.48396876e-04 9.99991276e-01 1.70394156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.142755095999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:39.80, Y:4.88, Z:0.17 [[ 9.69929334e-01 -2.43352405e-01 -4.08587097e-03 3.98047941e+01] [ 2.43350904e-01 9.69937928e-01 -8.68195672e-04 4.88024488e+00] [ 4.17431873e-03 -1.52211943e-04 9.99991276e-01 1.72621575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.86, Y:4.89, Z:0.17 [[ 9.70001127e-01 -2.43066083e-01 -4.08564326e-03 3.98610349e+01] [ 2.43064575e-01 9.70009720e-01 -8.69265930e-04 4.89312659e+00] [ 4.17440274e-03 -1.49886210e-04 9.99991276e-01 1.73961951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.92, Y:4.90, Z:0.17 [[ 9.70507912e-01 -2.41034650e-01 -4.08535968e-03 3.99168674e+01] [ 2.41033118e-01 9.70516501e-01 -8.70596663e-04 4.90455540e+00] [ 4.17475294e-03 -1.39786034e-04 9.99991276e-01 1.74117582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.322755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.97, Y:4.92, Z:0.18 [[ 9.71458068e-01 -2.37176166e-01 -4.08524008e-03 3.99744640e+01] [ 2.37174598e-01 9.71466650e-01 -8.71157545e-04 4.91641176e+00] [ 4.17529230e-03 -1.22622145e-04 9.99991276e-01 1.76008717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.03, Y:4.93, Z:0.17 [[ 9.71462769e-01 -2.37156913e-01 -4.08498849e-03 4.00308246e+01] [ 2.37155340e-01 9.71471350e-01 -8.72335697e-04 4.93056738e+00] [ 4.17532972e-03 -1.21335179e-04 9.99991276e-01 1.74908671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.09, Y:4.94, Z:0.18 [[ 9.72265050e-01 -2.33846075e-01 -4.08469141e-03 4.00882792e+01] [ 2.33844467e-01 9.72273625e-01 -8.73724536e-04 4.94491987e+00] [ 4.17575478e-03 -1.05690655e-04 9.99991276e-01 1.76631784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.502755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.15, Y:4.96, Z:0.18 [[ 9.71682146e-01 -2.36256481e-01 -4.08444864e-03 4.01451500e+01] [ 2.36254889e-01 9.71690723e-01 -8.74857937e-04 4.95774040e+00] [ 4.17551172e-03 -1.14887124e-04 9.99991276e-01 1.75157964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.20, Y:4.97, Z:0.18 [[ 9.70773282e-01 -2.39963650e-01 -4.08436234e-03 4.02020172e+01] [ 2.39962089e-01 9.70781865e-01 -8.75260692e-04 4.96974736e+00] [ 4.17505564e-03 -1.30412425e-04 9.99991276e-01 1.75132765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.26, Y:4.98, Z:0.18 [[ 9.70118740e-01 -2.42596271e-01 -4.08408717e-03 4.02583364e+01] [ 2.42594728e-01 9.70127327e-01 -8.76542787e-04 4.98314614e+00] [ 4.17473058e-03 -1.40427430e-04 9.99991276e-01 1.75957792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.682755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.31, Y:5.00, Z:0.17 [[ 9.69089853e-01 -2.46674239e-01 -4.08381250e-03 4.03148815e+01] [ 2.46672727e-01 9.69098445e-01 -8.77820614e-04 4.99839138e+00] [ 4.17415207e-03 -1.56678114e-04 9.99991276e-01 1.74932793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.742755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.37, Y:5.01, Z:0.18 [[ 9.69092597e-01 -2.46663461e-01 -4.08351039e-03 4.03709035e+01] [ 2.46661942e-01 9.69101188e-01 -8.79223746e-04 5.01147173e+00] [ 4.17420714e-03 -1.55197380e-04 9.99991276e-01 1.76712576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.43, Y:5.03, Z:0.18 [[ 9.69164048e-01 -2.46382578e-01 -4.08336786e-03 4.04274080e+01] [ 2.46381055e-01 9.69172638e-01 -8.79885208e-04 5.02528216e+00] [ 4.17427678e-03 -1.53311370e-04 9.99991276e-01 1.77085389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.862755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.48, Y:5.04, Z:0.18 [[ 9.69235227e-01 -2.46102426e-01 -4.08310001e-03 4.04839789e+01] [ 2.46100895e-01 9.69243815e-01 -8.81126403e-04 5.03950889e+00] [ 4.17436677e-03 -1.50835815e-04 9.99991276e-01 1.77242315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.922755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.54, Y:5.06, Z:0.18 [[ 9.69636484e-01 -2.44516705e-01 -4.08283518e-03 4.05403618e+01] [ 2.44515155e-01 9.69645069e-01 -8.82351835e-04 5.05507983e+00] [ 4.17465076e-03 -1.42754544e-04 9.99991276e-01 1.76693396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.60, Y:5.07, Z:0.18 [[ 9.70045232e-01 -2.42890057e-01 -4.08256942e-03 4.05971452e+01] [ 2.42888487e-01 9.70053814e-01 -8.83579740e-04 5.06807886e+00] [ 4.17492477e-03 -1.34496795e-04 9.99991276e-01 1.77293137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.65, Y:5.08, Z:0.17 [[ 9.70050674e-01 -2.42868329e-01 -4.08229681e-03 4.06543488e+01] [ 2.42866754e-01 9.70059254e-01 -8.84837456e-04 5.08216272e+00] [ 4.17496880e-03 -1.33117004e-04 9.99991276e-01 1.71465605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.102755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.71, Y:5.09, Z:0.18 [[ 9.70937317e-01 -2.39299109e-01 -4.08205971e-03 4.07115114e+01] [ 2.39297497e-01 9.70945891e-01 -8.85929944e-04 5.09262450e+00] [ 4.17546135e-03 -1.16644231e-04 9.99991276e-01 1.79109592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.77, Y:5.11, Z:0.18 [[ 9.70632259e-01 -2.40533486e-01 -4.08172671e-03 4.07680681e+01] [ 2.40531879e-01 9.70640834e-01 -8.87461540e-04 5.10607772e+00] [ 4.17535483e-03 -1.20386594e-04 9.99991276e-01 1.76458601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.82, Y:5.12, Z:0.18 [[ 9.70236936e-01 -2.42123166e-01 -4.08163530e-03 4.08239109e+01] [ 2.42121571e-01 9.70245513e-01 -8.87881754e-04 5.11663282e+00] [ 4.17516508e-03 -1.26796279e-04 9.99991276e-01 1.76580937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.282755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.88, Y:5.13, Z:0.18 [[ 9.69757405e-01 -2.44036714e-01 -4.08145254e-03 4.08802927e+01] [ 2.44035132e-01 9.69765984e-01 -8.88721082e-04 5.12784294e+00] [ 4.17493441e-03 -1.34173959e-04 9.99991276e-01 1.78180319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.94, Y:5.14, Z:0.18 [[ 9.68763598e-01 -2.47952482e-01 -4.08137078e-03 4.09380605e+01] [ 2.47950933e-01 9.68772184e-01 -8.89096398e-04 5.13837561e+00] [ 4.17437214e-03 -1.50655468e-04 9.99991276e-01 1.76913431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.99, Y:5.15, Z:0.18 [[ 9.68495193e-01 -2.48998805e-01 -4.08114560e-03 4.09945555e+01] [ 2.48997261e-01 9.68503780e-01 -8.90128811e-04 5.14904020e+00] [ 4.17424595e-03 -1.54108602e-04 9.99991276e-01 1.78773098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.462755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.05, Y:5.16, Z:0.18 [[ 9.68700600e-01 -2.48198493e-01 -4.08105901e-03 4.10508059e+01] [ 2.48196941e-01 9.68709185e-01 -8.90525630e-04 5.16187832e+00] [ 4.17438647e-03 -1.50253649e-04 9.99991276e-01 1.81733475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.11, Y:5.17, Z:0.18 [[ 9.69440786e-01 -2.45291480e-01 -4.08075051e-03 4.11075214e+01] [ 2.45289896e-01 9.69449365e-01 -8.91937077e-04 5.17462871e+00] [ 4.17486555e-03 -1.36286687e-04 9.99991276e-01 1.81162466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.16, Y:5.19, Z:0.18 [[ 9.70643422e-01 -2.40488457e-01 -4.08041366e-03 4.11628858e+01] [ 2.40486824e-01 9.70651992e-01 -8.93475440e-04 5.18855182e+00] [ 4.17553217e-03 -1.14039662e-04 9.99991276e-01 1.77274531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.642755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.22, Y:5.20, Z:0.18 [[ 9.71200540e-01 -2.38228593e-01 -4.08028411e-03 4.12186986e+01] [ 2.38226938e-01 9.71209105e-01 -8.94066649e-04 5.20428922e+00] [ 4.17580132e-03 -1.03715580e-04 9.99991276e-01 1.78273904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.28, Y:5.22, Z:0.18 [[ 9.71820450e-01 -2.35687009e-01 -4.07998595e-03 4.12756080e+01] [ 2.35685326e-01 9.71829010e-01 -8.95425214e-04 5.21557589e+00] [ 4.17608880e-03 -9.14002829e-05 9.99991276e-01 1.82435455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.33, Y:5.23, Z:0.18 [[ 9.71447310e-01 -2.37220318e-01 -4.07989450e-03 4.13328626e+01] [ 2.37218647e-01 9.71455872e-01 -8.95841722e-04 5.22759664e+00] [ 4.17594932e-03 -9.75640201e-05 9.99991276e-01 1.79811736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.822755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.39, Y:5.24, Z:0.18 [[ 9.70705522e-01 -2.40237689e-01 -4.07962488e-03 4.13898314e+01] [ 2.40236039e-01 9.70714088e-01 -8.97067862e-04 5.24110843e+00] [ 4.17565886e-03 -1.09284194e-04 9.99991276e-01 1.80008450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.45, Y:5.25, Z:0.19 [[ 9.70061606e-01 -2.42824712e-01 -4.07929129e-03 4.14466051e+01] [ 2.42823078e-01 9.70070175e-01 -8.98582265e-04 5.25231064e+00] [ 4.17539680e-03 -1.18865914e-04 9.99991276e-01 1.85549686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.942755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:41.50, Y:5.26, Z:0.19 [[ 9.69317888e-01 -2.45776711e-01 -4.07918728e-03 4.15019663e+01] [ 2.45775102e-01 9.69326463e-01 -8.99054194e-04 5.26410891e+00] [ 4.17503076e-03 -1.31093354e-04 9.99991276e-01 1.87736155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.002755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.56, Y:5.28, Z:0.19 [[ 9.69083118e-01 -2.46700772e-01 -4.07906480e-03 4.15586419e+01] [ 2.46699168e-01 9.69091694e-01 -8.99609554e-04 5.27757590e+00] [ 4.17492218e-03 -1.34505459e-04 9.99991276e-01 1.89205314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.62, Y:5.29, Z:0.19 [[ 9.69026766e-01 -2.46922032e-01 -4.07877627e-03 4.16152637e+01] [ 2.46920425e-01 9.69035341e-01 -9.00915795e-04 5.29141904e+00] [ 4.17493432e-03 -1.34121652e-04 9.99991276e-01 1.90442538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.67, Y:5.31, Z:0.19 [[ 9.69401687e-01 -2.45445991e-01 -4.07848725e-03 4.16708779e+01] [ 2.45444365e-01 9.69410259e-01 -9.02222309e-04 5.30589061e+00] [ 4.17517423e-03 -1.26425886e-04 9.99991276e-01 1.89556754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.182755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.73, Y:5.32, Z:0.19 [[ 9.69406802e-01 -2.45425790e-01 -4.07839870e-03 4.17276294e+01] [ 2.45424162e-01 9.69415373e-01 -9.02622437e-04 5.32038095e+00] [ 4.17518922e-03 -1.25929254e-04 9.99991276e-01 1.88439975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.242755095999996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:41.78, Y:5.33, Z:0.19 [[ 9.69357606e-01 -2.45620035e-01 -4.07811358e-03 4.17833620e+01] [ 2.45618404e-01 9.69366176e-01 -9.03908795e-04 5.33476006e+00] [ 4.17520347e-03 -1.25448882e-04 9.99991276e-01 1.86976069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.84, Y:5.35, Z:0.19 [[ 9.69245607e-01 -2.46061627e-01 -4.07792179e-03 4.18397374e+01] [ 2.46059996e-01 9.69254177e-01 -9.04773211e-04 5.35054534e+00] [ 4.17517270e-03 -1.26465961e-04 9.99991276e-01 1.86584707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.362755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.89, Y:5.37, Z:0.19 [[ 9.68992324e-01 -2.47057177e-01 -4.07764572e-03 4.18944179e+01] [ 2.47055550e-01 9.69000895e-01 -9.06015694e-04 5.36661253e+00] [ 4.17508003e-03 -1.29482751e-04 9.99991276e-01 1.86300454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.422755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.95, Y:5.38, Z:0.19 [[ 9.68633452e-01 -2.48460480e-01 -4.07752707e-03 4.19507295e+01] [ 2.48458862e-01 9.68642025e-01 -9.06549375e-04 5.38150577e+00] [ 4.17490577e-03 -1.34983687e-04 9.99991276e-01 1.88024974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.01, Y:5.40, Z:0.19 [[ 9.69086612e-01 -2.46687079e-01 -4.07724020e-03 4.20064236e+01] [ 2.46685440e-01 9.69095181e-01 -9.07837753e-04 5.39573550e+00] [ 4.17518567e-03 -1.26022381e-04 9.99991276e-01 1.87427514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.06, Y:5.41, Z:0.19 [[ 9.67546354e-01 -2.52660702e-01 -4.07714550e-03 4.20624871e+01] [ 2.52659115e-01 9.67554932e-01 -9.08262855e-04 5.41333964e+00] [ 4.17434457e-03 -1.51341560e-04 9.99991276e-01 1.85356469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.602755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.12, Y:5.43, Z:0.19 [[ 9.67339335e-01 -2.53452147e-01 -4.07686897e-03 4.21183649e+01] [ 2.53450562e-01 9.67347913e-01 -9.09502398e-04 5.43147492e+00] [ 4.17426603e-03 -1.53487287e-04 9.99991276e-01 1.86891535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.17, Y:5.45, Z:0.19 [[ 9.67540715e-01 -2.52682303e-01 -4.07652812e-03 4.21737289e+01] [ 2.52680705e-01 9.67549291e-01 -9.11027579e-04 5.44812134e+00] [ 4.17444244e-03 -1.48603724e-04 9.99991276e-01 1.88588007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.23, Y:5.46, Z:0.19 [[ 9.67803871e-01 -2.51672505e-01 -4.07642180e-03 4.22293519e+01] [ 2.51670895e-01 9.67812445e-01 -9.11503069e-04 5.46466615e+00] [ 4.17461201e-03 -1.43760525e-04 9.99991276e-01 1.90984856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.782755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.28, Y:5.48, Z:0.19 [[ 9.68393332e-01 -2.49394748e-01 -4.07609013e-03 4.22833557e+01] [ 2.49393112e-01 9.68401901e-01 -9.12983824e-04 5.48228777e+00] [ 4.17498681e-03 -1.32421355e-04 9.99991276e-01 1.89671913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.34, Y:5.49, Z:0.19 [[ 9.69331160e-01 -2.45724417e-01 -4.07595498e-03 4.23392052e+01] [ 2.45722746e-01 9.69339722e-01 -9.13586802e-04 5.49467068e+00] [ 4.17547566e-03 -1.15986699e-04 9.99991276e-01 1.88550209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.39, Y:5.51, Z:0.19 [[ 9.69200089e-01 -2.46240889e-01 -4.07582485e-03 4.23945118e+01] [ 2.46239220e-01 9.69208652e-01 -9.14166989e-04 5.51200792e+00] [ 4.17543000e-03 -1.17617208e-04 9.99991276e-01 1.91470708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.962755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.45, Y:5.53, Z:0.19 [[ 9.69145534e-01 -2.46455520e-01 -4.07554429e-03 4.24506490e+01] [ 2.46453848e-01 9.69154097e-01 -9.15416101e-04 5.52766096e+00] [ 4.17543979e-03 -1.17262145e-04 9.99991276e-01 1.92079396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.51, Y:5.54, Z:0.19 [[ 9.69018302e-01 -2.46955307e-01 -4.07524971e-03 4.25066239e+01] [ 2.46953633e-01 9.69026864e-01 -9.16725637e-04 5.54168671e+00] [ 4.17541670e-03 -1.18073802e-04 9.99991276e-01 1.93434629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.56, Y:5.56, Z:0.19 [[ 9.68562341e-01 -2.48737585e-01 -4.07492813e-03 4.25627465e+01] [ 2.48735921e-01 9.68570905e-01 -9.18152865e-04 5.55643244e+00] [ 4.17523595e-03 -1.24292714e-04 9.99991276e-01 1.94621732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.142755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.62, Y:5.57, Z:0.19 [[ 9.67843540e-01 -2.51519937e-01 -4.07459557e-03 4.26177027e+01] [ 2.51518292e-01 9.67852108e-01 -9.19626344e-04 5.57160098e+00] [ 4.17491027e-03 -1.34780902e-04 9.99991276e-01 1.93701157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.67, Y:5.59, Z:0.19 [[ 9.67390435e-01 -2.53257076e-01 -4.07437233e-03 4.26745013e+01] [ 2.53255442e-01 9.67399004e-01 -9.20614305e-04 5.58539154e+00] [ 4.17469583e-03 -1.41263494e-04 9.99991276e-01 1.94189364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.73, Y:5.60, Z:0.19 [[ 9.67159625e-01 -2.54137092e-01 -4.07405198e-03 4.27305686e+01] [ 2.54135460e-01 9.67168195e-01 -9.22029823e-04 5.59904895e+00] [ 4.17461548e-03 -1.43611058e-04 9.99991276e-01 1.94049623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.322755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.79, Y:5.61, Z:0.19 [[ 9.67334590e-01 -2.53470303e-01 -4.07373675e-03 4.27867455e+01] [ 2.53468660e-01 9.67343158e-01 -9.23420469e-04 5.61335012e+00] [ 4.17476104e-03 -1.39308033e-04 9.99991276e-01 1.93293558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.84, Y:5.63, Z:0.19 [[ 9.67737877e-01 -2.51926197e-01 -4.07341950e-03 4.28435057e+01] [ 2.51924534e-01 9.67746441e-01 -9.24817841e-04 5.62547931e+00] [ 4.17502306e-03 -1.31213055e-04 9.99991276e-01 1.92695074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.90, Y:5.64, Z:0.19 [[ 9.68053382e-01 -2.50711108e-01 -4.07310611e-03 4.29016110e+01] [ 2.50709428e-01 9.68061943e-01 -9.26196028e-04 5.63766781e+00] [ 4.17522664e-03 -1.24558906e-04 9.99991276e-01 1.90425707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.502755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.96, Y:5.65, Z:0.19 [[ 9.68964936e-01 -2.47164651e-01 -4.07283305e-03 4.29580114e+01] [ 2.47162935e-01 9.68973490e-01 -9.27395210e-04 5.64935293e+00] [ 4.17568656e-03 -1.08039931e-04 9.99991276e-01 1.91248733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.01, Y:5.66, Z:0.19 [[ 9.69710372e-01 -2.44223682e-01 -4.07273590e-03 4.30145327e+01] [ 2.44221938e-01 9.69718920e-01 -9.27821630e-04 5.66034275e+00] [ 4.17600508e-03 -9.49331984e-05 9.99991276e-01 1.92536580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.07, Y:5.67, Z:0.20 [[ 9.69892594e-01 -2.43499016e-01 -4.07264382e-03 4.30714047e+01] [ 2.43497264e-01 9.69901140e-01 -9.28225664e-04 5.67101025e+00] [ 4.17608392e-03 -9.13984286e-05 9.99991276e-01 1.95714393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.682755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.13, Y:5.68, Z:0.20 [[ 9.69602168e-01 -2.44652921e-01 -4.07233844e-03 4.31283498e+01] [ 2.44651174e-01 9.69610715e-01 -9.29563497e-04 5.68202771e+00] [ 4.17600341e-03 -9.49955972e-05 9.99991276e-01 1.97621116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.742755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.18, Y:5.69, Z:0.20 [[ 9.69067892e-01 -2.46760691e-01 -4.07202270e-03 4.31848229e+01] [ 2.46758956e-01 9.69076442e-01 -9.30944554e-04 5.69285629e+00] [ 4.17582180e-03 -1.02659594e-04 9.99991276e-01 1.98489691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.24, Y:5.70, Z:0.20 [[ 9.68052487e-01 -2.50714582e-01 -4.07189774e-03 4.32414727e+01] [ 2.50712880e-01 9.68061044e-01 -9.31490821e-04 5.70253420e+00] [ 4.17538391e-03 -1.19145203e-04 9.99991276e-01 1.98423105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.862755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.30, Y:5.71, Z:0.20 [[ 9.67979593e-01 -2.50995875e-01 -4.07177172e-03 4.32991502e+01] [ 2.50994173e-01 9.67988149e-01 -9.32041351e-04 5.71235337e+00] [ 4.17536531e-03 -1.19793968e-04 9.99991276e-01 2.01208451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.922755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.36, Y:5.72, Z:0.20 [[ 9.68348918e-01 -2.49567217e-01 -4.07144631e-03 4.33564087e+01] [ 2.49565496e-01 9.68357471e-01 -9.33460672e-04 5.72392875e+00] [ 4.17557664e-03 -1.12176887e-04 9.99991276e-01 1.99748619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.41, Y:5.73, Z:0.20 [[ 9.68838700e-01 -2.47659038e-01 -4.07113102e-03 4.34131367e+01] [ 2.47657295e-01 9.68847248e-01 -9.34833754e-04 5.73349295e+00] [ 4.17582411e-03 -1.02542176e-04 9.99991276e-01 2.00510827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.47, Y:5.74, Z:0.20 [[ 9.69105033e-01 -2.46614804e-01 -4.07099366e-03 4.34709063e+01] [ 2.46613049e-01 9.69113579e-01 -9.35431541e-04 5.74276141e+00] [ 4.17594650e-03 -9.74287432e-05 9.99991276e-01 2.00172740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.102755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.53, Y:5.75, Z:0.20 [[ 9.69188038e-01 -2.46288403e-01 -4.07068574e-03 4.35265572e+01] [ 2.46286639e-01 9.69196582e-01 -9.36769601e-04 5.75324689e+00] [ 4.17601019e-03 -9.46496195e-05 9.99991276e-01 1.98411733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.58, Y:5.76, Z:0.20 [[ 9.69367396e-01 -2.45581519e-01 -4.07054355e-03 4.35833368e+01] [ 2.45579747e-01 9.69375938e-01 -9.37387039e-04 5.76348028e+00] [ 4.17609191e-03 -9.09706234e-05 9.99991276e-01 2.01436973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.64, Y:5.77, Z:0.20 [[ 9.69412582e-01 -2.45403094e-01 -4.07020673e-03 4.36401929e+01] [ 2.45401314e-01 9.69421123e-01 -9.38847248e-04 5.77497627e+00] [ 4.17614040e-03 -8.87037473e-05 9.99991276e-01 2.02202012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.282755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.70, Y:5.79, Z:0.20 [[ 9.69278573e-01 -2.45931869e-01 -4.06990573e-03 4.36974174e+01] [ 2.45930088e-01 9.69287113e-01 -9.40150283e-04 5.78642343e+00] [ 4.17612009e-03 -8.96447494e-05 9.99991276e-01 2.02146526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.75, Y:5.80, Z:0.20 [[ 9.69032686e-01 -2.46898952e-01 -4.06960652e-03 4.37545785e+01] [ 2.46897175e-01 9.69041227e-01 -9.41443698e-04 5.79840006e+00] [ 4.17605796e-03 -9.24846364e-05 9.99991276e-01 2.01147765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.81, Y:5.81, Z:0.20 [[ 9.68425351e-01 -2.49270497e-01 -4.06929359e-03 4.38119214e+01] [ 2.49268735e-01 9.68433895e-01 -9.42794373e-04 5.81030682e+00] [ 4.17585266e-03 -1.01321694e-04 9.99991276e-01 2.02011986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.462755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.87, Y:5.82, Z:0.20 [[ 9.67892565e-01 -2.51331306e-01 -4.06895367e-03 4.38690301e+01] [ 2.51329556e-01 9.67901112e-01 -9.44259151e-04 5.82130998e+00] [ 4.17566666e-03 -1.08706905e-04 9.99991276e-01 2.03144545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.93, Y:5.83, Z:0.20 [[ 9.67293114e-01 -2.53628621e-01 -4.06861586e-03 4.39253048e+01] [ 2.53626885e-01 9.67301664e-01 -9.45712443e-04 5.83075969e+00] [ 4.17543864e-03 -1.17129234e-04 9.99991276e-01 2.00381793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.98, Y:5.84, Z:0.20 [[ 9.67849469e-01 -2.51497224e-01 -4.06830309e-03 4.39839313e+01] [ 2.51495463e-01 9.67858014e-01 -9.47056045e-04 5.83691613e+00] [ 4.17572171e-03 -1.06552079e-04 9.99991276e-01 2.01949112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.642755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.04, Y:5.85, Z:0.20 [[ 9.68306432e-01 -2.49732067e-01 -4.06798008e-03 4.40399519e+01] [ 2.49730285e-01 9.68314972e-01 -9.48441451e-04 5.84907276e+00] [ 4.17594226e-03 -9.75158657e-05 9.99991276e-01 2.02773268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.10, Y:5.86, Z:0.20 [[ 9.69120120e-01 -2.46555562e-01 -4.06785370e-03 4.40969957e+01] [ 2.46553750e-01 9.69128654e-01 -9.48983210e-04 5.86072314e+00] [ 4.17625066e-03 -8.32658595e-05 9.99991276e-01 2.02876469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.15, Y:5.87, Z:0.20 [[ 9.70325532e-01 -2.41768107e-01 -4.06756659e-03 4.41541190e+01] [ 2.41766248e-01 9.70334055e-01 -9.50212220e-04 5.87068366e+00] [ 4.17662939e-03 -6.13851334e-05 9.99991276e-01 2.03750813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.822755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.21, Y:5.88, Z:0.20 [[ 9.70725572e-01 -2.40156869e-01 -4.06727196e-03 4.42116714e+01] [ 2.40154990e-01 9.70734091e-01 -9.51471700e-04 5.88162730e+00] [ 4.17674201e-03 -5.31577454e-05 9.99991276e-01 2.04429131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.27, Y:5.89, Z:0.21 [[ 9.70697937e-01 -2.40268546e-01 -4.06696877e-03 4.42687806e+01] [ 2.40266663e-01 9.70706456e-01 -9.52765881e-04 5.89194467e+00] [ 4.17675251e-03 -5.23091386e-05 9.99991276e-01 2.05208755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.33, Y:5.90, Z:0.20 [[ 9.70363073e-01 -2.41617403e-01 -4.06665913e-03 4.43256676e+01] [ 2.41615525e-01 9.70371593e-01 -9.54085665e-04 5.90252467e+00] [ 4.17669420e-03 -5.67584850e-05 9.99991276e-01 2.02719024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.002755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.38, Y:5.91, Z:0.21 [[ 9.69511287e-01 -2.45012915e-01 -4.06635342e-03 4.43830448e+01] [ 2.45011063e-01 9.69519812e-01 -9.55386834e-04 5.91015337e+00] [ 4.17649232e-03 -7.00432543e-05 9.99991276e-01 2.06002007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.44, Y:5.92, Z:0.20 [[ 9.68755554e-01 -2.47984157e-01 -4.06621195e-03 4.44415728e+01] [ 2.47982328e-01 9.68764084e-01 -9.55988580e-04 5.91651972e+00] [ 4.17627012e-03 -8.22294584e-05 9.99991276e-01 2.03821281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.50, Y:5.93, Z:0.21 [[ 9.68334286e-01 -2.49624075e-01 -4.06591384e-03 4.44992112e+01] [ 2.49622255e-01 9.68342818e-01 -9.57254785e-04 5.92733223e+00] [ 4.17615231e-03 -8.79999522e-05 9.99991276e-01 2.05785654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.182755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.56, Y:5.94, Z:0.21 [[ 9.68204845e-01 -2.50125664e-01 -4.06565770e-03 4.45558340e+01] [ 2.50123844e-01 9.68213377e-01 -9.58341439e-04 5.94004380e+00] [ 4.17612996e-03 -8.90471074e-05 9.99991276e-01 2.07440354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.242755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.61, Y:5.95, Z:0.21 [[ 9.68766608e-01 -2.47940984e-01 -4.06533670e-03 4.46131323e+01] [ 2.47939139e-01 9.68775135e-01 -9.59701216e-04 5.94967139e+00] [ 4.17634637e-03 -7.82295865e-05 9.99991276e-01 2.06524735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.67, Y:5.96, Z:0.21 [[ 9.68897759e-01 -2.47427986e-01 -4.06501055e-03 4.46677582e+01] [ 2.47426131e-01 9.68906283e-01 -9.61080713e-04 5.96454016e+00] [ 4.17641253e-03 -7.46008820e-05 9.99991276e-01 2.05738557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.362755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.72, Y:5.98, Z:0.20 [[ 9.68818953e-01 -2.47736378e-01 -4.06487090e-03 4.47220064e+01] [ 2.47734523e-01 9.68827478e-01 -9.61670979e-04 5.98274941e+00] [ 4.17639951e-03 -7.53237807e-05 9.99991276e-01 2.04223664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.422755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.78, Y:6.00, Z:0.20 [[ 9.68559960e-01 -2.48747025e-01 -4.06473819e-03 4.47783216e+01] [ 2.48745176e-01 9.68568486e-01 -9.62231567e-04 5.99567827e+00] [ 4.17632956e-03 -7.91050498e-05 9.99991276e-01 2.02909694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.83, Y:6.01, Z:0.20 [[ 9.67595432e-01 -2.52472892e-01 -4.06441631e-03 4.48332221e+01] [ 2.52471071e-01 9.67603963e-01 -9.63589266e-04 6.01301347e+00] [ 4.17602550e-03 -9.37829662e-05 9.99991276e-01 2.00847190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.89, Y:6.03, Z:0.21 [[ 9.67291322e-01 -2.53635524e-01 -4.06431795e-03 4.48896251e+01] [ 2.53633711e-01 9.67299856e-01 -9.64003984e-04 6.02672654e+00] [ 4.17591982e-03 -9.83753556e-05 9.99991276e-01 2.06463150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.602755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.95, Y:6.04, Z:0.21 [[ 9.67006166e-01 -2.54720546e-01 -4.06422270e-03 4.49464070e+01] [ 2.54718741e-01 9.67014701e-01 -9.64405358e-04 6.03887753e+00] [ 4.17581696e-03 -1.02647765e-04 9.99991276e-01 2.07422552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.00, Y:6.05, Z:0.21 [[ 9.66375961e-01 -2.57101120e-01 -4.06390969e-03 4.50025589e+01] [ 2.57099331e-01 9.66384500e-01 -9.65722582e-04 6.05234462e+00] [ 4.17558769e-03 -1.11577372e-04 9.99991276e-01 2.06990153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.06, Y:6.07, Z:0.21 [[ 9.65864833e-01 -2.59014695e-01 -4.06358776e-03 4.50572185e+01] [ 2.59012916e-01 9.65873374e-01 -9.67075294e-04 6.06709746e+00] [ 4.17539793e-03 -1.18457700e-04 9.99991276e-01 2.06407701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.782755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.11, Y:6.08, Z:0.21 [[ 9.66188084e-01 -2.57806274e-01 -4.06344931e-03 4.51138553e+01] [ 2.57804483e-01 9.66196622e-01 -9.67656708e-04 6.07869190e+00] [ 4.17555896e-03 -1.12637066e-04 9.99991276e-01 2.08017123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.17, Y:6.09, Z:0.21 [[ 9.66020537e-01 -2.58433382e-01 -4.06312065e-03 4.51687676e+01] [ 2.58431591e-01 9.66029075e-01 -9.69034745e-04 6.09336730e+00] [ 4.17552361e-03 -1.13931267e-04 9.99991276e-01 2.08446607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.23, Y:6.11, Z:0.21 [[ 9.66610815e-01 -2.56216755e-01 -4.06290061e-03 4.52252779e+01] [ 2.56214940e-01 9.66619348e-01 -9.69956424e-04 6.10524183e+00] [ 4.17579743e-03 -1.03405469e-04 9.99991276e-01 2.09200284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.962755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.28, Y:6.12, Z:0.21 [[ 9.66562187e-01 -2.56400146e-01 -4.06259861e-03 4.52813993e+01] [ 2.56398327e-01 9.66570719e-01 -9.71219718e-04 6.12221703e+00] [ 4.17580973e-03 -1.02899232e-04 9.99991276e-01 2.06001922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.34, Y:6.13, Z:0.21 [[ 9.67347858e-01 -2.53419848e-01 -4.06227597e-03 4.53384251e+01] [ 2.53417997e-01 9.67356384e-01 -9.72567316e-04 6.13291146e+00] [ 4.17613645e-03 -8.86429299e-05 9.99991276e-01 2.07092783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.39, Y:6.15, Z:0.21 [[ 9.67086693e-01 -2.54414676e-01 -4.06217537e-03 4.53946720e+01] [ 2.54412832e-01 9.67095220e-01 -9.72987305e-04 6.14820805e+00] [ 4.17605264e-03 -9.25064658e-05 9.99991276e-01 2.05610868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.142755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.45, Y:6.17, Z:0.20 [[ 9.66314162e-01 -2.57333328e-01 -4.06188759e-03 4.54504775e+01] [ 2.57331505e-01 9.66322693e-01 -9.74187219e-04 6.16690423e+00] [ 4.17578500e-03 -1.03880741e-04 9.99991276e-01 2.04280635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.51, Y:6.17, Z:0.21 [[ 9.67652437e-01 -2.52254366e-01 -4.06159745e-03 4.55084055e+01] [ 2.52252493e-01 9.67660957e-01 -9.75395395e-04 6.17429892e+00] [ 4.17629702e-03 -8.07043498e-05 9.99991276e-01 2.07534710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.57, Y:6.19, Z:0.21 [[ 9.67682686e-01 -2.52138301e-01 -4.06149703e-03 4.55650446e+01] [ 2.52136425e-01 9.67691206e-01 -9.75813333e-04 6.18666216e+00] [ 4.17631488e-03 -7.97736745e-05 9.99991276e-01 2.09146467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.322755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.62, Y:6.20, Z:0.21 [[ 9.67520139e-01 -2.52761322e-01 -4.06140182e-03 4.56217591e+01] [ 2.52759450e-01 9.67528660e-01 -9.76209462e-04 6.20044888e+00] [ 4.17627065e-03 -8.20553777e-05 9.99991276e-01 2.11037173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.68, Y:6.21, Z:0.21 [[ 9.67010473e-01 -2.54704242e-01 -4.06130374e-03 4.56787355e+01] [ 2.54702385e-01 9.67018997e-01 -9.76617317e-04 6.21346025e+00] [ 4.17610645e-03 -9.00245760e-05 9.99991276e-01 2.13515691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.73, Y:6.23, Z:0.21 [[ 9.66073255e-01 -2.58236276e-01 -4.06097800e-03 4.57341785e+01] [ 2.58234445e-01 9.66081785e-01 -9.77969947e-04 6.22896086e+00] [ 4.17578419e-03 -1.03893792e-04 9.99991276e-01 2.12155503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.502755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.79, Y:6.24, Z:0.21 [[ 9.65563904e-01 -2.60134303e-01 -4.06087832e-03 4.57906725e+01] [ 2.60132487e-01 9.65572437e-01 -9.78383669e-04 6.24304287e+00] [ 4.17558333e-03 -1.11674423e-04 9.99991276e-01 2.11980290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.85, Y:6.26, Z:0.21 [[ 9.65262468e-01 -2.61250605e-01 -4.06078490e-03 4.58464713e+01] [ 2.61248797e-01 9.65271002e-01 -9.78771252e-04 6.25744684e+00] [ 4.17546250e-03 -1.16104019e-04 9.99991276e-01 2.12358387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.90, Y:6.27, Z:0.21 [[ 9.64731588e-01 -2.63204246e-01 -4.06048232e-03 4.59015889e+01] [ 2.63202450e-01 9.64740126e-01 -9.80024921e-04 6.27132637e+00] [ 4.17525694e-03 -1.23267897e-04 9.99991276e-01 2.12145991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.682755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.96, Y:6.29, Z:0.21 [[ 9.64495661e-01 -2.64067480e-01 -4.06027849e-03 4.59573381e+01] [ 2.64065688e-01 9.64504199e-01 -9.80868660e-04 6.28531373e+00] [ 4.17517117e-03 -1.26136669e-04 9.99991276e-01 2.12269291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.742755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.01, Y:6.30, Z:0.21 [[ 9.63960323e-01 -2.66015057e-01 -4.06015389e-03 4.60140204e+01] [ 2.66013280e-01 9.63968864e-01 -9.81384148e-04 6.30272851e+00] [ 4.17492490e-03 -1.34039475e-04 9.99991276e-01 2.09822638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.07, Y:6.32, Z:0.21 [[ 9.63975919e-01 -2.65958540e-01 -4.05985069e-03 4.60702023e+01] [ 2.65956758e-01 9.63984459e-01 -9.82636879e-04 6.31754146e+00] [ 4.17497364e-03 -1.32506438e-04 9.99991276e-01 2.13021249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.862755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.13, Y:6.33, Z:0.22 [[ 9.63578820e-01 -2.67393673e-01 -4.05974255e-03 4.61269916e+01] [ 2.67391901e-01 9.63587362e-01 -9.83083423e-04 6.33266499e+00] [ 4.17478691e-03 -1.38263915e-04 9.99991276e-01 2.15380238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.922755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.18, Y:6.35, Z:0.21 [[ 9.63542821e-01 -2.67523369e-01 -4.05947452e-03 4.61836267e+01] [ 2.67521594e-01 9.63551363e-01 -9.84188972e-04 6.34730308e+00] [ 4.17480576e-03 -1.37688876e-04 9.99991276e-01 2.14287998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.24, Y:6.36, Z:0.21 [[ 9.64365324e-01 -2.64543089e-01 -4.05917116e-03 4.62399042e+01] [ 2.64541282e-01 9.64373859e-01 -9.85438553e-04 6.36203495e+00] [ 4.17524952e-03 -1.23495575e-04 9.99991276e-01 2.14410205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.30, Y:6.38, Z:0.22 [[ 9.65014475e-01 -2.62165194e-01 -4.05886895e-03 4.62964223e+01] [ 2.62163361e-01 9.65023004e-01 -9.86681735e-04 6.37662106e+00] [ 4.17557552e-03 -1.11924569e-04 9.99991276e-01 2.15098398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.102755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.35, Y:6.39, Z:0.22 [[ 9.65902099e-01 -2.58875767e-01 -4.05856150e-03 4.63537030e+01] [ 2.58873899e-01 9.65910621e-01 -9.87944805e-04 6.39159960e+00] [ 4.17596262e-03 -9.63976796e-05 9.99991276e-01 2.15902677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.41, Y:6.41, Z:0.22 [[ 9.66342375e-01 -2.57227418e-01 -4.05829686e-03 4.64096845e+01] [ 2.57225532e-01 9.66350893e-01 -9.89030668e-04 6.40594659e+00] [ 4.17614460e-03 -8.81553256e-05 9.99991276e-01 2.16539721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.47, Y:6.42, Z:0.22 [[ 9.66226491e-01 -2.57662373e-01 -4.05820396e-03 4.64664864e+01] [ 2.57660489e-01 9.66235009e-01 -9.89411719e-04 6.42004206e+00] [ 4.17611291e-03 -8.96430028e-05 9.99991276e-01 2.17010258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.282755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.52, Y:6.43, Z:0.21 [[ 9.65522832e-01 -2.60286753e-01 -4.05790848e-03 4.65221613e+01] [ 2.60284887e-01 9.65531354e-01 -9.90622096e-04 6.43420868e+00] [ 4.17588368e-03 -9.97440010e-05 9.99991276e-01 2.13589675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.58, Y:6.45, Z:0.22 [[ 9.65116482e-01 -2.61789438e-01 -4.05781584e-03 4.65797635e+01] [ 2.61787583e-01 9.65125007e-01 -9.91001438e-04 6.44832729e+00] [ 4.17573325e-03 -1.05853980e-04 9.99991276e-01 2.15620110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.64, Y:6.46, Z:0.22 [[ 9.63761018e-01 -2.66736266e-01 -4.05754272e-03 4.66359091e+01] [ 2.66734451e-01 9.63769552e-01 -9.92118444e-04 6.46213653e+00] [ 4.17517010e-03 -1.26121346e-04 9.99991276e-01 2.17349740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.462755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.69, Y:6.48, Z:0.22 [[ 9.62359097e-01 -2.71750818e-01 -4.05720537e-03 4.66919515e+01] [ 2.71749041e-01 9.62367638e-01 -9.93496111e-04 6.47636086e+00] [ 4.17450653e-03 -1.46441648e-04 9.99991276e-01 2.16182974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.75, Y:6.49, Z:0.22 [[ 9.60945456e-01 -2.76708098e-01 -4.05687367e-03 4.67467699e+01] [ 2.76706360e-01 9.60954005e-01 -9.94848737e-04 6.49061744e+00] [ 4.17375170e-03 -1.66567373e-04 9.99991276e-01 2.15040213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.80, Y:6.51, Z:0.22 [[ 9.60561285e-01 -2.78038775e-01 -4.05673027e-03 4.68027680e+01] [ 2.78037046e-01 9.60569836e-01 -9.95433121e-04 6.50503210e+00] [ 4.17354174e-03 -1.71746785e-04 9.99991276e-01 2.15117172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.642755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.86, Y:6.52, Z:0.22 [[ 9.60426536e-01 -2.78503885e-01 -4.05642941e-03 4.68584414e+01] [ 2.78502155e-01 9.60435087e-01 -9.96657648e-04 6.52147125e+00] [ 4.17351016e-03 -1.72507881e-04 9.99991276e-01 2.15671293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.91, Y:6.54, Z:0.22 [[ 9.60246759e-01 -2.79123108e-01 -4.05611993e-03 4.69130165e+01] [ 2.79121378e-01 9.60255310e-01 -9.97915534e-04 6.53630251e+00] [ 4.17345199e-03 -1.73904629e-04 9.99991276e-01 2.15740891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.97, Y:6.55, Z:0.22 [[ 9.59741672e-01 -2.80854896e-01 -4.05596803e-03 4.69689757e+01] [ 2.80853179e-01 9.59750225e-01 -9.98532569e-04 6.55220067e+00] [ 4.17315899e-03 -1.80798196e-04 9.99991276e-01 2.16707601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.822755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.03, Y:6.57, Z:0.22 [[ 9.59683315e-01 -2.81054241e-01 -4.05568491e-03 4.70251935e+01] [ 2.81052521e-01 9.59691868e-01 -9.99681156e-04 6.56866846e+00] [ 4.17317246e-03 -1.80483146e-04 9.99991276e-01 2.18236876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.08, Y:6.59, Z:0.22 [[ 9.59966732e-01 -2.80084680e-01 -4.05540310e-03 4.70805865e+01] [ 2.80082946e-01 9.59975282e-01 -1.00082307e-03 6.58774378e+00] [ 4.17340195e-03 -1.75092395e-04 9.99991276e-01 2.20004314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.14, Y:6.60, Z:0.22 [[ 9.60339722e-01 -2.78803110e-01 -4.05509777e-03 4.71356119e+01] [ 2.78801360e-01 9.60348269e-01 -1.00205869e-03 6.60486980e+00] [ 4.17368320e-03 -1.68250013e-04 9.99991276e-01 2.21515897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.002755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.19, Y:6.62, Z:0.22 [[ 9.60522454e-01 -2.78172918e-01 -4.05489233e-03 4.71914308e+01] [ 2.78171159e-01 9.60530999e-01 -1.00288931e-03 6.62208638e+00] [ 4.17382643e-03 -1.64656394e-04 9.99991276e-01 2.19848716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.25, Y:6.64, Z:0.22 [[ 9.60917561e-01 -2.76804987e-01 -4.05456181e-03 4.72461777e+01] [ 2.76803211e-01 9.60926102e-01 -1.00422378e-03 6.63918303e+00] [ 4.17410843e-03 -1.57339458e-04 9.99991276e-01 2.20651875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.30, Y:6.65, Z:0.22 [[ 9.61957099e-01 -2.73170462e-01 -4.05440777e-03 4.73026027e+01] [ 2.73168650e-01 9.61965633e-01 -1.00484534e-03 6.65473672e+00] [ 4.17469500e-03 -1.40918986e-04 9.99991276e-01 2.24970620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.182755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.36, Y:6.67, Z:0.22 [[ 9.61687677e-01 -2.74117450e-01 -4.05410051e-03 4.73588523e+01] [ 2.74115641e-01 9.61696211e-01 -1.00608345e-03 6.67424688e+00] [ 4.17459813e-03 -1.43754310e-04 9.99991276e-01 2.22304101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.242755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.41, Y:6.69, Z:0.22 [[ 9.62706203e-01 -2.70518636e-01 -4.05382737e-03 4.74135763e+01] [ 2.70516791e-01 9.62714730e-01 -1.00718283e-03 6.69120907e+00] [ 4.17514105e-03 -1.27007216e-04 9.99991276e-01 2.21340405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.302755096 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:47.47, Y:6.71, Z:0.22 [[ 9.64381100e-01 -2.64485653e-01 -4.05369245e-03 4.74702484e+01] [ 2.64483753e-01 9.64389615e-01 -1.00772555e-03 6.70708258e+00] [ 4.17586785e-03 -1.00304315e-04 9.99991276e-01 2.22497557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.362755095999994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:47.53, Y:6.73, Z:0.22 [[ 9.64678102e-01 -2.63400320e-01 -4.05340138e-03 4.75257275e+01] [ 2.63398405e-01 9.64686614e-01 -1.00889498e-03 6.72556330e+00] [ 4.17600531e-03 -9.44005658e-05 9.99991276e-01 2.20047434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.422755095999996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:47.58, Y:6.74, Z:0.22 [[ 9.65299017e-01 -2.61115644e-01 -4.05328949e-03 4.75826650e+01] [ 2.61113706e-01 9.65307523e-01 -1.00934430e-03 6.74071731e+00] [ 4.17622642e-03 -8.40503823e-05 9.99991276e-01 2.24473301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.482755096 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:47.64, Y:6.75, Z:0.23 [[ 9.64611559e-01 -2.63643916e-01 -4.05295731e-03 4.76385954e+01] [ 2.63641995e-01 9.64620069e-01 -1.01067640e-03 6.75468458e+00] [ 4.17602264e-03 -9.36196173e-05 9.99991276e-01 2.27738706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54275509599999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:47.69, Y:6.77, Z:0.23 [[ 9.62714572e-01 -2.70488868e-01 -4.05283880e-03 4.76938904e+01] [ 2.70487006e-01 9.62723095e-01 -1.01115141e-03 6.77144970e+00] [ 4.17526671e-03 -1.22790031e-04 9.99991276e-01 2.27790348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.602755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.75, Y:6.79, Z:0.23 [[ 9.61150223e-01 -2.75996058e-01 -4.05272373e-03 4.77489514e+01] [ 2.75994243e-01 9.61158756e-01 -1.01161239e-03 6.78857085e+00] [ 4.17451193e-03 -1.46216946e-04 9.99991276e-01 2.25930076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.81, Y:6.80, Z:0.23 [[ 9.60147204e-01 -2.79465424e-01 -4.05261045e-03 4.78051167e+01] [ 2.79463638e-01 9.60155743e-01 -1.01206600e-03 6.80265401e+00] [ 4.17397465e-03 -1.60824915e-04 9.99991276e-01 2.27824175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72275509599999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:47.86, Y:6.82, Z:0.23 [[ 9.58065796e-01 -2.86519649e-01 -4.05224769e-03 4.78605113e+01] [ 2.86517919e-01 9.58074347e-01 -1.01351638e-03 6.81991739e+00] [ 4.17274692e-03 -1.90026202e-04 9.99991276e-01 2.26869470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.782755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.92, Y:6.84, Z:0.23 [[ 9.57439326e-01 -2.88606167e-01 -4.05188711e-03 4.79163399e+01] [ 2.88604450e-01 9.57447879e-01 -1.01495588e-03 6.83581893e+00] [ 4.17239325e-03 -1.97633979e-04 9.99991276e-01 2.25723138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.97, Y:6.85, Z:0.23 [[ 9.58333713e-01 -2.85622268e-01 -4.05152281e-03 4.79739440e+01] [ 2.85620518e-01 9.58342260e-01 -1.01640802e-03 6.84994788e+00] [ 4.17305429e-03 -1.83139974e-04 9.99991276e-01 2.30061049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.03, Y:6.87, Z:0.23 [[ 9.59246810e-01 -2.82540520e-01 -4.05122723e-03 4.80293734e+01] [ 2.82538738e-01 9.59255350e-01 -1.01758480e-03 6.86659561e+00] [ 4.17367033e-03 -1.68513657e-04 9.99991276e-01 2.30893656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.962755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.08, Y:6.88, Z:0.23 [[ 9.60815598e-01 -2.77158758e-01 -4.05084969e-03 4.80849052e+01] [ 2.77156922e-01 9.60824127e-01 -1.01908549e-03 6.88288146e+00] [ 4.17460259e-03 -1.43567793e-04 9.99991276e-01 2.30676417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.14, Y:6.90, Z:0.23 [[ 9.61575751e-01 -2.74509865e-01 -4.05073622e-03 4.81405732e+01] [ 2.74508003e-01 9.61584274e-01 -1.01953635e-03 6.89968735e+00] [ 4.17499703e-03 -1.31598079e-04 9.99991276e-01 2.31354941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.20, Y:6.92, Z:0.23 [[ 9.62227833e-01 -2.72215339e-01 -4.05041334e-03 4.81966484e+01] [ 2.72213452e-01 9.62236351e-01 -1.02081748e-03 6.91743839e+00] [ 4.17533713e-03 -1.20318006e-04 9.99991276e-01 2.31717129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.142755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.25, Y:6.93, Z:0.23 [[ 9.62183942e-01 -2.72370444e-01 -4.05013385e-03 4.82525037e+01] [ 2.72368553e-01 9.62192458e-01 -1.02192515e-03 6.93443603e+00] [ 4.17535045e-03 -1.19849129e-04 9.99991276e-01 2.32403906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.31, Y:6.95, Z:0.23 [[ 9.61678451e-01 -2.74149874e-01 -4.05003646e-03 4.83087467e+01] [ 2.74147997e-01 9.61686971e-01 -1.02231097e-03 6.95106224e+00] [ 4.17513372e-03 -1.27174955e-04 9.99991276e-01 2.32967449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.36, Y:6.97, Z:0.23 [[ 9.60943594e-01 -2.76714671e-01 -4.04976077e-03 4.83629617e+01] [ 2.76712813e-01 9.60952117e-01 -1.02340194e-03 6.96743698e+00] [ 4.17481652e-03 -1.37189153e-04 9.99991276e-01 2.32387429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.322755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.42, Y:6.98, Z:0.23 [[ 9.59595440e-01 -2.81354213e-01 -4.04941811e-03 4.84185983e+01] [ 2.81352391e-01 9.59603972e-01 -1.02475600e-03 6.98277491e+00] [ 4.17415711e-03 -1.55962281e-04 9.99991276e-01 2.33575491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.47, Y:7.00, Z:0.23 [[ 9.59197190e-01 -2.82708961e-01 -4.04905599e-03 4.84742677e+01] [ 2.82707144e-01 9.59205722e-01 -1.02618480e-03 6.99770120e+00] [ 4.17398932e-03 -1.60383480e-04 9.99991276e-01 2.34025470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.53, Y:7.01, Z:0.23 [[ 9.59229855e-01 -2.82598112e-01 -4.04871075e-03 4.85288429e+01] [ 2.82596288e-01 9.59238387e-01 -1.02754513e-03 7.01304723e+00] [ 4.17406108e-03 -1.58498657e-04 9.99991276e-01 2.34386663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.502755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.58, Y:7.03, Z:0.23 [[ 9.59867665e-01 -2.80424102e-01 -4.04835735e-03 4.85849845e+01] [ 2.80422253e-01 9.59876191e-01 -1.02893558e-03 7.02912845e+00] [ 4.17446017e-03 -1.47607498e-04 9.99991276e-01 2.34247323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.64, Y:7.04, Z:0.23 [[ 9.61550984e-01 -2.74596647e-01 -4.04799208e-03 4.86411932e+01] [ 2.74594740e-01 9.61559497e-01 -1.03037061e-03 7.04421412e+00] [ 4.17532154e-03 -1.20803460e-04 9.99991276e-01 2.32249162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.70, Y:7.06, Z:0.23 [[ 9.62435931e-01 -2.71478721e-01 -4.04763596e-03 4.86971728e+01] [ 2.71476781e-01 9.62444436e-01 -1.03176768e-03 7.05964055e+00] [ 4.17572768e-03 -1.05828894e-04 9.99991276e-01 2.30766461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.682755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.75, Y:7.07, Z:0.23 [[ 9.63154272e-01 -2.68919074e-01 -4.04730409e-03 4.87539661e+01] [ 2.68917106e-01 9.63162771e-01 -1.03306786e-03 7.07312051e+00] [ 4.17602427e-03 -9.33855759e-05 9.99991276e-01 2.31339452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.742755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.81, Y:7.08, Z:0.23 [[ 9.63120907e-01 -2.69038548e-01 -4.04694832e-03 4.88104975e+01] [ 2.69036575e-01 9.63129405e-01 -1.03445969e-03 7.08403915e+00] [ 4.17604446e-03 -9.24673644e-05 9.99991276e-01 2.30312464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.87, Y:7.10, Z:0.23 [[ 9.62397174e-01 -2.71616099e-01 -4.04660175e-03 4.88675596e+01] [ 2.71614143e-01 9.62405676e-01 -1.03581359e-03 7.09704598e+00] [ 4.17581614e-03 -1.02250194e-04 9.99991276e-01 2.32079415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.862755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.92, Y:7.11, Z:0.23 [[ 9.61672099e-01 -2.74172212e-01 -4.04625474e-03 4.89242749e+01] [ 2.74170273e-01 9.61680605e-01 -1.03716738e-03 7.10778167e+00] [ 4.17556718e-03 -1.11947834e-04 9.99991276e-01 2.29102248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.922755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.98, Y:7.12, Z:0.23 [[ 9.61054949e-01 -2.76327730e-01 -4.04615479e-03 4.89818513e+01] [ 2.76325809e-01 9.61063458e-01 -1.03755716e-03 7.11760700e+00] [ 4.17531733e-03 -1.20907557e-04 9.99991276e-01 2.33471274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.04, Y:7.13, Z:0.23 [[ 9.60420804e-01 -2.78523802e-01 -4.04605548e-03 4.90389315e+01] [ 2.78521899e-01 9.60429318e-01 -1.03794429e-03 7.12942435e+00] [ 4.17504249e-03 -1.30051768e-04 9.99991276e-01 2.34249099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.10, Y:7.14, Z:0.23 [[ 9.60266660e-01 -2.79054787e-01 -4.04569942e-03 4.90963644e+01] [ 2.79052882e-01 9.60275173e-01 -1.03933029e-03 7.13917981e+00] [ 4.17501480e-03 -1.30929853e-04 9.99991276e-01 2.33588280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.102755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.15, Y:7.15, Z:0.23 [[ 9.60655402e-01 -2.77713582e-01 -4.04537436e-03 4.91529560e+01] [ 2.77711660e-01 9.60663912e-01 -1.04059399e-03 7.15077087e+00] [ 4.17523224e-03 -1.23795394e-04 9.99991276e-01 2.34064148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.21, Y:7.16, Z:0.23 [[ 9.60984412e-01 -2.76572954e-01 -4.04499181e-03 4.92082665e+01] [ 2.76571016e-01 9.60992917e-01 -1.04207890e-03 7.16291890e+00] [ 4.17541932e-03 -1.17305917e-04 9.99991276e-01 2.32628325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.27, Y:7.17, Z:0.23 [[ 9.60952339e-01 -2.76684372e-01 -4.04483919e-03 4.92652432e+01] [ 2.76682433e-01 9.60960844e-01 -1.04267095e-03 7.17268823e+00] [ 4.17542284e-03 -1.17178863e-04 9.99991276e-01 2.33491625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.282755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.32, Y:7.18, Z:0.23 [[ 9.60380225e-01 -2.78663713e-01 -4.04448045e-03 4.93238310e+01] [ 2.78661785e-01 9.60388734e-01 -1.04406067e-03 7.18301395e+00] [ 4.17521528e-03 -1.24346921e-04 9.99991276e-01 2.31386576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.38, Y:7.20, Z:0.23 [[ 9.60485367e-01 -2.78301103e-01 -4.04416901e-03 4.93813192e+01] [ 2.78299166e-01 9.60493874e-01 -1.04526562e-03 7.19519970e+00] [ 4.17529813e-03 -1.21526537e-04 9.99991276e-01 2.34854650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.44, Y:7.21, Z:0.24 [[ 9.61211571e-01 -2.75782456e-01 -4.04384700e-03 4.94378702e+01] [ 2.75780492e-01 9.61220071e-01 -1.04650991e-03 7.20521044e+00] [ 4.17563597e-03 -1.09296678e-04 9.99991276e-01 2.36415939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.462755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.50, Y:7.22, Z:0.24 [[ 9.62321224e-01 -2.71885104e-01 -4.04370438e-03 4.94951100e+01] [ 2.71883103e-01 9.62329716e-01 -1.04706071e-03 7.21639622e+00] [ 4.17605709e-03 -9.18061498e-05 9.99991276e-01 2.37208165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.522755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:49.55, Y:7.23, Z:0.24 [[ 9.62819321e-01 -2.70115911e-01 -4.04338364e-03 4.95514055e+01] [ 2.70113890e-01 9.62827808e-01 -1.04829782e-03 7.22897809e+00] [ 4.17624413e-03 -8.28526851e-05 9.99991276e-01 2.36508354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.61, Y:7.24, Z:0.24 [[ 9.62995018e-01 -2.69488866e-01 -4.04306469e-03 4.96080674e+01] [ 2.69486833e-01 9.63003502e-01 -1.04952652e-03 7.24167586e+00] [ 4.17632116e-03 -7.88638879e-05 9.99991276e-01 2.36700328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.642755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.66, Y:7.25, Z:0.24 [[ 9.62989306e-01 -2.69509280e-01 -4.04274612e-03 4.96638694e+01] [ 2.69507243e-01 9.62997789e-01 -1.05075222e-03 7.25260692e+00] [ 4.17634305e-03 -7.76862099e-05 9.99991276e-01 2.37043800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.72, Y:7.26, Z:0.24 [[ 9.63244765e-01 -2.68594824e-01 -4.04260909e-03 4.97213026e+01] [ 2.68592777e-01 9.63253246e-01 -1.05127913e-03 7.26229868e+00] [ 4.17642446e-03 -7.31764869e-05 9.99991276e-01 2.37838039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76275509599999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:49.78, Y:7.28, Z:0.24 [[ 9.62828582e-01 -2.70082915e-01 -4.04225848e-03 4.97779274e+01] [ 2.70080875e-01 9.62837064e-01 -1.05262552e-03 7.27625560e+00] [ 4.17633246e-03 -7.82387723e-05 9.99991276e-01 2.35166439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.822755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.84, Y:7.29, Z:0.24 [[ 9.62889955e-01 -2.69864036e-01 -4.04184201e-03 4.98350381e+01] [ 2.69861988e-01 9.62898435e-01 -1.05422225e-03 7.28734232e+00] [ 4.17638002e-03 -7.56394996e-05 9.99991276e-01 2.36163109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.882755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:49.89, Y:7.30, Z:0.24 [[ 9.62342082e-01 -2.71811298e-01 -4.04173275e-03 4.98909406e+01] [ 2.71809265e-01 9.62350566e-01 -1.05464100e-03 7.30052360e+00] [ 4.17622713e-03 -8.36549969e-05 9.99991276e-01 2.37629676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.95, Y:7.31, Z:0.23 [[ 9.61842155e-01 -2.73575098e-01 -4.04163421e-03 4.99490954e+01] [ 2.73573078e-01 9.61850642e-01 -1.05501849e-03 7.31241506e+00] [ 4.17607524e-03 -9.09210516e-05 9.99991276e-01 2.29020137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.002755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.01, Y:7.32, Z:0.23 [[ 9.61781247e-01 -2.73789151e-01 -4.04135829e-03 5.00070980e+01] [ 2.73787130e-01 9.61789734e-01 -1.05607438e-03 7.32493165e+00] [ 4.17607862e-03 -9.07593510e-05 9.99991276e-01 2.32993383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.06, Y:7.34, Z:0.24 [[ 9.60903005e-01 -2.76855711e-01 -4.04105654e-03 5.00638960e+01] [ 2.76853711e-01 9.60911497e-01 -1.05722777e-03 7.33534305e+00] [ 4.17579723e-03 -1.02888161e-04 9.99991276e-01 2.36021007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.12, Y:7.35, Z:0.23 [[ 9.60008202e-01 -2.79942714e-01 -4.04095338e-03 5.01204955e+01] [ 2.79940741e-01 9.60016699e-01 -1.05762190e-03 7.34919796e+00] [ 4.17545627e-03 -1.15901782e-04 9.99991276e-01 2.33122508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.182755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.18, Y:7.36, Z:0.24 [[ 9.59657426e-01 -2.81142844e-01 -4.04060153e-03 5.01773668e+01] [ 2.81140875e-01 9.59665925e-01 -1.05896444e-03 7.35845605e+00] [ 4.17534787e-03 -1.19735166e-04 9.99991276e-01 2.36597070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.242755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.23, Y:7.37, Z:0.24 [[ 9.59826505e-01 -2.80565064e-01 -4.04049460e-03 5.02344401e+01] [ 2.80563088e-01 9.59835002e-01 -1.05937227e-03 7.37105946e+00] [ 4.17543099e-03 -1.16800056e-04 9.99991276e-01 2.38630367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.29, Y:7.38, Z:0.24 [[ 9.60425920e-01 -2.78506248e-01 -4.04015468e-03 5.02907580e+01] [ 2.78504248e-01 9.60434411e-01 -1.06066704e-03 7.38476640e+00] [ 4.17570598e-03 -1.06508130e-04 9.99991276e-01 2.39066673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.362755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.35, Y:7.40, Z:0.24 [[ 9.62477599e-01 -2.71331072e-01 -4.03981047e-03 5.03469028e+01] [ 2.71329003e-01 9.62486075e-01 -1.06197645e-03 7.39922681e+00] [ 4.17640853e-03 -7.39892039e-05 9.99991276e-01 2.38839828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.422755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.40, Y:7.41, Z:0.24 [[ 9.64140451e-01 -2.65361776e-01 -4.03970528e-03 5.04033304e+01] [ 2.65359654e-01 9.64148912e-01 -1.06237642e-03 7.41453870e+00] [ 4.17679155e-03 -4.76947122e-05 9.99991276e-01 2.38923757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.46, Y:7.43, Z:0.24 [[ 9.64778846e-01 -2.63031293e-01 -4.03935910e-03 5.04580658e+01] [ 2.63029145e-01 9.64787302e-01 -1.06369105e-03 7.43071743e+00] [ 4.17690640e-03 -3.62425456e-05 9.99991276e-01 2.39524526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.51, Y:7.45, Z:0.24 [[ 9.65072035e-01 -2.61953533e-01 -4.03912627e-03 5.05143746e+01] [ 2.61951371e-01 9.65080487e-01 -1.06457443e-03 7.44538415e+00] [ 4.17695098e-03 -3.06636489e-05 9.99991276e-01 2.39468230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.602755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.57, Y:7.46, Z:0.24 [[ 9.65232765e-01 -2.61360666e-01 -4.03879317e-03 5.05721878e+01] [ 2.61358494e-01 9.65241214e-01 -1.06583664e-03 7.45830666e+00] [ 4.17697740e-03 -2.67924602e-05 9.99991276e-01 2.38834670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.63, Y:7.47, Z:0.24 [[ 9.64231010e-01 -2.65032545e-01 -4.03850518e-03 5.06285267e+01] [ 2.65030401e-01 9.64239466e-01 -1.06692675e-03 7.47351469e+00] [ 4.17685639e-03 -4.15627833e-05 9.99991276e-01 2.41495334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.68, Y:7.49, Z:0.24 [[ 9.61524611e-01 -2.74689126e-01 -4.03814403e-03 5.06831582e+01] [ 2.74687061e-01 9.61533087e-01 -1.06829190e-03 7.49145034e+00] [ 4.17625726e-03 -8.20369608e-05 9.99991276e-01 2.40035882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.782755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.74, Y:7.51, Z:0.24 [[ 9.59500250e-01 -2.81678834e-01 -4.03801129e-03 5.07384534e+01] [ 2.81676828e-01 9.59508740e-01 -1.06879340e-03 7.50569347e+00] [ 4.17556360e-03 -1.11906673e-04 9.99991276e-01 2.41053243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.80, Y:7.52, Z:0.24 [[ 9.59258234e-01 -2.82501922e-01 -4.03786418e-03 5.07967363e+01] [ 2.82499921e-01 9.59266726e-01 -1.06934887e-03 7.51713944e+00] [ 4.17548186e-03 -1.14914602e-04 9.99991276e-01 2.42603036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.85, Y:7.54, Z:0.24 [[ 9.57612844e-01 -2.88030102e-01 -4.03756163e-03 5.08507587e+01] [ 2.88028145e-01 9.57621346e-01 -1.07049000e-03 7.53807189e+00] [ 4.17478855e-03 -1.37816417e-04 9.99991276e-01 2.41421984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.962755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.91, Y:7.55, Z:0.24 [[ 9.58142267e-01 -2.86264030e-01 -4.03740327e-03 5.09078956e+01] [ 2.86262056e-01 9.58150765e-01 -1.07108693e-03 7.55074342e+00] [ 4.17505469e-03 -1.29501698e-04 9.99991276e-01 2.41851384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.022755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:50.96, Y:7.57, Z:0.24 [[ 9.58167905e-01 -2.86178210e-01 -4.03706796e-03 5.09635762e+01] [ 2.86176230e-01 9.58176401e-01 -1.07234928e-03 7.56758611e+00] [ 4.17510624e-03 -1.27822221e-04 9.99991276e-01 2.41254342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.02, Y:7.58, Z:0.24 [[ 9.59229377e-01 -2.82599907e-01 -4.03673795e-03 5.10196501e+01] [ 2.82597889e-01 9.59237864e-01 -1.07359013e-03 7.58397797e+00] [ 4.17558836e-03 -1.10954428e-04 9.99991276e-01 2.42477316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.142755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.07, Y:7.60, Z:0.24 [[ 9.60630414e-01 -2.77800135e-01 -4.03637315e-03 5.10746201e+01] [ 2.77798070e-01 9.60638890e-01 -1.07495991e-03 7.60226775e+00] [ 4.17612103e-03 -8.86574833e-05 9.99991276e-01 2.41948743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.13, Y:7.62, Z:0.25 [[ 9.61744724e-01 -2.73917498e-01 -4.03603938e-03 5.11310988e+01] [ 2.73915393e-01 9.61753190e-01 -1.07621162e-03 7.61737943e+00] [ 4.17646695e-03 -7.04924660e-05 9.99991276e-01 2.46953520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26275509599999 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:51.19, Y:7.63, Z:0.25 [[ 9.62262002e-01 -2.72094749e-01 -4.03569340e-03 5.11870726e+01] [ 2.72092622e-01 9.62270463e-01 -1.07750744e-03 7.63188843e+00] [ 4.17661268e-03 -6.12379297e-05 9.99991276e-01 2.48618224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.322755095999995 meters Centerline goodness : 0.998422 with order 1 Centerline is valid? [True, True] Translation: X:51.24, Y:7.65, Z:0.24 [[ 9.61955106e-01 -2.73177764e-01 -4.03532390e-03 5.12425505e+01] [ 2.73175641e-01 9.61963568e-01 -1.07888948e-03 7.64867235e+00] [ 4.17656319e-03 -6.45089454e-05 9.99991276e-01 2.44866524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.382755096 meters Centerline goodness : 0.998637 with order 1 Centerline is valid? [True, True] Translation: X:51.30, Y:7.66, Z:0.25 [[ 9.61752410e-01 -2.73890524e-01 -4.03521083e-03 5.12989738e+01] [ 2.73888405e-01 9.61760873e-01 -1.07931223e-03 7.66214705e+00] [ 4.17652128e-03 -6.71663163e-05 9.99991276e-01 2.46227647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44275509599999 meters Centerline goodness : 0.998477 with order 1 Centerline is valid? [True, True] Translation: X:51.35, Y:7.68, Z:0.25 [[ 9.61517499e-01 -2.74714068e-01 -4.03483227e-03 5.13548634e+01] [ 2.74711951e-01 9.61525962e-01 -1.08072554e-03 7.67522873e+00] [ 4.17648649e-03 -6.92801301e-05 9.99991276e-01 2.47937763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.502755095999994 meters Centerline goodness : 0.998632 with order 1 Centerline is valid? [True, True] Translation: X:51.41, Y:7.69, Z:0.25 [[ 9.60592037e-01 -2.77932834e-01 -4.03465596e-03 5.14102820e+01] [ 2.77930743e-01 9.60600506e-01 -1.08138335e-03 7.69308990e+00] [ 4.17624450e-03 -8.25866930e-05 9.99991276e-01 2.47558945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.562755096 meters Centerline goodness : 0.998544 with order 1 Centerline is valid? [True, True] Translation: X:51.47, Y:7.70, Z:0.25 [[ 9.60359783e-01 -2.78734302e-01 -4.03428480e-03 5.14670785e+01] [ 2.78732212e-01 9.60368253e-01 -1.08276628e-03 7.70369546e+00] [ 4.17620315e-03 -8.46399398e-05 9.99991276e-01 2.47643013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.622755096 meters Centerline goodness : 0.998625 with order 1 Centerline is valid? [True, True] Translation: X:51.52, Y:7.72, Z:0.25 [[ 9.59115588e-01 -2.82985892e-01 -4.03417168e-03 5.15234577e+01] [ 2.82983837e-01 9.59124066e-01 -1.08318757e-03 7.71686986e+00] [ 4.17579795e-03 -1.02703301e-04 9.99991276e-01 2.46335791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.682755095999994 meters Centerline goodness : 0.998339 with order 1 Centerline is valid? [True, True] Translation: X:51.58, Y:7.73, Z:0.25 [[ 9.58649914e-01 -2.84559433e-01 -4.03384011e-03 5.15794716e+01] [ 2.84557388e-01 9.58658394e-01 -1.08442095e-03 7.73106200e+00] [ 4.17565689e-03 -1.08278952e-04 9.99991276e-01 2.45157446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.742755095999996 meters Centerline goodness : 0.998514 with order 1 Centerline is valid? [True, True] Translation: X:51.64, Y:7.75, Z:0.24 [[ 9.58302743e-01 -2.85726415e-01 -4.03353211e-03 5.16354952e+01] [ 2.85724375e-01 9.58311225e-01 -1.08556537e-03 7.74517508e+00] [ 4.17555379e-03 -1.12178171e-04 9.99991276e-01 2.44240262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.802755096 meters Centerline goodness : 0.998531 with order 1 Centerline is valid? [True, True] Translation: X:51.69, Y:7.76, Z:0.25 [[ 9.58369010e-01 -2.85504068e-01 -4.03342956e-03 5.16917647e+01] [ 2.85502024e-01 9.58377491e-01 -1.08594624e-03 7.75905504e+00] [ 4.17559017e-03 -1.10815084e-04 9.99991276e-01 2.45308931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.862755095999994 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:51.75, Y:7.77, Z:0.25 [[ 9.58519376e-01 -2.84998841e-01 -4.03309488e-03 5.17485318e+01] [ 2.84996787e-01 9.58527855e-01 -1.08718779e-03 7.77342261e+00] [ 4.17568105e-03 -1.07328520e-04 9.99991276e-01 2.46264463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.922755095999996 meters Centerline goodness : 0.998709 with order 1 Centerline is valid? [True, True] Translation: X:51.81, Y:7.79, Z:0.25 [[ 9.58731871e-01 -2.84283197e-01 -4.03275093e-03 5.18051944e+01] [ 2.84281132e-01 9.58740347e-01 -1.08846211e-03 7.78725007e+00] [ 4.17579252e-03 -1.02891684e-04 9.99991276e-01 2.48244432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.982755096 meters Centerline goodness : 0.998817 with order 1 Centerline is valid? [True, True] Translation: X:51.86, Y:7.80, Z:0.25 [[ 9.58434114e-01 -2.85285448e-01 -4.03264489e-03 5.18617949e+01] [ 2.85283390e-01 9.58442592e-01 -1.08885485e-03 7.80059215e+00] [ 4.17569307e-03 -1.06850970e-04 9.99991276e-01 2.50075781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04275509599999 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:51.92, Y:7.82, Z:0.25 [[ 9.57719842e-01 -2.87674201e-01 -4.03226151e-03 5.19170756e+01] [ 2.87672158e-01 9.57728323e-01 -1.09027275e-03 7.81560471e+00] [ 4.17545440e-03 -1.15793522e-04 9.99991276e-01 2.51594839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.102755095999996 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:51.97, Y:7.83, Z:0.25 [[ 9.56916868e-01 -2.90334033e-01 -4.03208291e-03 5.19729308e+01] [ 2.90332012e-01 9.56925354e-01 -1.09093286e-03 7.83055341e+00] [ 4.17513730e-03 -1.26710686e-04 9.99991276e-01 2.51576754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.162755096 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:52.03, Y:7.85, Z:0.25 [[ 9.56412062e-01 -2.91992658e-01 -4.03170533e-03 5.20275828e+01] [ 2.91990645e-01 9.56420551e-01 -1.09232648e-03 7.84550337e+00] [ 4.17495714e-03 -1.32506018e-04 9.99991276e-01 2.52489091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22275509599999 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:52.08, Y:7.86, Z:0.25 [[ 9.56426217e-01 -2.91946295e-01 -4.03152934e-03 5.20837578e+01] [ 2.91944279e-01 9.56434704e-01 -1.09297561e-03 7.86154786e+00] [ 4.17498476e-03 -1.31631395e-04 9.99991276e-01 2.52774796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.282755095999995 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:52.14, Y:7.88, Z:0.25 [[ 9.56711725e-01 -2.91009320e-01 -4.03118060e-03 5.21398553e+01] [ 2.91007290e-01 9.56720210e-01 -1.09426036e-03 7.87761923e+00] [ 4.17515191e-03 -1.26211226e-04 9.99991276e-01 2.52576703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.342755096 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:52.20, Y:7.89, Z:0.25 [[ 9.57344867e-01 -2.88919640e-01 -4.03082975e-03 5.21954981e+01] [ 2.88917586e-01 9.57353346e-01 -1.09555124e-03 7.89367697e+00] [ 4.17545461e-03 -1.15757241e-04 9.99991276e-01 2.53135800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40275509599999 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:52.25, Y:7.91, Z:0.25 [[ 9.58029780e-01 -2.86640357e-01 -4.03072206e-03 5.22512624e+01] [ 2.86638281e-01 9.58038253e-01 -1.09594729e-03 7.91020870e+00] [ 4.17572865e-03 -1.05409106e-04 9.99991276e-01 2.54632932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.462755095999995 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:52.31, Y:7.93, Z:0.26 [[ 9.59218551e-01 -2.82636741e-01 -4.03037067e-03 5.23063699e+01] [ 2.82634624e-01 9.59227015e-01 -1.09723803e-03 7.92755134e+00] [ 4.17616020e-03 -8.66312287e-05 9.99991276e-01 2.55103172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.522755096 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:52.36, Y:7.94, Z:0.26 [[ 9.59712716e-01 -2.80954197e-01 -4.03020884e-03 5.23615622e+01] [ 2.80952064e-01 9.59721174e-01 -1.09783211e-03 7.94435044e+00] [ 4.17631730e-03 -7.86920585e-05 9.99991276e-01 2.56060706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58275509599999 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:52.42, Y:7.96, Z:0.26 [[ 9.59755183e-01 -2.80809097e-01 -4.02986891e-03 5.24175671e+01] [ 2.80806957e-01 9.59763640e-01 -1.09907850e-03 7.96118651e+00] [ 4.17635289e-03 -7.67689404e-05 9.99991276e-01 2.58321662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.642755095999995 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:52.47, Y:7.98, Z:0.26 [[ 9.59077768e-01 -2.83114107e-01 -4.02951671e-03 5.24728927e+01] [ 2.83111982e-01 9.59086229e-01 -1.10036824e-03 7.97845790e+00] [ 4.17618376e-03 -8.54657449e-05 9.99991276e-01 2.59205353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.702755096 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:52.53, Y:7.99, Z:0.26 [[ 9.58222624e-01 -2.85995049e-01 -4.02916965e-03 5.25287268e+01] [ 2.85992944e-01 9.58231090e-01 -1.10163760e-03 7.99449261e+00] [ 4.17593852e-03 -9.67000183e-05 9.99991276e-01 2.59100352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76275509599999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:52.58, Y:8.01, Z:0.26 [[ 9.56419358e-01 -2.91968799e-01 -4.02893937e-03 5.25841811e+01] [ 2.91966743e-01 9.56427836e-01 -1.10247914e-03 8.01037040e+00] [ 4.17527927e-03 -1.21883911e-04 9.99991276e-01 2.60119363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.822755095999995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:52.64, Y:8.03, Z:0.26 [[ 9.54565741e-01 -2.97973182e-01 -4.02855519e-03 5.26393207e+01] [ 2.97971173e-01 9.54574230e-01 -1.10388118e-03 8.02670558e+00] [ 4.17448196e-03 -1.46666162e-04 9.99991276e-01 2.62138501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.882755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:52.70, Y:8.04, Z:0.26 [[ 9.53794334e-01 -3.00433254e-01 -4.02840564e-03 5.26951556e+01] [ 3.00431265e-01 9.53802828e-01 -1.10442665e-03 8.04286790e+00] [ 4.17411119e-03 -1.56863122e-04 9.99991276e-01 2.61244237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94275509599999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:52.75, Y:8.06, Z:0.26 [[ 9.53522399e-01 -3.01295221e-01 -4.02807166e-03 5.27505028e+01] [ 3.01293234e-01 9.53530893e-01 -1.10564341e-03 8.06008144e+00] [ 4.17401585e-03 -1.59374987e-04 9.99991276e-01 2.59655926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.002755095999994 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:52.80, Y:8.08, Z:0.26 [[ 9.53671527e-01 -3.00822864e-01 -4.02772270e-03 5.28047074e+01] [ 3.00820868e-01 9.53680020e-01 -1.10691317e-03 8.07926762e+00] [ 4.17414346e-03 -1.55991466e-04 9.99991276e-01 2.57777662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.062755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:52.86, Y:8.10, Z:0.26 [[ 9.53941440e-01 -2.99965845e-01 -4.02757305e-03 5.28595600e+01] [ 2.99963839e-01 9.53949930e-01 -1.10745741e-03 8.09759570e+00] [ 4.17430243e-03 -1.51676754e-04 9.99991276e-01 2.57291671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.122755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:52.91, Y:8.11, Z:0.26 [[ 9.54336580e-01 -2.98706332e-01 -4.02724151e-03 5.29149064e+01] [ 2.98704310e-01 9.54345067e-01 -1.10866176e-03 8.11499285e+00] [ 4.17454235e-03 -1.44917922e-04 9.99991276e-01 2.58575756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.182755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.97, Y:8.13, Z:0.26 [[ 9.55138504e-01 -2.96132104e-01 -4.02688295e-03 5.29699604e+01] [ 2.96130054e-01 9.55146983e-01 -1.10996259e-03 8.13371574e+00] [ 4.17496066e-03 -1.32313060e-04 9.99991276e-01 2.60401756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.242755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.02, Y:8.15, Z:0.26 [[ 9.56302239e-01 -2.92352209e-01 -4.02652452e-03 5.30235555e+01] [ 2.92350120e-01 9.56310709e-01 -1.11126130e-03 8.15268103e+00] [ 4.17548822e-03 -1.14453261e-04 9.99991276e-01 2.62323087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.08, Y:8.17, Z:0.26 [[ 9.56855161e-01 -2.90537414e-01 -4.02637064e-03 5.30787853e+01] [ 2.90535306e-01 9.56863627e-01 -1.11181859e-03 8.17077241e+00] [ 4.17571251e-03 -1.05953467e-04 9.99991276e-01 2.62530286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.362755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.13, Y:8.19, Z:0.26 [[ 9.57317660e-01 -2.89009841e-01 -4.02601643e-03 5.31337187e+01] [ 2.89007714e-01 9.57326121e-01 -1.11309974e-03 8.18779611e+00] [ 4.17590747e-03 -9.79597667e-05 9.99991276e-01 2.63122845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.422755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.19, Y:8.20, Z:0.26 [[ 9.57484220e-01 -2.88457553e-01 -4.02586451e-03 5.31893876e+01] [ 2.88455419e-01 9.57492679e-01 -1.11364893e-03 8.20438456e+00] [ 4.17597624e-03 -9.49811613e-05 9.99991276e-01 2.62052829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.24, Y:8.22, Z:0.26 [[ 9.57217761e-01 -2.89340549e-01 -4.02551143e-03 5.32433799e+01] [ 2.89338417e-01 9.57226221e-01 -1.11492375e-03 8.22241702e+00] [ 4.17591774e-03 -9.75102921e-05 9.99991276e-01 2.60534419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.30, Y:8.24, Z:0.26 [[ 9.56292042e-01 -2.92385581e-01 -4.02527364e-03 5.32989039e+01] [ 2.92383473e-01 9.56300507e-01 -1.11578160e-03 8.23937350e+00] [ 4.17560967e-03 -1.09910426e-04 9.99991276e-01 2.59354909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.602755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.35, Y:8.25, Z:0.26 [[ 9.55092466e-01 -2.96280577e-01 -4.02493350e-03 5.33546622e+01] [ 2.96278498e-01 9.55100939e-01 -1.11700721e-03 8.25465985e+00] [ 4.17516531e-03 -1.25656078e-04 9.99991276e-01 2.59168688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.662755096 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:53.41, Y:8.27, Z:0.26 [[ 9.53014759e-01 -3.02897130e-01 -4.02459506e-03 5.34109143e+01] [ 3.02895105e-01 9.53023245e-01 -1.11822532e-03 8.27061765e+00] [ 4.17423988e-03 -1.53344908e-04 9.99991276e-01 2.58506303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.47, Y:8.29, Z:0.26 [[ 9.51450436e-01 -3.07775686e-01 -4.02425748e-03 5.34663002e+01] [ 3.07773699e-01 9.51458931e-01 -1.11943885e-03 8.28684252e+00] [ 4.17345178e-03 -1.73470027e-04 9.99991276e-01 2.58479814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.782755095999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:53.52, Y:8.30, Z:0.25 [[ 9.50177552e-01 -3.11683216e-01 -4.02391772e-03 5.35218580e+01] [ 3.11681259e-01 9.50186054e-01 -1.12065884e-03 8.30346200e+00] [ 4.17276105e-03 -1.89354863e-04 9.99991276e-01 2.54993739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.842755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:53.58, Y:8.32, Z:0.26 [[ 9.50331514e-01 -3.11213471e-01 -4.02356691e-03 5.35777129e+01] [ 3.11211504e-01 9.50340013e-01 -1.12191697e-03 8.31984416e+00] [ 4.17291230e-03 -1.85987254e-04 9.99991276e-01 2.58840685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.63, Y:8.34, Z:0.26 [[ 9.50886581e-01 -3.09513367e-01 -4.02322125e-03 5.36324828e+01] [ 3.09511379e-01 9.50895075e-01 -1.12315515e-03 8.33607101e+00] [ 4.17329280e-03 -1.77239596e-04 9.99991276e-01 2.58665948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.962755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.69, Y:8.35, Z:0.26 [[ 9.51818339e-01 -3.06636046e-01 -4.02298920e-03 5.36887038e+01] [ 3.06634030e-01 9.51826827e-01 -1.12398569e-03 8.35245809e+00] [ 4.17384357e-03 -1.63755196e-04 9.99991276e-01 2.59969014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.74, Y:8.37, Z:0.26 [[ 9.52462029e-01 -3.04630764e-01 -4.02262503e-03 5.37442823e+01] [ 3.04628724e-01 9.52470511e-01 -1.12528752e-03 8.36937262e+00] [ 4.17422891e-03 -1.53613494e-04 9.99991276e-01 2.61230697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.80, Y:8.39, Z:0.26 [[ 9.52879705e-01 -3.03321758e-01 -4.02226023e-03 5.37998695e+01] [ 3.03319701e-01 9.52888183e-01 -1.12658997e-03 8.38586701e+00] [ 4.17448349e-03 -1.46526052e-04 9.99991276e-01 2.62102873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.142755095999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:53.86, Y:8.40, Z:0.26 [[ 9.53103521e-01 -3.02617749e-01 -4.02193435e-03 5.38556227e+01] [ 3.02615681e-01 9.53111996e-01 -1.12775215e-03 8.40261366e+00] [ 4.17463170e-03 -1.42235858e-04 9.99991276e-01 2.59356627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.202755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:53.91, Y:8.42, Z:0.26 [[ 9.53119191e-01 -3.02568396e-01 -4.02154729e-03 5.39108096e+01] [ 3.02566322e-01 9.53127665e-01 -1.12913071e-03 8.41993968e+00] [ 4.17468725e-03 -1.40588621e-04 9.99991276e-01 2.59718421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.97, Y:8.44, Z:0.26 [[ 9.52740376e-01 -3.03759125e-01 -4.02116573e-03 5.39670728e+01] [ 3.03757056e-01 9.52748851e-01 -1.13048792e-03 8.43776509e+00] [ 4.17455705e-03 -1.44395974e-04 9.99991276e-01 2.56907496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.322755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.02, Y:8.45, Z:0.26 [[ 9.53388122e-01 -3.01719939e-01 -4.02083154e-03 5.40233516e+01] [ 3.01717847e-01 9.53396591e-01 -1.13167530e-03 8.45081453e+00] [ 4.17489609e-03 -1.34230851e-04 9.99991276e-01 2.63072559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.08, Y:8.47, Z:0.26 [[ 9.53404026e-01 -3.01669682e-01 -4.02071438e-03 5.40789534e+01] [ 3.01667587e-01 9.53412495e-01 -1.13209140e-03 8.46624165e+00] [ 4.17491698e-03 -1.33578704e-04 9.99991276e-01 2.62267198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.13, Y:8.48, Z:0.26 [[ 9.53733239e-01 -3.00627255e-01 -4.02034805e-03 5.41347341e+01] [ 3.00625145e-01 9.53741704e-01 -1.13339085e-03 8.48241792e+00] [ 4.17510178e-03 -1.27665185e-04 9.99991276e-01 2.61147777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.502755095999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:54.19, Y:8.50, Z:0.26 [[ 9.54095084e-01 -2.99476894e-01 -4.01998763e-03 5.41899195e+01] [ 2.99474769e-01 9.54103545e-01 -1.13466779e-03 8.49724662e+00] [ 4.17529123e-03 -1.21303907e-04 9.99991276e-01 2.58314691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.25, Y:8.51, Z:0.26 [[ 9.54318702e-01 -2.98763545e-01 -4.01981588e-03 5.42454519e+01] [ 2.98761411e-01 9.54327161e-01 -1.13527591e-03 8.51302692e+00] [ 4.17539853e-03 -1.17550835e-04 9.99991276e-01 2.60609436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.30, Y:8.53, Z:0.26 [[ 9.54800648e-01 -2.97219730e-01 -4.01942029e-03 5.43018675e+01] [ 2.97217576e-01 9.54809102e-01 -1.13667476e-03 8.52684150e+00] [ 4.17562124e-03 -1.09344557e-04 9.99991276e-01 2.62876759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.682755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.36, Y:8.54, Z:0.26 [[ 9.55123524e-01 -2.96180521e-01 -4.01905484e-03 5.43583397e+01] [ 2.96178353e-01 9.55131974e-01 -1.13796546e-03 8.54177143e+00] [ 4.17577099e-03 -1.03459458e-04 9.99991276e-01 2.63025580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.742755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.41, Y:8.56, Z:0.26 [[ 9.54677126e-01 -2.97616256e-01 -4.01869633e-03 5.44139010e+01] [ 2.97614095e-01 9.54685578e-01 -1.13923013e-03 8.55950360e+00] [ 4.17564483e-03 -1.08423729e-04 9.99991276e-01 2.62223764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.47, Y:8.57, Z:0.26 [[ 9.54774886e-01 -2.97302489e-01 -4.01832164e-03 5.44693924e+01] [ 2.97300320e-01 9.54783336e-01 -1.14055021e-03 8.57434649e+00] [ 4.17571496e-03 -1.05679607e-04 9.99991276e-01 2.62696349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.862755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.53, Y:8.59, Z:0.26 [[ 9.55222176e-01 -2.95862213e-01 -4.01816095e-03 5.45270139e+01] [ 2.95860029e-01 9.55230622e-01 -1.14111604e-03 8.58505462e+00] [ 4.17588350e-03 -9.87938683e-05 9.99991276e-01 2.64810761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.922755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.58, Y:8.61, Z:0.26 [[ 9.53686827e-01 -3.00774491e-01 -4.01778972e-03 5.45809714e+01] [ 3.00772345e-01 9.53695282e-01 -1.14242162e-03 8.60560767e+00] [ 4.17535838e-03 -1.18927588e-04 9.99991276e-01 2.61168545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.64, Y:8.62, Z:0.26 [[ 9.54288418e-01 -2.98860291e-01 -4.01766295e-03 5.46369261e+01] [ 2.98858126e-01 9.54296869e-01 -1.14286728e-03 8.61937296e+00] [ 4.17560082e-03 -1.10086212e-04 9.99991276e-01 2.61765107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.69, Y:8.63, Z:0.26 [[ 9.54533212e-01 -2.98077523e-01 -4.01725043e-03 5.46917937e+01] [ 2.98075345e-01 9.54541659e-01 -1.14431548e-03 8.63393512e+00] [ 4.17572761e-03 -1.05156181e-04 9.99991276e-01 2.60766479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.102755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.75, Y:8.65, Z:0.26 [[ 9.55002818e-01 -2.96569520e-01 -4.01709502e-03 5.47468661e+01] [ 2.96567326e-01 9.55011262e-01 -1.14486078e-03 8.64914485e+00] [ 4.17590179e-03 -9.79938589e-05 9.99991276e-01 2.60189578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.80, Y:8.67, Z:0.26 [[ 9.55192046e-01 -2.95959490e-01 -4.01694234e-03 5.48024789e+01] [ 2.95957289e-01 9.55200487e-01 -1.14539624e-03 8.66567901e+00] [ 4.17597616e-03 -9.47699890e-05 9.99991276e-01 2.60263392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.86, Y:8.68, Z:0.26 [[ 9.55206820e-01 -2.95911809e-01 -4.01659589e-03 5.48579902e+01] [ 2.95909602e-01 9.55215260e-01 -1.14660985e-03 8.68158925e+00] [ 4.17600908e-03 -9.32997465e-05 9.99991276e-01 2.60048444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.282755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.91, Y:8.70, Z:0.26 [[ 9.55199992e-01 -2.95933852e-01 -4.01623347e-03 5.49131563e+01] [ 2.95931640e-01 9.55208431e-01 -1.14787790e-03 8.69642045e+00] [ 4.17603600e-03 -9.20775994e-05 9.99991276e-01 2.61233854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.97, Y:8.71, Z:0.26 [[ 9.54479954e-01 -2.98248033e-01 -4.01607734e-03 5.49693202e+01] [ 2.98245839e-01 9.54488397e-01 -1.14842387e-03 8.71197640e+00] [ 4.17581439e-03 -1.01630796e-04 9.99991276e-01 2.61784911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.03, Y:8.73, Z:0.26 [[ 9.54267465e-01 -2.98927214e-01 -4.01567517e-03 5.50257386e+01] [ 2.98925021e-01 9.54275909e-01 -1.14982843e-03 8.72770345e+00] [ 4.17577708e-03 -1.03141927e-04 9.99991276e-01 2.62155029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.462755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.08, Y:8.74, Z:0.26 [[ 9.54449371e-01 -2.98345900e-01 -4.01526157e-03 5.50815942e+01] [ 2.98343695e-01 9.54457812e-01 -1.15127094e-03 8.74247887e+00] [ 4.17587473e-03 -9.90981480e-05 9.99991276e-01 2.62687422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.14, Y:8.76, Z:0.26 [[ 9.54605067e-01 -2.97847356e-01 -4.01484081e-03 5.51380018e+01] [ 2.97845141e-01 9.54613505e-01 -1.15273639e-03 8.75718166e+00] [ 4.17596074e-03 -9.53928250e-05 9.99991276e-01 2.60896148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.19, Y:8.77, Z:0.26 [[ 9.54818701e-01 -2.97161796e-01 -4.01441978e-03 5.51939544e+01] [ 2.97159568e-01 9.54827136e-01 -1.15420075e-03 8.77258116e+00] [ 4.17606131e-03 -9.08707878e-05 9.99991276e-01 2.60757285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.642755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.25, Y:8.79, Z:0.26 [[ 9.55474414e-01 -2.95046662e-01 -4.01400532e-03 5.52502761e+01] [ 2.95044409e-01 9.55482842e-01 -1.15564035e-03 8.78704405e+00] [ 4.17628104e-03 -8.01250459e-05 9.99991276e-01 2.61587941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.31, Y:8.80, Z:0.26 [[ 9.56068870e-01 -2.93114665e-01 -4.01362388e-03 5.53067280e+01] [ 2.93112390e-01 9.56077292e-01 -1.15696360e-03 8.80096565e+00] [ 4.17645765e-03 -7.03060092e-05 9.99991276e-01 2.63736189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76275509599999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:55.36, Y:8.82, Z:0.26 [[ 9.56426149e-01 -2.91946768e-01 -4.01321556e-03 5.53633295e+01] [ 2.91944476e-01 9.56434567e-01 -1.15837824e-03 8.81523627e+00] [ 4.17656287e-03 -6.37328764e-05 9.99991276e-01 2.64722242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.822755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.42, Y:8.83, Z:0.27 [[ 9.56608102e-01 -2.91350024e-01 -4.01285769e-03 5.54209292e+01] [ 2.91347723e-01 9.56616517e-01 -1.15961666e-03 8.82909896e+00] [ 4.17662028e-03 -5.98382618e-05 9.99991276e-01 2.65571611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.48, Y:8.84, Z:0.26 [[ 9.55994203e-01 -2.93358113e-01 -4.01254096e-03 5.54774026e+01] [ 2.93355825e-01 9.56002622e-01 -1.16071159e-03 8.84417530e+00] [ 4.17650384e-03 -6.74687106e-05 9.99991276e-01 2.64763122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.53, Y:8.86, Z:0.27 [[ 9.55574682e-01 -2.94721783e-01 -4.01218455e-03 5.55346535e+01] [ 2.94719502e-01 9.55583102e-01 -1.16194227e-03 8.85821855e+00] [ 4.17642545e-03 -7.21464122e-05 9.99991276e-01 2.68132480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.002755095999994 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:55.59, Y:8.88, Z:0.26 [[ 9.53996674e-01 -2.99790346e-01 -4.01183705e-03 5.55895168e+01] [ 2.99788104e-01 9.54005105e-01 -1.16314083e-03 8.87745126e+00] [ 4.17601142e-03 -9.30685419e-05 9.99991276e-01 2.62666317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.65, Y:8.89, Z:0.26 [[ 9.53696957e-01 -3.00742453e-01 -4.01143871e-03 5.56451862e+01] [ 3.00740214e-01 9.53705388e-01 -1.16451302e-03 8.89109419e+00] [ 4.17594921e-03 -9.58084166e-05 9.99991276e-01 2.63934770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.70, Y:8.91, Z:0.27 [[ 9.52832806e-01 -3.03469197e-01 -4.01112749e-03 5.57014629e+01] [ 3.03466978e-01 9.52841243e-01 -1.16558402e-03 8.90665596e+00] [ 4.17568655e-03 -1.06638039e-04 9.99991276e-01 2.65899656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.182755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.76, Y:8.92, Z:0.26 [[ 9.52038219e-01 -3.05952844e-01 -4.01069954e-03 5.57569890e+01] [ 3.05950641e-01 9.52046660e-01 -1.16705471e-03 8.91859534e+00] [ 4.17543681e-03 -1.15995401e-04 9.99991276e-01 2.63563365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.242755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.81, Y:8.93, Z:0.27 [[ 9.51706712e-01 -3.06982492e-01 -4.01044052e-03 5.58142376e+01] [ 3.06980294e-01 9.51715154e-01 -1.16794411e-03 8.93182929e+00] [ 4.17533541e-03 -1.19585963e-04 9.99991276e-01 2.65189136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.87, Y:8.95, Z:0.26 [[ 9.51306844e-01 -3.08219416e-01 -4.01009822e-03 5.58701116e+01] [ 3.08217223e-01 9.51315288e-01 -1.16911822e-03 8.94585527e+00] [ 4.17521267e-03 -1.23791173e-04 9.99991276e-01 2.64311056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.362755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.93, Y:8.96, Z:0.26 [[ 9.51218092e-01 -3.08493212e-01 -4.00997912e-03 5.59268751e+01] [ 3.08491020e-01 9.51226536e-01 -1.16952656e-03 8.96281441e+00] [ 4.17518956e-03 -1.24567726e-04 9.99991276e-01 2.63739512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.422755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.98, Y:8.98, Z:0.26 [[ 9.51740182e-01 -3.06878719e-01 -4.00965379e-03 5.59828870e+01] [ 3.06876508e-01 9.51748621e-01 -1.17064090e-03 8.97890318e+00] [ 4.17542724e-03 -1.16322575e-04 9.99991276e-01 2.64480415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.482755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:56.04, Y:9.00, Z:0.26 [[ 9.52336722e-01 -3.05022447e-01 -4.00926377e-03 5.60378771e+01] [ 3.05020214e-01 9.52345156e-01 -1.17197513e-03 8.99505553e+00] [ 4.17568165e-03 -1.06791536e-04 9.99991276e-01 2.63972509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.09, Y:9.01, Z:0.26 [[ 9.52323253e-01 -3.05064501e-01 -4.00909608e-03 5.60932217e+01] [ 3.05062266e-01 9.52331685e-01 -1.17254849e-03 9.01331761e+00] [ 4.17569214e-03 -1.06378738e-04 9.99991276e-01 2.63688594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.602755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.15, Y:9.03, Z:0.27 [[ 9.53458452e-01 -3.01497778e-01 -4.00870972e-03 5.61490888e+01] [ 3.01495506e-01 9.53466875e-01 -1.17386787e-03 9.03117689e+00] [ 4.17609049e-03 -8.93737224e-05 9.99991276e-01 2.66761201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.20, Y:9.05, Z:0.27 [[ 9.53585395e-01 -3.01096044e-01 -4.00835828e-03 5.62043293e+01] [ 3.01093763e-01 9.53593815e-01 -1.17506670e-03 9.04986530e+00] [ 4.17615360e-03 -8.63652412e-05 9.99991276e-01 2.65751626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.26, Y:9.07, Z:0.27 [[ 9.53231919e-01 -3.02213243e-01 -4.00801325e-03 5.62593724e+01] [ 3.02210968e-01 9.53240341e-01 -1.17624239e-03 9.06725095e+00] [ 4.17607594e-03 -9.00337734e-05 9.99991276e-01 2.65704862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.782755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.31, Y:9.09, Z:0.27 [[ 9.52590425e-01 -3.04229225e-01 -4.00763061e-03 5.63144022e+01] [ 3.04226962e-01 9.52598850e-01 -1.17754466e-03 9.08691257e+00] [ 4.17590781e-03 -9.75115105e-05 9.99991276e-01 2.65291267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.37, Y:9.10, Z:0.27 [[ 9.52374085e-01 -3.04905796e-01 -4.00725709e-03 5.63685299e+01] [ 3.04903534e-01 9.52382510e-01 -1.17881441e-03 9.10373521e+00] [ 4.17586891e-03 -9.91545517e-05 9.99991276e-01 2.65368938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.42, Y:9.12, Z:0.27 [[ 9.52030007e-01 -3.05978445e-01 -4.00700602e-03 5.64235630e+01] [ 3.05976188e-01 9.52038434e-01 -1.17966722e-03 9.12197354e+00] [ 4.17577648e-03 -1.02969840e-04 9.99991276e-01 2.65384140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.962755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.48, Y:9.14, Z:0.27 [[ 9.51831622e-01 -3.06595026e-01 -4.00663260e-03 5.64790100e+01] [ 3.06592770e-01 9.51840049e-01 -1.18093414e-03 9.13953880e+00] [ 4.17574190e-03 -1.04354123e-04 9.99991276e-01 2.65348853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.53, Y:9.16, Z:0.27 [[ 9.51473757e-01 -3.07703819e-01 -4.00625504e-03 5.65343722e+01] [ 3.07701567e-01 9.51482185e-01 -1.18221361e-03 9.15686774e+00] [ 4.17565194e-03 -1.07885733e-04 9.99991276e-01 2.65286039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.59, Y:9.17, Z:0.27 [[ 9.50961175e-01 -3.09284330e-01 -4.00588317e-03 5.65893143e+01] [ 3.09282086e-01 9.50969605e-01 -1.18347235e-03 9.17326318e+00] [ 4.17550259e-03 -1.13511650e-04 9.99991276e-01 2.65991086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.142755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.64, Y:9.19, Z:0.27 [[ 9.50792196e-01 -3.09803413e-01 -4.00563279e-03 5.66443694e+01] [ 3.09801170e-01 9.50800627e-01 -1.18431917e-03 9.19116850e+00] [ 4.17546429e-03 -1.14908299e-04 9.99991276e-01 2.67237172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.70, Y:9.21, Z:0.27 [[ 9.51175620e-01 -3.08624201e-01 -4.00525494e-03 5.67007055e+01] [ 3.08621943e-01 9.51184047e-01 -1.18559565e-03 9.20529026e+00] [ 4.17563811e-03 -1.08399877e-04 9.99991276e-01 2.70750365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.76, Y:9.22, Z:0.27 [[ 9.51776755e-01 -3.06765330e-01 -4.00513926e-03 5.67566355e+01] [ 3.06763054e-01 9.51785177e-01 -1.18598630e-03 9.22289107e+00] [ 4.17585166e-03 -9.98345623e-05 9.99991276e-01 2.71691242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.322755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.81, Y:9.24, Z:0.27 [[ 9.52016206e-01 -3.06021413e-01 -4.00481151e-03 5.68119516e+01] [ 3.06019125e-01 9.52024625e-01 -1.18709202e-03 9.24264939e+00] [ 4.17595475e-03 -9.54180729e-05 9.99991276e-01 2.69454872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.87, Y:9.26, Z:0.27 [[ 9.52006315e-01 -3.06052185e-01 -4.00446526e-03 5.68663806e+01] [ 3.06049893e-01 9.52014733e-01 -1.18825889e-03 9.26092376e+00] [ 4.17597915e-03 -9.43361936e-05 9.99991276e-01 2.68739680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44275509599999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:56.92, Y:9.28, Z:0.27 [[ 9.51676044e-01 -3.07077632e-01 -4.00430549e-03 5.69221740e+01] [ 3.07075347e-01 9.51684463e-01 -1.18879706e-03 9.27793960e+00] [ 4.17588831e-03 -9.82738094e-05 9.99991276e-01 2.68563389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.502755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.98, Y:9.29, Z:0.27 [[ 9.51907258e-01 -3.06360146e-01 -4.00404274e-03 5.69773545e+01] [ 3.06357850e-01 9.51915675e-01 -1.18968139e-03 9.29385807e+00] [ 4.17598201e-03 -9.42035769e-05 9.99991276e-01 2.70411826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.03, Y:9.31, Z:0.27 [[ 9.51844542e-01 -3.06554952e-01 -4.00375403e-03 5.70331388e+01] [ 3.06552654e-01 9.51852957e-01 -1.19065222e-03 9.31006632e+00] [ 4.17598544e-03 -9.40456054e-05 9.99991276e-01 2.70827751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.09, Y:9.33, Z:0.27 [[ 9.51969504e-01 -3.06166680e-01 -4.00339513e-03 5.70890635e+01] [ 3.06164373e-01 9.51977918e-01 -1.19185773e-03 9.32605855e+00] [ 4.17605089e-03 -9.10847522e-05 9.99991276e-01 2.71459887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.682755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.14, Y:9.34, Z:0.27 [[ 9.52254474e-01 -3.05279203e-01 -4.00303784e-03 5.71435854e+01] [ 3.05276883e-01 9.52262884e-01 -1.19305655e-03 9.34230896e+00] [ 4.17615971e-03 -8.59414806e-05 9.99991276e-01 2.70975491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.742755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.20, Y:9.36, Z:0.27 [[ 9.52182914e-01 -3.05502334e-01 -4.00288439e-03 5.71981381e+01] [ 3.05500015e-01 9.52191323e-01 -1.19357118e-03 9.35825003e+00] [ 4.17615056e-03 -8.63831527e-05 9.99991276e-01 2.70563772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.25, Y:9.37, Z:0.27 [[ 9.52050611e-01 -3.05914387e-01 -4.00264916e-03 5.72535129e+01] [ 3.05912068e-01 9.52059021e-01 -1.19435950e-03 9.37409296e+00] [ 4.17612999e-03 -8.73679890e-05 9.99991276e-01 2.70777271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.862755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.31, Y:9.39, Z:0.27 [[ 9.51780351e-01 -3.06754209e-01 -4.00230887e-03 5.73087758e+01] [ 3.06751893e-01 9.51788762e-01 -1.19549872e-03 9.39097859e+00] [ 4.17607687e-03 -8.98636288e-05 9.99991276e-01 2.71310366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.922755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.36, Y:9.41, Z:0.27 [[ 9.51350830e-01 -3.08083726e-01 -4.00194189e-03 5.73645564e+01] [ 3.08081416e-01 9.51359243e-01 -1.19672593e-03 9.40729221e+00] [ 4.17597619e-03 -9.44177150e-05 9.99991276e-01 2.71111973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.42, Y:9.42, Z:0.27 [[ 9.50998004e-01 -3.09171125e-01 -4.00157941e-03 5.74202806e+01] [ 3.09168819e-01 9.51006418e-01 -1.19793675e-03 9.42216169e+00] [ 4.17589515e-03 -9.79281209e-05 9.99991276e-01 2.71916875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04275509599999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:57.48, Y:9.44, Z:0.27 [[ 9.50935530e-01 -3.09363229e-01 -4.00122193e-03 5.74756636e+01] [ 3.09360920e-01 9.50943943e-01 -1.19912960e-03 9.43897461e+00] [ 4.17590436e-03 -9.75267555e-05 9.99991276e-01 2.71884069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.102755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.53, Y:9.46, Z:0.27 [[ 9.51137747e-01 -3.08740960e-01 -4.00085121e-03 5.75309465e+01] [ 3.08738641e-01 9.51146156e-01 -1.20036519e-03 9.45605503e+00] [ 4.17599616e-03 -9.35047225e-05 9.99991276e-01 2.71495802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.59, Y:9.47, Z:0.27 [[ 9.51133700e-01 -3.08753429e-01 -4.00048210e-03 5.75862672e+01] [ 3.08751105e-01 9.51142109e-01 -1.20159408e-03 9.47295367e+00] [ 4.17602328e-03 -9.22766412e-05 9.99991276e-01 2.71644538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.64, Y:9.49, Z:0.27 [[ 9.51191193e-01 -3.08576269e-01 -4.00011593e-03 5.76422139e+01] [ 3.08573938e-01 9.51199600e-01 -1.20281182e-03 9.48993794e+00] [ 4.17606786e-03 -9.02275133e-05 9.99991276e-01 2.71222160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.282755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.70, Y:9.51, Z:0.27 [[ 9.50782715e-01 -3.09832587e-01 -3.99973123e-03 5.76976750e+01] [ 3.09830262e-01 9.50791123e-01 -1.20408972e-03 9.50807408e+00] [ 4.17597518e-03 -9.44100819e-05 9.99991276e-01 2.70367358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.75, Y:9.53, Z:0.27 [[ 9.51060333e-01 -3.08979366e-01 -3.99933376e-03 5.77519759e+01] [ 3.08977027e-01 9.51068738e-01 -1.20540847e-03 9.52837367e+00] [ 4.17608765e-03 -8.92860799e-05 9.99991276e-01 2.70597171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.81, Y:9.55, Z:0.27 [[ 9.51376293e-01 -3.08005126e-01 -3.99894108e-03 5.78074857e+01] [ 3.08002774e-01 9.51384694e-01 -1.20670977e-03 9.54576617e+00] [ 4.17620413e-03 -8.36498737e-05 9.99991276e-01 2.71274885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.462755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.86, Y:9.56, Z:0.27 [[ 9.50820000e-01 -3.09718161e-01 -3.99851233e-03 5.78632558e+01] [ 3.09715818e-01 9.50828403e-01 -1.20812879e-03 9.56242234e+00] [ 4.17607852e-03 -8.96895048e-05 9.99991276e-01 2.71014597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.92, Y:9.58, Z:0.27 [[ 9.49969633e-01 -3.12316685e-01 -3.99813428e-03 5.79186097e+01] [ 3.12314359e-01 9.49978041e-01 -1.20937862e-03 9.57894458e+00] [ 4.17584889e-03 -9.98017774e-05 9.99991276e-01 2.71259192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.97, Y:9.60, Z:0.27 [[ 9.49399386e-01 -3.14045895e-01 -3.99774903e-03 5.79727897e+01] [ 3.14043580e-01 9.49407797e-01 -1.21065078e-03 9.59636965e+00] [ 4.17569400e-03 -1.06076310e-04 9.99991276e-01 2.70660807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.642755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.03, Y:9.61, Z:0.27 [[ 9.49397928e-01 -3.14050306e-01 -3.99748979e-03 5.80290076e+01] [ 3.14047987e-01 9.49406338e-01 -1.21150616e-03 9.61234649e+00] [ 4.17571602e-03 -1.05202184e-04 9.99991276e-01 2.72092836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.08, Y:9.63, Z:0.27 [[ 9.50028232e-01 -3.12138399e-01 -3.99713247e-03 5.80846196e+01] [ 3.12136058e-01 9.50036636e-01 -1.21268392e-03 9.62946598e+00] [ 4.17594750e-03 -9.55652077e-05 9.99991276e-01 2.71954500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.14, Y:9.65, Z:0.27 [[ 9.50927725e-01 -3.09387278e-01 -3.99675174e-03 5.81397124e+01] [ 3.09384907e-01 9.50936121e-01 -1.21393741e-03 9.64703625e+00] [ 4.17623239e-03 -8.21679246e-05 9.99991276e-01 2.71015356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.822755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.20, Y:9.66, Z:0.27 [[ 9.51559860e-01 -3.07437574e-01 -3.99637479e-03 5.81957322e+01] [ 3.07435181e-01 9.51568249e-01 -1.21517711e-03 9.66367789e+00] [ 4.17641446e-03 -7.23124492e-05 9.99991276e-01 2.71195630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.25, Y:9.68, Z:0.27 [[ 9.51656191e-01 -3.07139263e-01 -3.99600033e-03 5.82516967e+01] [ 3.07136862e-01 9.51664578e-01 -1.21640724e-03 9.67981369e+00] [ 4.17645839e-03 -6.97175202e-05 9.99991276e-01 2.72057065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.31, Y:9.70, Z:0.27 [[ 9.51437721e-01 -3.07815363e-01 -3.99562594e-03 5.83063717e+01] [ 3.07812963e-01 9.51446108e-01 -1.21763578e-03 9.69645393e+00] [ 4.17642975e-03 -7.14008454e-05 9.99991276e-01 2.72910239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.002755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.36, Y:9.71, Z:0.27 [[ 9.50804146e-01 -3.09766870e-01 -3.99537373e-03 5.83619952e+01] [ 3.09764484e-01 9.50812537e-01 -1.21846278e-03 9.71348134e+00] [ 4.17629084e-03 -7.91054218e-05 9.99991276e-01 2.73681190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.42, Y:9.73, Z:0.27 [[ 9.50191011e-01 -3.11642555e-01 -3.99498456e-03 5.84175467e+01] [ 3.11640179e-01 9.50199406e-01 -1.21973745e-03 9.72964233e+00] [ 4.17615404e-03 -8.60141444e-05 9.99991276e-01 2.72355687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.47, Y:9.75, Z:0.27 [[ 9.50034239e-01 -3.12120150e-01 -3.99454761e-03 5.84723392e+01] [ 3.12117774e-01 9.50042633e-01 -1.22116672e-03 9.74600340e+00] [ 4.17614127e-03 -8.66191114e-05 9.99991276e-01 2.73862848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.182755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.53, Y:9.76, Z:0.27 [[ 9.50120233e-01 -3.11858281e-01 -3.99438080e-03 5.85279805e+01] [ 3.11855899e-01 9.50128626e-01 -1.22171211e-03 9.76313416e+00] [ 4.17617658e-03 -8.48978200e-05 9.99991276e-01 2.73547312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.242755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.58, Y:9.78, Z:0.27 [[ 9.50493866e-01 -3.10717652e-01 -3.99395038e-03 5.85820319e+01] [ 3.10715254e-01 9.50502254e-01 -1.22311760e-03 9.77990000e+00] [ 4.17630307e-03 -7.84155349e-05 9.99991276e-01 2.72852272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.64, Y:9.80, Z:0.27 [[ 9.50210304e-01 -3.11583741e-01 -3.99376247e-03 5.86368598e+01] [ 3.11581349e-01 9.50218694e-01 -1.22373089e-03 9.79782009e+00] [ 4.17624240e-03 -8.15801986e-05 9.99991276e-01 2.72549721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.362755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.69, Y:9.82, Z:0.27 [[ 9.50778359e-01 -3.09846034e-01 -3.99334289e-03 5.86920822e+01] [ 3.09843620e-01 9.50786743e-01 -1.22509855e-03 9.81540823e+00] [ 4.17640940e-03 -7.25146308e-05 9.99991276e-01 2.71477663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.422755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.75, Y:9.83, Z:0.27 [[ 9.51176577e-01 -3.08621413e-01 -3.99293855e-03 5.87461682e+01] [ 3.08618983e-01 9.51184955e-01 -1.22641498e-03 9.83202215e+00] [ 4.17652100e-03 -6.57594379e-05 9.99991276e-01 2.72813078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.80, Y:9.85, Z:0.27 [[ 9.50326572e-01 -3.11228960e-01 -3.99275022e-03 5.88012803e+01] [ 3.11226550e-01 9.50334956e-01 -1.22702779e-03 9.85105697e+00] [ 4.17633669e-03 -7.65727642e-05 9.99991276e-01 2.70892909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.86, Y:9.87, Z:0.27 [[ 9.49873665e-01 -3.12608513e-01 -3.99233379e-03 5.88565491e+01] [ 3.12606110e-01 9.49882051e-01 -1.22838124e-03 9.86821958e+00] [ 4.17624864e-03 -8.12209506e-05 9.99991276e-01 2.71574451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.602755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.91, Y:9.89, Z:0.27 [[ 9.49919354e-01 -3.12469657e-01 -3.99191486e-03 5.89130719e+01] [ 3.12467247e-01 9.49927738e-01 -1.22974114e-03 9.88520372e+00] [ 4.17628745e-03 -7.91877358e-05 9.99991276e-01 2.72378291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.662755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:58.97, Y:9.90, Z:0.27 [[ 9.50319458e-01 -3.11250695e-01 -3.99155311e-03 5.89687471e+01] [ 3.11248269e-01 9.50327838e-01 -1.23091419e-03 9.89973741e+00] [ 4.17640694e-03 -7.26022880e-05 9.99991276e-01 2.74067622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.02, Y:9.92, Z:0.27 [[ 9.48855155e-01 -3.15686494e-01 -3.99142674e-03 5.90240706e+01] [ 3.15684106e-01 9.48863546e-01 -1.23132383e-03 9.91854988e+00] [ 4.17603164e-03 -9.16820169e-05 9.99991276e-01 2.73050642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.782755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.08, Y:9.93, Z:0.28 [[ 9.48228307e-01 -3.17564403e-01 -3.99104279e-03 5.90805121e+01] [ 3.17562026e-01 9.48236701e-01 -1.23256706e-03 9.93390141e+00] [ 4.17587267e-03 -9.86486598e-05 9.99991276e-01 2.76598356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.14, Y:9.95, Z:0.27 [[ 9.47235129e-01 -3.20514720e-01 -3.99064206e-03 5.91355474e+01] [ 3.20512364e-01 9.47243529e-01 -1.23386314e-03 9.95415496e+00] [ 4.17558116e-03 -1.10291604e-04 9.99991276e-01 2.74891760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.19, Y:9.96, Z:0.28 [[ 9.48427975e-01 -3.16967591e-01 -3.99020266e-03 5.91942115e+01] [ 3.16965198e-01 9.48436364e-01 -1.23528250e-03 9.96478505e+00] [ 4.17599782e-03 -9.31788989e-05 9.99991276e-01 2.82427302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.962755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.25, Y:9.99, Z:0.28 [[ 9.46949620e-01 -3.21357275e-01 -3.98987465e-03 5.92483214e+01] [ 3.21354916e-01 9.46958019e-01 -1.23634103e-03 9.99054454e+00] [ 4.17555098e-03 -1.11413162e-04 9.99991276e-01 2.76600364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.30, Y:10.01, Z:0.28 [[ 9.46630004e-01 -3.22297562e-01 -3.98952785e-03 5.93021706e+01] [ 3.22295207e-01 9.46638404e-01 -1.23745910e-03 1.00090639e+01] [ 4.17547033e-03 -1.14389785e-04 9.99991276e-01 2.75399448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.36, Y:10.02, Z:0.28 [[ 9.47394383e-01 -3.20043699e-01 -3.98935701e-03 5.93591262e+01] [ 3.20041321e-01 9.47402776e-01 -1.23800961e-03 1.00229930e+01] [ 4.17574508e-03 -1.03875734e-04 9.99991276e-01 2.79804929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.142755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.41, Y:10.05, Z:0.28 [[ 9.46772840e-01 -3.21877736e-01 -3.98900416e-03 5.94128993e+01] [ 3.21875370e-01 9.46781237e-01 -1.23914548e-03 1.00459973e+01] [ 4.17556764e-03 -1.10772902e-04 9.99991276e-01 2.78199380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.47, Y:10.07, Z:0.28 [[ 9.46257821e-01 -3.23388659e-01 -3.98888069e-03 5.94657364e+01] [ 3.23386305e-01 9.46266221e-01 -1.23954283e-03 1.00709178e+01] [ 4.17539715e-03 -1.17022288e-04 9.99991276e-01 2.77348636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.52, Y:10.09, Z:0.27 [[ 9.45876421e-01 -3.24502523e-01 -3.98849392e-03 5.95188584e+01] [ 3.24500173e-01 9.45884823e-01 -1.24078610e-03 1.00940691e+01] [ 4.17529408e-03 -1.20636646e-04 9.99991276e-01 2.72326119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.322755095999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.58, Y:10.11, Z:0.28 [[ 9.48517129e-01 -3.16700729e-01 -3.98806588e-03 5.95753972e+01] [ 3.16698305e-01 9.48525509e-01 -1.24216035e-03 1.01088673e+01] [ 4.17617531e-03 -8.48033390e-05 9.99991276e-01 2.78081361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.63, Y:10.13, Z:0.28 [[ 9.49297347e-01 -3.14354332e-01 -3.98768131e-03 5.96286295e+01] [ 3.14351881e-01 9.49305719e-01 -1.24339369e-03 1.01296092e+01] [ 4.17639487e-03 -7.31847924e-05 9.99991276e-01 2.79502003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.68, Y:10.15, Z:0.28 [[ 9.49943177e-01 -3.12397282e-01 -3.98742105e-03 5.96836002e+01] [ 3.12394811e-01 9.49951543e-01 -1.24422776e-03 1.01485244e+01] [ 4.17655015e-03 -6.37039743e-05 9.99991276e-01 2.80162545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.502755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.74, Y:10.17, Z:0.28 [[ 9.49839483e-01 -3.12712424e-01 -3.98703662e-03 5.97381449e+01] [ 3.12709951e-01 9.49847849e-01 -1.24545842e-03 1.01683846e+01] [ 4.17654848e-03 -6.38004441e-05 9.99991276e-01 2.81036621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.79, Y:10.18, Z:0.29 [[ 9.50766093e-01 -3.09883759e-01 -3.98660595e-03 5.97946597e+01] [ 3.09881255e-01 9.50774449e-01 -1.24683545e-03 1.01825537e+01] [ 4.17673713e-03 -4.99255883e-05 9.99991276e-01 2.85768909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.85, Y:10.21, Z:0.28 [[ 9.48931831e-01 -3.15456000e-01 -3.98647437e-03 5.98482398e+01] [ 3.15453542e-01 9.48940202e-01 -1.24725599e-03 1.02069039e+01] [ 4.17638018e-03 -7.39865512e-05 9.99991276e-01 2.81462995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.682755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.91, Y:10.22, Z:0.29 [[ 9.49484167e-01 -3.13789619e-01 -3.98635177e-03 5.99065438e+01] [ 3.13787146e-01 9.49492533e-01 -1.24764772e-03 1.02175971e+01] [ 4.17651014e-03 -6.62441902e-05 9.99991276e-01 2.87881336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.742755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.96, Y:10.24, Z:0.28 [[ 9.47280082e-01 -3.20381894e-01 -3.98599829e-03 5.99598638e+01] [ 3.20379474e-01 9.47288464e-01 -1.24877601e-03 1.02417852e+01] [ 4.17597542e-03 -9.40913915e-05 9.99991276e-01 2.81142103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.02, Y:10.26, Z:0.28 [[ 9.45656655e-01 -3.25142436e-01 -3.98581207e-03 6.00159749e+01] [ 3.25140055e-01 9.45665048e-01 -1.24937009e-03 1.02605748e+01] [ 4.17546640e-03 -1.14472014e-04 9.99991276e-01 2.81992513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.862755095999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.07, Y:10.28, Z:0.28 [[ 9.45155517e-01 -3.26596332e-01 -3.98559989e-03 6.00727510e+01] [ 3.26593962e-01 9.45163912e-01 -1.25004659e-03 1.02773126e+01] [ 4.17530582e-03 -1.20184431e-04 9.99991276e-01 2.79830057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.922755095999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.13, Y:10.29, Z:0.28 [[ 9.45322237e-01 -3.26113456e-01 -3.98516284e-03 6.01274078e+01] [ 3.26111076e-01 9.45330630e-01 -1.25143837e-03 1.02938982e+01] [ 4.17540739e-03 -1.16593225e-04 9.99991276e-01 2.81303733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.18, Y:10.31, Z:0.28 [[ 9.44258930e-01 -3.29179576e-01 -3.98497590e-03 6.01812982e+01] [ 3.29177220e-01 9.44267330e-01 -1.25203335e-03 1.03120182e+01] [ 4.17502636e-03 -1.29519617e-04 9.99991276e-01 2.83210059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.24, Y:10.33, Z:0.28 [[ 9.45139831e-01 -3.26641735e-01 -3.98468242e-03 6.02376119e+01] [ 3.26639353e-01 9.45148223e-01 -1.25296670e-03 1.03285633e+01] [ 4.17538672e-03 -1.17325355e-04 9.99991276e-01 2.81763441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.29, Y:10.35, Z:0.28 [[ 9.44885829e-01 -3.27375770e-01 -3.98429444e-03 6.02928985e+01] [ 3.27373390e-01 9.44894222e-01 -1.25419922e-03 1.03456683e+01] [ 4.17533123e-03 -1.19276905e-04 9.99991276e-01 2.83647399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.162755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:60.35, Y:10.36, Z:0.28 [[ 9.45040760e-01 -3.26928267e-01 -3.98384551e-03 6.03471880e+01] [ 3.26925876e-01 9.45049150e-01 -1.25562357e-03 1.03618232e+01] [ 4.17542865e-03 -1.15806735e-04 9.99991276e-01 2.83293058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.40, Y:10.38, Z:0.29 [[ 9.44398455e-01 -3.28779091e-01 -3.98340119e-03 6.04029337e+01] [ 3.28776711e-01 9.44406848e-01 -1.25703157e-03 1.03784057e+01] [ 4.17523706e-03 -1.22510867e-04 9.99991276e-01 2.86050080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.46, Y:10.40, Z:0.29 [[ 9.44133685e-01 -3.29538648e-01 -3.98293285e-03 6.04582611e+01] [ 3.29536268e-01 9.44142078e-01 -1.25851379e-03 1.03950108e+01] [ 4.17518343e-03 -1.24315563e-04 9.99991276e-01 2.86823348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.51, Y:10.41, Z:0.29 [[ 9.44200276e-01 -3.29347808e-01 -3.98252804e-03 6.05130095e+01] [ 3.29345421e-01 9.44208667e-01 -1.25979348e-03 1.04115763e+01] [ 4.17524771e-03 -1.22130024e-04 9.99991276e-01 2.86753601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.57, Y:10.43, Z:0.28 [[ 9.42812397e-01 -3.33300053e-01 -3.98235414e-03 6.05677670e+01] [ 3.33297699e-01 9.42820797e-01 -1.26034296e-03 1.04312053e+01] [ 4.17471868e-03 -1.39042502e-04 9.99991276e-01 2.83359821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.62, Y:10.45, Z:0.28 [[ 9.45058250e-01 -3.26877723e-01 -3.98221865e-03 6.06239621e+01] [ 3.26875311e-01 9.45066634e-01 -1.26077091e-03 1.04451277e+01] [ 4.17557990e-03 -1.10187009e-04 9.99991276e-01 2.83911032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.68, Y:10.46, Z:0.28 [[ 9.45155285e-01 -3.26597050e-01 -3.98176583e-03 6.06791771e+01] [ 3.26594628e-01 9.45163666e-01 -1.26219939e-03 1.04632986e+01] [ 4.17565099e-03 -1.07448908e-04 9.99991276e-01 2.83612339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.73, Y:10.48, Z:0.28 [[ 9.45772810e-01 -3.24804466e-01 -3.98130554e-03 6.07346748e+01] [ 3.24802023e-01 9.45781185e-01 -1.26364961e-03 1.04800608e+01] [ 4.17588290e-03 -9.80106513e-05 9.99991276e-01 2.83029562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.79, Y:10.49, Z:0.29 [[ 9.46832223e-01 -3.21703110e-01 -3.98116200e-03 6.07920712e+01] [ 3.21700638e-01 9.46840589e-01 -1.26410165e-03 1.04937538e+01] [ 4.17619121e-03 -8.38501754e-05 9.99991276e-01 2.86539083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.85, Y:10.51, Z:0.28 [[ 9.46165695e-01 -3.23658201e-01 -3.98080469e-03 6.08472075e+01] [ 3.23655741e-01 9.46174065e-01 -1.26522588e-03 1.05140561e+01] [ 4.17603489e-03 -9.12969692e-05 9.99991276e-01 2.84800326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.90, Y:10.53, Z:0.28 [[ 9.46471773e-01 -3.22762047e-01 -3.98045303e-03 6.09017866e+01] [ 3.22759574e-01 9.46480139e-01 -1.26633126e-03 1.05308470e+01] [ 4.17614340e-03 -8.61825291e-05 9.99991276e-01 2.84103008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.822755096 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:60.96, Y:10.55, Z:0.28 [[ 9.45926790e-01 -3.24355771e-01 -3.98005548e-03 6.09575301e+01] [ 3.24353308e-01 9.45935159e-01 -1.26757951e-03 1.05472612e+01] [ 4.17602114e-03 -9.19067377e-05 9.99991276e-01 2.83383352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.01, Y:10.56, Z:0.29 [[ 9.46292455e-01 -3.23287414e-01 -3.97966316e-03 6.10133375e+01] [ 3.23284935e-01 9.46300819e-01 -1.26881004e-03 1.05630250e+01] [ 4.17614882e-03 -8.58997747e-05 9.99991276e-01 2.87667432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.07, Y:10.58, Z:0.29 [[ 9.45638498e-01 -3.25195322e-01 -3.97926037e-03 6.10676325e+01] [ 3.25192855e-01 9.45646865e-01 -1.27007200e-03 1.05790357e+01] [ 4.17599657e-03 -9.29980609e-05 9.99991276e-01 2.86992846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.12, Y:10.60, Z:0.29 [[ 9.45141227e-01 -3.26637762e-01 -3.97907249e-03 6.11238156e+01] [ 3.26635305e-01 9.45149598e-01 -1.27066036e-03 1.05956000e+01] [ 4.17586442e-03 -9.87520707e-05 9.99991276e-01 2.87627333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.18, Y:10.61, Z:0.29 [[ 9.44480656e-01 -3.28542934e-01 -3.97868303e-03 6.11788118e+01] [ 3.28540489e-01 9.44489031e-01 -1.27187865e-03 1.06103577e+01] [ 4.17568923e-03 -1.05893688e-04 9.99991276e-01 2.88148307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.23, Y:10.63, Z:0.29 [[ 9.44142278e-01 -3.29514082e-01 -3.97851610e-03 6.12345142e+01] [ 3.29511644e-01 9.44150654e-01 -1.27240063e-03 1.06270214e+01] [ 4.17559250e-03 -1.09640144e-04 9.99991276e-01 2.88222861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.29, Y:10.64, Z:0.29 [[ 9.44359217e-01 -3.28891843e-01 -3.97811468e-03 6.12895947e+01] [ 3.28889394e-01 9.44367590e-01 -1.27365441e-03 1.06442689e+01] [ 4.17569712e-03 -1.05572443e-04 9.99991276e-01 2.87667216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.34, Y:10.66, Z:0.29 [[ 9.43773560e-01 -3.30568669e-01 -3.97770875e-03 6.13436288e+01] [ 3.30566229e-01 9.43781936e-01 -1.27492089e-03 1.06626793e+01] [ 4.17553857e-03 -1.11659551e-04 9.99991276e-01 2.87524390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.40, Y:10.68, Z:0.29 [[ 9.45473263e-01 -3.25675433e-01 -3.97751945e-03 6.13991938e+01] [ 3.25672948e-01 9.45481626e-01 -1.27551122e-03 1.06782569e+01] [ 4.17607422e-03 -8.94087305e-05 9.99991276e-01 2.85782699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.45, Y:10.70, Z:0.29 [[ 9.45816103e-01 -3.24678428e-01 -3.97708918e-03 6.14543178e+01] [ 3.24675928e-01 9.45824461e-01 -1.27685139e-03 1.06963146e+01] [ 4.17619433e-03 -8.35985107e-05 9.99991276e-01 2.86264671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42275509599999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:61.51, Y:10.72, Z:0.29 [[ 9.44987318e-01 -3.27082796e-01 -3.97670123e-03 6.15092499e+01] [ 3.27080312e-01 9.44995680e-01 -1.27805849e-03 1.07157330e+01] [ 4.17599643e-03 -9.29516124e-05 9.99991276e-01 2.85353474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.56, Y:10.73, Z:0.29 [[ 9.44598074e-01 -3.28205221e-01 -3.97626337e-03 6.15649571e+01] [ 3.28202741e-01 9.44606438e-01 -1.27941930e-03 1.07302621e+01] [ 4.17591608e-03 -9.64835304e-05 9.99991276e-01 2.88465577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.62, Y:10.75, Z:0.29 [[ 9.43125788e-01 -3.32412303e-01 -3.97607632e-03 6.16197936e+01] [ 3.32409858e-01 9.43134162e-01 -1.28000036e-03 1.07467151e+01] [ 4.17546127e-03 -1.14485618e-04 9.99991276e-01 2.89775882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.68, Y:10.76, Z:0.29 [[ 9.41945408e-01 -3.35742520e-01 -3.97588313e-03 6.16754218e+01] [ 3.35740103e-01 9.41953791e-01 -1.28060015e-03 1.07647748e+01] [ 4.17505011e-03 -1.28607976e-04 9.99991276e-01 2.89316813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.73, Y:10.78, Z:0.29 [[ 9.42233066e-01 -3.34934388e-01 -3.97543425e-03 6.17328347e+01] [ 3.34931958e-01 9.42241445e-01 -1.28199211e-03 1.07800258e+01] [ 4.17520216e-03 -1.23564624e-04 9.99991276e-01 2.92536629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.79, Y:10.80, Z:0.29 [[ 9.40197840e-01 -3.40605668e-01 -3.97505235e-03 6.17867005e+01] [ 3.40603283e-01 9.40206231e-01 -1.28317518e-03 1.08002837e+01] [ 4.17442573e-03 -1.47477351e-04 9.99991276e-01 2.86903531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.84, Y:10.82, Z:0.29 [[ 9.40416917e-01 -3.40000331e-01 -3.97464633e-03 6.18425472e+01] [ 3.39997935e-01 9.40425305e-01 -1.28443158e-03 1.08175984e+01] [ 4.17456516e-03 -1.43470356e-04 9.99991276e-01 2.85958365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.90, Y:10.83, Z:0.29 [[ 9.41277053e-01 -3.37611783e-01 -3.97420831e-03 6.18995652e+01] [ 3.37609360e-01 9.41285433e-01 -1.28578546e-03 1.08321072e+01] [ 4.17496071e-03 -1.31449578e-04 9.99991276e-01 2.89695402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.95, Y:10.85, Z:0.29 [[ 9.41160473e-01 -3.37936640e-01 -3.97383870e-03 6.19543915e+01] [ 3.37934215e-01 9.41168853e-01 -1.28692677e-03 1.08494920e+01] [ 4.17495292e-03 -1.31691453e-04 9.99991276e-01 2.89711404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.01, Y:10.86, Z:0.29 [[ 9.41645381e-01 -3.36583104e-01 -3.97370950e-03 6.20101284e+01] [ 3.36580666e-01 9.41653757e-01 -1.28732560e-03 1.08642777e+01] [ 4.17515052e-03 -1.25269586e-04 9.99991276e-01 2.92877006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.06, Y:10.89, Z:0.29 [[ 9.39675991e-01 -3.42042751e-01 -3.97358276e-03 6.20644216e+01] [ 3.42040359e-01 9.39684380e-01 -1.28771666e-03 1.08885435e+01] [ 4.17436780e-03 -1.49089253e-04 9.99991276e-01 2.87804977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.12, Y:10.91, Z:0.29 [[ 9.39352364e-01 -3.42930533e-01 -3.97323894e-03 6.21194553e+01] [ 3.42928145e-01 9.39360754e-01 -1.28877666e-03 1.09066308e+01] [ 4.17426559e-03 -1.51920051e-04 9.99991276e-01 2.87044875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.17, Y:10.92, Z:0.29 [[ 9.38973651e-01 -3.43966132e-01 -3.97285131e-03 6.21744426e+01] [ 3.43963748e-01 9.38982042e-01 -1.28997048e-03 1.09240418e+01] [ 4.17414219e-03 -1.55268532e-04 9.99991276e-01 2.87852842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.23, Y:10.94, Z:0.29 [[ 9.38842140e-01 -3.44324927e-01 -3.97245217e-03 6.22299249e+01] [ 3.44322541e-01 9.38850532e-01 -1.29119845e-03 1.09419360e+01] [ 4.17413064e-03 -1.55573306e-04 9.99991276e-01 2.88353935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.29, Y:10.96, Z:0.29 [[ 9.39060019e-01 -3.43730278e-01 -3.97205805e-03 6.22853023e+01] [ 3.43727882e-01 9.39068407e-01 -1.29240973e-03 1.09606334e+01] [ 4.17427458e-03 -1.51656794e-04 9.99991276e-01 2.88512613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.34, Y:10.98, Z:0.29 [[ 9.40099775e-01 -3.40876281e-01 -3.97166852e-03 6.23392196e+01] [ 3.40873854e-01 9.40108155e-01 -1.29360568e-03 1.09787272e+01] [ 4.17475746e-03 -1.37719542e-04 9.99991276e-01 2.88634757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.40, Y:11.00, Z:0.29 [[ 9.41859613e-01 -3.35983179e-01 -3.97150174e-03 6.23950495e+01] [ 3.35980706e-01 9.41867979e-01 -1.29411750e-03 1.09970696e+01] [ 4.17543203e-03 -1.15470954e-04 9.99991276e-01 2.90374778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.45, Y:11.02, Z:0.29 [[ 9.43008892e-01 -3.32743834e-01 -3.97115041e-03 6.24508679e+01] [ 3.32741328e-01 9.43017249e-01 -1.29519472e-03 1.10165292e+01] [ 4.17583139e-03 -9.99857194e-05 9.99991276e-01 2.90498679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.51, Y:11.04, Z:0.29 [[ 9.44005658e-01 -3.29905366e-01 -3.97075206e-03 6.25062938e+01] [ 3.29902830e-01 9.44014005e-01 -1.29641482e-03 1.10354007e+01] [ 4.17613976e-03 -8.61394194e-05 9.99991276e-01 2.91160466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.56, Y:11.05, Z:0.29 [[ 9.45363042e-01 -3.25995330e-01 -3.97033682e-03 6.25616468e+01] [ 3.25992754e-01 9.45371377e-01 -1.29768526e-03 1.10536447e+01] [ 4.17648212e-03 -6.75173450e-05 9.99991276e-01 2.92319967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.62, Y:11.07, Z:0.29 [[ 9.45874179e-01 -3.24509286e-01 -3.96992636e-03 6.26168082e+01] [ 3.24506692e-01 9.45882508e-01 -1.29893973e-03 1.10720129e+01] [ 4.17660191e-03 -5.96341182e-05 9.99991276e-01 2.92078167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.67, Y:11.09, Z:0.29 [[ 9.46194221e-01 -3.23574935e-01 -3.96951759e-03 6.26719256e+01] [ 3.23572328e-01 9.46202546e-01 -1.30018773e-03 1.10893262e+01] [ 4.17667581e-03 -5.41959295e-05 9.99991276e-01 2.90992904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.742755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:62.73, Y:11.11, Z:0.29 [[ 9.45774182e-01 -3.24800620e-01 -3.96909705e-03 6.27261388e+01] [ 3.24798018e-01 9.45782509e-01 -1.30147025e-03 1.11056237e+01] [ 4.17662091e-03 -5.82578904e-05 9.99991276e-01 2.90429275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.78, Y:11.12, Z:0.29 [[ 9.44615624e-01 -3.28154799e-01 -3.96881378e-03 6.27823156e+01] [ 3.28152222e-01 9.44623959e-01 -1.30233349e-03 1.11215694e+01] [ 4.17640357e-03 -7.21704957e-05 9.99991276e-01 2.92241834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.84, Y:11.14, Z:0.29 [[ 9.43681765e-01 -3.30830740e-01 -3.96839947e-03 6.28376849e+01] [ 3.30828182e-01 9.43690105e-01 -1.30359474e-03 1.11385390e+01] [ 4.17620853e-03 -8.26797917e-05 9.99991276e-01 2.92874362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92275509599999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:62.89, Y:11.16, Z:0.29 [[ 9.42587446e-01 -3.33935864e-01 -3.96798715e-03 6.28929969e+01] [ 3.33933329e-01 9.42595793e-01 -1.30484860e-03 1.11554388e+01] [ 4.17594374e-03 -9.51092470e-05 9.99991276e-01 2.94036318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.95, Y:11.17, Z:0.29 [[ 9.41883343e-01 -3.35916696e-01 -3.96756973e-03 6.29483053e+01] [ 3.35914173e-01 9.41891694e-01 -1.30611658e-03 1.11744924e+01] [ 4.17576734e-03 -1.02553457e-04 9.99991276e-01 2.93062282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.00, Y:11.19, Z:0.29 [[ 9.41873966e-01 -3.35942993e-01 -3.96712227e-03 6.30029962e+01] [ 3.35940464e-01 9.41882315e-01 -1.30747426e-03 1.11927912e+01] [ 4.17579912e-03 -1.01240934e-04 9.99991276e-01 2.93599340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.06, Y:11.21, Z:0.29 [[ 9.42548910e-01 -3.34044629e-01 -3.96698584e-03 6.30606302e+01] [ 3.34042082e-01 9.42557254e-01 -1.30788808e-03 1.12073735e+01] [ 4.17600426e-03 -9.23917261e-05 9.99991276e-01 2.94924498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.12, Y:11.23, Z:0.29 [[ 9.41403591e-01 -3.37258869e-01 -3.96661720e-03 6.31150713e+01] [ 3.37256345e-01 9.41411942e-01 -1.30900513e-03 1.12305650e+01] [ 4.17569439e-03 -1.05464685e-04 9.99991276e-01 2.91784724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.17, Y:11.25, Z:0.29 [[ 9.42062606e-01 -3.35413648e-01 -3.96625530e-03 6.31713305e+01] [ 3.35411103e-01 9.42070950e-01 -1.31010076e-03 1.12475747e+01] [ 4.17591958e-03 -9.61291314e-05 9.99991276e-01 2.93105980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.22, Y:11.27, Z:0.29 [[ 9.39918269e-01 -3.41376507e-01 -3.96589662e-03 6.32240846e+01] [ 3.41374011e-01 9.39926628e-01 -1.31118566e-03 1.12712871e+01] [ 4.17525982e-03 -1.21446678e-04 9.99991276e-01 2.91160999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.28, Y:11.29, Z:0.29 [[ 9.39816703e-01 -3.41656023e-01 -3.96576073e-03 6.32799924e+01] [ 3.41653527e-01 9.39825062e-01 -1.31159653e-03 1.12903032e+01] [ 4.17523618e-03 -1.22255813e-04 9.99991276e-01 2.94527957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.33, Y:11.31, Z:0.30 [[ 9.39201596e-01 -3.43343323e-01 -3.96536917e-03 6.33336345e+01] [ 3.43340838e-01 9.39209958e-01 -1.31277928e-03 1.13116936e+01] [ 4.17504821e-03 -1.28508781e-04 9.99991276e-01 2.95069964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.39, Y:11.33, Z:0.30 [[ 9.38804637e-01 -3.44427253e-01 -3.96495015e-03 6.33881639e+01] [ 3.44424772e-01 9.38813001e-01 -1.31404362e-03 1.13324406e+01] [ 4.17493918e-03 -1.31996809e-04 9.99991276e-01 2.95632997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.44, Y:11.35, Z:0.30 [[ 9.38044494e-01 -3.46492149e-01 -3.96453475e-03 6.34423139e+01] [ 3.46489681e-01 9.38052862e-01 -1.31529569e-03 1.13532452e+01] [ 4.17468280e-03 -1.39864502e-04 9.99991276e-01 2.96711541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.50, Y:11.37, Z:0.30 [[ 9.37394070e-01 -3.48247962e-01 -3.96412587e-03 6.34967598e+01] [ 3.48245505e-01 9.37402440e-01 -1.31652687e-03 1.13747705e+01] [ 4.17445906e-03 -1.46384533e-04 9.99991276e-01 2.97176890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.642755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:63.55, Y:11.40, Z:0.30 [[ 9.36459940e-01 -3.50752148e-01 -3.96371320e-03 6.35507403e+01] [ 3.50749707e-01 9.36468316e-01 -1.31776814e-03 1.13974834e+01] [ 4.17410183e-03 -1.56234172e-04 9.99991276e-01 2.95818795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.61, Y:11.41, Z:0.30 [[ 9.37315868e-01 -3.48458400e-01 -3.96327818e-03 6.36071016e+01] [ 3.48455933e-01 9.37324236e-01 -1.31907517e-03 1.14139182e+01] [ 4.17451952e-03 -1.44637711e-04 9.99991276e-01 2.99670855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.66, Y:11.44, Z:0.30 [[ 9.36051483e-01 -3.51840755e-01 -3.96285596e-03 6.36618276e+01] [ 3.51838313e-01 9.36059858e-01 -1.32034243e-03 1.14370272e+01] [ 4.17402067e-03 -1.58376064e-04 9.99991276e-01 2.97897441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.822755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:63.72, Y:11.46, Z:0.30 [[ 9.35802150e-01 -3.52503383e-01 -3.96249474e-03 6.37161276e+01] [ 3.52500943e-01 9.35810525e-01 -1.32142559e-03 1.14563300e+01] [ 4.17395128e-03 -1.60190228e-04 9.99991276e-01 2.96828487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.77, Y:11.48, Z:0.30 [[ 9.36133406e-01 -3.51622735e-01 -3.96204633e-03 6.37704085e+01] [ 3.51620281e-01 9.36141778e-01 -1.32276871e-03 1.14770929e+01] [ 4.17415265e-03 -1.54847868e-04 9.99991276e-01 2.97523949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.82, Y:11.50, Z:0.30 [[ 9.36583011e-01 -3.50423414e-01 -3.96155716e-03 6.38247552e+01] [ 3.50420943e-01 9.36591378e-01 -1.32423209e-03 1.14968157e+01] [ 4.17440221e-03 -1.47959317e-04 9.99991276e-01 2.98940401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.88, Y:11.52, Z:0.30 [[ 9.38306725e-01 -3.45781430e-01 -3.96141121e-03 6.38790145e+01] [ 3.45778916e-01 9.38315079e-01 -1.32466856e-03 1.15169088e+01] [ 4.17509766e-03 -1.26827060e-04 9.99991276e-01 2.95143650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.93, Y:11.54, Z:0.30 [[ 9.39366312e-01 -3.42892463e-01 -3.96103976e-03 6.39336125e+01] [ 3.42889919e-01 9.39374657e-01 -1.32577836e-03 1.15380530e+01] [ 4.17549977e-03 -1.12809070e-04 9.99991276e-01 2.97536379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.99, Y:11.56, Z:0.30 [[ 9.40690448e-01 -3.39242971e-01 -3.96067248e-03 6.39885430e+01] [ 3.39240390e-01 9.40698781e-01 -1.32687466e-03 1.15575639e+01] [ 4.17593268e-03 -9.54417626e-05 9.99991276e-01 2.98161643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.04, Y:11.58, Z:0.30 [[ 9.40781790e-01 -3.38989586e-01 -3.96020973e-03 6.40429507e+01] [ 3.38986997e-01 9.40790121e-01 -1.32825436e-03 1.15771843e+01] [ 4.17599059e-03 -9.28620905e-05 9.99991276e-01 2.98601608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.10, Y:11.60, Z:0.30 [[ 9.41199622e-01 -3.37827754e-01 -3.95974154e-03 6.40978833e+01] [ 3.37825148e-01 9.41207948e-01 -1.32964866e-03 1.15962041e+01] [ 4.17613243e-03 -8.62354491e-05 9.99991276e-01 2.99809241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.15, Y:11.61, Z:0.30 [[ 9.40223694e-01 -3.40534477e-01 -3.95926594e-03 6.41521489e+01] [ 3.40531889e-01 9.40232025e-01 -1.33106334e-03 1.16144591e+01] [ 4.17590159e-03 -9.67590194e-05 9.99991276e-01 2.99474094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.21, Y:11.63, Z:0.30 [[ 9.39343092e-01 -3.42956093e-01 -3.95895067e-03 6.42075225e+01] [ 3.42953523e-01 9.39351429e-01 -1.33200036e-03 1.16334801e+01] [ 4.17566361e-03 -1.06530748e-04 9.99991276e-01 3.00593865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.26, Y:11.65, Z:0.30 [[ 9.37216543e-01 -3.48725512e-01 -3.95851693e-03 6.42628678e+01] [ 3.48722987e-01 9.37224893e-01 -1.33328814e-03 1.16525377e+01] [ 4.17497220e-03 -1.30846151e-04 9.99991276e-01 3.02075720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.32, Y:11.67, Z:0.30 [[ 9.35458783e-01 -3.53413637e-01 -3.95802648e-03 6.43176864e+01] [ 3.53411148e-01 9.35467145e-01 -1.33474253e-03 1.16709788e+01] [ 4.17431994e-03 -1.50214063e-04 9.99991276e-01 3.01184849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.37, Y:11.69, Z:0.30 [[ 9.33809084e-01 -3.57749817e-01 -3.95772330e-03 6.43722500e+01] [ 3.57747364e-01 9.33817455e-01 -1.33564087e-03 1.16899901e+01] [ 4.17361638e-03 -1.68631499e-04 9.99991276e-01 2.99947342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.43, Y:11.71, Z:0.30 [[ 9.33113142e-01 -3.59561128e-01 -3.95723025e-03 6.44263108e+01] [ 3.59558684e-01 9.33121517e-01 -1.33710009e-03 1.17082199e+01] [ 4.17334591e-03 -1.75190839e-04 9.99991276e-01 3.00037028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.48, Y:11.72, Z:0.30 [[ 9.34086199e-01 -3.57025650e-01 -3.95702888e-03 6.44845903e+01] [ 3.57023181e-01 9.34094566e-01 -1.33769576e-03 1.17208986e+01] [ 4.17383088e-03 -1.63227898e-04 9.99991276e-01 3.00323790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.54, Y:11.75, Z:0.30 [[ 9.33250348e-01 -3.59204863e-01 -3.95666411e-03 6.45387409e+01] [ 3.59202409e-01 9.33258719e-01 -1.33877384e-03 1.17452234e+01] [ 4.17348535e-03 -1.71832132e-04 9.99991276e-01 3.02171426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78275509599999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:64.59, Y:11.76, Z:0.30 [[ 9.34638422e-01 -3.55577513e-01 -3.95628207e-03 6.45926062e+01] [ 3.55575022e-01 9.34646783e-01 -1.33990185e-03 1.17643577e+01] [ 4.17416528e-03 -1.54431331e-04 9.99991276e-01 3.03475407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.65, Y:11.78, Z:0.30 [[ 9.36400744e-01 -3.50910242e-01 -3.95579021e-03 6.46475383e+01] [ 3.50907703e-01 9.36409091e-01 -1.34135241e-03 1.17834383e+01] [ 4.17493221e-03 -1.32073864e-04 9.99991276e-01 3.04525527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.70, Y:11.80, Z:0.31 [[ 9.37516500e-01 -3.47918334e-01 -3.95529521e-03 6.47024804e+01] [ 3.47915762e-01 9.37524837e-01 -1.34281044e-03 1.18025217e+01] [ 4.17537587e-03 -1.17202607e-04 9.99991276e-01 3.05323297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.76, Y:11.82, Z:0.31 [[ 9.38826976e-01 -3.44366473e-01 -3.95486381e-03 6.47557921e+01] [ 3.44363865e-01 9.38835301e-01 -1.34407981e-03 1.18217253e+01] [ 4.17582178e-03 -1.00053803e-04 9.99991276e-01 3.05176083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.81, Y:11.84, Z:0.31 [[ 9.39192103e-01 -3.43369414e-01 -3.95467865e-03 6.48106460e+01] [ 3.43366794e-01 9.39200424e-01 -1.34462440e-03 1.18400527e+01] [ 4.17593875e-03 -9.50447105e-05 9.99991276e-01 3.05222743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.87, Y:11.86, Z:0.30 [[ 9.38315603e-01 -3.45757420e-01 -3.95423835e-03 6.48652851e+01] [ 3.45754816e-01 9.38323929e-01 -1.34591797e-03 1.18599516e+01] [ 4.17571759e-03 -1.04301125e-04 9.99991276e-01 3.04903827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.92, Y:11.88, Z:0.30 [[ 9.37956263e-01 -3.46731044e-01 -3.95375694e-03 6.49192058e+01] [ 3.46728443e-01 9.37964590e-01 -1.34733067e-03 1.18803623e+01] [ 4.17564538e-03 -1.07142743e-04 9.99991276e-01 3.02005796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.97, Y:11.90, Z:0.30 [[ 9.37584271e-01 -3.47735684e-01 -3.95327502e-03 6.49741648e+01] [ 3.47733086e-01 9.37592599e-01 -1.34874321e-03 1.18983981e+01] [ 4.17556755e-03 -1.10124104e-04 9.99991276e-01 3.04430873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26275509599999 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:65.03, Y:11.92, Z:0.30 [[ 9.36107231e-01 -3.51692517e-01 -3.95285111e-03 6.50271730e+01] [ 3.51689949e-01 9.36115569e-01 -1.34998445e-03 1.19184840e+01] [ 4.17510489e-03 -1.26447802e-04 9.99991276e-01 3.01869339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.08, Y:11.94, Z:0.30 [[ 9.37578549e-01 -3.47751121e-01 -3.95236907e-03 6.50821660e+01] [ 3.47748512e-01 9.37586874e-01 -1.35139425e-03 1.19358567e+01] [ 4.17563823e-03 -1.07392202e-04 9.99991276e-01 3.02422100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.14, Y:11.96, Z:0.30 [[ 9.37793865e-01 -3.47170058e-01 -3.95186877e-03 6.51365090e+01] [ 3.47167437e-01 9.37802186e-01 -1.35285569e-03 1.19561522e+01] [ 4.17574216e-03 -1.03260384e-04 9.99991276e-01 3.03317278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.19, Y:11.98, Z:0.30 [[ 9.37915759e-01 -3.46840619e-01 -3.95138375e-03 6.51911542e+01] [ 3.46837990e-01 9.37924077e-01 -1.35427085e-03 1.19770111e+01] [ 4.17581410e-03 -1.00298024e-04 9.99991276e-01 2.98646229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.25, Y:12.00, Z:0.30 [[ 9.39141578e-01 -3.43507623e-01 -3.95092146e-03 6.52467027e+01] [ 3.43504958e-01 9.39149885e-01 -1.35561818e-03 1.19951922e+01] [ 4.17617261e-03 -8.40437161e-05 9.99991276e-01 3.01213957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56275509599999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:65.30, Y:12.01, Z:0.31 [[ 9.39198745e-01 -3.43351293e-01 -3.95045337e-03 6.53015460e+01] [ 3.43348622e-01 9.39207050e-01 -1.35698088e-03 1.20149691e+01] [ 4.17621480e-03 -8.19079789e-05 9.99991276e-01 3.05707766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.36, Y:12.03, Z:0.31 [[ 9.39971168e-01 -3.41231008e-01 -3.94998664e-03 6.53568128e+01] [ 3.41228312e-01 9.39979465e-01 -1.35833813e-03 1.20313123e+01] [ 4.17641342e-03 -7.10485915e-05 9.99991276e-01 3.05138796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.41, Y:12.06, Z:0.30 [[ 9.36410873e-01 -3.50883279e-01 -3.94984497e-03 6.54102166e+01] [ 3.50880666e-01 9.36419197e-01 -1.35874996e-03 1.20569721e+01] [ 4.17547329e-03 -1.13575995e-04 9.99991276e-01 3.00191405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.47, Y:12.07, Z:0.31 [[ 9.37067173e-01 -3.49126788e-01 -3.94944595e-03 6.54671103e+01] [ 3.49124156e-01 9.37075490e-01 -1.35990878e-03 1.20695651e+01] [ 4.17570959e-03 -1.04521104e-04 9.99991276e-01 3.07809091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.52, Y:12.09, Z:0.31 [[ 9.36117727e-01 -3.51664623e-01 -3.94901093e-03 6.55235572e+01] [ 3.51662007e-01 9.36126049e-01 -1.36117087e-03 1.20878791e+01] [ 4.17544764e-03 -1.14500926e-04 9.99991276e-01 3.12287336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.58, Y:12.10, Z:0.31 [[ 9.34745334e-01 -3.55296453e-01 -3.94856459e-03 6.55784598e+01] [ 3.55293864e-01 9.34753665e-01 -1.36246440e-03 1.21025235e+01] [ 4.17501399e-03 -1.29343527e-04 9.99991276e-01 3.08008518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.64, Y:12.12, Z:0.31 [[ 9.33380786e-01 -3.58865882e-01 -3.94808154e-03 6.56350828e+01] [ 3.58863319e-01 9.33389125e-01 -1.36386271e-03 1.21203067e+01] [ 4.17454017e-03 -1.43818393e-04 9.99991276e-01 3.14348518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.69, Y:12.14, Z:0.31 [[ 9.32421450e-01 -3.61351153e-01 -3.94765853e-03 6.56893093e+01] [ 3.61348607e-01 9.32429794e-01 -1.36508603e-03 1.21396575e+01] [ 4.17418984e-03 -1.53645412e-04 9.99991276e-01 3.11523373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.75, Y:12.16, Z:0.32 [[ 9.32465016e-01 -3.61238718e-01 -3.94751736e-03 6.57451821e+01] [ 3.61236169e-01 9.32473359e-01 -1.36549412e-03 1.21582612e+01] [ 4.17422412e-03 -1.52710557e-04 9.99991276e-01 3.15087214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.80, Y:12.18, Z:0.31 [[ 9.32934552e-01 -3.60024362e-01 -3.94711797e-03 6.58006230e+01] [ 3.60021798e-01 9.32942891e-01 -1.36664764e-03 1.21788069e+01] [ 4.17446209e-03 -1.46055699e-04 9.99991276e-01 3.13721333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.85, Y:12.20, Z:0.31 [[ 9.34030053e-01 -3.57172625e-01 -3.94672244e-03 6.58543754e+01] [ 3.57170030e-01 9.34038382e-01 -1.36778892e-03 1.21993058e+01] [ 4.17492700e-03 -1.32095021e-04 9.99991276e-01 3.11803992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.91, Y:12.22, Z:0.32 [[ 9.36915165e-01 -3.49534545e-01 -3.94658426e-03 6.59086916e+01] [ 3.49531881e-01 9.36923472e-01 -1.36818751e-03 1.22178999e+01] [ 4.17587623e-03 -9.75813953e-05 9.99991276e-01 3.16601620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28275509599999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:65.96, Y:12.23, Z:0.32 [[ 9.40356380e-01 -3.40168052e-01 -3.94645072e-03 6.59639895e+01] [ 3.40165304e-01 9.40364660e-01 -1.36857260e-03 1.22349359e+01] [ 4.17664746e-03 -5.54996278e-05 9.99991276e-01 3.19538654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.02, Y:12.26, Z:0.32 [[ 9.41008575e-01 -3.38359708e-01 -3.94600381e-03 6.60168518e+01] [ 3.38356938e-01 9.41016847e-01 -1.36985994e-03 1.22573358e+01] [ 4.17676148e-03 -4.61078130e-05 9.99991276e-01 3.19938123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.07, Y:12.28, Z:0.32 [[ 9.42465192e-01 -3.34281008e-01 -3.94580976e-03 6.60703228e+01] [ 3.34278200e-01 9.42473452e-01 -1.37041869e-03 1.22772608e+01] [ 4.17692588e-03 -2.74262707e-05 9.99991276e-01 3.19743739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.462755096 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:66.12, Y:12.30, Z:0.32 [[ 9.42528909e-01 -3.34101315e-01 -3.94562144e-03 6.61247927e+01] [ 3.34098503e-01 9.42537167e-01 -1.37096065e-03 1.22963805e+01] [ 4.17693461e-03 -2.60561704e-05 9.99991276e-01 3.19977527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.522755096 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:66.18, Y:12.32, Z:0.32 [[ 9.41709708e-01 -3.36403421e-01 -3.94520189e-03 6.61794566e+01] [ 3.36400625e-01 9.41717971e-01 -1.37216693e-03 1.23150055e+01] [ 4.17686917e-03 -3.49854609e-05 9.99991276e-01 3.19314861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.582755096 meters Centerline goodness : 0.998716 with order 1 Centerline is valid? [True, True] Translation: X:66.23, Y:12.33, Z:0.32 [[ 9.39452638e-01 -3.42656066e-01 -3.94476671e-03 6.62342685e+01] [ 3.42653320e-01 9.39460918e-01 -1.37341688e-03 1.23317380e+01] [ 4.17656378e-03 -6.14273001e-05 9.99991276e-01 3.17903596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64275509599999 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:66.29, Y:12.35, Z:0.32 [[ 9.36274045e-01 -3.51248278e-01 -3.94458020e-03 6.62899550e+01] [ 3.51245604e-01 9.36282349e-01 -1.37395234e-03 1.23491240e+01] [ 4.17583921e-03 -9.91205461e-05 9.99991276e-01 3.16333560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70275509599999 meters Centerline goodness : 0.998711 with order 1 Centerline is valid? [True, True] Translation: X:66.35, Y:12.37, Z:0.32 [[ 9.34249209e-01 -3.56599018e-01 -3.94414150e-03 6.63450291e+01] [ 3.56596387e-01 9.34257526e-01 -1.37521055e-03 1.23665200e+01] [ 4.17524261e-03 -1.21677237e-04 9.99991276e-01 3.16091917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76275509599999 meters Centerline goodness : 0.998559 with order 1 Centerline is valid? [True, True] Translation: X:66.40, Y:12.39, Z:0.31 [[ 9.33175198e-01 -3.59400190e-01 -3.94368987e-03 6.63997618e+01] [ 3.59397578e-01 9.33183522e-01 -1.37650447e-03 1.23872764e+01] [ 4.17490237e-03 -1.32832762e-04 9.99991276e-01 3.11167514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.822755096 meters Centerline goodness : 0.998710 with order 1 Centerline is valid? [True, True] Translation: X:66.46, Y:12.41, Z:0.31 [[ 9.33814770e-01 -3.57735134e-01 -3.94323457e-03 6.64550279e+01] [ 3.57732503e-01 9.33823087e-01 -1.37780752e-03 1.24053028e+01] [ 4.17517364e-03 -1.24006163e-04 9.99991276e-01 3.12674747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.882755096 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:66.51, Y:12.42, Z:0.31 [[ 9.34862729e-01 -3.54987511e-01 -3.94277428e-03 6.65094069e+01] [ 3.54984849e-01 9.34871037e-01 -1.37912343e-03 1.24236877e+01] [ 4.17555707e-03 -1.10334045e-04 9.99991276e-01 3.12445887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.942755096 meters Centerline goodness : 0.998839 with order 1 Centerline is valid? [True, True] Translation: X:66.56, Y:12.44, Z:0.31 [[ 9.35809105e-01 -3.52485142e-01 -3.94257718e-03 6.65633290e+01] [ 3.52482455e-01 9.35817405e-01 -1.37968667e-03 1.24414046e+01] [ 4.17585140e-03 -9.85659411e-05 9.99991276e-01 3.14250929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.002755096 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:66.62, Y:12.46, Z:0.32 [[ 9.36834611e-01 -3.49750442e-01 -3.94209734e-03 6.66185002e+01] [ 3.49747725e-01 9.36842901e-01 -1.38105634e-03 1.24586920e+01] [ 4.17615097e-03 -8.49182010e-05 9.99991276e-01 3.17322096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06275509599999 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:66.67, Y:12.48, Z:0.32 [[ 9.37107081e-01 -3.49019744e-01 -3.94162437e-03 6.66735448e+01] [ 3.49017016e-01 9.37115367e-01 -1.38240489e-03 1.24764774e+01] [ 4.17624337e-03 -8.02325672e-05 9.99991276e-01 3.18062144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12275509599999 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:66.73, Y:12.49, Z:0.32 [[ 9.37223931e-01 -3.48705851e-01 -3.94119172e-03 6.67273182e+01] [ 3.48703115e-01 9.37232214e-01 -1.38363726e-03 1.24944342e+01] [ 4.17629426e-03 -7.75278804e-05 9.99991276e-01 3.18061961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.182755096 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:66.78, Y:12.51, Z:0.32 [[ 9.37140571e-01 -3.48929819e-01 -3.94100595e-03 6.67821903e+01] [ 3.48927083e-01 9.37148854e-01 -1.38416621e-03 1.25121453e+01] [ 4.17628607e-03 -7.79653999e-05 9.99991276e-01 3.18134399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.242755096 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:66.84, Y:12.53, Z:0.32 [[ 9.36386551e-01 -3.50948286e-01 -3.94053269e-03 6.68365140e+01] [ 3.50945562e-01 9.36394838e-01 -1.38551218e-03 1.25281983e+01] [ 4.17613760e-03 -8.55374843e-05 9.99991276e-01 3.18036222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.302755096 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:66.89, Y:12.54, Z:0.32 [[ 9.36087555e-01 -3.51745027e-01 -3.94021221e-03 6.68926637e+01] [ 3.51742306e-01 9.36095843e-01 -1.38642299e-03 1.25439847e+01] [ 4.17608367e-03 -8.81260220e-05 9.99991276e-01 3.20303110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.362755096 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:66.95, Y:12.56, Z:0.32 [[ 9.34370129e-01 -3.56282107e-01 -3.93973321e-03 6.69469155e+01] [ 3.56279420e-01 9.34378429e-01 -1.38778282e-03 1.25625426e+01] [ 4.17564391e-03 -1.06943056e-04 9.99991276e-01 3.17675010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42275509599999 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:67.00, Y:12.58, Z:0.32 [[ 9.33992980e-01 -3.57269638e-01 -3.93941221e-03 6.70027347e+01] [ 3.57266956e-01 9.34001281e-01 -1.38869344e-03 1.25795792e+01] [ 4.17555405e-03 -1.10391886e-04 9.99991276e-01 3.16736026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48275509599999 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:67.06, Y:12.60, Z:0.32 [[ 9.34901734e-01 -3.54884815e-01 -3.93896812e-03 6.70583615e+01] [ 3.54882106e-01 9.34910027e-01 -1.38995192e-03 1.25952350e+01] [ 4.17585362e-03 -9.84008413e-05 9.99991276e-01 3.18082058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.542755096 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:67.11, Y:12.61, Z:0.32 [[ 9.34639893e-01 -3.55573844e-01 -3.93849148e-03 6.71121383e+01] [ 3.55571137e-01 9.34648186e-01 -1.39130120e-03 1.26137222e+01] [ 4.17581423e-03 -1.00048286e-04 9.99991276e-01 3.17370038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.602755096 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:67.17, Y:12.63, Z:0.32 [[ 9.34834051e-01 -3.55063074e-01 -3.93828722e-03 6.71670304e+01] [ 3.55060359e-01 9.34842342e-01 -1.39187915e-03 1.26321215e+01] [ 4.17588254e-03 -9.71536532e-05 9.99991276e-01 3.17613625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.662755096 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:67.22, Y:12.65, Z:0.32 [[ 9.35755166e-01 -3.52628363e-01 -3.93784378e-03 6.72221993e+01] [ 3.52625622e-01 9.35763448e-01 -1.39313259e-03 1.26501297e+01] [ 4.17614833e-03 -8.49535946e-05 9.99991276e-01 3.17601532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.28, Y:12.67, Z:0.32 [[ 9.36668212e-01 -3.50195885e-01 -3.93739938e-03 6.72765161e+01] [ 3.50193116e-01 9.36676485e-01 -1.39438744e-03 1.26673267e+01] [ 4.17637816e-03 -7.27717675e-05 9.99991276e-01 3.18071516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78275509599999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:67.33, Y:12.68, Z:0.32 [[ 9.36827005e-01 -3.49770869e-01 -3.93720833e-03 6.73310546e+01] [ 3.49768095e-01 9.36835276e-01 -1.39492669e-03 1.26848068e+01] [ 4.17642037e-03 -7.03048583e-05 9.99991276e-01 3.19028156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84275509599999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:67.39, Y:12.70, Z:0.32 [[ 9.37031784e-01 -3.49221902e-01 -3.93691521e-03 6.73864550e+01] [ 3.49219119e-01 9.37040052e-01 -1.39575347e-03 1.27013379e+01] [ 4.17647492e-03 -6.69806945e-05 9.99991276e-01 3.19977357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.44, Y:12.72, Z:0.32 [[ 9.37677362e-01 -3.47484776e-01 -3.93647904e-03 6.74413021e+01] [ 3.47481973e-01 9.37685623e-01 -1.39698254e-03 1.27205233e+01] [ 4.17660996e-03 -5.79366028e-05 9.99991276e-01 3.17629005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.50, Y:12.74, Z:0.32 [[ 9.36041634e-01 -3.51867256e-01 -3.93633718e-03 6.74965160e+01] [ 3.51864489e-01 9.36049907e-01 -1.39738214e-03 1.27394495e+01] [ 4.17630107e-03 -7.70494159e-05 9.99991276e-01 3.20894017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.022755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:67.55, Y:12.76, Z:0.32 [[ 9.35463754e-01 -3.53400728e-01 -3.93588441e-03 6.75521403e+01] [ 3.53397969e-01 9.35472030e-01 -1.39865625e-03 1.27577441e+01] [ 4.17619592e-03 -8.25413309e-05 9.99991276e-01 3.21531031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.082755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:67.61, Y:12.78, Z:0.32 [[ 9.35405122e-01 -3.53555893e-01 -3.93547042e-03 6.76075320e+01] [ 3.53553132e-01 9.35413397e-01 -1.39982016e-03 1.27760928e+01] [ 4.17620642e-03 -8.19989407e-05 9.99991276e-01 3.21108344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14275509599999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:67.66, Y:12.80, Z:0.32 [[ 9.35266771e-01 -3.53921718e-01 -3.93499737e-03 6.76617881e+01] [ 3.53918954e-01 9.35275045e-01 -1.40114869e-03 1.27979860e+01] [ 4.17620179e-03 -8.22223456e-05 9.99991276e-01 3.19307054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20275509599999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:67.72, Y:12.82, Z:0.32 [[ 9.37790599e-01 -3.47179078e-01 -3.93452663e-03 6.77157058e+01] [ 3.47176249e-01 9.37798851e-01 -1.40246932e-03 1.28186994e+01] [ 4.17670255e-03 -5.07516546e-05 9.99991276e-01 3.19335915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.77, Y:12.84, Z:0.32 [[ 9.39423531e-01 -3.42735978e-01 -3.93438228e-03 6.77693133e+01] [ 3.42733109e-01 9.39431769e-01 -1.40287413e-03 1.28418490e+01] [ 4.17689914e-03 -3.05501062e-05 9.99991276e-01 3.19840128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.82, Y:12.86, Z:0.32 [[ 9.41230783e-01 -3.37741229e-01 -3.93392530e-03 6.78227294e+01] [ 3.37738311e-01 9.41239004e-01 -1.40415444e-03 1.28640718e+01] [ 4.17700477e-03 -7.00390299e-06 9.99991276e-01 3.18162407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.88, Y:12.88, Z:0.32 [[ 9.41841487e-01 -3.36034433e-01 -3.93350851e-03 6.78770805e+01] [ 3.36031494e-01 9.41849701e-01 -1.40532104e-03 1.28846766e+01] [ 4.17701007e-03 1.80691609e-06 9.99991276e-01 3.18732022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.93, Y:12.91, Z:0.32 [[ 9.42461800e-01 -3.34290721e-01 -3.93305527e-03 6.79307378e+01] [ 3.34287762e-01 9.42470007e-01 -1.40658836e-03 1.29064403e+01] [ 4.17699606e-03 1.08835573e-05 9.99991276e-01 3.19922410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.99, Y:12.93, Z:0.32 [[ 9.40781220e-01 -3.38991492e-01 -3.93260371e-03 6.79851276e+01] [ 3.38988568e-01 9.40789439e-01 -1.40784972e-03 1.29266182e+01] [ 4.17700112e-03 -8.62912417e-06 9.99991276e-01 3.20899490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.04, Y:12.94, Z:0.32 [[ 9.39572459e-01 -3.42327521e-01 -3.93213919e-03 6.80396300e+01] [ 3.42324622e-01 9.39580687e-01 -1.40914594e-03 1.29446667e+01] [ 4.17695148e-03 -2.20733489e-05 9.99991276e-01 3.21566950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.09, Y:12.96, Z:0.32 [[ 9.37229599e-01 -3.48690721e-01 -3.93193641e-03 6.80946224e+01] [ 3.48687875e-01 9.37237845e-01 -1.40971152e-03 1.29624465e+01] [ 4.17671294e-03 -4.97951880e-05 9.99991276e-01 3.21533599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.15, Y:12.98, Z:0.32 [[ 9.35502630e-01 -3.53297851e-01 -3.93151366e-03 6.81493908e+01] [ 3.53295041e-01 9.35510889e-01 -1.41088954e-03 1.29818852e+01] [ 4.17643808e-03 -6.90934066e-05 9.99991276e-01 3.20274236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.20, Y:13.00, Z:0.32 [[ 9.34541805e-01 -3.55831647e-01 -3.93107276e-03 6.82029170e+01] [ 3.55828854e-01 9.34550070e-01 -1.41211691e-03 1.30003996e+01] [ 4.17626021e-03 -7.91068285e-05 9.99991276e-01 3.19150646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.26, Y:13.02, Z:0.32 [[ 9.33924227e-01 -3.57449419e-01 -3.93088363e-03 6.82574138e+01] [ 3.57446638e-01 9.33932495e-01 -1.41264320e-03 1.30191136e+01] [ 4.17612845e-03 -8.57794339e-05 9.99991276e-01 3.18493554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.31, Y:13.04, Z:0.32 [[ 9.34014187e-01 -3.57214292e-01 -3.93046705e-03 6.83116098e+01] [ 3.57211504e-01 9.34022453e-01 -1.41380132e-03 1.30389862e+01] [ 4.17617452e-03 -8.34975567e-05 9.99991276e-01 3.18991835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.36, Y:13.06, Z:0.32 [[ 9.35094978e-01 -3.54375419e-01 -3.93002929e-03 6.83645101e+01] [ 3.54372601e-01 9.35103234e-01 -1.41501716e-03 1.30602864e+01] [ 4.17643039e-03 -6.95192597e-05 9.99991276e-01 3.19191425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.42, Y:13.08, Z:0.32 [[ 9.35663175e-01 -3.52872469e-01 -3.92984133e-03 6.84190812e+01] [ 3.52869635e-01 9.35671426e-01 -1.41553897e-03 1.30794958e+01] [ 4.17654497e-03 -6.22539932e-05 9.99991276e-01 3.19711253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.47, Y:13.10, Z:0.32 [[ 9.35374727e-01 -3.53636367e-01 -3.92938980e-03 6.84733341e+01] [ 3.53633535e-01 9.35382978e-01 -1.41679127e-03 1.31002785e+01] [ 4.17651325e-03 -6.43332586e-05 9.99991276e-01 3.19800080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.53, Y:13.12, Z:0.32 [[ 9.33949509e-01 -3.57383378e-01 -3.92891821e-03 6.85265091e+01] [ 3.57380574e-01 9.33957769e-01 -1.41809783e-03 1.31239142e+01] [ 4.17624828e-03 -7.96872678e-05 9.99991276e-01 3.20282745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.58, Y:13.14, Z:0.32 [[ 9.32970143e-01 -3.59932322e-01 -3.92877376e-03 6.85807119e+01] [ 3.59929538e-01 9.32978411e-01 -1.41849791e-03 1.31447589e+01] [ 4.17602434e-03 -9.06655321e-05 9.99991276e-01 3.22376281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.63, Y:13.17, Z:0.32 [[ 9.32310576e-01 -3.61637330e-01 -3.92832698e-03 6.86338538e+01] [ 3.61634556e-01 9.32318847e-01 -1.41973413e-03 1.31654947e+01] [ 4.17588214e-03 -9.69856367e-05 9.99991276e-01 3.22367825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.69, Y:13.19, Z:0.32 [[ 9.31432607e-01 -3.63892661e-01 -3.92813534e-03 6.86874496e+01] [ 3.63889905e-01 9.31440884e-01 -1.42026416e-03 1.31868540e+01] [ 4.17564956e-03 -1.06528447e-04 9.99991276e-01 3.20858209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.74, Y:13.21, Z:0.32 [[ 9.31511971e-01 -3.63689457e-01 -3.92765728e-03 6.87412826e+01] [ 3.63686693e-01 9.31520246e-01 -1.42158499e-03 1.32082970e+01] [ 4.17570774e-03 -1.04213255e-04 9.99991276e-01 3.22549469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.80, Y:13.23, Z:0.32 [[ 9.31687329e-01 -3.63239997e-01 -3.92750815e-03 6.87951197e+01] [ 3.63237228e-01 9.31695602e-01 -1.42199686e-03 1.32302338e+01] [ 4.17576821e-03 -1.01760719e-04 9.99991276e-01 3.22602048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.85, Y:13.25, Z:0.32 [[ 9.32298009e-01 -3.61669738e-01 -3.92708316e-03 6.88489790e+01] [ 3.61666950e-01 9.32306276e-01 -1.42316958e-03 1.32507424e+01] [ 4.17596165e-03 -9.34780252e-05 9.99991276e-01 3.24291590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.90, Y:13.27, Z:0.33 [[ 9.32750887e-01 -3.60500159e-01 -3.92666262e-03 6.89037674e+01] [ 3.60497356e-01 9.32759148e-01 -1.42432895e-03 1.32702024e+01] [ 4.17610129e-03 -8.70074062e-05 9.99991276e-01 3.25229675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.96, Y:13.29, Z:0.32 [[ 9.34089031e-01 -3.57018582e-01 -3.92624303e-03 6.89583491e+01] [ 3.57015743e-01 9.34097279e-01 -1.42548463e-03 1.32929600e+01] [ 4.17641743e-03 -7.02010124e-05 9.99991276e-01 3.24838910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.01, Y:13.31, Z:0.32 [[ 9.35280193e-01 -3.53886350e-01 -3.92585994e-03 6.90121041e+01] [ 3.53883479e-01 9.35288431e-01 -1.42653890e-03 1.33137517e+01] [ 4.17664403e-03 -5.50833908e-05 9.99991276e-01 3.24905997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.07, Y:13.33, Z:0.32 [[ 9.37113343e-01 -3.49003115e-01 -3.92540983e-03 6.90651764e+01] [ 3.49000196e-01 9.37121564e-01 -1.42777641e-03 1.33342597e+01] [ 4.17688461e-03 -3.19804721e-05 9.99991276e-01 3.24291613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76275509599999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:69.12, Y:13.36, Z:0.32 [[ 9.38173755e-01 -3.46142454e-01 -3.92521671e-03 6.91198335e+01] [ 3.46139507e-01 9.38181966e-01 -1.42830713e-03 1.33550088e+01] [ 4.17696526e-03 -1.86723180e-05 9.99991276e-01 3.24517595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.17, Y:13.37, Z:0.33 [[ 9.38979018e-01 -3.43952031e-01 -3.92477547e-03 6.91733250e+01] [ 3.43949060e-01 9.38987221e-01 -1.42951857e-03 1.33739730e+01] [ 4.17699982e-03 -7.63489136e-06 9.99991276e-01 3.25340292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.23, Y:13.39, Z:0.33 [[ 9.38815551e-01 -3.44397967e-01 -3.92447863e-03 6.92287833e+01] [ 3.44394997e-01 9.38823753e-01 -1.43033302e-03 1.33921757e+01] [ 4.17699754e-03 -8.75192844e-06 9.99991276e-01 3.26647170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.28, Y:13.41, Z:0.33 [[ 9.38058808e-01 -3.46453856e-01 -3.92402676e-03 6.92844299e+01] [ 3.46450899e-01 9.38067015e-01 -1.43157161e-03 1.34102650e+01] [ 4.17697358e-03 -1.65842404e-05 9.99991276e-01 3.27390502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.34, Y:13.43, Z:0.33 [[ 9.37348775e-01 -3.48370320e-01 -3.92357400e-03 6.93384476e+01] [ 3.48367374e-01 9.37356986e-01 -1.43281143e-03 1.34277358e+01] [ 4.17693848e-03 -2.38011332e-05 9.99991276e-01 3.27434880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.39, Y:13.44, Z:0.33 [[ 9.36099915e-01 -3.51712322e-01 -3.92326970e-03 6.93934170e+01] [ 3.51709402e-01 9.36108136e-01 -1.43364418e-03 1.34435368e+01] [ 4.17683501e-03 -3.78166436e-05 9.99991276e-01 3.27256918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.45, Y:13.46, Z:0.33 [[ 9.34893315e-01 -3.54907169e-01 -3.92308862e-03 6.94484361e+01] [ 3.54904275e-01 9.34901545e-01 -1.43413952e-03 1.34612507e+01] [ 4.17668801e-03 -5.15534740e-05 9.99991276e-01 3.26939147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.50, Y:13.48, Z:0.33 [[ 9.34152405e-01 -3.56852767e-01 -3.92264204e-03 6.95021000e+01] [ 3.56849885e-01 9.34160639e-01 -1.43535996e-03 1.34796984e+01] [ 4.17658997e-03 -5.89494058e-05 9.99991276e-01 3.26010578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.56, Y:13.50, Z:0.33 [[ 9.33628416e-01 -3.58221434e-01 -3.92245053e-03 6.95588561e+01] [ 3.58218562e-01 9.33636653e-01 -1.43588311e-03 1.34953982e+01] [ 4.17650770e-03 -6.45133159e-05 9.99991276e-01 3.29817689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.61, Y:13.51, Z:0.33 [[ 9.31775314e-01 -3.63014299e-01 -3.92202900e-03 6.96128999e+01] [ 3.63011465e-01 9.31783565e-01 -1.43703358e-03 1.35147617e+01] [ 4.17614590e-03 -8.47490742e-05 9.99991276e-01 3.26972716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.67, Y:13.54, Z:0.33 [[ 9.31116130e-01 -3.64701756e-01 -3.92185214e-03 6.96679982e+01] [ 3.64698934e-01 9.31124385e-01 -1.43751608e-03 1.35351265e+01] [ 4.17599681e-03 -9.18008844e-05 9.99991276e-01 3.25527838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.72, Y:13.56, Z:0.33 [[ 9.32235352e-01 -3.61831273e-01 -3.92144739e-03 6.97227405e+01] [ 3.61828421e-01 9.32243597e-01 -1.43861938e-03 1.35572085e+01] [ 4.17628170e-03 -7.77592722e-05 9.99991276e-01 3.30066432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48275509599999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:69.78, Y:13.58, Z:0.33 [[ 9.31846951e-01 -3.62830381e-01 -3.92098600e-03 6.97765058e+01] [ 3.62827533e-01 9.31855197e-01 -1.43987581e-03 1.35816236e+01] [ 4.17622187e-03 -8.08977951e-05 9.99991276e-01 3.25691840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.83, Y:13.60, Z:0.33 [[ 9.33852653e-01 -3.57636479e-01 -3.92058062e-03 6.98325694e+01] [ 3.57633580e-01 9.33860881e-01 -1.44097877e-03 1.36005554e+01] [ 4.17662344e-03 -5.64694373e-05 9.99991276e-01 3.29377785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.89, Y:13.62, Z:0.33 [[ 9.34224240e-01 -3.56664691e-01 -3.92018136e-03 6.98862891e+01] [ 3.56661779e-01 9.34232463e-01 -1.44206413e-03 1.36231479e+01] [ 4.17669405e-03 -5.09675977e-05 9.99991276e-01 3.27516941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.94, Y:13.64, Z:0.33 [[ 9.35135715e-01 -3.54268020e-01 -3.91973122e-03 6.99422980e+01] [ 3.54265083e-01 9.35143929e-01 -1.44328662e-03 1.36421293e+01] [ 4.17682315e-03 -3.89550363e-05 9.99991276e-01 3.31395050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.722755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:70.00, Y:13.67, Z:0.33 [[ 9.33439379e-01 -3.58713764e-01 -3.91932838e-03 6.99958795e+01] [ 3.58710861e-01 9.33447606e-01 -1.44437973e-03 1.36660218e+01] [ 4.17660659e-03 -5.76647387e-05 9.99991276e-01 3.27884086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.05, Y:13.68, Z:0.33 [[ 9.32225968e-01 -3.61855479e-01 -3.91890243e-03 7.00510941e+01] [ 3.61852599e-01 9.32234202e-01 -1.44553452e-03 1.36830626e+01] [ 4.17640946e-03 -7.05002066e-05 9.99991276e-01 3.32189645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.11, Y:13.70, Z:0.33 [[ 9.30609844e-01 -3.65991750e-01 -3.91875356e-03 7.01051572e+01] [ 3.65988905e-01 9.30618091e-01 -1.44593797e-03 1.37030793e+01] [ 4.17606433e-03 -8.86162162e-05 9.99991276e-01 3.33598792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.16, Y:13.73, Z:0.33 [[ 9.27869168e-01 -3.72885308e-01 -3.91829291e-03 7.01592283e+01] [ 3.72882519e-01 9.27877434e-01 -1.44718519e-03 1.37254216e+01] [ 4.17532967e-03 -1.18264417e-04 9.99991276e-01 3.30752910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.21, Y:13.75, Z:0.33 [[ 9.26306421e-01 -3.76750666e-01 -3.91786795e-03 7.02129184e+01] [ 3.76747907e-01 9.26314697e-01 -1.44833474e-03 1.37451139e+01] [ 4.17483974e-03 -1.34446780e-04 9.99991276e-01 3.30512110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.27, Y:13.76, Z:0.33 [[ 9.26057860e-01 -3.77361224e-01 -3.91754060e-03 7.02669154e+01] [ 3.77358466e-01 9.26066136e-01 -1.44921964e-03 1.37635022e+01] [ 4.17478098e-03 -1.36255874e-04 9.99991276e-01 3.34353465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.32, Y:13.78, Z:0.33 [[ 9.24869913e-01 -3.80263461e-01 -3.91703721e-03 7.03197421e+01] [ 3.80260723e-01 9.24878196e-01 -1.45057895e-03 1.37840954e+01] [ 4.17438449e-03 -1.47898576e-04 9.99991276e-01 3.33867621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.37, Y:13.81, Z:0.33 [[ 9.24665568e-01 -3.80760089e-01 -3.91682184e-03 7.03737198e+01] [ 3.80757353e-01 9.24673852e-01 -1.45116026e-03 1.38057882e+01] [ 4.17432665e-03 -1.49520784e-04 9.99991276e-01 3.34690446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.43, Y:13.83, Z:0.34 [[ 9.25913803e-01 -3.77714564e-01 -3.91630951e-03 7.04278784e+01] [ 3.77711795e-01 9.25922075e-01 -1.45254160e-03 1.38279174e+01] [ 4.17484355e-03 -1.34307980e-04 9.99991276e-01 3.35596523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.48, Y:13.85, Z:0.34 [[ 9.27777780e-01 -3.73112660e-01 -3.91585475e-03 7.04817350e+01] [ 3.73109845e-01 9.27786037e-01 -1.45376654e-03 1.38505948e+01] [ 4.17549406e-03 -1.12271667e-04 9.99991276e-01 3.36849593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.54, Y:13.87, Z:0.34 [[ 9.29082945e-01 -3.69850715e-01 -3.91539774e-03 7.05357172e+01] [ 3.69847866e-01 9.29091190e-01 -1.45499635e-03 1.38728954e+01] [ 4.17589299e-03 -9.62892010e-05 9.99991276e-01 3.38034179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.59, Y:13.89, Z:0.34 [[ 9.30415656e-01 -3.66485170e-01 -3.91494412e-03 7.05897056e+01] [ 3.66482286e-01 9.30423889e-01 -1.45621587e-03 1.38949820e+01] [ 4.17623906e-03 -7.98716218e-05 9.99991276e-01 3.38235216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.64, Y:13.92, Z:0.34 [[ 9.31183801e-01 -3.64529019e-01 -3.91444920e-03 7.06420306e+01] [ 3.64526111e-01 9.31192026e-01 -1.45754507e-03 1.39170664e+01] [ 4.17642135e-03 -6.96765889e-05 9.99991276e-01 3.40160477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.70, Y:13.94, Z:0.34 [[ 9.32197217e-01 -3.61929589e-01 -3.91423736e-03 7.06952353e+01] [ 3.61926657e-01 9.32205433e-01 -1.45811374e-03 1.39401039e+01] [ 4.17660784e-03 -5.74172725e-05 9.99991276e-01 3.39238111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.75, Y:13.96, Z:0.34 [[ 9.31897812e-01 -3.62699808e-01 -3.91374935e-03 7.07473578e+01] [ 3.62696877e-01 9.31906028e-01 -1.45942243e-03 1.39629124e+01] [ 4.17657885e-03 -5.94720991e-05 9.99991276e-01 3.39753368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.80, Y:13.98, Z:0.34 [[ 9.30964707e-01 -3.65088208e-01 -3.91353858e-03 7.08014160e+01] [ 3.65085295e-01 9.30972930e-01 -1.45998741e-03 1.39842770e+01] [ 4.17642266e-03 -6.95786313e-05 9.99991276e-01 3.39597907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.86, Y:14.01, Z:0.34 [[ 9.28683852e-01 -3.70851710e-01 -3.91308622e-03 7.08557957e+01] [ 3.70848843e-01 9.28692091e-01 -1.46119882e-03 1.40060934e+01] [ 4.17594031e-03 -9.41717494e-05 9.99991276e-01 3.39129526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.742755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:70.91, Y:14.03, Z:0.34 [[ 9.26785903e-01 -3.75569677e-01 -3.91260577e-03 7.09095946e+01] [ 3.75566846e-01 9.26794155e-01 -1.46248418e-03 1.40269265e+01] [ 4.17544487e-03 -1.14035291e-04 9.99991276e-01 3.38529899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.96, Y:14.05, Z:0.34 [[ 9.23988130e-01 -3.82401139e-01 -3.91212144e-03 7.09622541e+01] [ 3.82398364e-01 9.23996401e-01 -1.46377862e-03 1.40476078e+01] [ 4.17453674e-03 -1.43474774e-04 9.99991276e-01 3.38309063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.02, Y:14.07, Z:0.34 [[ 9.21746397e-01 -3.87773487e-01 -3.91191408e-03 7.10163725e+01] [ 3.87770758e-01 9.21754682e-01 -1.46433256e-03 1.40698172e+01] [ 4.17365447e-03 -1.67182632e-04 9.99991276e-01 3.38438472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.07, Y:14.09, Z:0.34 [[ 9.20599216e-01 -3.90489161e-01 -3.91143877e-03 7.10697048e+01] [ 3.90486451e-01 9.20607508e-01 -1.46560108e-03 1.40918387e+01] [ 4.17320124e-03 -1.78132639e-04 9.99991276e-01 3.38076975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.12, Y:14.11, Z:0.34 [[ 9.19623569e-01 -3.92781359e-01 -3.91096638e-03 7.11228094e+01] [ 3.92778664e-01 9.19631866e-01 -1.46686058e-03 1.41145840e+01] [ 4.17280480e-03 -1.87184589e-04 9.99991276e-01 3.37686973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.18, Y:14.14, Z:0.34 [[ 9.19947987e-01 -3.92020930e-01 -3.91049849e-03 7.11771749e+01] [ 3.92018224e-01 9.19956280e-01 -1.46810686e-03 1.41357469e+01] [ 4.17301626e-03 -1.82404721e-04 9.99991276e-01 3.37585036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.23, Y:14.16, Z:0.34 [[ 9.21037594e-01 -3.89454058e-01 -3.91000607e-03 7.12310912e+01] [ 3.89451322e-01 9.21045877e-01 -1.46941716e-03 1.41575825e+01] [ 4.17356545e-03 -1.69368588e-04 9.99991276e-01 3.40620299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.28, Y:14.18, Z:0.34 [[ 9.20336115e-01 -3.91108874e-01 -3.90951098e-03 7.12828768e+01] [ 3.91106148e-01 9.20344402e-01 -1.47073323e-03 1.41846398e+01] [ 4.17331336e-03 -1.75464877e-04 9.99991276e-01 3.39123654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.34, Y:14.21, Z:0.34 [[ 9.21867157e-01 -3.87486338e-01 -3.90926165e-03 7.13369341e+01] [ 3.87483576e-01 9.21875433e-01 -1.47139566e-03 1.42056179e+01] [ 4.17399798e-03 -1.58343353e-04 9.99991276e-01 3.41802885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.39, Y:14.23, Z:0.34 [[ 9.22261542e-01 -3.86546724e-01 -3.90872846e-03 7.13893669e+01] [ 3.86543949e-01 9.22269812e-01 -1.47281070e-03 1.42294371e+01] [ 4.17421241e-03 -1.52578663e-04 9.99991276e-01 3.40521242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.44, Y:14.26, Z:0.34 [[ 9.22131280e-01 -3.86857371e-01 -3.90852372e-03 7.14400482e+01] [ 3.86854595e-01 9.22139551e-01 -1.47335383e-03 1.42572382e+01] [ 4.17418210e-03 -1.53404704e-04 9.99991276e-01 3.39814131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.49, Y:14.28, Z:0.34 [[ 9.22772917e-01 -3.85324368e-01 -3.90832376e-03 7.14928357e+01] [ 3.85321577e-01 9.22781182e-01 -1.47388407e-03 1.42806554e+01] [ 4.17445106e-03 -1.45901171e-04 9.99991276e-01 3.39359182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.54, Y:14.30, Z:0.34 [[ 9.23276104e-01 -3.84117123e-01 -3.90784052e-03 7.15445751e+01] [ 3.84114315e-01 9.23284364e-01 -1.47516421e-03 1.43047712e+01] [ 4.17468388e-03 -1.39073615e-04 9.99991276e-01 3.39074729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.60, Y:14.33, Z:0.34 [[ 9.23863698e-01 -3.82701710e-01 -3.90762957e-03 7.15980190e+01] [ 3.82698887e-01 9.23871952e-01 -1.47572279e-03 1.43275083e+01] [ 4.17491099e-03 -1.32078771e-04 9.99991276e-01 3.37672049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.65, Y:14.35, Z:0.34 [[ 9.22677672e-01 -3.85552393e-01 -3.90716687e-03 7.16511689e+01] [ 3.85549591e-01 9.22685933e-01 -1.47694684e-03 1.43511155e+01] [ 4.17452830e-03 -1.43660714e-04 9.99991276e-01 3.37948552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.70, Y:14.37, Z:0.34 [[ 9.21795966e-01 -3.87655693e-01 -3.90662853e-03 7.17035597e+01] [ 3.87652903e-01 9.21804231e-01 -1.47836941e-03 1.43738421e+01] [ 4.17424503e-03 -1.51660937e-04 9.99991276e-01 3.38019687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.76, Y:14.40, Z:0.34 [[ 9.21192117e-01 -3.89088455e-01 -3.90611978e-03 7.17575920e+01] [ 3.89085672e-01 9.21200385e-01 -1.47971239e-03 1.43963184e+01] [ 4.17405806e-03 -1.56715851e-04 9.99991276e-01 3.37657809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.81, Y:14.42, Z:0.34 [[ 9.20576082e-01 -3.90543754e-01 -3.90560136e-03 7.18111945e+01] [ 3.90540979e-01 9.20584352e-01 -1.48107948e-03 1.44188459e+01] [ 4.17386184e-03 -1.61851038e-04 9.99991276e-01 3.36155829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.86, Y:14.44, Z:0.34 [[ 9.20904290e-01 -3.89769211e-01 -3.90511153e-03 7.18647884e+01] [ 3.89766424e-01 9.20912557e-01 -1.48236987e-03 1.44419471e+01] [ 4.17404838e-03 -1.56960578e-04 9.99991276e-01 3.37603294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.92, Y:14.46, Z:0.34 [[ 9.21302423e-01 -3.88827212e-01 -3.90456898e-03 7.19190562e+01] [ 3.88824410e-01 9.21310684e-01 -1.48379756e-03 1.44638583e+01] [ 4.17426199e-03 -1.51165442e-04 9.99991276e-01 3.37555138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.97, Y:14.49, Z:0.34 [[ 9.21871619e-01 -3.87475775e-01 -3.90404635e-03 7.19730676e+01] [ 3.87472956e-01 9.21879874e-01 -1.48517141e-03 1.44862656e+01] [ 4.17452970e-03 -1.43575004e-04 9.99991276e-01 3.37628666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.03, Y:14.51, Z:0.34 [[ 9.23204900e-01 -3.84288270e-01 -3.90352829e-03 7.20263483e+01] [ 3.84285416e-01 9.23213144e-01 -1.48653178e-03 1.45091503e+01] [ 4.17504535e-03 -1.27695569e-04 9.99991276e-01 3.37453988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.08, Y:14.53, Z:0.34 [[ 9.24511297e-01 -3.81134659e-01 -3.90301758e-03 7.20802953e+01] [ 3.81131771e-01 9.24519529e-01 -1.48787150e-03 1.45308118e+01] [ 4.17549537e-03 -1.12009992e-04 9.99991276e-01 3.37645200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.13, Y:14.55, Z:0.34 [[ 9.25773099e-01 -3.78059439e-01 -3.90252048e-03 7.21333787e+01] [ 3.78056518e-01 9.25781319e-01 -1.48917420e-03 1.45515133e+01] [ 4.17587692e-03 -9.67358929e-05 9.99991276e-01 3.37655829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.19, Y:14.57, Z:0.34 [[ 9.26795863e-01 -3.75545205e-01 -3.90228887e-03 7.21870372e+01] [ 3.75542260e-01 9.26804074e-01 -1.48978087e-03 1.45725571e+01] [ 4.17613728e-03 -8.47516349e-05 9.99991276e-01 3.37069042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.24, Y:14.59, Z:0.34 [[ 9.26974491e-01 -3.75104078e-01 -3.90177195e-03 7.22417613e+01] [ 3.75101123e-01 9.26982699e-01 -1.49113346e-03 1.45911960e+01] [ 4.17620534e-03 -8.13163598e-05 9.99991276e-01 3.36510343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.30, Y:14.61, Z:0.34 [[ 9.26036989e-01 -3.77412606e-01 -3.90125300e-03 7.22961971e+01] [ 3.77409666e-01 9.26045202e-01 -1.49248996e-03 1.46091230e+01] [ 4.17602115e-03 -9.02696880e-05 9.99991276e-01 3.36468846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.35, Y:14.63, Z:0.34 [[ 9.26140419e-01 -3.77158727e-01 -3.90102923e-03 7.23508470e+01] [ 3.77155782e-01 9.26148631e-01 -1.49307461e-03 1.46283438e+01] [ 4.17605900e-03 -8.84989885e-05 9.99991276e-01 3.35370582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.41, Y:14.65, Z:0.34 [[ 9.25627115e-01 -3.78416741e-01 -3.90050597e-03 7.24056288e+01] [ 3.78413802e-01 9.25635328e-01 -1.49444033e-03 1.46466729e+01] [ 4.17596736e-03 -9.27108063e-05 9.99991276e-01 3.37665645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.46, Y:14.66, Z:0.34 [[ 9.24727787e-01 -3.80609127e-01 -3.90034741e-03 7.24614238e+01] [ 3.80606205e-01 9.24736007e-01 -1.49485404e-03 1.46636729e+01] [ 4.17574678e-03 -1.02163356e-04 9.99991276e-01 3.36918977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.52, Y:14.68, Z:0.34 [[ 9.24377366e-01 -3.81459404e-01 -3.89987893e-03 7.25171180e+01] [ 3.81456485e-01 9.24385586e-01 -1.49607524e-03 1.46810568e+01] [ 4.17568384e-03 -1.04696015e-04 9.99991276e-01 3.37886628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.57, Y:14.70, Z:0.34 [[ 9.24164853e-01 -3.81973978e-01 -3.89935253e-03 7.25715533e+01] [ 3.81971057e-01 9.24173073e-01 -1.49744598e-03 1.46986443e+01] [ 4.17566201e-03 -1.05552865e-04 9.99991276e-01 3.37981833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.63, Y:14.72, Z:0.34 [[ 9.24281534e-01 -3.81691554e-01 -3.89912490e-03 7.26264723e+01] [ 3.81688628e-01 9.24289753e-01 -1.49803847e-03 1.47175836e+01] [ 4.17570982e-03 -1.03642338e-04 9.99991276e-01 3.38191682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.68, Y:14.73, Z:0.34 [[ 9.25548287e-01 -3.78609521e-01 -3.89863563e-03 7.26826497e+01] [ 3.78606563e-01 9.25556494e-01 -1.49931072e-03 1.47332292e+01] [ 4.17606083e-03 -8.83645602e-05 9.99991276e-01 3.37450858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.74, Y:14.76, Z:0.34 [[ 9.25508984e-01 -3.78705588e-01 -3.89848625e-03 7.27369281e+01] [ 3.78702629e-01 9.25517191e-01 -1.49969902e-03 1.47559142e+01] [ 4.17606044e-03 -8.83820732e-05 9.99991276e-01 3.37684232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.79, Y:14.78, Z:0.34 [[ 9.26185507e-01 -3.77048023e-01 -3.89808382e-03 7.27921697e+01] [ 3.77045045e-01 9.26193707e-01 -1.50074430e-03 1.47751134e+01] [ 4.17623338e-03 -7.97855669e-05 9.99991276e-01 3.38111605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.85, Y:14.79, Z:0.34 [[ 9.26644620e-01 -3.75918285e-01 -3.89760705e-03 7.28460867e+01] [ 3.75915292e-01 9.26652814e-01 -1.50198152e-03 1.47937347e+01] [ 4.17635086e-03 -7.33670000e-05 9.99991276e-01 3.38817232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.90, Y:14.81, Z:0.34 [[ 9.26939152e-01 -3.75191442e-01 -3.89740270e-03 7.28998870e+01] [ 3.75188440e-01 9.26947343e-01 -1.50251160e-03 1.48122446e+01] [ 4.17641657e-03 -6.95236075e-05 9.99991276e-01 3.39762828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.95, Y:14.83, Z:0.34 [[ 9.26932157e-01 -3.75208727e-01 -3.89720397e-03 7.29549393e+01] [ 3.75205723e-01 9.26940347e-01 -1.50302689e-03 1.48312068e+01] [ 4.17642440e-03 -6.90492773e-05 9.99991276e-01 3.40735092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.01, Y:14.85, Z:0.34 [[ 9.26349864e-01 -3.76644056e-01 -3.89673032e-03 7.30097850e+01] [ 3.76641060e-01 9.26358057e-01 -1.50425384e-03 1.48512678e+01] [ 4.17633580e-03 -7.42032956e-05 9.99991276e-01 3.40494767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.06, Y:14.87, Z:0.34 [[ 9.25346056e-01 -3.79103543e-01 -3.89621167e-03 7.30644910e+01] [ 3.79100563e-01 9.25354254e-01 -1.50559603e-03 1.48699360e+01] [ 4.17615283e-03 -8.38586892e-05 9.99991276e-01 3.40585466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.12, Y:14.89, Z:0.34 [[ 9.24557399e-01 -3.81022886e-01 -3.89568578e-03 7.31194062e+01] [ 3.81019916e-01 9.24565602e-01 -1.50695552e-03 1.48884659e+01] [ 4.17600161e-03 -9.10669999e-05 9.99991276e-01 3.41469630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.17, Y:14.91, Z:0.34 [[ 9.23836536e-01 -3.82767401e-01 -3.89516101e-03 7.31744468e+01] [ 3.82764441e-01 9.23844742e-01 -1.50831071e-03 1.49080442e+01] [ 4.17585619e-03 -9.74965852e-05 9.99991276e-01 3.41578835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.23, Y:14.93, Z:0.34 [[ 9.22647604e-01 -3.85624468e-01 -3.89467932e-03 7.32295697e+01] [ 3.85621529e-01 9.22655818e-01 -1.50955350e-03 1.49271875e+01] [ 4.17556930e-03 -1.09086274e-04 9.99991276e-01 3.41446252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.28, Y:14.95, Z:0.34 [[ 9.22088098e-01 -3.86960430e-01 -3.89419113e-03 7.32834442e+01] [ 3.86957497e-01 9.22096314e-01 -1.51081182e-03 1.49466390e+01] [ 4.17544368e-03 -1.13784858e-04 9.99991276e-01 3.41307392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.34, Y:14.97, Z:0.34 [[ 9.21278383e-01 -3.88884272e-01 -3.89398216e-03 7.33387806e+01] [ 3.88881354e-01 9.21286605e-01 -1.51135023e-03 1.49656389e+01] [ 4.17521394e-03 -1.21922763e-04 9.99991276e-01 3.41660321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.39, Y:14.98, Z:0.34 [[ 9.20427294e-01 -3.90894407e-01 -3.89350817e-03 7.33934227e+01] [ 3.90891502e-01 9.20435520e-01 -1.51257033e-03 1.49848215e+01] [ 4.17497850e-03 -1.29728239e-04 9.99991276e-01 3.40657761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.45, Y:15.00, Z:0.34 [[ 9.21046876e-01 -3.89432276e-01 -3.89300648e-03 7.34487084e+01] [ 3.89429352e-01 9.21055095e-01 -1.51386048e-03 1.50031109e+01] [ 4.17521958e-03 -1.21714522e-04 9.99991276e-01 3.41312068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.50, Y:15.02, Z:0.34 [[ 9.21489806e-01 -3.88383041e-01 -3.89248977e-03 7.35030388e+01] [ 3.88380103e-01 9.21498020e-01 -1.51518789e-03 1.50226342e+01] [ 4.17539489e-03 -1.15535386e-04 9.99991276e-01 3.41652132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.56, Y:15.04, Z:0.34 [[ 9.22487151e-01 -3.86008172e-01 -3.89201347e-03 7.35586992e+01] [ 3.86005207e-01 9.22495355e-01 -1.51641036e-03 1.50422416e+01] [ 4.17571114e-03 -1.03468397e-04 9.99991276e-01 3.39712599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.61, Y:15.06, Z:0.34 [[ 9.23645645e-01 -3.83227841e-01 -3.89159061e-03 7.36148895e+01] [ 3.83224847e-01 9.23653839e-01 -1.51749477e-03 1.50615051e+01] [ 4.17602885e-03 -8.97267768e-05 9.99991276e-01 3.43139580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.67, Y:15.08, Z:0.34 [[ 9.25101967e-01 -3.79698841e-01 -3.89112331e-03 7.36712325e+01] [ 3.79695810e-01 9.25110148e-01 -1.51869208e-03 1.50796492e+01] [ 4.17636328e-03 -7.24981915e-05 9.99991276e-01 3.43670341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.72, Y:15.10, Z:0.35 [[ 9.25493474e-01 -3.78743569e-01 -3.89085341e-03 7.37243647e+01] [ 3.78740528e-01 9.25501650e-01 -1.51938324e-03 1.51013170e+01] [ 4.17644788e-03 -6.74445954e-05 9.99991276e-01 3.45902466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.78, Y:15.12, Z:0.34 [[ 9.26898513e-01 -3.75291900e-01 -3.89047726e-03 7.37782008e+01] [ 3.75288824e-01 9.26906677e-01 -1.52034577e-03 1.51207047e+01] [ 4.17668280e-03 -5.08464025e-05 9.99991276e-01 3.43880165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.83, Y:15.14, Z:0.34 [[ 9.27727174e-01 -3.73238741e-01 -3.88995835e-03 7.38326836e+01] [ 3.73235641e-01 9.27735329e-01 -1.52167231e-03 1.51408878e+01] [ 4.17679885e-03 -4.01743455e-05 9.99991276e-01 3.44279771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.89, Y:15.16, Z:0.34 [[ 9.27903973e-01 -3.72798992e-01 -3.88943728e-03 7.38867095e+01] [ 3.72795883e-01 9.27912124e-01 -1.52300301e-03 1.51613670e+01] [ 4.17683000e-03 -3.67656646e-05 9.99991276e-01 3.43576999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.94, Y:15.18, Z:0.34 [[ 9.27233118e-01 -3.74464444e-01 -3.88896190e-03 7.39417161e+01] [ 3.74461345e-01 9.27241273e-01 -1.52421591e-03 1.51804772e+01] [ 4.17677065e-03 -4.29624327e-05 9.99991276e-01 3.43476004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.00, Y:15.20, Z:0.34 [[ 9.25061132e-01 -3.79798343e-01 -3.88847968e-03 7.39967259e+01] [ 3.79795285e-01 9.25069302e-01 -1.52544514e-03 1.52002962e+01] [ 4.17647472e-03 -6.56962449e-05 9.99991276e-01 3.41889103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.05, Y:15.22, Z:0.34 [[ 9.24630483e-01 -3.80845577e-01 -3.88798776e-03 7.40523103e+01] [ 3.80842523e-01 9.24638655e-01 -1.52669788e-03 1.52210408e+01] [ 4.17641991e-03 -6.90796712e-05 9.99991276e-01 3.43889217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.11, Y:15.24, Z:0.34 [[ 9.22154545e-01 -3.86802123e-01 -3.88751750e-03 7.41068273e+01] [ 3.86799117e-01 9.22162735e-01 -1.52789441e-03 1.52406131e+01] [ 4.17591657e-03 -9.47335613e-05 9.99991276e-01 3.44692786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.16, Y:15.26, Z:0.35 [[ 9.20563308e-01 -3.90574047e-01 -3.88702867e-03 7.41618379e+01] [ 3.90571070e-01 9.20571508e-01 -1.52913699e-03 1.52601352e+01] [ 4.17552907e-03 -1.10493537e-04 9.99991276e-01 3.45816009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.21, Y:15.28, Z:0.35 [[ 9.20309800e-01 -3.91171020e-01 -3.88654753e-03 7.42148449e+01] [ 3.91168043e-01 9.20318000e-01 -1.53035891e-03 1.52799870e+01] [ 4.17549171e-03 -1.11888892e-04 9.99991276e-01 3.46018407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.27, Y:15.30, Z:0.35 [[ 9.21328762e-01 -3.88764980e-01 -3.88634127e-03 7.42693291e+01] [ 3.88761979e-01 9.21336953e-01 -1.53088252e-03 1.53011551e+01] [ 4.17578334e-03 -1.00415623e-04 9.99991276e-01 3.45928001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.32, Y:15.32, Z:0.35 [[ 9.24192426e-01 -3.81907396e-01 -3.88589124e-03 7.43244345e+01] [ 3.81904330e-01 9.24200593e-01 -1.53202401e-03 1.53209500e+01] [ 4.17643429e-03 -6.81537053e-05 9.99991276e-01 3.45491043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.38, Y:15.34, Z:0.35 [[ 9.25030447e-01 -3.79873103e-01 -3.88547028e-03 7.43785525e+01] [ 3.79870014e-01 9.25038606e-01 -1.53309088e-03 1.53449449e+01] [ 4.17659001e-03 -5.78179052e-05 9.99991276e-01 3.47741891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64275509599999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:74.43, Y:15.37, Z:0.35 [[ 9.25576769e-01 -3.78540027e-01 -3.88504798e-03 7.44323893e+01] [ 3.78536921e-01 9.25584921e-01 -1.53416032e-03 1.53667393e+01] [ 4.17668291e-03 -5.06509491e-05 9.99991276e-01 3.49123884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.49, Y:15.39, Z:0.35 [[ 9.25575599e-01 -3.78542891e-01 -3.88455790e-03 7.44855243e+01] [ 3.78539781e-01 9.25583749e-01 -1.53540022e-03 1.53868935e+01] [ 4.17669850e-03 -4.93307146e-05 9.99991276e-01 3.49833096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.54, Y:15.41, Z:0.35 [[ 9.25396675e-01 -3.78980086e-01 -3.88434753e-03 7.45403736e+01] [ 3.78976977e-01 9.25404826e-01 -1.53593223e-03 1.54055391e+01] [ 4.17668168e-03 -5.07317048e-05 9.99991276e-01 3.52018555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.59, Y:15.43, Z:0.35 [[ 9.23516523e-01 -3.83538978e-01 -3.88384589e-03 7.45939361e+01] [ 3.83535904e-01 9.23524687e-01 -1.53719966e-03 1.54282710e+01] [ 4.17640355e-03 -6.99650593e-05 9.99991276e-01 3.49471052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.65, Y:15.45, Z:0.35 [[ 9.22848136e-01 -3.85144434e-01 -3.88359626e-03 7.46482222e+01] [ 3.85141372e-01 9.22856305e-01 -1.53783007e-03 1.54497582e+01] [ 4.17628799e-03 -7.65499822e-05 9.99991276e-01 3.49472733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.70, Y:15.47, Z:0.35 [[ 9.22253887e-01 -3.86565247e-01 -3.88306723e-03 7.47013976e+01] [ 3.86562191e-01 9.22262058e-01 -1.53916472e-03 1.54723190e+01] [ 4.17619317e-03 -8.15463269e-05 9.99991276e-01 3.50089217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.76, Y:15.49, Z:0.36 [[ 9.23333221e-01 -3.83980063e-01 -3.88252511e-03 7.47578059e+01] [ 3.83976978e-01 9.23341382e-01 -1.54053100e-03 1.54892334e+01] [ 4.17642929e-03 -6.83768114e-05 9.99991276e-01 3.57162275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.81, Y:15.52, Z:0.35 [[ 9.22090065e-01 -3.86955861e-01 -3.88239557e-03 7.48091278e+01] [ 3.86952802e-01 9.22098235e-01 -1.54085741e-03 1.55174770e+01] [ 4.17619391e-03 -8.14945361e-05 9.99991276e-01 3.50879904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.86, Y:15.54, Z:0.35 [[ 9.23065905e-01 -3.84622233e-01 -3.88226962e-03 7.48642201e+01] [ 3.84619152e-01 9.23074067e-01 -1.54117467e-03 1.55373625e+01] [ 4.17639245e-03 -7.05894609e-05 9.99991276e-01 3.53314352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.92, Y:15.56, Z:0.35 [[ 9.22323757e-01 -3.86398522e-01 -3.88184583e-03 7.49169365e+01] [ 3.86395452e-01 9.22331923e-01 -1.54224135e-03 1.55635535e+01] [ 4.17627011e-03 -7.74817367e-05 9.99991276e-01 3.47157450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.97, Y:15.59, Z:0.35 [[ 9.22691377e-01 -3.85519853e-01 -3.88136280e-03 7.49698015e+01] [ 3.85516770e-01 9.22699538e-01 -1.54345605e-03 1.55874211e+01] [ 4.17636461e-03 -7.21968634e-05 9.99991276e-01 3.50227296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.302755096 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:75.02, Y:15.61, Z:0.35 [[ 9.22692205e-01 -3.85517878e-01 -3.88079167e-03 7.50231091e+01] [ 3.85514789e-01 9.22700363e-01 -1.54489074e-03 1.56107057e+01] [ 4.17639088e-03 -7.06439380e-05 9.99991276e-01 3.49961780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.08, Y:15.63, Z:0.35 [[ 9.23517709e-01 -3.83536159e-01 -3.88028161e-03 7.50773993e+01] [ 3.83533047e-01 9.23525859e-01 -1.54617078e-03 1.56307365e+01] [ 4.17655281e-03 -6.03001333e-05 9.99991276e-01 3.53577220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.13, Y:15.65, Z:0.35 [[ 9.23472259e-01 -3.83645585e-01 -3.87970670e-03 7.51303251e+01] [ 3.83642468e-01 9.23480407e-01 -1.54761202e-03 1.56525711e+01] [ 4.17656764e-03 -5.92434819e-05 9.99991276e-01 3.51982942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.18, Y:15.68, Z:0.35 [[ 9.23257005e-01 -3.84163315e-01 -3.87948238e-03 7.51832358e+01] [ 3.84160200e-01 9.23265154e-01 -1.54817414e-03 1.56762717e+01] [ 4.17654260e-03 -6.09801095e-05 9.99991276e-01 3.50855905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.24, Y:15.70, Z:0.35 [[ 9.22800895e-01 -3.85257656e-01 -3.87899204e-03 7.52369746e+01] [ 3.85254546e-01 9.22809045e-01 -1.54940172e-03 1.56995077e+01] [ 4.17648782e-03 -6.46100203e-05 9.99991276e-01 3.51301202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.29, Y:15.72, Z:0.35 [[ 9.20337479e-01 -3.91105973e-01 -3.87847486e-03 7.52899915e+01] [ 3.91102910e-01 9.20345647e-01 -1.55069525e-03 1.57217833e+01] [ 4.17602363e-03 -8.97198506e-05 9.99991276e-01 3.47392344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.662755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:75.34, Y:15.74, Z:0.35 [[ 9.17991742e-01 -3.96580535e-01 -3.87824902e-03 7.53437770e+01] [ 3.96577517e-01 9.17999927e-01 -1.55125986e-03 1.57449038e+01] [ 4.17543179e-03 -1.13982628e-04 9.99991276e-01 3.45172766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.40, Y:15.77, Z:0.35 [[ 9.17332680e-01 -3.98102647e-01 -3.87778231e-03 7.53981319e+01] [ 3.98099639e-01 9.17340868e-01 -1.55242565e-03 1.57659250e+01] [ 4.17527295e-03 -1.19652954e-04 9.99991276e-01 3.48895914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.45, Y:15.79, Z:0.35 [[ 9.17949632e-01 -3.96678001e-01 -3.87761868e-03 7.54520345e+01] [ 3.96674978e-01 9.17957815e-01 -1.55283426e-03 1.57859306e+01] [ 4.17546556e-03 -1.12730669e-04 9.99991276e-01 3.50119515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.51, Y:15.81, Z:0.35 [[ 9.19111676e-01 -3.93978038e-01 -3.87728668e-03 7.55055255e+01] [ 3.93974987e-01 9.19119848e-01 -1.55366280e-03 1.58076688e+01] [ 4.17580016e-03 -9.95643504e-05 9.99991276e-01 3.48009485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.56, Y:15.83, Z:0.35 [[ 9.20821679e-01 -3.89964620e-01 -3.87679829e-03 7.55588955e+01] [ 3.89961529e-01 9.20829837e-01 -1.55488049e-03 1.58295445e+01] [ 4.17621992e-03 -8.00345251e-05 9.99991276e-01 3.45790231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.61, Y:15.85, Z:0.35 [[ 9.22939621e-01 -3.84925226e-01 -3.87630624e-03 7.56126862e+01] [ 3.84922085e-01 9.22947760e-01 -1.55610621e-03 1.58498910e+01] [ 4.17661269e-03 -5.58838048e-05 9.99991276e-01 3.47993142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.67, Y:15.87, Z:0.35 [[ 9.22777788e-01 -3.85313029e-01 -3.87614377e-03 7.56674277e+01] [ 3.85309889e-01 9.22785927e-01 -1.55651080e-03 1.58715329e+01] [ 4.17659481e-03 -5.72029366e-05 9.99991276e-01 3.46425955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.72, Y:15.89, Z:0.35 [[ 9.22342434e-01 -3.86354000e-01 -3.87566767e-03 7.57232397e+01] [ 3.86350865e-01 9.22350575e-01 -1.55769539e-03 1.58915733e+01] [ 4.17654614e-03 -6.06389982e-05 9.99991276e-01 3.49679528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.78, Y:15.91, Z:0.35 [[ 9.22759741e-01 -3.85356255e-01 -3.87521915e-03 7.57764974e+01] [ 3.85353106e-01 9.22767877e-01 -1.55881041e-03 1.59118683e+01] [ 4.17662509e-03 -5.49202396e-05 9.99991276e-01 3.49380574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.83, Y:15.93, Z:0.35 [[ 9.22135751e-01 -3.86847054e-01 -3.87486482e-03 7.58310961e+01] [ 3.86843914e-01 9.22143890e-01 -1.55969070e-03 1.59327277e+01] [ 4.17654467e-03 -6.07213220e-05 9.99991276e-01 3.48680516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.89, Y:15.95, Z:0.35 [[ 9.20957726e-01 -3.89643243e-01 -3.87435347e-03 7.58863261e+01] [ 3.89640123e-01 9.20965872e-01 -1.56095987e-03 1.59536197e+01] [ 4.17636479e-03 -7.20255091e-05 9.99991276e-01 3.52315712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.94, Y:15.97, Z:0.35 [[ 9.20514554e-01 -3.90689068e-01 -3.87389230e-03 7.59393198e+01] [ 3.90685953e-01 9.20522703e-01 -1.56210355e-03 1.59737491e+01] [ 4.17630259e-03 -7.55362551e-05 9.99991276e-01 3.49505852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.99, Y:16.00, Z:0.35 [[ 9.20973134e-01 -3.89606831e-01 -3.87341665e-03 7.59920909e+01] [ 3.89603700e-01 9.20981277e-01 -1.56328208e-03 1.59969218e+01] [ 4.17640959e-03 -6.93566603e-05 9.99991276e-01 3.52264333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.05, Y:16.02, Z:0.35 [[ 9.21681771e-01 -3.87927459e-01 -3.87292390e-03 7.60451787e+01] [ 3.87924309e-01 9.21689906e-01 -1.56450188e-03 1.60203884e+01] [ 4.17654811e-03 -6.04284638e-05 9.99991276e-01 3.51862912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.10, Y:16.04, Z:0.35 [[ 9.22404349e-01 -3.86206191e-01 -3.87244614e-03 7.60992568e+01] [ 3.86203020e-01 9.22412476e-01 -1.56568356e-03 1.60419061e+01] [ 4.17666931e-03 -5.13570707e-05 9.99991276e-01 3.49686362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.15, Y:16.07, Z:0.35 [[ 9.22421023e-01 -3.86166366e-01 -3.87229952e-03 7.61524547e+01] [ 3.86163194e-01 9.22429149e-01 -1.56604608e-03 1.60653117e+01] [ 4.17667628e-03 -5.07857288e-05 9.99991276e-01 3.50418290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.21, Y:16.09, Z:0.35 [[ 9.20835170e-01 -3.89932813e-01 -3.87180455e-03 7.62054241e+01] [ 3.89929669e-01 9.20843308e-01 -1.56726886e-03 1.60880955e+01] [ 4.17645487e-03 -6.65351775e-05 9.99991276e-01 3.51825001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.26, Y:16.11, Z:0.35 [[ 9.19871204e-01 -3.92201455e-01 -3.87130342e-03 7.62596218e+01] [ 3.92198326e-01 9.19879347e-01 -1.56850573e-03 1.61091113e+01] [ 4.17630229e-03 -7.54954690e-05 9.99991276e-01 3.54138570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.31, Y:16.13, Z:0.36 [[ 9.18084551e-01 -3.96365707e-01 -3.87079275e-03 7.63119684e+01] [ 3.96362610e-01 9.18092706e-01 -1.56976497e-03 1.61327657e+01] [ 4.17594759e-03 -9.30605467e-05 9.99991276e-01 3.55184594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.37, Y:16.15, Z:0.36 [[ 9.17875610e-01 -3.96849321e-01 -3.87063752e-03 7.63663804e+01] [ 3.96846226e-01 9.17883766e-01 -1.57014763e-03 1.61544102e+01] [ 4.17590736e-03 -9.48476847e-05 9.99991276e-01 3.55848008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.42, Y:16.18, Z:0.36 [[ 9.17705608e-01 -3.97242294e-01 -3.87010837e-03 7.64191274e+01] [ 3.97239197e-01 9.17713763e-01 -1.57145081e-03 1.61771215e+01] [ 4.17589844e-03 -9.52295184e-05 9.99991276e-01 3.57990347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.47, Y:16.20, Z:0.36 [[ 9.17181592e-01 -3.98450688e-01 -3.86994664e-03 7.64718298e+01] [ 3.98447601e-01 9.17189751e-01 -1.57184899e-03 1.62008964e+01] [ 4.17577970e-03 -1.00299994e-04 9.99991276e-01 3.56554212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.52, Y:16.23, Z:0.36 [[ 9.16707523e-01 -3.99540167e-01 -3.86941945e-03 7.65225544e+01] [ 3.99537083e-01 9.16715683e-01 -1.57314569e-03 1.62270746e+01] [ 4.17569239e-03 -1.03862077e-04 9.99991276e-01 3.55131426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.58, Y:16.25, Z:0.36 [[ 9.18177106e-01 -3.96151275e-01 -3.86906442e-03 7.65767949e+01] [ 3.96148157e-01 9.18185254e-01 -1.57401839e-03 1.62491581e+01] [ 4.17606729e-03 -8.74950882e-05 9.99991276e-01 3.58055462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.63, Y:16.27, Z:0.36 [[ 9.19341397e-01 -3.93441774e-01 -3.86857455e-03 7.66304302e+01] [ 3.93438627e-01 9.19349534e-01 -1.57522145e-03 1.62725531e+01] [ 4.17633013e-03 -7.38803766e-05 9.99991276e-01 3.59513891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.68, Y:16.30, Z:0.36 [[ 9.18691267e-01 -3.94957458e-01 -3.86812359e-03 7.66816616e+01] [ 3.94954321e-01 9.18699407e-01 -1.57632806e-03 1.62995419e+01] [ 4.17622537e-03 -7.95733063e-05 9.99991276e-01 3.55316935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.73, Y:16.32, Z:0.36 [[ 9.19371678e-01 -3.93371017e-01 -3.86796542e-03 7.67345808e+01] [ 3.93367863e-01 9.19379812e-01 -1.57671608e-03 1.63230444e+01] [ 4.17636373e-03 -7.19451802e-05 9.99991276e-01 3.55438884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.79, Y:16.35, Z:0.36 [[ 9.19997055e-01 -3.91906189e-01 -3.86747521e-03 7.67885763e+01] [ 3.91903018e-01 9.20005182e-01 -1.57791757e-03 1.63456911e+01] [ 4.17649290e-03 -6.39956885e-05 9.99991276e-01 3.55920072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.84, Y:16.37, Z:0.36 [[ 9.20661377e-01 -3.90343024e-01 -3.86699053e-03 7.68418636e+01] [ 3.90339833e-01 9.20669496e-01 -1.57910450e-03 1.63688298e+01] [ 4.17661264e-03 -5.56199125e-05 9.99991276e-01 3.56359269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.90, Y:16.39, Z:0.36 [[ 9.20719147e-01 -3.90206744e-01 -3.86650958e-03 7.68956816e+01] [ 3.90203547e-01 9.20727264e-01 -1.58028125e-03 1.63910560e+01] [ 4.17663718e-03 -5.37305454e-05 9.99991276e-01 3.56458883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.95, Y:16.41, Z:0.36 [[ 9.20095867e-01 -3.91674161e-01 -3.86603812e-03 7.69496025e+01] [ 3.91670973e-01 9.20103988e-01 -1.58143380e-03 1.64132275e+01] [ 4.17656385e-03 -5.91442092e-05 9.99991276e-01 3.56967411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.00, Y:16.43, Z:0.36 [[ 9.19636668e-01 -3.92751138e-01 -3.86560031e-03 7.70039350e+01] [ 3.92747954e-01 9.19644790e-01 -1.58250323e-03 1.64348228e+01] [ 4.17650913e-03 -6.28786172e-05 9.99991276e-01 3.55902980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.06, Y:16.46, Z:0.36 [[ 9.18322164e-01 -3.95814937e-01 -3.86514286e-03 7.70576841e+01] [ 3.95811777e-01 9.18330294e-01 -1.58361973e-03 1.64557677e+01] [ 4.17629813e-03 -7.55959624e-05 9.99991276e-01 3.56223150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.11, Y:16.48, Z:0.36 [[ 9.17495237e-01 -3.97727989e-01 -3.86465770e-03 7.71117477e+01] [ 3.97724841e-01 9.17503373e-01 -1.58480283e-03 1.64769888e+01] [ 4.17615692e-03 -8.30213173e-05 9.99991276e-01 3.57468624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.17, Y:16.50, Z:0.36 [[ 9.15738504e-01 -4.01756218e-01 -3.86449628e-03 7.71666631e+01] [ 4.01753103e-01 9.15746652e-01 -1.58519636e-03 1.64984388e+01] [ 4.17576202e-03 -1.00948030e-04 9.99991276e-01 3.58619413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.22, Y:16.52, Z:0.36 [[ 9.14585353e-01 -4.04374457e-01 -3.86408254e-03 7.72206320e+01] [ 4.04371362e-01 9.14593508e-01 -1.58620425e-03 1.65194107e+01] [ 4.17548529e-03 -1.11805141e-04 9.99991276e-01 3.58863169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.27, Y:16.54, Z:0.36 [[ 9.14090086e-01 -4.05492770e-01 -3.86360165e-03 7.72739246e+01] [ 4.05489680e-01 9.14098244e-01 -1.58737470e-03 1.65409011e+01] [ 4.17538045e-03 -1.15647117e-04 9.99991276e-01 3.59119956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.33, Y:16.56, Z:0.36 [[ 9.14605873e-01 -4.04328050e-01 -3.86339421e-03 7.73278172e+01] [ 4.04324947e-01 9.14614026e-01 -1.58787942e-03 1.65635340e+01] [ 4.17553872e-03 -1.09782821e-04 9.99991276e-01 3.58698020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.38, Y:16.59, Z:0.36 [[ 9.14909337e-01 -4.03640908e-01 -3.86292659e-03 7.73818369e+01] [ 4.03637794e-01 9.14917486e-01 -1.58901621e-03 1.65857409e+01] [ 4.17565103e-03 -1.05417402e-04 9.99991276e-01 3.60799083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.43, Y:16.61, Z:0.36 [[ 9.14543213e-01 -4.04469769e-01 -3.86238426e-03 7.74346050e+01] [ 4.04466657e-01 9.14551362e-01 -1.59033335e-03 1.66089024e+01] [ 4.17559055e-03 -1.07777085e-04 9.99991276e-01 3.60005338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.49, Y:16.63, Z:0.36 [[ 9.14714984e-01 -4.04081160e-01 -3.86187381e-03 7.74892550e+01] [ 4.04078039e-01 9.14723130e-01 -1.59157193e-03 1.66313664e+01] [ 4.17566954e-03 -1.04663700e-04 9.99991276e-01 3.58902822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.54, Y:16.65, Z:0.36 [[ 9.14638920e-01 -4.04253307e-01 -3.86138848e-03 7.75434184e+01] [ 4.04250183e-01 9.14647065e-01 -1.59274856e-03 1.66534628e+01] [ 4.17568151e-03 -1.04177175e-04 9.99991276e-01 3.61245223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.182755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:77.60, Y:16.68, Z:0.36 [[ 9.13180071e-01 -4.07538036e-01 -3.86091741e-03 7.75965886e+01] [ 4.07534936e-01 9.13188226e-01 -1.59388963e-03 1.66766956e+01] [ 4.17531497e-03 -1.17950482e-04 9.99991276e-01 3.58498994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.65, Y:16.70, Z:0.36 [[ 9.12940115e-01 -4.08075289e-01 -3.86075440e-03 7.76509336e+01] [ 4.08072192e-01 9.12948270e-01 -1.59428439e-03 1.66996544e+01] [ 4.17525711e-03 -1.19980341e-04 9.99991276e-01 3.59751424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.70, Y:16.72, Z:0.36 [[ 9.12660203e-01 -4.08700933e-01 -3.86028110e-03 7.77044748e+01] [ 4.08697837e-01 9.12668359e-01 -1.59542958e-03 1.67232743e+01] [ 4.17520997e-03 -1.21603455e-04 9.99991276e-01 3.61613229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.76, Y:16.75, Z:0.36 [[ 9.12852423e-01 -4.08271425e-01 -3.85978940e-03 7.77563919e+01] [ 4.08268320e-01 9.12860575e-01 -1.59661824e-03 1.67457759e+01] [ 4.17530318e-03 -1.18352906e-04 9.99991276e-01 3.60432083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.81, Y:16.77, Z:0.36 [[ 9.12918108e-01 -4.08124530e-01 -3.85957133e-03 7.78094781e+01] [ 4.08121421e-01 9.12926259e-01 -1.59714523e-03 1.67691149e+01] [ 4.17533816e-03 -1.17110938e-04 9.99991276e-01 3.59704791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.86, Y:16.79, Z:0.36 [[ 9.13460308e-01 -4.06909540e-01 -3.85906051e-03 7.78617976e+01] [ 4.06906416e-01 9.13468453e-01 -1.59837853e-03 1.67926682e+01] [ 4.17552550e-03 -1.10221141e-04 9.99991276e-01 3.59353706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.92, Y:16.82, Z:0.36 [[ 9.14321436e-01 -4.04970889e-01 -3.85884099e-03 7.79151068e+01] [ 4.04967745e-01 9.14329574e-01 -1.59890832e-03 1.68157440e+01] [ 4.17576376e-03 -1.00789978e-04 9.99991276e-01 3.59923011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.97, Y:16.84, Z:0.36 [[ 9.14960296e-01 -4.03525426e-01 -3.85835162e-03 7.79680447e+01] [ 4.03522265e-01 9.14968427e-01 -1.60008837e-03 1.68387547e+01] [ 4.17594625e-03 -9.29134574e-05 9.99991276e-01 3.60228599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.02, Y:16.86, Z:0.36 [[ 9.15466222e-01 -4.02376333e-01 -3.85786383e-03 7.80198720e+01] [ 4.02373156e-01 9.15474347e-01 -1.60126357e-03 1.68615135e+01] [ 4.17608593e-03 -8.63981381e-05 9.99991276e-01 3.60443266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.07, Y:16.88, Z:0.36 [[ 9.15265591e-01 -4.02832493e-01 -3.85765446e-03 7.80737328e+01] [ 4.02829318e-01 9.15273716e-01 -1.60176780e-03 1.68837998e+01] [ 4.17605385e-03 -8.79333635e-05 9.99991276e-01 3.60407406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.13, Y:16.91, Z:0.36 [[ 9.14801202e-01 -4.03885979e-01 -3.85718984e-03 7.81273698e+01] [ 4.03882808e-01 9.14809329e-01 -1.60288588e-03 1.69061893e+01] [ 4.17597638e-03 -9.15307385e-05 9.99991276e-01 3.60073625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.18, Y:16.93, Z:0.36 [[ 9.13796747e-01 -4.06153458e-01 -3.85672670e-03 7.81812550e+01] [ 4.06150303e-01 9.13804880e-01 -1.60399948e-03 1.69281629e+01] [ 4.17576561e-03 -1.00681214e-04 9.99991276e-01 3.58241520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.24, Y:16.95, Z:0.36 [[ 9.13053237e-01 -4.07822163e-01 -3.85614815e-03 7.82354458e+01] [ 4.07819017e-01 9.13061374e-01 -1.60538916e-03 1.69497235e+01] [ 4.17561320e-03 -1.06804777e-04 9.99991276e-01 3.59330031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.29, Y:16.97, Z:0.36 [[ 9.11518424e-01 -4.11241168e-01 -3.85554432e-03 7.82886496e+01] [ 4.11238046e-01 9.11526570e-01 -1.60683801e-03 1.69703333e+01] [ 4.17522903e-03 -1.20884067e-04 9.99991276e-01 3.59075818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.34, Y:16.99, Z:0.36 [[ 9.10280905e-01 -4.13973200e-01 -3.85531970e-03 7.83411982e+01] [ 4.13970100e-01 9.10289060e-01 -1.60737676e-03 1.69915347e+01] [ 4.17486625e-03 -1.32822712e-04 9.99991276e-01 3.58475636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.40, Y:17.01, Z:0.36 [[ 9.08823802e-01 -4.17162360e-01 -3.85510176e-03 7.83957697e+01] [ 4.17159287e-01 9.08831967e-01 -1.60789930e-03 1.70114609e+01] [ 4.17439478e-03 -1.46894348e-04 9.99991276e-01 3.59856652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.45, Y:17.03, Z:0.36 [[ 9.08521259e-01 -4.17820852e-01 -3.85458275e-03 7.84487766e+01] [ 4.17817780e-01 9.08529424e-01 -1.60914255e-03 1.70326437e+01] [ 4.17433516e-03 -1.48572992e-04 9.99991276e-01 3.60423011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.50, Y:17.06, Z:0.36 [[ 9.08990752e-01 -4.16798460e-01 -3.85435975e-03 7.85026845e+01] [ 4.16795377e-01 9.08998913e-01 -1.60967654e-03 1.70554003e+01] [ 4.17451952e-03 -1.43298237e-04 9.99991276e-01 3.61607246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.56, Y:17.08, Z:0.36 [[ 9.11736522e-01 -4.10757425e-01 -3.85383790e-03 7.85560089e+01] [ 4.10754282e-01 9.11744660e-01 -1.61092496e-03 1.70761973e+01] [ 4.17541551e-03 -1.14241298e-04 9.99991276e-01 3.61582257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.322755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:78.61, Y:17.10, Z:0.36 [[ 9.13270505e-01 -4.07335410e-01 -3.85345526e-03 7.86094691e+01] [ 4.07332232e-01 9.13278629e-01 -1.61183974e-03 1.70980214e+01] [ 4.17583774e-03 -9.75908346e-05 9.99991276e-01 3.62948536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.66, Y:17.12, Z:0.36 [[ 9.15223780e-01 -4.02927521e-01 -3.85288947e-03 7.86629026e+01] [ 4.02924299e-01 9.15231887e-01 -1.61319105e-03 1.71192036e+01] [ 4.17628637e-03 -7.59919789e-05 9.99991276e-01 3.63515142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.72, Y:17.14, Z:0.37 [[ 9.16887773e-01 -3.99126509e-01 -3.85238253e-03 7.87169084e+01] [ 3.99123248e-01 9.16895864e-01 -1.61440074e-03 1.71409586e+01] [ 4.17658374e-03 -5.73511314e-05 9.99991276e-01 3.65438816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.77, Y:17.16, Z:0.37 [[ 9.17385863e-01 -3.97980329e-01 -3.85184624e-03 7.87706742e+01] [ 3.97977052e-01 9.17393948e-01 -1.61567927e-03 1.71622923e+01] [ 4.17666900e-03 -5.07450909e-05 9.99991276e-01 3.66020487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.82, Y:17.18, Z:0.37 [[ 9.18158604e-01 -3.96194327e-01 -3.85131268e-03 7.88241849e+01] [ 3.96191030e-01 9.18166681e-01 -1.61695013e-03 1.71815024e+01] [ 4.17677345e-03 -4.12388645e-05 9.99991276e-01 3.67373599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.88, Y:17.20, Z:0.37 [[ 9.17801457e-01 -3.97020975e-01 -3.85106403e-03 7.88783534e+01] [ 3.97017683e-01 9.17809535e-01 -1.61754212e-03 1.72028195e+01] [ 4.17674144e-03 -4.43580087e-05 9.99991276e-01 3.68941702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.93, Y:17.23, Z:0.37 [[ 9.17306774e-01 -3.98162600e-01 -3.85049702e-03 7.89318860e+01] [ 3.98159312e-01 9.17314854e-01 -1.61889074e-03 1.72253249e+01] [ 4.17669986e-03 -4.80918055e-05 9.99991276e-01 3.68178899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.99, Y:17.25, Z:0.37 [[ 9.14128120e-01 -4.05407152e-01 -3.84996010e-03 7.89853360e+01] [ 4.05403922e-01 9.14136223e-01 -1.62016662e-03 1.72505647e+01] [ 4.17621512e-03 -7.97490561e-05 9.99991276e-01 3.65855131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.04, Y:17.27, Z:0.37 [[ 9.14695208e-01 -4.04126042e-01 -3.84947053e-03 7.90410055e+01] [ 4.04122796e-01 9.14703305e-01 -1.62132899e-03 1.72685707e+01] [ 4.17634468e-03 -7.26369347e-05 9.99991276e-01 3.68815232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.09, Y:17.29, Z:0.37 [[ 9.13860094e-01 -4.06010975e-01 -3.84928648e-03 7.90941866e+01] [ 4.06007744e-01 9.13868197e-01 -1.62176583e-03 1.72907382e+01] [ 4.17619522e-03 -8.07730451e-05 9.99991276e-01 3.68652067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92275509599999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:79.15, Y:17.31, Z:0.37 [[ 9.11141534e-01 -4.12075591e-01 -3.84872416e-03 7.91472474e+01] [ 4.12072408e-01 9.11149656e-01 -1.62309922e-03 1.73139120e+01] [ 4.17560326e-03 -1.07079914e-04 9.99991276e-01 3.65797789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.20, Y:17.34, Z:0.37 [[ 9.11632437e-01 -4.10988433e-01 -3.84816086e-03 7.92005742e+01] [ 4.10985235e-01 9.11640553e-01 -1.62443364e-03 1.73359849e+01] [ 4.17576293e-03 -1.00650900e-04 9.99991276e-01 3.67308854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.25, Y:17.36, Z:0.37 [[ 9.09474397e-01 -4.15742128e-01 -3.84765644e-03 7.92533170e+01] [ 4.15738967e-01 9.09482528e-01 -1.62562752e-03 1.73596603e+01] [ 4.17521815e-03 -1.21154105e-04 9.99991276e-01 3.65631627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.31, Y:17.38, Z:0.37 [[ 9.09197531e-01 -4.16347271e-01 -3.84709724e-03 7.93057240e+01] [ 4.16344110e-01 9.09205662e-01 -1.62694982e-03 1.73839226e+01] [ 4.17517871e-03 -1.22497518e-04 9.99991276e-01 3.66808684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.36, Y:17.41, Z:0.37 [[ 9.08964706e-01 -4.16855332e-01 -3.84652484e-03 7.93565197e+01] [ 4.16852170e-01 9.08972836e-01 -1.62830198e-03 1.74093941e+01] [ 4.17515296e-03 -1.23363193e-04 9.99991276e-01 3.68151209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.41, Y:17.43, Z:0.37 [[ 9.11810183e-01 -4.10593956e-01 -3.84627088e-03 7.94108880e+01] [ 4.10590735e-01 9.11818290e-01 -1.62890167e-03 1.74303571e+01] [ 4.17591731e-03 -9.39940584e-05 9.99991276e-01 3.71431493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.46, Y:17.45, Z:0.37 [[ 9.13804005e-01 -4.06137233e-01 -3.84560459e-03 7.94629271e+01] [ 4.06133967e-01 9.13812094e-01 -1.63047315e-03 1.74543678e+01] [ 4.17635584e-03 -7.18977527e-05 9.99991276e-01 3.72772601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.51, Y:17.48, Z:0.37 [[ 9.14340424e-01 -4.04928144e-01 -3.84536408e-03 7.95135778e+01] [ 4.04924865e-01 9.14348508e-01 -1.63104019e-03 1.74818875e+01] [ 4.17645699e-03 -6.57575544e-05 9.99991276e-01 3.69245492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.57, Y:17.50, Z:0.37 [[ 9.15055232e-01 -4.03310224e-01 -3.84520059e-03 7.95652067e+01] [ 4.03306928e-01 9.15063309e-01 -1.63142552e-03 1.75049780e+01] [ 4.17657257e-03 -5.79515790e-05 9.99991276e-01 3.69252814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.62, Y:17.53, Z:0.37 [[ 9.14984663e-01 -4.03470301e-01 -3.84497278e-03 7.96183991e+01] [ 4.03467004e-01 9.14992739e-01 -1.63196226e-03 1.75273823e+01] [ 4.17657048e-03 -5.80992066e-05 9.99991276e-01 3.68143434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.67, Y:17.55, Z:0.37 [[ 9.13360680e-01 -4.07133257e-01 -3.84443136e-03 7.96709228e+01] [ 4.07129987e-01 9.13368768e-01 -1.63323669e-03 1.75495673e+01] [ 4.17632851e-03 -7.34491219e-05 9.99991276e-01 3.67659534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.72, Y:17.57, Z:0.37 [[ 9.12154054e-01 -4.09829484e-01 -3.84385650e-03 7.97249664e+01] [ 4.09826233e-01 9.12162149e-01 -1.63458852e-03 1.75718925e+01] [ 4.17612298e-03 -8.43166819e-05 9.99991276e-01 3.67926913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.78, Y:17.59, Z:0.37 [[ 9.11552243e-01 -4.11166315e-01 -3.84326977e-03 7.97789067e+01] [ 4.11163070e-01 9.11560340e-01 -1.63596688e-03 1.75901073e+01] [ 4.17602677e-03 -8.89413141e-05 9.99991276e-01 3.70250971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.83, Y:17.61, Z:0.37 [[ 9.09497299e-01 -4.15692067e-01 -3.84304212e-03 7.98323111e+01] [ 4.15688860e-01 9.09505411e-01 -1.63650148e-03 1.76134807e+01] [ 4.17554829e-03 -1.09116127e-04 9.99991276e-01 3.68575316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.89, Y:17.64, Z:0.37 [[ 9.08386402e-01 -4.18114075e-01 -3.84252801e-03 7.98859001e+01] [ 4.18110884e-01 9.08394521e-01 -1.63770774e-03 1.76367538e+01] [ 4.17528004e-03 -1.18931340e-04 9.99991276e-01 3.66493070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.94, Y:17.66, Z:0.37 [[ 9.08383045e-01 -4.18121373e-01 -3.84196321e-03 7.99389983e+01] [ 4.18118177e-01 9.08391162e-01 -1.63903164e-03 1.76574558e+01] [ 4.17531959e-03 -1.17526104e-04 9.99991276e-01 3.66731406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.99, Y:17.68, Z:0.37 [[ 9.08654178e-01 -4.17531826e-01 -3.84172129e-03 7.99924166e+01] [ 4.17528622e-01 9.08662292e-01 -1.63959848e-03 1.76792142e+01] [ 4.17541182e-03 -1.14200586e-04 9.99991276e-01 3.65482279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.05, Y:17.70, Z:0.36 [[ 9.10794470e-01 -4.12842196e-01 -3.84120045e-03 8.00450473e+01] [ 4.12838946e-01 9.10802565e-01 -1.64081779e-03 1.77042123e+01] [ 4.17597404e-03 -9.13493694e-05 9.99991276e-01 3.64638050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.10, Y:17.72, Z:0.37 [[ 9.13027944e-01 -4.07878931e-01 -3.84068293e-03 8.01017797e+01] [ 4.07875631e-01 9.13036020e-01 -1.64202826e-03 1.77228330e+01] [ 4.17643059e-03 -6.73032904e-05 9.99991276e-01 3.69618879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.15, Y:17.75, Z:0.37 [[ 9.12443541e-01 -4.09184600e-01 -3.84025607e-03 8.01543517e+01] [ 4.09181308e-01 9.12451620e-01 -1.64302597e-03 1.77485163e+01] [ 4.17634879e-03 -7.21925613e-05 9.99991276e-01 3.66444061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.21, Y:17.77, Z:0.37 [[ 9.12403455e-01 -4.09273978e-01 -3.84009554e-03 8.02074443e+01] [ 4.09270685e-01 9.12411533e-01 -1.64340108e-03 1.77728865e+01] [ 4.17634875e-03 -7.21937105e-05 9.99991276e-01 3.68752529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.26, Y:17.79, Z:0.37 [[ 9.12926613e-01 -4.08105693e-01 -3.83958434e-03 8.02615505e+01] [ 4.08102384e-01 9.12934685e-01 -1.64459455e-03 1.77929398e+01] [ 4.17645812e-03 -6.55493939e-05 9.99991276e-01 3.72279471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.31, Y:17.82, Z:0.37 [[ 9.11934903e-01 -4.10316944e-01 -3.83902472e-03 8.03140277e+01] [ 4.10313650e-01 9.11942981e-01 -1.64589986e-03 1.78178460e+01] [ 4.17631224e-03 -7.42507153e-05 9.99991276e-01 3.69956177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.37, Y:17.84, Z:0.37 [[ 9.12342141e-01 -4.09410653e-01 -3.83876814e-03 8.03681387e+01] [ 4.09407348e-01 9.12350214e-01 -1.64649805e-03 1.78392231e+01] [ 4.17639478e-03 -6.94503244e-05 9.99991276e-01 3.71321433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.42, Y:17.87, Z:0.37 [[ 9.11125569e-01 -4.12110988e-01 -3.83820328e-03 8.04202354e+01] [ 4.12107701e-01 9.11133650e-01 -1.64781376e-03 1.78656205e+01] [ 4.17619832e-03 -8.03878775e-05 9.99991276e-01 3.68240302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.47, Y:17.89, Z:0.37 [[ 9.09948400e-01 -4.14703725e-01 -3.83803116e-03 8.04733959e+01] [ 4.14700460e-01 9.09956489e-01 -1.64821457e-03 1.78880737e+01] [ 4.17596208e-03 -9.18430727e-05 9.99991276e-01 3.68276612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.53, Y:17.91, Z:0.37 [[ 9.08493171e-01 -4.17882079e-01 -3.83751951e-03 8.05263290e+01] [ 4.17878837e-01 9.08501270e-01 -1.64940499e-03 1.79118213e+01] [ 4.17564813e-03 -1.05145019e-04 9.99991276e-01 3.69135025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.542755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:80.58, Y:17.93, Z:0.37 [[ 9.08564855e-01 -4.17726204e-01 -3.83716345e-03 8.05793851e+01] [ 4.17722957e-01 9.08572951e-01 -1.65023290e-03 1.79347497e+01] [ 4.17568845e-03 -1.03527647e-04 9.99991276e-01 3.69267160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.63, Y:17.96, Z:0.37 [[ 9.08857051e-01 -4.17090089e-01 -3.83657130e-03 8.06329907e+01] [ 4.17086830e-01 9.08865143e-01 -1.65160843e-03 1.79578659e+01] [ 4.17579543e-03 -9.91073961e-05 9.99991276e-01 3.68337918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.69, Y:17.98, Z:0.37 [[ 9.11040954e-01 -4.12298030e-01 -3.83599482e-03 8.06871119e+01] [ 4.12294724e-01 9.11049026e-01 -1.65294627e-03 1.79783564e+01] [ 4.17628583e-03 -7.56586810e-05 9.99991276e-01 3.71513277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.74, Y:18.00, Z:0.37 [[ 9.13334327e-01 -4.07192456e-01 -3.83541132e-03 8.07401473e+01] [ 4.07189099e-01 9.13342379e-01 -1.65429907e-03 1.80016218e+01] [ 4.17666180e-03 -5.08095546e-05 9.99991276e-01 3.69734913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.79, Y:18.03, Z:0.37 [[ 9.14796826e-01 -4.03896102e-01 -3.83489191e-03 8.07924760e+01] [ 4.03892711e-01 9.14804863e-01 -1.65550227e-03 1.80274036e+01] [ 4.17682868e-03 -3.44366615e-05 9.99991276e-01 3.68848243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.85, Y:18.05, Z:0.37 [[ 9.15197843e-01 -4.02986608e-01 -3.83437889e-03 8.08459502e+01] [ 4.02983204e-01 9.15205874e-01 -1.65668964e-03 1.80504418e+01] [ 4.17686983e-03 -2.89915117e-05 9.99991276e-01 3.69645131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90275509599999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:80.90, Y:18.07, Z:0.37 [[ 9.15900741e-01 -4.01386516e-01 -3.83384794e-03 8.08981689e+01] [ 4.01383092e-01 9.15908764e-01 -1.65791744e-03 1.80726012e+01] [ 4.17692063e-03 -2.03539335e-05 9.99991276e-01 3.68945166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.95, Y:18.10, Z:0.37 [[ 9.15671146e-01 -4.01910009e-01 -3.83362014e-03 8.09509744e+01] [ 4.01906588e-01 9.15679171e-01 -1.65844402e-03 1.80957375e+01] [ 4.17691136e-03 -2.21678564e-05 9.99991276e-01 3.71034467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.022755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:81.00, Y:18.12, Z:0.37 [[ 9.13172162e-01 -4.07556021e-01 -3.83309186e-03 8.10029569e+01] [ 4.07552645e-01 9.13180205e-01 -1.65966411e-03 1.81180694e+01] [ 4.17670971e-03 -4.66276568e-05 9.99991276e-01 3.74134159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.06, Y:18.14, Z:0.37 [[ 9.13409135e-01 -4.07024648e-01 -3.83253911e-03 8.10571531e+01] [ 4.07021261e-01 9.13417174e-01 -1.66093954e-03 1.81393042e+01] [ 4.17675038e-03 -4.28075536e-05 9.99991276e-01 3.73742013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.11, Y:18.16, Z:0.37 [[ 9.12809730e-01 -4.08367130e-01 -3.83195531e-03 8.11089461e+01] [ 4.08363749e-01 9.12817772e-01 -1.66228535e-03 1.81619917e+01] [ 4.17669961e-03 -4.74813996e-05 9.99991276e-01 3.72254047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.16, Y:18.18, Z:0.37 [[ 9.11458173e-01 -4.11374911e-01 -3.83172551e-03 8.11618918e+01] [ 4.11371555e-01 9.11466225e-01 -1.66281490e-03 1.81847928e+01] [ 4.17652871e-03 -6.06766487e-05 9.99991276e-01 3.69606939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26275509599999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:81.22, Y:18.21, Z:0.37 [[ 9.10596035e-01 -4.13279787e-01 -3.83122520e-03 8.12156462e+01] [ 4.13276443e-01 9.10604092e-01 -1.66396684e-03 1.82069499e+01] [ 4.17641321e-03 -6.81535161e-05 9.99991276e-01 3.65962524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.27, Y:18.23, Z:0.37 [[ 9.09987835e-01 -4.14617254e-01 -3.83066405e-03 8.12693211e+01] [ 4.14613916e-01 9.09995894e-01 -1.66525767e-03 1.82301104e+01] [ 4.17633312e-03 -7.28823969e-05 9.99991276e-01 3.67831177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.32, Y:18.25, Z:0.37 [[ 9.09277203e-01 -4.16173398e-01 -3.83015600e-03 8.13229243e+01] [ 4.16170069e-01 9.09285267e-01 -1.66642538e-03 1.82534589e+01] [ 4.17622634e-03 -7.87536747e-05 9.99991276e-01 3.68467544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.38, Y:18.28, Z:0.37 [[ 9.09294659e-01 -4.16135262e-01 -3.82960923e-03 8.13760538e+01] [ 4.16131928e-01 9.09302721e-01 -1.66768098e-03 1.82777177e+01] [ 4.17625495e-03 -7.72092602e-05 9.99991276e-01 3.69584062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50275509599999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:81.43, Y:18.30, Z:0.37 [[ 9.09159739e-01 -4.16429955e-01 -3.82907801e-03 8.14277854e+01] [ 4.16426618e-01 9.09167799e-01 -1.66889980e-03 1.83018139e+01] [ 4.17625429e-03 -7.72334959e-05 9.99991276e-01 3.68064145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56275509599999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:81.48, Y:18.33, Z:0.37 [[ 9.08586639e-01 -4.17678896e-01 -3.82884925e-03 8.14802508e+01] [ 4.17675568e-01 9.08594702e-01 -1.66942445e-03 1.83264125e+01] [ 4.17615551e-03 -8.24000336e-05 9.99991276e-01 3.67196758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.53, Y:18.35, Z:0.37 [[ 9.08020004e-01 -4.18909318e-01 -3.82835042e-03 8.15329646e+01] [ 4.18905996e-01 9.08028070e-01 -1.67056761e-03 1.83499983e+01] [ 4.17606598e-03 -8.68101403e-05 9.99991276e-01 3.69639187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.59, Y:18.37, Z:0.37 [[ 9.06519238e-01 -4.22147153e-01 -3.82781517e-03 8.15856434e+01] [ 4.22143854e-01 9.06527314e-01 -1.67179313e-03 1.83749470e+01] [ 4.17576172e-03 -1.00376013e-04 9.99991276e-01 3.69630284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.64, Y:18.40, Z:0.37 [[ 9.05453456e-01 -4.24428310e-01 -3.82726230e-03 8.16379396e+01] [ 4.24425026e-01 9.05461539e-01 -1.67305786e-03 1.83996030e+01] [ 4.17553193e-03 -1.09509883e-04 9.99991276e-01 3.69802146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.69, Y:18.42, Z:0.37 [[ 9.04135611e-01 -4.27228456e-01 -3.82670510e-03 8.16907260e+01] [ 4.27225192e-01 9.04143701e-01 -1.67433134e-03 1.84243173e+01] [ 4.17521331e-03 -1.21042229e-04 9.99991276e-01 3.69187637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.74, Y:18.45, Z:0.37 [[ 9.03649188e-01 -4.28256356e-01 -3.82614194e-03 8.17430320e+01] [ 4.28253096e-01 9.03657279e-01 -1.67561728e-03 1.84486314e+01] [ 4.17511477e-03 -1.24386941e-04 9.99991276e-01 3.68578350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.79, Y:18.47, Z:0.37 [[ 9.03545145e-01 -4.28475828e-01 -3.82560230e-03 8.17949449e+01] [ 4.28472565e-01 9.03553235e-01 -1.67684843e-03 1.84728534e+01] [ 4.17512436e-03 -1.24057372e-04 9.99991276e-01 3.68826057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.85, Y:18.50, Z:0.37 [[ 9.03986789e-01 -4.27543276e-01 -3.82536861e-03 8.18471143e+01] [ 4.27540002e-01 9.03994875e-01 -1.67738137e-03 1.84979062e+01] [ 4.17526675e-03 -1.19167501e-04 9.99991276e-01 3.68741311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.042755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:81.90, Y:18.52, Z:0.37 [[ 9.04818952e-01 -4.25779327e-01 -3.82483036e-03 8.18983770e+01] [ 4.25776032e-01 9.04827029e-01 -1.67860782e-03 1.85219482e+01] [ 4.17552640e-03 -1.09684925e-04 9.99991276e-01 3.67151512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.102755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:81.95, Y:18.55, Z:0.37 [[ 9.06962503e-01 -4.21194005e-01 -3.82459948e-03 8.19505331e+01] [ 4.21190667e-01 9.06970563e-01 -1.67913371e-03 1.85477023e+01] [ 4.17604019e-03 -8.79742974e-05 9.99991276e-01 3.67129746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.00, Y:18.57, Z:0.37 [[ 9.08592651e-01 -4.17665859e-01 -3.82408522e-03 8.20022909e+01] [ 4.17662485e-01 9.08600696e-01 -1.68030406e-03 1.85736625e+01] [ 4.17637214e-03 -7.04650126e-05 9.99991276e-01 3.67601162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.222755096 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:82.06, Y:18.60, Z:0.36 [[ 9.09467604e-01 -4.15757211e-01 -3.82353476e-03 8.20552991e+01] [ 4.15753815e-01 9.09475639e-01 -1.68155571e-03 1.85973148e+01] [ 4.17653063e-03 -6.03287217e-05 9.99991276e-01 3.64913528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.11, Y:18.62, Z:0.37 [[ 9.08855046e-01 -4.17094581e-01 -3.82300466e-03 8.21089795e+01] [ 4.17091192e-01 9.08863084e-01 -1.68276003e-03 1.86216140e+01] [ 4.17645789e-03 -6.51566257e-05 9.99991276e-01 3.68993956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34275509599999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:82.16, Y:18.64, Z:0.37 [[ 9.08409991e-01 -4.18063007e-01 -3.82245528e-03 8.21614945e+01] [ 4.18059621e-01 9.08418030e-01 -1.68400705e-03 1.86448588e+01] [ 4.17640834e-03 -6.82453737e-05 9.99991276e-01 3.69442207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.21, Y:18.67, Z:0.37 [[ 9.06859465e-01 -4.21415828e-01 -3.82228646e-03 8.22148058e+01] [ 4.21412470e-01 9.06867517e-01 -1.68439013e-03 1.86690084e+01] [ 4.17613609e-03 -8.32540435e-05 9.99991276e-01 3.71621982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.27, Y:18.69, Z:0.37 [[ 9.04891305e-01 -4.25625564e-01 -3.82172885e-03 8.22684366e+01] [ 4.25622238e-01 9.04899370e-01 -1.68565436e-03 1.86913126e+01] [ 4.17573761e-03 -1.01278810e-04 9.99991276e-01 3.73041982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.522755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:82.32, Y:18.71, Z:0.37 [[ 9.02196844e-01 -4.31307609e-01 -3.82111413e-03 8.23212382e+01] [ 4.31304328e-01 9.02204927e-01 -1.68704667e-03 1.87141312e+01] [ 4.17506406e-03 -1.26014880e-04 9.99991276e-01 3.72213269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.37, Y:18.74, Z:0.37 [[ 9.01396175e-01 -4.32978449e-01 -3.82085687e-03 8.23743033e+01] [ 4.32975180e-01 9.01404263e-01 -1.68762913e-03 1.87384986e+01] [ 4.17484371e-03 -1.33113747e-04 9.99991276e-01 3.72423084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.43, Y:18.76, Z:0.37 [[ 9.01397756e-01 -4.32975162e-01 -3.82033036e-03 8.24261848e+01] [ 4.32971889e-01 9.01405842e-01 -1.68882015e-03 1.87623669e+01] [ 4.17488528e-03 -1.31796956e-04 9.99991276e-01 3.71052666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.48, Y:18.79, Z:0.37 [[ 9.02049202e-01 -4.31616316e-01 -3.82010439e-03 8.24788640e+01] [ 4.31613028e-01 9.02057282e-01 -1.68933114e-03 1.87860466e+01] [ 4.17509587e-03 -1.24947011e-04 9.99991276e-01 3.69981599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.53, Y:18.81, Z:0.37 [[ 9.02395476e-01 -4.30891882e-01 -3.81994605e-03 8.25306636e+01] [ 4.30888586e-01 9.02403553e-01 -1.68968911e-03 1.88087443e+01] [ 4.17520621e-03 -1.21203338e-04 9.99991276e-01 3.69983553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.58, Y:18.83, Z:0.37 [[ 9.03548798e-01 -4.28468178e-01 -3.81972854e-03 8.25838269e+01] [ 4.28464858e-01 9.03556865e-01 -1.69018068e-03 1.88329564e+01] [ 4.17553058e-03 -1.09458725e-04 9.99991276e-01 3.70983369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.64, Y:18.86, Z:0.37 [[ 9.04703709e-01 -4.26024192e-01 -3.81918467e-03 8.26360488e+01] [ 4.26020845e-01 9.04711765e-01 -1.69140873e-03 1.88578180e+01] [ 4.17584234e-03 -9.68285285e-05 9.99991276e-01 3.72305736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.942755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:82.69, Y:18.88, Z:0.37 [[ 9.05291905e-01 -4.24772862e-01 -3.81864109e-03 8.26891455e+01] [ 4.24769499e-01 9.05299955e-01 -1.69263507e-03 1.88816663e+01] [ 4.17600104e-03 -8.97134328e-05 9.99991276e-01 3.74274829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.74, Y:18.91, Z:0.38 [[ 9.05967187e-01 -4.23330697e-01 -3.81809847e-03 8.27414054e+01] [ 4.23327316e-01 9.05975229e-01 -1.69385817e-03 1.89052139e+01] [ 4.17616479e-03 -8.17254553e-05 9.99991276e-01 3.75841711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.79, Y:18.93, Z:0.38 [[ 9.06280582e-01 -4.22659355e-01 -3.81786571e-03 8.27944556e+01] [ 4.22655965e-01 9.06288621e-01 -1.69438264e-03 1.89296430e+01] [ 4.17623492e-03 -7.80576270e-05 9.99991276e-01 3.75737497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.85, Y:18.95, Z:0.38 [[ 9.06339590e-01 -4.22532811e-01 -3.81734080e-03 8.28468348e+01] [ 4.22529416e-01 9.06347625e-01 -1.69556441e-03 1.89542529e+01] [ 4.17626936e-03 -7.61816249e-05 9.99991276e-01 3.75822847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.90, Y:18.98, Z:0.38 [[ 9.06002482e-01 -4.23255165e-01 -3.81678996e-03 8.29000892e+01] [ 4.23251771e-01 9.06010518e-01 -1.69680345e-03 1.89778656e+01] [ 4.17623268e-03 -7.81549706e-05 9.99991276e-01 3.76117828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.95, Y:19.00, Z:0.38 [[ 9.04956654e-01 -4.25486652e-01 -3.81624684e-03 8.29524204e+01] [ 4.25483273e-01 9.04964696e-01 -1.69802409e-03 1.90021016e+01] [ 4.17605525e-03 -8.71109949e-05 9.99991276e-01 3.77017124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.00, Y:19.03, Z:0.38 [[ 9.03829565e-01 -4.27875633e-01 -3.81569846e-03 8.30049488e+01] [ 4.27872270e-01 9.03837614e-01 -1.69925550e-03 1.90259023e+01] [ 4.17584182e-03 -9.67942021e-05 9.99991276e-01 3.78741600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.06, Y:19.05, Z:0.38 [[ 9.03062618e-01 -4.29491971e-01 -3.81514883e-03 8.30572930e+01] [ 4.29488617e-01 9.03070671e-01 -1.70048863e-03 1.90499190e+01] [ 4.17569522e-03 -1.02915285e-04 9.99991276e-01 3.79419749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.11, Y:19.07, Z:0.38 [[ 9.02648759e-01 -4.30361089e-01 -3.81460536e-03 8.31097827e+01] [ 4.30357737e-01 9.02656813e-01 -1.70170688e-03 1.90739979e+01] [ 4.17562795e-03 -1.05601328e-04 9.99991276e-01 3.80313897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48275509599999 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:83.16, Y:19.10, Z:0.37 [[ 9.01821741e-01 -4.32091425e-01 -3.81406644e-03 8.31612861e+01] [ 4.32088084e-01 9.01829800e-01 -1.70291392e-03 1.91025247e+01] [ 4.17545328e-03 -1.12287866e-04 9.99991276e-01 3.70516877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.542755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:83.21, Y:19.13, Z:0.38 [[ 9.03125735e-01 -4.29359248e-01 -3.81360078e-03 8.32145608e+01] [ 4.29355878e-01 9.03133781e-01 -1.70395612e-03 1.91262018e+01] [ 4.17580101e-03 -9.85052889e-05 9.99991276e-01 3.77596485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.27, Y:19.15, Z:0.38 [[ 9.04082131e-01 -4.27341739e-01 -3.81301334e-03 8.32670824e+01] [ 4.27338345e-01 9.04090167e-01 -1.70526964e-03 1.91493397e+01] [ 4.17604076e-03 -8.77429962e-05 9.99991276e-01 3.77830620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.32, Y:19.17, Z:0.38 [[ 9.05905395e-01 -4.23462959e-01 -3.81274264e-03 8.33195990e+01] [ 4.23459529e-01 9.05913416e-01 -1.70587467e-03 1.91724604e+01] [ 4.17638944e-03 -6.91811363e-05 9.99991276e-01 3.80107537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.722755096 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:83.37, Y:19.20, Z:0.38 [[ 9.05693036e-01 -4.23916960e-01 -3.81249262e-03 8.33727766e+01] [ 4.23913531e-01 9.05701058e-01 -1.70643326e-03 1.91973154e+01] [ 4.17636460e-03 -7.06624841e-05 9.99991276e-01 3.82197163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.42, Y:19.22, Z:0.39 [[ 9.06437954e-01 -4.22321802e-01 -3.81200891e-03 8.34248080e+01] [ 4.22318354e-01 9.06445968e-01 -1.70751314e-03 1.92225220e+01] [ 4.17650013e-03 -6.21266069e-05 9.99991276e-01 3.85564855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84275509599999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:83.48, Y:19.25, Z:0.38 [[ 9.05628930e-01 -4.24053901e-01 -3.81183931e-03 8.34776065e+01] [ 4.24050468e-01 9.05636949e-01 -1.70789166e-03 1.92486287e+01] [ 4.17638065e-03 -6.96961471e-05 9.99991276e-01 3.83273190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.53, Y:19.27, Z:0.39 [[ 9.05603602e-01 -4.24107993e-01 -3.81133080e-03 8.35302677e+01] [ 4.24104555e-01 9.05611620e-01 -1.70902570e-03 1.92726858e+01] [ 4.17639692e-03 -6.87029279e-05 9.99991276e-01 3.87821862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.962755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:83.58, Y:19.30, Z:0.39 [[ 9.05066178e-01 -4.25253676e-01 -3.81115257e-03 8.35837768e+01] [ 4.25250246e-01 9.05074199e-01 -1.70942306e-03 1.92976847e+01] [ 4.17631430e-03 -7.35525707e-05 9.99991276e-01 3.87778266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.64, Y:19.32, Z:0.39 [[ 9.04266898e-01 -4.26950648e-01 -3.81066386e-03 8.36359201e+01] [ 4.26947229e-01 9.04274924e-01 -1.71051182e-03 1.93216771e+01] [ 4.17619190e-03 -8.01931626e-05 9.99991276e-01 3.89066028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.69, Y:19.35, Z:0.38 [[ 9.03603064e-01 -4.28353806e-01 -3.81040542e-03 8.36889920e+01] [ 4.28350397e-01 9.03611094e-01 -1.71108733e-03 1.93477969e+01] [ 4.17607538e-03 -8.60449256e-05 9.99991276e-01 3.84725471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.74, Y:19.37, Z:0.38 [[ 9.03457321e-01 -4.28661118e-01 -3.80993330e-03 8.37415492e+01] [ 4.28657707e-01 9.03465350e-01 -1.71213792e-03 1.93728738e+01] [ 4.17606968e-03 -8.63137290e-05 9.99991276e-01 3.84708369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.80, Y:19.40, Z:0.39 [[ 9.03509592e-01 -4.28550937e-01 -3.80939865e-03 8.37954503e+01] [ 4.28547520e-01 9.03517619e-01 -1.71332666e-03 1.93960524e+01] [ 4.17610654e-03 -8.45012706e-05 9.99991276e-01 3.88773177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.85, Y:19.42, Z:0.39 [[ 9.01780218e-01 -4.32178124e-01 -3.80891286e-03 8.38464458e+01] [ 4.32174735e-01 9.01788256e-01 -1.71440594e-03 1.94235652e+01] [ 4.17576163e-03 -1.00098540e-04 9.99991276e-01 3.91353853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.90, Y:19.45, Z:0.39 [[ 9.00879196e-01 -4.34053186e-01 -3.80874292e-03 8.38991007e+01] [ 4.34049813e-01 9.00887240e-01 -1.71478340e-03 1.94490115e+01] [ 4.17555509e-03 -1.08371460e-04 9.99991276e-01 3.93616035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.95, Y:19.47, Z:0.39 [[ 8.99550564e-01 -4.36800046e-01 -3.80819283e-03 8.39504551e+01] [ 4.36796692e-01 8.99558617e-01 -1.71600417e-03 1.94743573e+01] [ 4.17524337e-03 -1.19773511e-04 9.99991276e-01 3.94000737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.00, Y:19.50, Z:0.39 [[ 8.98809018e-01 -4.38323907e-01 -3.80795702e-03 8.40029586e+01] [ 4.38320565e-01 8.98817076e-01 -1.71652728e-03 1.94997306e+01] [ 4.17505174e-03 -1.26275672e-04 9.99991276e-01 3.93596991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.05, Y:19.53, Z:0.39 [[ 8.99030620e-01 -4.37869212e-01 -3.80742483e-03 8.40547675e+01] [ 4.37865860e-01 8.99038674e-01 -1.71770693e-03 1.95252601e+01] [ 4.17515315e-03 -1.22870217e-04 9.99991276e-01 3.92309033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56275509599999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:84.11, Y:19.55, Z:0.39 [[ 8.99646369e-01 -4.36602702e-01 -3.80689068e-03 8.41078917e+01] [ 4.36599333e-01 8.99654416e-01 -1.71888992e-03 1.95493084e+01] [ 4.17535800e-03 -1.15692857e-04 9.99991276e-01 3.91103308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.16, Y:19.57, Z:0.39 [[ 9.00627084e-01 -4.34576078e-01 -3.80636336e-03 8.41609728e+01] [ 4.34572687e-01 9.00635121e-01 -1.72005685e-03 1.95723079e+01] [ 4.17564009e-03 -1.05011772e-04 9.99991276e-01 3.91169258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.21, Y:19.60, Z:0.39 [[ 9.01003286e-01 -4.33795567e-01 -3.80584241e-03 8.42140081e+01] [ 4.33792163e-01 9.01011319e-01 -1.72120875e-03 1.95960428e+01] [ 4.17575981e-03 -1.00129877e-04 9.99991276e-01 3.91183915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.27, Y:19.62, Z:0.39 [[ 9.02101466e-01 -4.31507201e-01 -3.80532411e-03 8.42673659e+01] [ 4.31503772e-01 9.02109488e-01 -1.72235387e-03 1.96195420e+01] [ 4.17602708e-03 -8.82737596e-05 9.99991276e-01 3.92014357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.32, Y:19.64, Z:0.39 [[ 9.02792460e-01 -4.30059645e-01 -3.80478223e-03 8.43202115e+01] [ 4.30056198e-01 9.02800474e-01 -1.72355007e-03 1.96421505e+01] [ 4.17618854e-03 -8.02621718e-05 9.99991276e-01 3.93891040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.37, Y:19.67, Z:0.39 [[ 9.02945331e-01 -4.29738588e-01 -3.80461633e-03 8.43734011e+01] [ 4.29735137e-01 9.02953343e-01 -1.72391621e-03 1.96656361e+01] [ 4.17622435e-03 -7.83752317e-05 9.99991276e-01 3.93378188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.43, Y:19.69, Z:0.39 [[ 9.02663420e-01 -4.30330431e-01 -3.80406516e-03 8.44263889e+01] [ 4.30326981e-01 9.02671432e-01 -1.72513159e-03 1.96901372e+01] [ 4.17619757e-03 -7.97786960e-05 9.99991276e-01 3.93173725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.48, Y:19.71, Z:0.39 [[ 9.02235583e-01 -4.31226723e-01 -3.80351528e-03 8.44790316e+01] [ 4.31223275e-01 9.02243596e-01 -1.72634310e-03 1.97132604e+01] [ 4.17614258e-03 -8.25961420e-05 9.99991276e-01 3.93976556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.53, Y:19.74, Z:0.39 [[ 9.01254771e-01 -4.33272861e-01 -3.80327982e-03 8.45311250e+01] [ 4.33269429e-01 9.01262792e-01 -1.72686168e-03 1.97356504e+01] [ 4.17595689e-03 -9.15025451e-05 9.99991276e-01 3.93678914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.58, Y:19.76, Z:0.39 [[ 9.00198606e-01 -4.35462979e-01 -3.80304879e-03 8.45839859e+01] [ 4.35459565e-01 9.00206634e-01 -1.72737034e-03 1.97592773e+01] [ 4.17573558e-03 -1.01097597e-04 9.99991276e-01 3.92754518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.64, Y:19.78, Z:0.39 [[ 8.98906734e-01 -4.38123526e-01 -3.80252802e-03 8.46368960e+01] [ 4.38120131e-01 8.98914770e-01 -1.72851596e-03 1.97827254e+01] [ 4.17545211e-03 -1.12189434e-04 9.99991276e-01 3.91741216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.69, Y:19.81, Z:0.39 [[ 8.98444901e-01 -4.39069817e-01 -3.80201503e-03 8.46900267e+01] [ 4.39066425e-01 8.98452939e-01 -1.72964359e-03 1.98062194e+01] [ 4.17536587e-03 -1.15347683e-04 9.99991276e-01 3.93068269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.74, Y:19.83, Z:0.39 [[ 8.98598474e-01 -4.38755433e-01 -3.80150959e-03 8.47429615e+01] [ 4.38752034e-01 8.98606509e-01 -1.73075377e-03 1.98302563e+01] [ 4.17543888e-03 -1.12667366e-04 9.99991276e-01 3.93457125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.80, Y:19.85, Z:0.40 [[ 9.00247432e-01 -4.35362049e-01 -3.80097073e-03 8.47974290e+01] [ 4.35358615e-01 9.00255451e-01 -1.73193635e-03 1.98509678e+01] [ 4.17586398e-03 -9.56141017e-05 9.99991276e-01 3.95597600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.85, Y:19.88, Z:0.39 [[ 8.99653523e-01 -4.36588015e-01 -3.80036889e-03 8.48482008e+01] [ 4.36584586e-01 8.99661545e-01 -1.73325598e-03 1.98767663e+01] [ 4.17576453e-03 -9.98526308e-05 9.99991276e-01 3.92226752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.90, Y:19.90, Z:0.39 [[ 8.99465740e-01 -4.36974762e-01 -3.80009069e-03 8.49014453e+01] [ 4.36971334e-01 8.99473761e-01 -1.73386570e-03 1.99010210e+01] [ 4.17573742e-03 -1.00977900e-04 9.99991276e-01 3.93317744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.95, Y:19.92, Z:0.39 [[ 8.99363508e-01 -4.37185138e-01 -3.79946466e-03 8.49537914e+01] [ 4.37181706e-01 8.99371528e-01 -1.73523645e-03 1.99238486e+01] [ 4.17574992e-03 -1.00448096e-04 9.99991276e-01 3.93879115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.01, Y:19.95, Z:0.39 [[ 8.99404591e-01 -4.37100616e-01 -3.79922086e-03 8.50065632e+01] [ 4.37097180e-01 8.99412609e-01 -1.73577006e-03 1.99471387e+01] [ 4.17577331e-03 -9.94691660e-05 9.99991276e-01 3.93540521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.06, Y:19.97, Z:0.39 [[ 8.99569285e-01 -4.36761573e-01 -3.79867177e-03 8.50598709e+01] [ 4.36758130e-01 8.99577300e-01 -1.73697090e-03 1.99712329e+01] [ 4.17584104e-03 -9.65751104e-05 9.99991276e-01 3.93467392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.11, Y:19.99, Z:0.39 [[ 8.99960658e-01 -4.35954571e-01 -3.79811114e-03 8.51134801e+01] [ 4.35951115e-01 8.99968668e-01 -1.73819594e-03 1.99939019e+01] [ 4.17595549e-03 -9.14828271e-05 9.99991276e-01 3.93044433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.17, Y:20.02, Z:0.39 [[ 8.99016468e-01 -4.37898355e-01 -3.79752786e-03 8.51670641e+01] [ 4.37894911e-01 8.99024483e-01 -1.73946932e-03 2.00167870e+01] [ 4.17578128e-03 -9.91065573e-05 9.99991276e-01 3.91418417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.22, Y:20.04, Z:0.39 [[ 8.98121167e-01 -4.39731684e-01 -3.79688365e-03 8.52191143e+01] [ 4.39728251e-01 8.98129186e-01 -1.74087436e-03 2.00400874e+01] [ 4.17560963e-03 -1.06080896e-04 9.99991276e-01 3.91547487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.27, Y:20.06, Z:0.39 [[ 8.97702823e-01 -4.40585099e-01 -3.79645068e-03 8.52728305e+01] [ 4.40581669e-01 8.97710844e-01 -1.74181804e-03 2.00620146e+01] [ 4.17553402e-03 -1.09011606e-04 9.99991276e-01 3.90625960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.33, Y:20.08, Z:0.39 [[ 8.98043176e-01 -4.39890947e-01 -3.79590036e-03 8.53264187e+01] [ 4.39887506e-01 8.98051192e-01 -1.74301653e-03 2.00836481e+01] [ 4.17565004e-03 -1.04465044e-04 9.99991276e-01 3.90689364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.38, Y:20.11, Z:0.39 [[ 8.99382254e-01 -4.37146609e-01 -3.79535049e-03 8.53803222e+01] [ 4.37143138e-01 8.99390257e-01 -1.74421303e-03 2.01051344e+01] [ 4.17597806e-03 -9.03971750e-05 9.99991276e-01 3.90803841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.43, Y:20.13, Z:0.39 [[ 9.00671837e-01 -4.34483420e-01 -3.79480450e-03 8.54335474e+01] [ 4.34479921e-01 9.00679828e-01 -1.74540010e-03 2.01270403e+01] [ 4.17625127e-03 -7.67336418e-05 9.99991276e-01 3.90285259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.49, Y:20.15, Z:0.39 [[ 9.02508473e-01 -4.30655380e-01 -3.79457017e-03 8.54879489e+01] [ 4.30651845e-01 9.02516449e-01 -1.74590940e-03 2.01480551e+01] [ 4.17654727e-03 -5.84406221e-05 9.99991276e-01 3.90834425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.54, Y:20.17, Z:0.39 [[ 9.03243785e-01 -4.29111023e-01 -3.79403091e-03 8.55425475e+01] [ 4.29107470e-01 9.03251752e-01 -1.74708048e-03 2.01695250e+01] [ 4.17665656e-03 -5.00074151e-05 9.99991276e-01 3.90020451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.60, Y:20.19, Z:0.39 [[ 9.03612556e-01 -4.28333931e-01 -3.79356744e-03 8.55969499e+01] [ 4.28330367e-01 9.03620518e-01 -1.74808627e-03 2.01887686e+01] [ 4.17671004e-03 -4.53074281e-05 9.99991276e-01 3.92934426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.65, Y:20.21, Z:0.39 [[ 9.02831256e-01 -4.29978294e-01 -3.79338930e-03 8.56514697e+01] [ 4.29974743e-01 9.02839224e-01 -1.74847274e-03 2.02094008e+01] [ 4.17662598e-03 -5.24857496e-05 9.99991276e-01 3.93945733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.71, Y:20.23, Z:0.40 [[ 9.04015436e-01 -4.27482988e-01 -3.79287405e-03 8.57074789e+01] [ 4.27479409e-01 9.04023392e-01 -1.74958975e-03 2.02281952e+01] [ 4.17676671e-03 -3.97194207e-05 9.99991276e-01 4.02034315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42275509599999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:85.76, Y:20.25, Z:0.40 [[ 9.04735531e-01 -4.25956848e-01 -3.79237722e-03 8.57607521e+01] [ 4.25953251e-01 9.04743479e-01 -1.75066601e-03 2.02535406e+01] [ 4.17683673e-03 -3.14856662e-05 9.99991276e-01 4.00445035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48275509599999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:85.81, Y:20.28, Z:0.40 [[ 9.04989989e-01 -4.25415963e-01 -3.79189039e-03 8.58124434e+01] [ 4.25412358e-01 9.04997932e-01 -1.75171982e-03 2.02789464e+01] [ 4.17686254e-03 -2.78281329e-05 9.99991276e-01 3.96363583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.87, Y:20.30, Z:0.40 [[ 9.05378072e-01 -4.24589412e-01 -3.79171942e-03 8.58656061e+01] [ 4.24585798e-01 9.05386012e-01 -1.75208981e-03 2.03036343e+01] [ 4.17688851e-03 -2.36065166e-05 9.99991276e-01 3.96464823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.92, Y:20.33, Z:0.40 [[ 9.05312378e-01 -4.24729472e-01 -3.79123084e-03 8.59174129e+01] [ 4.24725855e-01 9.05320316e-01 -1.75314638e-03 2.03284027e+01] [ 4.17689124e-03 -2.30886372e-05 9.99991276e-01 3.95442313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.97, Y:20.35, Z:0.39 [[ 9.04876997e-01 -4.25656256e-01 -3.79099173e-03 8.59694485e+01] [ 4.25652645e-01 9.04884938e-01 -1.75366329e-03 2.03532287e+01] [ 4.17686907e-03 -2.67960824e-05 9.99991276e-01 3.93121699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.02, Y:20.38, Z:0.39 [[ 9.03963850e-01 -4.27592085e-01 -3.79043437e-03 8.60227700e+01] [ 4.27588486e-01 9.03971796e-01 -1.75486717e-03 2.03775558e+01] [ 4.17681307e-03 -3.44096088e-05 9.99991276e-01 3.94067202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.07, Y:20.40, Z:0.40 [[ 9.03118792e-01 -4.29374062e-01 -3.78989539e-03 8.60745103e+01] [ 4.29370473e-01 9.03126743e-01 -1.75603040e-03 2.04027898e+01] [ 4.17674978e-03 -4.13651216e-05 9.99991276e-01 3.95075430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.13, Y:20.43, Z:0.40 [[ 9.02611553e-01 -4.30439336e-01 -3.78972271e-03 8.61275023e+01] [ 4.30435755e-01 9.02619508e-01 -1.75640298e-03 2.04280282e+01] [ 4.17670258e-03 -4.58825376e-05 9.99991276e-01 3.97850822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.18, Y:20.45, Z:0.40 [[ 9.02649184e-01 -4.30360421e-01 -3.78921369e-03 8.61790866e+01] [ 4.30356835e-01 9.02657136e-01 -1.75750044e-03 2.04524962e+01] [ 4.17671941e-03 -4.43076758e-05 9.99991276e-01 3.97497809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.23, Y:20.48, Z:0.40 [[ 9.02630139e-01 -4.30400368e-01 -3.78896433e-03 8.62310255e+01] [ 4.30396780e-01 9.02638090e-01 -1.75803786e-03 2.04774161e+01] [ 4.17672367e-03 -4.39000888e-05 9.99991276e-01 3.98099170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.28, Y:20.50, Z:0.40 [[ 9.02047219e-01 -4.31620739e-01 -3.78841192e-03 8.62831635e+01] [ 4.31617157e-01 9.02055173e-01 -1.75922746e-03 2.05035845e+01] [ 4.17667562e-03 -4.82373402e-05 9.99991276e-01 3.99100520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.34, Y:20.53, Z:0.40 [[ 9.01444178e-01 -4.32878790e-01 -3.78786078e-03 8.63357687e+01] [ 4.32875213e-01 9.01452135e-01 -1.76041334e-03 2.05285523e+01] [ 4.17662078e-03 -5.27566901e-05 9.99991276e-01 4.00098104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.39, Y:20.55, Z:0.40 [[ 9.00001168e-01 -4.35871029e-01 -3.78731543e-03 8.63887007e+01] [ 4.35867475e-01 9.00009134e-01 -1.76158581e-03 2.05535414e+01] [ 4.17644270e-03 -6.53383300e-05 9.99991276e-01 3.99196404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.44, Y:20.58, Z:0.40 [[ 8.98310171e-01 -4.39345533e-01 -3.78676386e-03 8.64404372e+01] [ 4.39342004e-01 8.98318149e-01 -1.76277069e-03 2.05784090e+01] [ 4.17618413e-03 -8.01695847e-05 9.99991276e-01 3.98651187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.49, Y:20.60, Z:0.40 [[ 8.96619767e-01 -4.42785111e-01 -3.78659476e-03 8.64927184e+01] [ 4.42781611e-01 8.96627758e-01 -1.76313385e-03 2.06033960e+01] [ 4.17585539e-03 -9.57738634e-05 9.99991276e-01 3.99022255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.55, Y:20.63, Z:0.40 [[ 8.94590154e-01 -4.46871483e-01 -3.78602553e-03 8.65452082e+01] [ 4.46868015e-01 8.94598158e-01 -1.76435534e-03 2.06281064e+01] [ 4.17541155e-03 -1.13478800e-04 9.99991276e-01 3.99065604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.60, Y:20.65, Z:0.40 [[ 8.93488818e-01 -4.49069482e-01 -3.78585133e-03 8.65974232e+01] [ 4.49066031e-01 8.93496830e-01 -1.76472904e-03 2.06533248e+01] [ 4.17513212e-03 -1.23331563e-04 9.99991276e-01 3.98534415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.65, Y:20.68, Z:0.40 [[ 8.94098061e-01 -4.47855254e-01 -3.78529681e-03 8.66501144e+01] [ 4.47851788e-01 8.94106066e-01 -1.76591767e-03 2.06788897e+01] [ 4.17533235e-03 -1.16348380e-04 9.99991276e-01 3.98586850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.70, Y:20.70, Z:0.40 [[ 8.95171755e-01 -4.45705289e-01 -3.78474784e-03 8.67017326e+01] [ 4.45701798e-01 8.95179750e-01 -1.76709346e-03 2.07048227e+01] [ 4.17563252e-03 -1.05016766e-04 9.99991276e-01 3.99329085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.75, Y:20.73, Z:0.40 [[ 8.96779390e-01 -4.42461756e-01 -3.78418169e-03 8.67532938e+01] [ 4.42458231e-01 8.96787370e-01 -1.76830501e-03 2.07317730e+01] [ 4.17601369e-03 -8.85628467e-05 9.99991276e-01 3.98968762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.80, Y:20.76, Z:0.40 [[ 8.97445105e-01 -4.41109923e-01 -3.78400791e-03 8.68049949e+01] [ 4.41106385e-01 8.97453079e-01 -1.76867681e-03 2.07575279e+01] [ 4.17615044e-03 -8.18596966e-05 9.99991276e-01 3.99885106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.86, Y:20.78, Z:0.40 [[ 8.98268668e-01 -4.39430410e-01 -3.78345823e-03 8.68563793e+01] [ 4.39426851e-01 8.98276633e-01 -1.76985188e-03 2.07838675e+01] [ 4.17631886e-03 -7.27506416e-05 9.99991276e-01 4.02135232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.91, Y:20.81, Z:0.40 [[ 8.98656271e-01 -4.38637203e-01 -3.78288890e-03 8.69080267e+01] [ 4.38633633e-01 8.98664231e-01 -1.77106792e-03 2.08107263e+01] [ 4.17640323e-03 -6.77210085e-05 9.99991276e-01 4.02083912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.96, Y:20.84, Z:0.40 [[ 8.97357176e-01 -4.41288782e-01 -3.78270091e-03 8.69587621e+01] [ 4.41285234e-01 8.97365146e-01 -1.77146936e-03 2.08357589e+01] [ 4.17619351e-03 -7.96093123e-05 9.99991276e-01 4.03489027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.01, Y:20.86, Z:0.40 [[ 8.94673911e-01 -4.46703803e-01 -3.78229478e-03 8.70106458e+01] [ 4.46700299e-01 8.94681900e-01 -1.77233607e-03 2.08611157e+01] [ 4.17565994e-03 -1.03889364e-04 9.99991276e-01 4.02855523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.06, Y:20.88, Z:0.40 [[ 8.94347780e-01 -4.47356399e-01 -3.78169483e-03 8.70638355e+01] [ 4.47352896e-01 8.94355769e-01 -1.77361528e-03 2.08849285e+01] [ 4.17561873e-03 -1.05523249e-04 9.99991276e-01 4.04881151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.12, Y:20.91, Z:0.40 [[ 8.91353720e-01 -4.53292676e-01 -3.78107870e-03 8.71161953e+01] [ 4.53289220e-01 8.91361729e-01 -1.77492780e-03 2.09111441e+01] [ 4.17487062e-03 -1.31833714e-04 9.99991277e-01 4.04571922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.17, Y:20.94, Z:0.40 [[ 8.90506450e-01 -4.54954910e-01 -3.78047999e-03 8.71686541e+01] [ 4.54951463e-01 8.90514464e-01 -1.77620211e-03 2.09366168e+01] [ 4.17466398e-03 -1.38215470e-04 9.99991277e-01 4.03361593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.22, Y:20.96, Z:0.40 [[ 8.90557195e-01 -4.54855576e-01 -3.77992034e-03 8.72210246e+01] [ 4.54852123e-01 8.90565206e-01 -1.77739228e-03 2.09612393e+01] [ 4.17472233e-03 -1.36435307e-04 9.99991277e-01 4.02677321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.27, Y:20.99, Z:0.40 [[ 8.91259704e-01 -4.53477515e-01 -3.77935074e-03 8.72725435e+01] [ 4.53474045e-01 8.91267708e-01 -1.77860263e-03 2.09857447e+01] [ 4.17496957e-03 -1.28640612e-04 9.99991277e-01 4.02399500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.32, Y:21.01, Z:0.40 [[ 8.92274442e-01 -4.51477616e-01 -3.77910574e-03 8.73243811e+01] [ 4.51474127e-01 8.92282437e-01 -1.77912304e-03 2.10108076e+01] [ 4.17526391e-03 -1.18702441e-04 9.99991277e-01 4.03696300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.38, Y:21.04, Z:0.41 [[ 8.93789093e-01 -4.48471605e-01 -3.77852035e-03 8.73762594e+01] [ 4.48468083e-01 8.93797074e-01 -1.78036542e-03 2.10362069e+01] [ 4.17567377e-03 -1.03274584e-04 9.99991277e-01 4.05951205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.43, Y:21.06, Z:0.41 [[ 8.94658123e-01 -4.46735456e-01 -3.77824745e-03 8.74284748e+01] [ 4.46731916e-01 8.94666096e-01 -1.78094438e-03 2.10613885e+01] [ 4.17588090e-03 -9.45273707e-05 9.99991277e-01 4.07683199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.48, Y:21.09, Z:0.41 [[ 8.94853081e-01 -4.46344813e-01 -3.77769575e-03 8.74805234e+01] [ 4.46341265e-01 8.94861050e-01 -1.78211387e-03 2.10872277e+01] [ 4.17595007e-03 -9.14114131e-05 9.99991277e-01 4.07829130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.53, Y:21.11, Z:0.41 [[ 8.95025957e-01 -4.45998058e-01 -3.77732746e-03 8.75325582e+01] [ 4.45994503e-01 8.95033924e-01 -1.78289414e-03 2.11121785e+01] [ 4.17600354e-03 -8.89307501e-05 9.99991277e-01 4.09831458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.58, Y:21.14, Z:0.41 [[ 8.94941732e-01 -4.46167047e-01 -3.77669997e-03 8.75842118e+01] [ 4.46163488e-01 8.94949696e-01 -1.78422236e-03 2.11381971e+01] [ 4.17601771e-03 -8.82505851e-05 9.99991277e-01 4.11381984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.64, Y:21.16, Z:0.41 [[ 8.93882008e-01 -4.48286396e-01 -3.77651180e-03 8.76359170e+01] [ 4.48282854e-01 8.93889981e-01 -1.78462056e-03 2.11648247e+01] [ 4.17580718e-03 -9.77052833e-05 9.99991277e-01 4.11934732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.69, Y:21.19, Z:0.41 [[ 8.92006792e-01 -4.52006222e-01 -3.77594850e-03 8.76880065e+01] [ 4.52002708e-01 8.92014777e-01 -1.78581160e-03 2.11905755e+01] [ 4.17539982e-03 -1.13782871e-04 9.99991277e-01 4.11363858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.74, Y:21.22, Z:0.41 [[ 8.90304627e-01 -4.55349775e-01 -3.77538988e-03 8.77397434e+01] [ 4.55346286e-01 8.90312623e-01 -1.78699181e-03 2.12162029e+01] [ 4.17498359e-03 -1.28142688e-04 9.99991277e-01 4.10841140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.79, Y:21.24, Z:0.41 [[ 8.88779996e-01 -4.58318523e-01 -3.77481456e-03 8.77913497e+01] [ 4.58315057e-01 8.88788001e-01 -1.78820627e-03 2.12420415e+01] [ 4.17457795e-03 -1.40732385e-04 9.99991277e-01 4.10103329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.84, Y:21.27, Z:0.41 [[ 8.88019732e-01 -4.59789855e-01 -3.77423481e-03 8.78420438e+01] [ 4.59786396e-01 8.88027740e-01 -1.78942909e-03 2.12681894e+01] [ 4.17438655e-03 -1.46293481e-04 9.99991277e-01 4.10263587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.89, Y:21.29, Z:0.41 [[ 8.88602429e-01 -4.58662709e-01 -3.77396463e-03 8.78928903e+01] [ 4.58659237e-01 8.88610432e-01 -1.78999871e-03 2.12939456e+01] [ 4.17459000e-03 -1.40366538e-04 9.99991277e-01 4.09810615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.94, Y:21.32, Z:0.41 [[ 8.90504482e-01 -4.54958820e-01 -3.77360295e-03 8.79447531e+01] [ 4.54955312e-01 8.90512469e-01 -1.79076088e-03 2.13211729e+01] [ 4.17516293e-03 -1.22140122e-04 9.99991277e-01 4.11214754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.00, Y:21.35, Z:0.41 [[ 8.92664610e-01 -4.50705732e-01 -3.77306569e-03 8.79962349e+01] [ 4.50702182e-01 8.92672579e-01 -1.79189214e-03 2.13483278e+01] [ 4.17572834e-03 -1.00970235e-04 9.99991277e-01 4.11638451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.05, Y:21.37, Z:0.41 [[ 8.96085257e-01 -4.43865950e-01 -3.77246417e-03 8.80480140e+01] [ 4.43862333e-01 8.96093195e-01 -1.79315763e-03 2.13749568e+01] [ 4.17640109e-03 -6.76326287e-05 9.99991277e-01 4.13493215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.10, Y:21.40, Z:0.41 [[ 8.96730928e-01 -4.42560071e-01 -3.77186222e-03 8.80996531e+01] [ 4.42556437e-01 8.96738858e-01 -1.79442292e-03 2.14016940e+01] [ 4.17651536e-03 -6.01473750e-05 9.99991277e-01 4.12014415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.15, Y:21.43, Z:0.41 [[ 8.97858526e-01 -4.40267924e-01 -3.77126542e-03 8.81527234e+01] [ 4.40264265e-01 8.97866445e-01 -1.79567633e-03 2.14262889e+01] [ 4.17667136e-03 -4.80900928e-05 9.99991277e-01 4.14362195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.20, Y:21.45, Z:0.42 [[ 8.97066741e-01 -4.41878993e-01 -3.77063727e-03 8.82040572e+01] [ 4.41875342e-01 8.97074664e-01 -1.79699437e-03 2.14501131e+01] [ 4.17659722e-03 -5.41277486e-05 9.99991277e-01 4.15089515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.26, Y:21.47, Z:0.42 [[ 8.96142064e-01 -4.43751267e-01 -3.77025872e-03 8.82572157e+01] [ 4.43747629e-01 8.96149993e-01 -1.79778826e-03 2.14746386e+01] [ 4.17648814e-03 -6.19696872e-05 9.99991277e-01 4.15156189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.31, Y:21.50, Z:0.42 [[ 8.94277769e-01 -4.47496436e-01 -3.76994159e-03 8.83101962e+01] [ 4.47492829e-01 8.94285711e-01 -1.79845303e-03 2.14976442e+01] [ 4.17620622e-03 -7.87052629e-05 9.99991277e-01 4.15238720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.36, Y:21.52, Z:0.41 [[ 8.91961618e-01 -4.52095414e-01 -3.76935810e-03 8.83630901e+01] [ 4.52091843e-01 8.91969577e-01 -1.79967513e-03 2.15210463e+01] [ 4.17577762e-03 -9.88549089e-05 9.99991277e-01 4.14269032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.42, Y:21.54, Z:0.41 [[ 8.90499134e-01 -4.54969327e-01 -3.76877223e-03 8.84163574e+01] [ 4.54965776e-01 8.90507102e-01 -1.80090118e-03 2.15446479e+01] [ 4.17547324e-03 -1.10961438e-04 9.99991277e-01 4.13186197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.542755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:88.47, Y:21.57, Z:0.41 [[ 8.89858233e-01 -4.56221572e-01 -3.76859244e-03 8.84699005e+01] [ 4.56218031e-01 8.89866206e-01 -1.80127733e-03 2.15683866e+01] [ 4.17532463e-03 -1.16418356e-04 9.99991277e-01 4.13137203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.52, Y:21.59, Z:0.41 [[ 8.89189018e-01 -4.57524526e-01 -3.76802914e-03 8.85221881e+01] [ 4.57520991e-01 8.89196994e-01 -1.80245492e-03 2.15906932e+01] [ 4.17518751e-03 -1.21229310e-04 9.99991277e-01 4.12752154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.662755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:88.58, Y:21.62, Z:0.41 [[ 8.89790563e-01 -4.56353547e-01 -3.76764994e-03 8.85762346e+01] [ 4.56349998e-01 8.89798532e-01 -1.80324720e-03 2.16151447e+01] [ 4.17536764e-03 -1.14854706e-04 9.99991277e-01 4.14066069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.722755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:88.63, Y:21.64, Z:0.41 [[ 8.90657575e-01 -4.54659096e-01 -3.76716003e-03 8.86278329e+01] [ 4.54655528e-01 8.90665535e-01 -1.80427010e-03 2.16387160e+01] [ 4.17560741e-03 -1.05773302e-04 9.99991277e-01 4.14746540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78275509599999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:88.68, Y:21.66, Z:0.42 [[ 8.92284761e-01 -4.51457324e-01 -3.76678245e-03 8.86811312e+01] [ 4.51453725e-01 8.92292708e-01 -1.80505802e-03 2.16619462e+01] [ 4.17597918e-03 -8.99022084e-05 9.99991277e-01 4.15684647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84275509599999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:88.73, Y:21.69, Z:0.41 [[ 8.94561737e-01 -4.46928530e-01 -3.76661390e-03 8.87342204e+01] [ 4.46924889e-01 8.94569664e-01 -1.80540967e-03 2.16855779e+01] [ 4.17638762e-03 -6.83430886e-05 9.99991277e-01 4.14456838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.79, Y:21.71, Z:0.42 [[ 8.95153075e-01 -4.45742962e-01 -3.76603988e-03 8.87873150e+01] [ 4.45739305e-01 8.95160995e-01 -1.80660627e-03 2.17107822e+01] [ 4.17649404e-03 -6.14828391e-05 9.99991277e-01 4.19149172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.962755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:88.84, Y:21.73, Z:0.42 [[ 8.95867828e-01 -4.44304687e-01 -3.76548780e-03 8.88408488e+01] [ 4.44301013e-01 8.95875740e-01 -1.80775623e-03 2.17345146e+01] [ 4.17660374e-03 -5.34993908e-05 9.99991277e-01 4.21632764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.022755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:88.89, Y:21.76, Z:0.42 [[ 8.96096568e-01 -4.43843178e-01 -3.76499348e-03 8.88941587e+01] [ 4.43839495e-01 8.96104476e-01 -1.80878515e-03 2.17586642e+01] [ 4.17664446e-03 -5.02066421e-05 9.99991277e-01 4.21884497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.95, Y:21.78, Z:0.42 [[ 8.95016322e-01 -4.46017503e-01 -3.76439016e-03 8.89462339e+01] [ 4.46013834e-01 8.95024236e-01 -1.81003989e-03 2.17829894e+01] [ 4.17652990e-03 -5.89548454e-05 9.99991277e-01 4.21991188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14275509599999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:89.00, Y:21.81, Z:0.42 [[ 8.93641056e-01 -4.48766636e-01 -3.76412683e-03 8.89993045e+01] [ 4.48762989e-01 8.93648981e-01 -1.81058735e-03 2.18066901e+01] [ 4.17633930e-03 -7.11856126e-05 9.99991277e-01 4.21559969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.05, Y:21.83, Z:0.42 [[ 8.92374234e-01 -4.51280470e-01 -3.76357913e-03 8.90510740e+01] [ 4.51276841e-01 8.92382166e-01 -1.81172512e-03 2.18304717e+01] [ 4.17614706e-03 -8.16792877e-05 9.99991277e-01 4.20214573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.10, Y:21.85, Z:0.42 [[ 8.91580058e-01 -4.52847477e-01 -3.76334406e-03 8.91037673e+01] [ 4.52843859e-01 8.91587996e-01 -1.81221328e-03 2.18546606e+01] [ 4.17600860e-03 -8.84740293e-05 9.99991277e-01 4.18842914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.16, Y:21.88, Z:0.42 [[ 8.91439046e-01 -4.53125003e-01 -3.76281153e-03 8.91556882e+01] [ 4.53121383e-01 8.91446983e-01 -1.81331832e-03 2.18776897e+01] [ 4.17600686e-03 -8.85476137e-05 9.99991277e-01 4.18488150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.21, Y:21.90, Z:0.42 [[ 8.91391648e-01 -4.53218240e-01 -3.76258283e-03 8.92083587e+01] [ 4.53214619e-01 8.91399584e-01 -1.81379274e-03 2.19021424e+01] [ 4.17600873e-03 -8.84578455e-05 9.99991277e-01 4.18665368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.26, Y:21.92, Z:0.42 [[ 8.92491878e-01 -4.51047775e-01 -3.76205735e-03 8.92630829e+01] [ 4.51044130e-01 8.92499803e-01 -1.81488201e-03 2.19234221e+01] [ 4.17623394e-03 -7.70864331e-05 9.99991277e-01 4.19505294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.31, Y:21.95, Z:0.42 [[ 8.91471736e-01 -4.53060697e-01 -3.76155886e-03 8.93143812e+01] [ 4.53057066e-01 8.91479668e-01 -1.81591460e-03 2.19495585e+01] [ 4.17607278e-03 -8.53642732e-05 9.99991277e-01 4.19823238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.37, Y:21.97, Z:0.42 [[ 8.91357508e-01 -4.53285391e-01 -3.76138405e-03 8.93675743e+01] [ 4.53281760e-01 8.91365440e-01 -1.81627662e-03 2.19732972e+01] [ 4.17605940e-03 -8.60149860e-05 9.99991277e-01 4.21426855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.42, Y:22.00, Z:0.42 [[ 8.91081263e-01 -4.53828205e-01 -3.76083413e-03 8.94211619e+01] [ 4.53824574e-01 8.91089195e-01 -1.81741459e-03 2.19958534e+01] [ 4.17603266e-03 -8.72948604e-05 9.99991277e-01 4.23679776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.47, Y:22.02, Z:0.42 [[ 8.91026673e-01 -4.53935380e-01 -3.76026632e-03 8.94742900e+01] [ 4.53931745e-01 8.91034603e-01 -1.81858864e-03 2.20196287e+01] [ 4.17604913e-03 -8.64932742e-05 9.99991277e-01 4.24677770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.53, Y:22.04, Z:0.43 [[ 8.91168532e-01 -4.53656822e-01 -3.75969144e-03 8.95272249e+01] [ 4.53653180e-01 8.91176459e-01 -1.81977634e-03 2.20437187e+01] [ 4.17610246e-03 -8.38685667e-05 9.99991277e-01 4.25369070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.58, Y:22.06, Z:0.43 [[ 8.93301021e-01 -4.49443161e-01 -3.75912459e-03 8.95840082e+01] [ 4.49439476e-01 8.93308928e-01 -1.82094654e-03 2.20618863e+01] [ 4.17647153e-03 -6.28455811e-05 9.99991277e-01 4.27791215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.64, Y:22.09, Z:0.42 [[ 8.92183762e-01 -4.51656957e-01 -3.75861514e-03 8.96353282e+01] [ 4.51653288e-01 8.92191677e-01 -1.82199748e-03 2.20887490e+01] [ 4.17632299e-03 -7.20343172e-05 9.99991277e-01 4.22779231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.69, Y:22.12, Z:0.42 [[ 8.91476094e-01 -4.53052146e-01 -3.75843652e-03 8.96850086e+01] [ 4.53048488e-01 8.91484014e-01 -1.82236588e-03 2.21191973e+01] [ 4.17621285e-03 -7.81583663e-05 9.99991277e-01 4.23200844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.74, Y:22.14, Z:0.42 [[ 8.91418473e-01 -4.53165514e-01 -3.75792393e-03 8.97376358e+01] [ 4.53161853e-01 8.91426391e-01 -1.82342227e-03 2.21444183e+01] [ 4.17622466e-03 -7.75154723e-05 9.99991277e-01 4.24336629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.79, Y:22.17, Z:0.42 [[ 8.91357040e-01 -4.53286340e-01 -3.75771814e-03 8.97877597e+01] [ 4.53282678e-01 8.91364958e-01 -1.82384629e-03 2.21713857e+01] [ 4.17622288e-03 -7.76103111e-05 9.99991277e-01 4.23716446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.84, Y:22.20, Z:0.42 [[ 8.91304097e-01 -4.53390437e-01 -3.75747184e-03 8.98397074e+01] [ 4.53386773e-01 8.91312014e-01 -1.82435357e-03 2.21976508e+01] [ 4.17622425e-03 -7.75342172e-05 9.99991277e-01 4.23349636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.89, Y:22.22, Z:0.43 [[ 8.90034674e-01 -4.55877357e-01 -3.75688713e-03 8.98909265e+01] [ 4.55873710e-01 8.90042599e-01 -1.82555687e-03 2.22247028e+01] [ 4.17601962e-03 -8.78571604e-05 9.99991277e-01 4.25123274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.94, Y:22.25, Z:0.43 [[ 8.89361452e-01 -4.57189346e-01 -3.75624893e-03 8.99406752e+01] [ 4.57185705e-01 8.89369380e-01 -1.82686908e-03 2.22517985e+01] [ 4.17591786e-03 -9.25563780e-05 9.99991277e-01 4.25448100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.99, Y:22.28, Z:0.43 [[ 8.90055970e-01 -4.55835787e-01 -3.75582643e-03 8.99945288e+01] [ 4.55832130e-01 8.90063890e-01 -1.82773726e-03 2.22758325e+01] [ 4.17607354e-03 -8.52379024e-05 9.99991277e-01 4.29126564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.04, Y:22.31, Z:0.43 [[ 8.88407327e-01 -4.59040651e-01 -3.75531845e-03 9.00444730e+01] [ 4.59037019e-01 8.88415258e-01 -1.82878039e-03 2.23057892e+01] [ 4.17576675e-03 -9.91282886e-05 9.99991277e-01 4.27464862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.10, Y:22.33, Z:0.43 [[ 8.87464860e-01 -4.60860091e-01 -3.75478833e-03 9.00955443e+01] [ 4.60856470e-01 8.87472797e-01 -1.82986816e-03 2.23328656e+01] [ 4.17558571e-03 -1.06474805e-04 9.99991277e-01 4.29054673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.15, Y:22.36, Z:0.43 [[ 8.87779968e-01 -4.60252795e-01 -3.75417763e-03 9.01483829e+01] [ 4.60249164e-01 8.87787899e-01 -1.83112023e-03 2.23568379e+01] [ 4.17569167e-03 -1.02225256e-04 9.99991277e-01 4.29389954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.20, Y:22.39, Z:0.43 [[ 8.86540139e-01 -4.62636458e-01 -3.75357325e-03 9.01986947e+01] [ 4.62632843e-01 8.86548078e-01 -1.83235829e-03 2.23864845e+01] [ 4.17543890e-03 -1.12067089e-04 9.99991277e-01 4.29990781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.25, Y:22.41, Z:0.43 [[ 8.87084953e-01 -4.61590943e-01 -3.75338939e-03 9.02505473e+01] [ 4.61587317e-01 8.87092887e-01 -1.83273483e-03 2.24137445e+01] [ 4.17557883e-03 -1.06725453e-04 9.99991277e-01 4.30937323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.30, Y:22.44, Z:0.43 [[ 8.88378714e-01 -4.59096043e-01 -3.75272686e-03 9.03007613e+01] [ 4.59092389e-01 8.88386636e-01 -1.83409043e-03 2.24415189e+01] [ 4.17589605e-03 -9.34814463e-05 9.99991277e-01 4.29616676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.35, Y:22.47, Z:0.43 [[ 8.89090110e-01 -4.57716829e-01 -3.75232831e-03 9.03523023e+01] [ 4.57713159e-01 8.89098024e-01 -1.83490546e-03 2.24680247e+01] [ 4.17605479e-03 -8.60937447e-05 9.99991277e-01 4.27837495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.40, Y:22.49, Z:0.43 [[ 8.90782306e-01 -4.54414797e-01 -3.75172887e-03 9.04047690e+01] [ 4.54411093e-01 8.90790204e-01 -1.83613028e-03 2.24937498e+01] [ 4.17636809e-03 -6.92348477e-05 9.99991277e-01 4.30492996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.46, Y:22.52, Z:0.43 [[ 8.93196554e-01 -4.49650804e-01 -3.75110652e-03 9.04598444e+01] [ 4.49647052e-01 8.93204429e-01 -1.83740082e-03 2.25158297e+01] [ 4.17669372e-03 -4.55139112e-05 9.99991277e-01 4.33185990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.51, Y:22.55, Z:0.43 [[ 8.92882731e-01 -4.50273652e-01 -3.75060273e-03 9.05096196e+01] [ 4.50269902e-01 8.92890607e-01 -1.83842861e-03 2.25471519e+01] [ 4.17667391e-03 -4.72823623e-05 9.99991277e-01 4.31345503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.56, Y:22.57, Z:0.43 [[ 8.94250506e-01 -4.47551081e-01 -3.75010412e-03 9.05631043e+01] [ 4.47547302e-01 8.94258368e-01 -1.83944513e-03 2.25688831e+01] [ 4.17680765e-03 -3.34242485e-05 9.99991277e-01 4.31876988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.61, Y:22.60, Z:0.43 [[ 8.93180264e-01 -4.49683175e-01 -3.74950363e-03 9.06137370e+01] [ 4.49679410e-01 8.93188133e-01 -1.84066836e-03 2.25963551e+01] [ 4.17672974e-03 -4.20259234e-05 9.99991277e-01 4.32721224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.67, Y:22.62, Z:0.43 [[ 8.93398160e-01 -4.49250120e-01 -3.74931913e-03 9.06665301e+01] [ 4.49246349e-01 8.93406027e-01 -1.84104409e-03 2.26197275e+01] [ 4.17675359e-03 -3.95825285e-05 9.99991277e-01 4.33726883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.72, Y:22.65, Z:0.43 [[ 8.91764031e-01 -4.52485205e-01 -3.74873764e-03 9.07168448e+01] [ 4.52481458e-01 8.91771908e-01 -1.84222736e-03 2.26465344e+01] [ 4.17659954e-03 -5.34021811e-05 9.99991277e-01 4.32894397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.77, Y:22.67, Z:0.43 [[ 8.90868130e-01 -4.54246544e-01 -3.74848776e-03 9.07697141e+01] [ 4.54242811e-01 8.90876014e-01 -1.84273568e-03 2.26715559e+01] [ 4.17649415e-03 -6.10891280e-05 9.99991277e-01 4.32988577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.82, Y:22.70, Z:0.43 [[ 8.88941303e-01 -4.58005799e-01 -3.74792577e-03 9.08205013e+01] [ 4.58002094e-01 8.88949201e-01 -1.84387800e-03 2.26965032e+01] [ 4.17622243e-03 -7.74585399e-05 9.99991277e-01 4.32897854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.87, Y:22.72, Z:0.44 [[ 8.88567313e-01 -4.58730951e-01 -3.74768469e-03 9.08735201e+01] [ 4.58727250e-01 8.88575213e-01 -1.84436786e-03 2.27213014e+01] [ 4.17616834e-03 -8.03200997e-05 9.99991277e-01 4.36498837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.92, Y:22.75, Z:0.43 [[ 8.85508463e-01 -4.64608136e-01 -3.74713840e-03 9.09243491e+01] [ 4.64604483e-01 8.85516385e-01 -1.84547706e-03 2.27484847e+01] [ 4.17557611e-03 -1.06751744e-04 9.99991277e-01 4.33753274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.98, Y:22.77, Z:0.43 [[ 8.83149018e-01 -4.69077576e-01 -3.74697024e-03 9.09755732e+01] [ 4.69073961e-01 8.83156958e-01 -1.84581842e-03 2.27726275e+01] [ 4.17499487e-03 -1.27473453e-04 9.99991277e-01 4.34536741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.03, Y:22.80, Z:0.43 [[ 8.81561266e-01 -4.72054760e-01 -3.74674008e-03 9.10272150e+01] [ 4.72051170e-01 8.81569217e-01 -1.84628550e-03 2.28002522e+01] [ 4.17455857e-03 -1.41039258e-04 9.99991277e-01 4.31850717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.08, Y:22.83, Z:0.43 [[ 8.82135578e-01 -4.70980667e-01 -3.74613846e-03 9.10797093e+01] [ 4.70977063e-01 8.82143522e-01 -1.84750539e-03 2.28260059e+01] [ 4.17477109e-03 -1.34595054e-04 9.99991277e-01 4.32760254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.13, Y:22.85, Z:0.43 [[ 8.84047063e-01 -4.67382884e-01 -3.74554509e-03 9.11305686e+01] [ 4.67379243e-01 8.84054990e-01 -1.84870758e-03 2.28518939e+01] [ 4.17532211e-03 -1.16245521e-04 9.99991277e-01 4.31867474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.18, Y:22.88, Z:0.43 [[ 8.85705767e-01 -4.64231911e-01 -3.74529070e-03 9.11818141e+01] [ 4.64228239e-01 8.85713680e-01 -1.84922280e-03 2.28767894e+01] [ 4.17572344e-03 -1.00802412e-04 9.99991277e-01 4.31559569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.23, Y:22.90, Z:0.43 [[ 8.87610841e-01 -4.60578951e-01 -3.74504072e-03 9.12347483e+01] [ 4.60575244e-01 8.87618737e-01 -1.84972892e-03 2.29018897e+01] [ 4.17611452e-03 -8.30336010e-05 9.99991277e-01 4.30618008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78275509599999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:91.29, Y:22.93, Z:0.43 [[ 8.88408905e-01 -4.59037685e-01 -3.74445617e-03 9.12860512e+01] [ 4.59033960e-01 8.88416793e-01 -1.85091149e-03 2.29263637e+01] [ 4.17627587e-03 -7.44662926e-05 9.99991277e-01 4.30353438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.34, Y:22.95, Z:0.43 [[ 8.88147090e-01 -4.59544045e-01 -3.74406260e-03 9.13387376e+01] [ 4.59540320e-01 8.88154978e-01 -1.85170726e-03 2.29512563e+01] [ 4.17624888e-03 -7.59593081e-05 9.99991277e-01 4.30172723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.39, Y:22.97, Z:0.43 [[ 8.88735835e-01 -4.58404409e-01 -3.74346032e-03 9.13915969e+01] [ 4.58400669e-01 8.88743716e-01 -1.85292404e-03 2.29732285e+01] [ 4.17636539e-03 -6.92447200e-05 9.99991277e-01 4.31469307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.44, Y:23.00, Z:0.43 [[ 8.88659522e-01 -4.58552334e-01 -3.74320025e-03 9.14428859e+01] [ 4.58548593e-01 8.88667402e-01 -1.85344929e-03 2.30009372e+01] [ 4.17636354e-03 -6.93538527e-05 9.99991277e-01 4.32041781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.49, Y:23.03, Z:0.43 [[ 8.88154372e-01 -4.59529982e-01 -3.74256190e-03 9.14927563e+01] [ 4.59526244e-01 8.88162255e-01 -1.85473738e-03 2.30279395e+01] [ 4.17630965e-03 -7.25122996e-05 9.99991277e-01 4.30100395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.54, Y:23.06, Z:0.43 [[ 8.87234087e-01 -4.61304315e-01 -3.74213233e-03 9.15440625e+01] [ 4.61300590e-01 8.87241975e-01 -1.85560366e-03 2.30556453e+01] [ 4.17617486e-03 -7.98930337e-05 9.99991277e-01 4.28207009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.60, Y:23.08, Z:0.43 [[ 8.85750238e-01 -4.64147085e-01 -3.74153108e-03 9.15951393e+01] [ 4.64143380e-01 8.85758136e-01 -1.85681521e-03 2.30833095e+01] [ 4.17592696e-03 -9.19323719e-05 9.99991277e-01 4.26753214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.65, Y:23.11, Z:0.43 [[ 8.84528979e-01 -4.66470247e-01 -3.74092884e-03 9.16465789e+01] [ 4.66466558e-01 8.84536884e-01 -1.85802774e-03 2.31098855e+01] [ 4.17570420e-03 -1.01538816e-04 9.99991277e-01 4.26524569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.70, Y:23.14, Z:0.43 [[ 8.82900650e-01 -4.69544941e-01 -3.74032866e-03 9.16966511e+01] [ 4.69541274e-01 8.82908565e-01 -1.85923517e-03 2.31376307e+01] [ 4.17536268e-03 -1.14718747e-04 9.99991277e-01 4.26644592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.75, Y:23.17, Z:0.43 [[ 8.82364186e-01 -4.70552287e-01 -3.74007140e-03 9.17468075e+01] [ 4.70548627e-01 8.82372104e-01 -1.85975254e-03 2.31663488e+01] [ 4.17524548e-03 -1.18906429e-04 9.99991277e-01 4.27624523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.80, Y:23.19, Z:0.43 [[ 8.82626306e-01 -4.70060440e-01 -3.73989247e-03 9.17981465e+01] [ 4.70056774e-01 8.82634222e-01 -1.86011228e-03 2.31939165e+01] [ 4.17532228e-03 -1.16177763e-04 9.99991277e-01 4.29579933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.85, Y:23.22, Z:0.43 [[ 8.83917825e-01 -4.67627305e-01 -3.73931696e-03 9.18488225e+01] [ 4.67623612e-01 8.83925728e-01 -1.86126849e-03 2.32228572e+01] [ 4.17565843e-03 -1.03384508e-04 9.99991277e-01 4.31432652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.90, Y:23.25, Z:0.43 [[ 8.85267037e-01 -4.65068055e-01 -3.73872050e-03 9.18985207e+01] [ 4.65064334e-01 8.85274927e-01 -1.86246583e-03 2.32506904e+01] [ 4.17596888e-03 -8.99659553e-05 9.99991277e-01 4.32209063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.95, Y:23.28, Z:0.43 [[ 8.87064588e-01 -4.61630198e-01 -3.73846460e-03 9.19487404e+01] [ 4.61626445e-01 8.87072463e-01 -1.86297934e-03 2.32809735e+01] [ 4.17629652e-03 -7.31911264e-05 9.99991277e-01 4.32937310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.00, Y:23.31, Z:0.43 [[ 8.87683819e-01 -4.60438341e-01 -3.73786942e-03 9.19981604e+01] [ 4.60434572e-01 8.87691686e-01 -1.86417275e-03 2.33102100e+01] [ 4.17641221e-03 -6.62483185e-05 9.99991277e-01 4.33886368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.682755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:92.05, Y:23.33, Z:0.44 [[ 8.89352904e-01 -4.57206127e-01 -3.73761390e-03 9.20534552e+01] [ 4.57202327e-01 8.89360757e-01 -1.86468490e-03 2.33319254e+01] [ 4.17663249e-03 -5.04828420e-05 9.99991277e-01 4.41526111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.10, Y:23.36, Z:0.43 [[ 8.84991476e-01 -4.65592227e-01 -3.73706470e-03 9.21014900e+01] [ 4.65588497e-01 8.84999362e-01 -1.86578493e-03 2.33648884e+01] [ 4.17599483e-03 -8.87305788e-05 9.99991277e-01 4.34241684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.15, Y:23.39, Z:0.43 [[ 8.82494360e-01 -4.70308133e-01 -3.73687178e-03 9.21528752e+01] [ 4.70304444e-01 8.82502265e-01 -1.86617124e-03 2.33912205e+01] [ 4.17547332e-03 -1.10581810e-04 9.99991277e-01 4.33542572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.20, Y:23.42, Z:0.43 [[ 8.80733454e-01 -4.73597533e-01 -3.73628325e-03 9.22048163e+01] [ 4.73593868e-01 8.80741370e-01 -1.86734880e-03 2.34180600e+01] [ 4.17507101e-03 -1.24844278e-04 9.99991277e-01 4.32514832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.26, Y:23.44, Z:0.43 [[ 8.78924064e-01 -4.76947099e-01 -3.73568820e-03 9.22567465e+01] [ 4.76943459e-01 8.78931991e-01 -1.86853846e-03 2.34448890e+01] [ 4.17460986e-03 -1.39408630e-04 9.99991277e-01 4.32298094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.31, Y:23.46, Z:0.44 [[ 8.81009329e-01 -4.73084148e-01 -3.73502756e-03 9.23128295e+01] [ 4.73080468e-01 8.81017238e-01 -1.86985808e-03 2.34649510e+01] [ 4.17522388e-03 -1.19606172e-04 9.99991277e-01 4.38832196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.36, Y:23.49, Z:0.44 [[ 8.80097804e-01 -4.74777748e-01 -3.73447727e-03 9.23639981e+01] [ 4.74774078e-01 8.80105718e-01 -1.87095647e-03 2.34927207e+01] [ 4.17502330e-03 -1.26408322e-04 9.99991277e-01 4.38489818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.42, Y:23.52, Z:0.44 [[ 8.79826102e-01 -4.75281063e-01 -3.73385169e-03 9.24158826e+01] [ 4.75277393e-01 8.79834015e-01 -1.87220411e-03 2.35196647e+01] [ 4.17499288e-03 -1.27401251e-04 9.99991277e-01 4.36614237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.47, Y:23.55, Z:0.43 [[ 8.78545602e-01 -4.77643893e-01 -3.73331170e-03 9.24671042e+01] [ 4.77640239e-01 8.78553523e-01 -1.87328027e-03 2.35490649e+01] [ 4.17467502e-03 -1.37417745e-04 9.99991277e-01 4.34429284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.222755096 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:92.52, Y:23.58, Z:0.43 [[ 8.77816460e-01 -4.78982597e-01 -3.73276897e-03 9.25165098e+01] [ 4.78978951e-01 8.77824385e-01 -1.87436110e-03 2.35775736e+01] [ 4.17450198e-03 -1.42572741e-04 9.99991277e-01 4.32408459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.57, Y:23.60, Z:0.43 [[ 8.78271873e-01 -4.78147034e-01 -3.73247776e-03 9.25683649e+01] [ 4.78143378e-01 8.78279793e-01 -1.87494083e-03 2.36038640e+01] [ 4.17465719e-03 -1.37951731e-04 9.99991277e-01 4.34317546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.62, Y:23.63, Z:0.43 [[ 8.78797451e-01 -4.77180378e-01 -3.73177700e-03 9.26196909e+01] [ 4.77176707e-01 8.78805365e-01 -1.87633453e-03 2.36317357e+01] [ 4.17485567e-03 -1.31799058e-04 9.99991277e-01 4.33556391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.67, Y:23.66, Z:0.43 [[ 8.79914891e-01 -4.75116684e-01 -3.73117664e-03 9.26692178e+01] [ 4.75112989e-01 8.79922793e-01 -1.87752763e-03 2.36596001e+01] [ 4.17519207e-03 -1.20665966e-04 9.99991277e-01 4.30885726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.72, Y:23.68, Z:0.43 [[ 8.82454359e-01 -4.70383232e-01 -3.73092021e-03 9.27220567e+01] [ 4.70379493e-01 8.82462240e-01 -1.87803705e-03 2.36848093e+01] [ 4.17579334e-03 -9.76663776e-05 9.99991277e-01 4.34895709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.77, Y:23.72, Z:0.43 [[ 8.82446502e-01 -4.70397973e-01 -3.73056051e-03 9.27715058e+01] [ 4.70394231e-01 8.82454383e-01 -1.87875130e-03 2.37154861e+01] [ 4.17581027e-03 -9.69366283e-05 9.99991277e-01 4.31657193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.83, Y:23.74, Z:0.44 [[ 8.84343007e-01 -4.66822808e-01 -3.72991010e-03 9.28262000e+01] [ 4.66819028e-01 8.84350869e-01 -1.88004168e-03 2.37383584e+01] [ 4.17619557e-03 -7.85912935e-05 9.99991277e-01 4.38339097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.88, Y:23.77, Z:0.44 [[ 8.81718456e-01 -4.71761229e-01 -3.72929343e-03 9.28758776e+01] [ 4.71757489e-01 8.81726337e-01 -1.88126412e-03 2.37692564e+01] [ 4.17572371e-03 -1.00576812e-04 9.99991277e-01 4.35270821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.93, Y:23.80, Z:0.44 [[ 8.80905366e-01 -4.73277751e-01 -3.72909922e-03 9.29278600e+01] [ 4.73274022e-01 8.80913253e-01 -1.88164902e-03 2.37954613e+01] [ 4.17555554e-03 -1.07331070e-04 9.99991277e-01 4.35553405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.98, Y:23.82, Z:0.43 [[ 8.78069648e-01 -4.78518330e-01 -3.72851112e-03 9.29793800e+01] [ 4.78514644e-01 8.78077554e-01 -1.88281361e-03 2.38228571e+01] [ 4.17488275e-03 -1.30905688e-04 9.99991277e-01 4.34491604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.03, Y:23.85, Z:0.43 [[ 8.76642537e-01 -4.81127805e-01 -3.72787051e-03 9.30301093e+01] [ 4.81124137e-01 8.76650452e-01 -1.88408113e-03 2.38491086e+01] [ 4.17452319e-03 -1.41902825e-04 9.99991277e-01 4.34028282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.08, Y:23.88, Z:0.43 [[ 8.75587513e-01 -4.83045145e-01 -3.72759081e-03 9.30815740e+01] [ 4.83041492e-01 8.75595435e-01 -1.88463436e-03 2.38764378e+01] [ 4.17422497e-03 -1.50418718e-04 9.99991277e-01 4.33074078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.13, Y:23.90, Z:0.43 [[ 8.75415195e-01 -4.83357368e-01 -3.72719060e-03 9.31320847e+01] [ 4.83353714e-01 8.75423116e-01 -1.88542550e-03 2.39026257e+01] [ 4.17420312e-03 -1.51021295e-04 9.99991277e-01 4.31252876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.18, Y:23.93, Z:0.43 [[ 8.75987439e-01 -4.82319519e-01 -3.72675072e-03 9.31840765e+01] [ 4.82315853e-01 8.75995354e-01 -1.88629457e-03 2.39283881e+01] [ 4.17441301e-03 -1.45100605e-04 9.99991277e-01 4.29122577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.24, Y:23.95, Z:0.43 [[ 8.76956409e-01 -4.80555483e-01 -3.72611975e-03 9.32362366e+01] [ 4.80551795e-01 8.76964315e-01 -1.88754016e-03 2.39545147e+01] [ 4.17474182e-03 -1.35303094e-04 9.99991277e-01 4.29559855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.29, Y:23.98, Z:0.43 [[ 8.78097552e-01 -4.78467146e-01 -3.72548899e-03 9.32883542e+01] [ 4.78463434e-01 8.78105446e-01 -1.88878427e-03 2.39801437e+01] [ 4.17509339e-03 -1.23973411e-04 9.99991277e-01 4.34521339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.34, Y:24.01, Z:0.44 [[ 8.78767877e-01 -4.77234889e-01 -3.72531412e-03 9.33408930e+01] [ 4.77231165e-01 8.78775766e-01 -1.88912912e-03 2.40050895e+01] [ 4.17527409e-03 -1.17730009e-04 9.99991277e-01 4.35935976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.39, Y:24.03, Z:0.44 [[ 8.79013397e-01 -4.76782522e-01 -3.72471167e-03 9.33927894e+01] [ 4.76778789e-01 8.79021281e-01 -1.89031619e-03 2.40307440e+01] [ 4.17537055e-03 -1.14250260e-04 9.99991277e-01 4.36135390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.44, Y:24.06, Z:0.44 [[ 8.79482602e-01 -4.75916468e-01 -3.72410574e-03 9.34440057e+01] [ 4.75912721e-01 8.79490480e-01 -1.89150918e-03 2.40562709e+01] [ 4.17551591e-03 -1.08799880e-04 9.99991277e-01 4.35493605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.50, Y:24.08, Z:0.43 [[ 8.79666937e-01 -4.75575664e-01 -3.72384929e-03 9.34962216e+01] [ 4.75571913e-01 8.79674813e-01 -1.89201393e-03 2.40819615e+01] [ 4.17557221e-03 -1.06616028e-04 9.99991277e-01 4.34859422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.55, Y:24.11, Z:0.43 [[ 8.79877447e-01 -4.75186086e-01 -3.72327395e-03 9.35480535e+01] [ 4.75182326e-01 8.79885318e-01 -1.89314544e-03 2.41068052e+01] [ 4.17565046e-03 -1.03497999e-04 9.99991277e-01 4.34251142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.60, Y:24.13, Z:0.44 [[ 8.80767035e-01 -4.73535183e-01 -3.72302752e-03 9.36038520e+01] [ 4.73531406e-01 8.80774898e-01 -1.89362996e-03 2.41277824e+01] [ 4.17584959e-03 -9.51236132e-05 9.99991277e-01 4.37472317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.65, Y:24.16, Z:0.43 [[ 8.78219303e-01 -4.78243661e-01 -3.72251509e-03 9.36544592e+01] [ 4.78239922e-01 8.78227184e-01 -1.89463675e-03 2.41566645e+01] [ 4.17531196e-03 -1.16348758e-04 9.99991277e-01 4.33356651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.71, Y:24.18, Z:0.43 [[ 8.76796000e-01 -4.80848123e-01 -3.72233613e-03 9.37067328e+01] [ 4.80844407e-01 8.76803892e-01 -1.89498829e-03 2.41805736e+01] [ 4.17496037e-03 -1.28346358e-04 9.99991277e-01 4.34404715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.76, Y:24.21, Z:0.43 [[ 8.75712868e-01 -4.82817894e-01 -3.72209257e-03 9.37589514e+01] [ 4.82814193e-01 8.75720767e-01 -1.89546656e-03 2.42055612e+01] [ 4.17467894e-03 -1.37194660e-04 9.99991277e-01 4.34030847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.81, Y:24.23, Z:0.43 [[ 8.75300422e-01 -4.83565220e-01 -3.72152004e-03 9.38101122e+01] [ 4.83561521e-01 8.75308322e-01 -1.89658999e-03 2.42301374e+01] [ 4.17460242e-03 -1.39497870e-04 9.99991277e-01 4.32513144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.86, Y:24.25, Z:0.43 [[ 8.76230777e-01 -4.81877350e-01 -3.72089622e-03 9.38620108e+01] [ 4.81873630e-01 8.76238668e-01 -1.89781307e-03 2.42541656e+01] [ 4.17490628e-03 -1.30079543e-04 9.99991277e-01 4.34084489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.92, Y:24.28, Z:0.44 [[ 8.79485682e-01 -4.75910803e-01 -3.72062696e-03 9.39163674e+01] [ 4.75907027e-01 8.79493546e-01 -1.89834080e-03 2.42773908e+01] [ 4.17570829e-03 -1.01108958e-04 9.99991277e-01 4.37114556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.97, Y:24.30, Z:0.44 [[ 8.80842817e-01 -4.73394226e-01 -3.72006332e-03 9.39679631e+01] [ 4.73390423e-01 8.80850668e-01 -1.89944469e-03 2.43033084e+01] [ 4.17600641e-03 -8.79301335e-05 9.99991277e-01 4.35371506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.02, Y:24.33, Z:0.44 [[ 8.82900392e-01 -4.69545589e-01 -3.71986523e-03 9.40210299e+01] [ 4.69541751e-01 8.82908226e-01 -1.89983254e-03 2.43274548e+01] [ 4.17635760e-03 -6.92691362e-05 9.99991277e-01 4.35882439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.07, Y:24.35, Z:0.44 [[ 8.83611641e-01 -4.68205761e-01 -3.71923720e-03 9.40726296e+01] [ 4.68201906e-01 8.83619466e-01 -1.90106122e-03 2.43532524e+01] [ 4.17647821e-03 -6.15541248e-05 9.99991277e-01 4.36307483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.12, Y:24.38, Z:0.44 [[ 8.83724998e-01 -4.67991770e-01 -3.71904468e-03 9.41242583e+01] [ 4.67987912e-01 8.83732821e-01 -1.90143777e-03 2.43789852e+01] [ 4.17649908e-03 -6.01198662e-05 9.99991277e-01 4.36816272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.18, Y:24.40, Z:0.44 [[ 8.83538213e-01 -4.68344317e-01 -3.71847261e-03 9.41771510e+01] [ 4.68340457e-01 8.83546036e-01 -1.90255587e-03 2.44033851e+01] [ 4.17649296e-03 -6.05303443e-05 9.99991277e-01 4.37526347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.23, Y:24.43, Z:0.44 [[ 8.82973884e-01 -4.69407390e-01 -3.71790910e-03 9.42292881e+01] [ 4.69403535e-01 8.82981709e-01 -1.90365642e-03 2.44273641e+01] [ 4.17643612e-03 -6.43207679e-05 9.99991277e-01 4.37581156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.28, Y:24.45, Z:0.44 [[ 8.82167537e-01 -4.70921030e-01 -3.71752931e-03 9.42826273e+01] [ 4.70917185e-01 8.82175367e-01 -1.90439781e-03 2.44498390e+01] [ 4.17633376e-03 -7.06505114e-05 9.99991277e-01 4.38222680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.33, Y:24.48, Z:0.44 [[ 8.80473490e-01 -4.74080813e-01 -3.71691938e-03 9.43345605e+01] [ 4.74076991e-01 8.80481332e-01 -1.90558750e-03 2.44757842e+01] [ 4.17608059e-03 -8.42866809e-05 9.99991277e-01 4.37137883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.39, Y:24.50, Z:0.44 [[ 8.78595150e-01 -4.77552879e-01 -3.71630419e-03 9.43882629e+01] [ 4.77549082e-01 8.78603004e-01 -1.90678649e-03 2.44973221e+01] [ 4.17574740e-03 -9.94242974e-05 9.99991277e-01 4.36523519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.44, Y:24.52, Z:0.44 [[ 8.76133329e-01 -4.82054544e-01 -3.71569034e-03 9.44399846e+01] [ 4.82050783e-01 8.76141200e-01 -1.90798193e-03 2.45218458e+01] [ 4.17522075e-03 -1.19504874e-04 9.99991277e-01 4.36738813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50275509599999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:94.49, Y:24.55, Z:0.44 [[ 8.75624777e-01 -4.82977688e-01 -3.71527800e-03 9.44921126e+01] [ 4.82973932e-01 8.75632650e-01 -1.90878451e-03 2.45478277e+01] [ 4.17511905e-03 -1.23003408e-04 9.99991277e-01 4.37768243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.54, Y:24.57, Z:0.44 [[ 8.76216675e-01 -4.81903040e-01 -3.71465053e-03 9.45434627e+01] [ 4.81899269e-01 8.76224541e-01 -1.91000484e-03 2.45737718e+01] [ 4.17530510e-03 -1.16509285e-04 9.99991277e-01 4.37883808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.60, Y:24.60, Z:0.44 [[ 8.78200149e-01 -4.78278896e-01 -3.71438191e-03 9.45952639e+01] [ 4.78275090e-01 8.78207998e-01 -1.91052709e-03 2.46011013e+01] [ 4.17576469e-03 -9.86711692e-05 9.99991277e-01 4.37665873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.65, Y:24.63, Z:0.44 [[ 8.79700097e-01 -4.75514403e-01 -3.71378906e-03 9.46457863e+01] [ 4.75510567e-01 8.79707932e-01 -1.91167881e-03 2.46286842e+01] [ 4.17608050e-03 -8.42419078e-05 9.99991277e-01 4.38220272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.70, Y:24.66, Z:0.44 [[ 8.81555950e-01 -4.72064951e-01 -3.71338148e-03 9.46967943e+01] [ 4.72061082e-01 8.81563768e-01 -1.91247019e-03 2.46562682e+01] [ 4.17639272e-03 -6.69934066e-05 9.99991277e-01 4.39154851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.75, Y:24.68, Z:0.44 [[ 8.82745362e-01 -4.69837033e-01 -3.71319883e-03 9.47479924e+01] [ 4.69833143e-01 8.82753170e-01 -1.91282475e-03 2.46837669e+01] [ 4.17655394e-03 -5.60466955e-05 9.99991277e-01 4.40648570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.80, Y:24.71, Z:0.44 [[ 8.83067166e-01 -4.69231922e-01 -3.71260789e-03 9.47995258e+01] [ 4.69228022e-01 8.83074969e-01 -1.91397102e-03 2.47103674e+01] [ 4.17660740e-03 -5.18946946e-05 9.99991277e-01 4.41211324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.85, Y:24.74, Z:0.44 [[ 8.82950891e-01 -4.69450685e-01 -3.71201261e-03 9.48494916e+01] [ 4.69446782e-01 8.82958692e-01 -1.91512484e-03 2.47370191e+01] [ 4.17661046e-03 -5.16311916e-05 9.99991277e-01 4.40481094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.90, Y:24.76, Z:0.44 [[ 8.81858886e-01 -4.71498811e-01 -3.71175688e-03 9.49016492e+01] [ 4.71494923e-01 8.81866695e-01 -1.91562034e-03 2.47630560e+01] [ 4.17648748e-03 -6.07677126e-05 9.99991277e-01 4.41810404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.95, Y:24.79, Z:0.44 [[ 8.80853867e-01 -4.73373735e-01 -3.71113366e-03 9.49528402e+01] [ 4.73369859e-01 8.80861682e-01 -1.91682695e-03 2.47886481e+01] [ 4.17637097e-03 -6.82943861e-05 9.99991277e-01 4.40391634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.00, Y:24.81, Z:0.44 [[ 8.79232366e-01 -4.76378711e-01 -3.71086707e-03 9.50043015e+01] [ 4.76374860e-01 8.79240193e-01 -1.91734291e-03 2.48144919e+01] [ 4.17612482e-03 -8.19738314e-05 9.99991277e-01 4.40360154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.06, Y:24.84, Z:0.44 [[ 8.77822393e-01 -4.78971900e-01 -3.71026265e-03 9.50559984e+01] [ 4.78968066e-01 8.77830229e-01 -1.91851180e-03 2.48406819e+01] [ 4.17589396e-03 -9.29847073e-05 9.99991277e-01 4.40073439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.11, Y:24.87, Z:0.44 [[ 8.76423873e-01 -4.81526149e-01 -3.70964744e-03 9.51073572e+01] [ 4.81522334e-01 8.76431718e-01 -1.91970065e-03 2.48674160e+01] [ 4.17563874e-03 -1.03806616e-04 9.99991277e-01 4.39096974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.16, Y:24.89, Z:0.44 [[ 8.75728282e-01 -4.82790037e-01 -3.70903338e-03 9.51593938e+01] [ 4.82786228e-01 8.75736130e-01 -1.92088633e-03 2.48942295e+01] [ 4.17551932e-03 -1.08495747e-04 9.99991277e-01 4.39012306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.21, Y:24.92, Z:0.44 [[ 8.75025469e-01 -4.84062677e-01 -3.70841894e-03 9.52114608e+01] [ 4.84058875e-01 8.75033320e-01 -1.92207182e-03 2.49210154e+01] [ 4.17539337e-03 -1.13231304e-04 9.99991277e-01 4.39057271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40275509599999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:95.26, Y:24.95, Z:0.44 [[ 8.75253025e-01 -4.83651108e-01 -3.70781395e-03 9.52619250e+01] [ 4.83647296e-01 8.75260872e-01 -1.92323818e-03 2.49472217e+01] [ 4.17548075e-03 -1.09954156e-04 9.99991277e-01 4.38472719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.31, Y:24.97, Z:0.44 [[ 8.75926751e-01 -4.82429872e-01 -3.70755438e-03 9.53136530e+01] [ 4.82426047e-01 8.75934591e-01 -1.92373845e-03 2.49744218e+01] [ 4.17564402e-03 -1.03566837e-04 9.99991277e-01 4.38435641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.37, Y:25.00, Z:0.44 [[ 8.76786971e-01 -4.80864706e-01 -3.70697393e-03 9.53655101e+01] [ 4.80860863e-01 8.76794802e-01 -1.92485630e-03 2.50016282e+01] [ 4.17585094e-03 -9.48497564e-05 9.99991277e-01 4.39276122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.42, Y:25.03, Z:0.44 [[ 8.78502550e-01 -4.77723280e-01 -3.70637145e-03 9.54166927e+01] [ 4.77719404e-01 8.78510365e-01 -1.92601571e-03 2.50300169e+01] [ 4.17618827e-03 -7.85958451e-05 9.99991277e-01 4.40413482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.47, Y:25.06, Z:0.44 [[ 8.79216445e-01 -4.76408134e-01 -3.70577080e-03 9.54674078e+01] [ 4.76404241e-01 8.79224252e-01 -1.92717070e-03 2.50582284e+01] [ 4.17632335e-03 -7.10447477e-05 9.99991277e-01 4.40234948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.52, Y:25.08, Z:0.44 [[ 8.80253569e-01 -4.74489120e-01 -3.70516112e-03 9.55193719e+01] [ 4.74485206e-01 8.80261365e-01 -1.92834214e-03 2.50849323e+01] [ 4.17648756e-03 -6.06140835e-05 9.99991277e-01 4.42521020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.57, Y:25.11, Z:0.44 [[ 8.78856934e-01 -4.77071029e-01 -3.70448620e-03 9.55691886e+01] [ 4.77067132e-01 8.78864738e-01 -1.92963786e-03 2.51124197e+01] [ 4.17631661e-03 -7.14129954e-05 9.99991277e-01 4.42152788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.62, Y:25.14, Z:0.44 [[ 8.76834865e-01 -4.80777390e-01 -3.70421960e-03 9.56208787e+01] [ 4.80773524e-01 8.76842684e-01 -1.93014949e-03 2.51400357e+01] [ 4.17599009e-03 -8.84683414e-05 9.99991277e-01 4.43295213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.67, Y:25.17, Z:0.44 [[ 8.75887321e-01 -4.82501487e-01 -3.70368209e-03 9.56719241e+01] [ 4.82497631e-01 8.75895146e-01 -1.93118036e-03 2.51669262e+01] [ 4.17583455e-03 -9.55214462e-05 9.99991277e-01 4.42719692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.72, Y:25.19, Z:0.44 [[ 8.72926009e-01 -4.87838569e-01 -3.70307123e-03 9.57231768e+01] [ 4.87834757e-01 8.72933855e-01 -1.93235097e-03 2.51945010e+01] [ 4.17521158e-03 -1.19687433e-04 9.99991277e-01 4.41087381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.77, Y:25.22, Z:0.44 [[ 8.72284353e-01 -4.88984969e-01 -3.70248737e-03 9.57745172e+01] [ 4.88981162e-01 8.72292202e-01 -1.93346904e-03 2.52214613e+01] [ 4.17508815e-03 -1.23911786e-04 9.99991277e-01 4.41799713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.83, Y:25.25, Z:0.44 [[ 8.69632239e-01 -4.93686202e-01 -3.70186011e-03 9.58264110e+01] [ 4.93682432e-01 8.69640106e-01 -1.93466925e-03 2.52484934e+01] [ 4.17440553e-03 -1.45092547e-04 9.99991277e-01 4.42735625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.88, Y:25.28, Z:0.44 [[ 8.68136755e-01 -4.96311269e-01 -3.70124798e-03 9.58773983e+01] [ 4.96307519e-01 8.68144631e-01 -1.93583962e-03 2.52756978e+01] [ 4.17399758e-03 -1.56383679e-04 9.99991277e-01 4.43803255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.93, Y:25.30, Z:0.44 [[ 8.66751496e-01 -4.98726529e-01 -3.70061443e-03 9.59276832e+01] [ 4.98722795e-01 8.66759379e-01 -1.93704998e-03 2.53035119e+01] [ 4.17360048e-03 -1.66639799e-04 9.99991277e-01 4.43348858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.98, Y:25.33, Z:0.45 [[ 8.67549229e-01 -4.97337554e-01 -3.70034229e-03 9.59789325e+01] [ 4.97333806e-01 8.67557106e-01 -1.93756970e-03 2.53299006e+01] [ 4.17388443e-03 -1.59368212e-04 9.99991277e-01 4.46731731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.03, Y:25.36, Z:0.45 [[ 8.68472877e-01 -4.95722880e-01 -3.69972722e-03 9.60298041e+01] [ 4.95719112e-01 8.68480745e-01 -1.93874345e-03 2.53584058e+01] [ 4.17422134e-03 -1.50279383e-04 9.99991277e-01 4.48189831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.08, Y:25.39, Z:0.45 [[ 8.70345430e-01 -4.92427810e-01 -3.69908162e-03 9.60792432e+01] [ 4.92424007e-01 8.70353281e-01 -1.93997447e-03 2.53879196e+01] [ 4.17480520e-03 -1.33068678e-04 9.99991277e-01 4.46686739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.13, Y:25.42, Z:0.45 [[ 8.72434503e-01 -4.88717052e-01 -3.69888166e-03 9.61297720e+01] [ 4.88713214e-01 8.72442336e-01 -1.94035565e-03 2.54166271e+01] [ 4.17534585e-03 -1.14859127e-04 9.99991277e-01 4.48428506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.18, Y:25.45, Z:0.45 [[ 8.75171988e-01 -4.83797802e-01 -3.69823445e-03 9.61795485e+01] [ 4.83793915e-01 8.75179798e-01 -1.94158842e-03 2.54461136e+01] [ 4.17595629e-03 -8.99595207e-05 9.99991277e-01 4.49046507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.542755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:96.23, Y:25.48, Z:0.45 [[ 8.76825904e-01 -4.80793783e-01 -3.69753381e-03 9.62288411e+01] [ 4.80789863e-01 8.76833697e-01 -1.94292178e-03 2.54752724e+01] [ 4.17626696e-03 -7.41326223e-05 9.99991277e-01 4.49446992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.28, Y:25.50, Z:0.45 [[ 8.77157430e-01 -4.80188684e-01 -3.69726347e-03 9.62798985e+01] [ 4.80184757e-01 8.77165220e-01 -1.94343610e-03 2.55038563e+01] [ 4.17632694e-03 -7.06701445e-05 9.99991277e-01 4.49826156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.33, Y:25.53, Z:0.45 [[ 8.76196119e-01 -4.81940552e-01 -3.69665608e-03 9.63306255e+01] [ 4.81936635e-01 8.76203914e-01 -1.94459074e-03 2.55328502e+01] [ 4.17620166e-03 -7.77111276e-05 9.99991277e-01 4.50626000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.38, Y:25.56, Z:0.45 [[ 8.73975298e-01 -4.85956292e-01 -3.69604601e-03 9.63812813e+01] [ 4.85952406e-01 8.73983108e-01 -1.94574960e-03 2.55616119e+01] [ 4.17583104e-03 -9.55653579e-05 9.99991277e-01 4.49523536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.43, Y:25.59, Z:0.45 [[ 8.71845357e-01 -4.89767309e-01 -3.69540465e-03 9.64316361e+01] [ 4.89763452e-01 8.71853182e-01 -1.94696692e-03 2.55905400e+01] [ 4.17541105e-03 -1.12420072e-04 9.99991277e-01 4.49285731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.48, Y:25.62, Z:0.45 [[ 8.70256984e-01 -4.92584136e-01 -3.69474457e-03 9.64817108e+01] [ 4.92580299e-01 8.70264818e-01 -1.94821873e-03 2.56182295e+01] [ 4.17506786e-03 -1.24507431e-04 9.99991277e-01 4.49089533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.53, Y:25.65, Z:0.45 [[ 8.68057569e-01 -4.96449804e-01 -3.69448545e-03 9.65319487e+01] [ 4.96446000e-01 8.68065419e-01 -1.94871000e-03 2.56464203e+01] [ 4.17449176e-03 -1.42520059e-04 9.99991277e-01 4.48575762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.58, Y:25.67, Z:0.45 [[ 8.66694975e-01 -4.98824794e-01 -3.69387608e-03 9.65820293e+01] [ 4.98821006e-01 8.66702834e-01 -1.94986441e-03 2.56749065e+01] [ 4.17413357e-03 -1.52645300e-04 9.99991277e-01 4.48816180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.63, Y:25.70, Z:0.45 [[ 8.65600910e-01 -5.00720905e-01 -3.69323134e-03 9.66308272e+01] [ 5.00717130e-01 8.65608774e-01 -1.95108484e-03 2.57042772e+01] [ 4.17384242e-03 -1.60403383e-04 9.99991277e-01 4.49205269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.68, Y:25.73, Z:0.45 [[ 8.65069143e-01 -5.01639054e-01 -3.69295409e-03 9.66805445e+01] [ 5.01635284e-01 8.65077010e-01 -1.95160946e-03 2.57340475e+01] [ 4.17369321e-03 -1.64238955e-04 9.99991277e-01 4.48498168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.73, Y:25.76, Z:0.45 [[ 8.65802716e-01 -5.00371885e-01 -3.69227577e-03 9.67298228e+01] [ 5.00368099e-01 8.65810575e-01 -1.95289194e-03 2.57640527e+01] [ 4.17398363e-03 -1.56677861e-04 9.99991277e-01 4.50379399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.78, Y:25.79, Z:0.45 [[ 8.67079458e-01 -4.98156185e-01 -3.69158011e-03 9.67791372e+01] [ 4.98152373e-01 8.67087305e-01 -1.95420608e-03 2.57927573e+01] [ 4.17442209e-03 -1.44517449e-04 9.99991277e-01 4.48894410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.83, Y:25.82, Z:0.45 [[ 8.68398119e-01 -4.95853894e-01 -3.69091347e-03 9.68282823e+01] [ 4.95850056e-01 8.68405953e-01 -1.95546436e-03 2.58233918e+01] [ 4.17483584e-03 -1.32018073e-04 9.99991277e-01 4.51659723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.88, Y:25.85, Z:0.45 [[ 8.70289212e-01 -4.92527228e-01 -3.69022350e-03 9.68774378e+01] [ 4.92523354e-01 8.70297028e-01 -1.95676555e-03 2.58533965e+01] [ 4.17535086e-03 -1.14569304e-04 9.99991277e-01 4.52270722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.93, Y:25.88, Z:0.45 [[ 8.71440512e-01 -4.90487327e-01 -3.68995518e-03 9.69282876e+01] [ 4.90483433e-01 8.71448318e-01 -1.95727141e-03 2.58841430e+01] [ 4.17562206e-03 -1.04216286e-04 9.99991277e-01 4.47648339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.98, Y:25.91, Z:0.45 [[ 8.71640390e-01 -4.90132042e-01 -3.68937903e-03 9.69787346e+01] [ 4.90128140e-01 8.71648192e-01 -1.95835682e-03 2.59131022e+01] [ 4.17569399e-03 -1.01285582e-04 9.99991277e-01 4.52461619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.03, Y:25.94, Z:0.45 [[ 8.71299633e-01 -4.90737546e-01 -3.68907441e-03 9.70284716e+01] [ 4.90733648e-01 8.71307437e-01 -1.95893048e-03 2.59414033e+01] [ 4.17563871e-03 -1.03537535e-04 9.99991277e-01 4.51807057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.08, Y:25.97, Z:0.45 [[ 8.70040161e-01 -4.92967048e-01 -3.68881384e-03 9.70787592e+01] [ 4.92963167e-01 8.70047974e-01 -1.95942104e-03 2.59700157e+01] [ 4.17537501e-03 -1.13674349e-04 9.99991277e-01 4.51742023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.13, Y:26.00, Z:0.45 [[ 8.69094590e-01 -4.94632175e-01 -3.68839367e-03 9.71291351e+01] [ 4.94628306e-01 8.69102409e-01 -1.96021164e-03 2.59979482e+01] [ 4.17517557e-03 -1.20774577e-04 9.99991277e-01 4.52169261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.18, Y:26.03, Z:0.45 [[ 8.67286296e-01 -4.97796024e-01 -3.68770781e-03 9.71793276e+01] [ 4.97792178e-01 8.67294126e-01 -1.96150109e-03 2.60263391e+01] [ 4.17475476e-03 -1.34529085e-04 9.99991277e-01 4.52482468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.23, Y:26.05, Z:0.45 [[ 8.65052526e-01 -5.01667752e-01 -3.68707786e-03 9.72298930e+01] [ 5.01663936e-01 8.65060370e-01 -1.96268451e-03 2.60543603e+01] [ 4.17416046e-03 -1.51848792e-04 9.99991277e-01 4.51928787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.28, Y:26.08, Z:0.45 [[ 8.63971448e-01 -5.03527305e-01 -3.68645404e-03 9.72798458e+01] [ 5.03523501e-01 8.63979298e-01 -1.96385550e-03 2.60821531e+01] [ 4.17387485e-03 -1.59501163e-04 9.99991277e-01 4.51476431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.33, Y:26.11, Z:0.45 [[ 8.63154514e-01 -5.04926431e-01 -3.68578737e-03 9.73299599e+01] [ 5.04922633e-01 8.63162367e-01 -1.96510594e-03 2.61108989e+01] [ 4.17366687e-03 -1.64847404e-04 9.99991277e-01 4.52310650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.38, Y:26.14, Z:0.45 [[ 8.63433085e-01 -5.04449926e-01 -3.68507457e-03 9.73804015e+01] [ 5.04446119e-01 8.63440934e-01 -1.96644171e-03 2.61387735e+01] [ 4.17381560e-03 -1.61030734e-04 9.99991277e-01 4.52829911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.43, Y:26.17, Z:0.45 [[ 8.64352445e-01 -5.02873023e-01 -3.68437668e-03 9.74317965e+01] [ 5.02869196e-01 8.64360284e-01 -1.96774843e-03 2.61667295e+01] [ 4.17415647e-03 -1.51931372e-04 9.99991277e-01 4.53735020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.48, Y:26.20, Z:0.45 [[ 8.66399338e-01 -4.99338180e-01 -3.68370212e-03 9.74816552e+01] [ 4.99334316e-01 8.66407158e-01 -1.96901042e-03 2.61956420e+01] [ 4.17478796e-03 -1.33449554e-04 9.99991277e-01 4.54523263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.53, Y:26.22, Z:0.46 [[ 8.68285463e-01 -4.96051198e-01 -3.68300950e-03 9.75319889e+01] [ 4.96047299e-01 8.68293266e-01 -1.97030511e-03 2.62242938e+01] [ 4.17530455e-03 -1.16159632e-04 9.99991277e-01 4.55058727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.58, Y:26.25, Z:0.46 [[ 8.69463653e-01 -4.93983194e-01 -3.68232053e-03 9.75827999e+01] [ 4.93979271e-01 8.69471445e-01 -1.97159188e-03 2.62516424e+01] [ 4.17560581e-03 -1.04762527e-04 9.99991277e-01 4.55131217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.63, Y:26.28, Z:0.46 [[ 8.70981553e-01 -4.91301924e-01 -3.68164576e-03 9.76338585e+01] [ 4.91297971e-01 8.70989329e-01 -1.97285111e-03 2.62798351e+01] [ 4.17593971e-03 -9.04681677e-05 9.99991277e-01 4.56905150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.68, Y:26.31, Z:0.46 [[ 8.71783178e-01 -4.89878087e-01 -3.68103495e-03 9.76834457e+01] [ 4.89874117e-01 8.71790946e-01 -1.97399012e-03 2.63074127e+01] [ 4.17610745e-03 -8.23523680e-05 9.99991277e-01 4.56949973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.73, Y:26.33, Z:0.46 [[ 8.71556105e-01 -4.90281967e-01 -3.68075049e-03 9.77345506e+01] [ 4.90277998e-01 8.71563873e-01 -1.97452040e-03 2.63348270e+01] [ 4.17608090e-03 -8.36856695e-05 9.99991277e-01 4.56736449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.79, Y:26.36, Z:0.45 [[ 8.69685678e-01 -4.93592219e-01 -3.68015355e-03 9.77871027e+01] [ 4.93588275e-01 8.69693459e-01 -1.97563236e-03 2.63615499e+01] [ 4.17576223e-03 -9.83014769e-05 9.99991277e-01 4.54185541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.84, Y:26.39, Z:0.45 [[ 8.67279693e-01 -4.97807588e-01 -3.67958645e-03 9.78381010e+01] [ 4.97803677e-01 8.67287491e-01 -1.97668801e-03 2.63869742e+01] [ 4.17526959e-03 -1.17370292e-04 9.99991277e-01 4.53994100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.89, Y:26.41, Z:0.45 [[ 8.65143495e-01 -5.01510912e-01 -3.67928144e-03 9.78897424e+01] [ 5.01507033e-01 8.65151309e-01 -1.97725557e-03 2.64129100e+01] [ 4.17475040e-03 -1.34575725e-04 9.99991277e-01 4.53396429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.94, Y:26.44, Z:0.45 [[ 8.62893940e-01 -5.05371660e-01 -3.67863213e-03 9.79420466e+01] [ 5.05367811e-01 8.62901768e-01 -1.97846286e-03 2.64382210e+01] [ 4.17415723e-03 -1.51858650e-04 9.99991277e-01 4.54035338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.99, Y:26.46, Z:0.45 [[ 8.61356382e-01 -5.07987849e-01 -3.67799406e-03 9.79934409e+01] [ 5.07984018e-01 8.61364220e-01 -1.97964833e-03 2.64649996e+01] [ 4.17372978e-03 -1.63179471e-04 9.99991277e-01 4.48821220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.05, Y:26.49, Z:0.45 [[ 8.61973841e-01 -5.06939419e-01 -3.67736128e-03 9.80461717e+01] [ 5.06935574e-01 8.61981671e-01 -1.98082307e-03 2.64905741e+01] [ 4.17397532e-03 -1.56767581e-04 9.99991277e-01 4.50511317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.10, Y:26.52, Z:0.45 [[ 8.63366877e-01 -5.04563294e-01 -3.67672248e-03 9.80981536e+01] [ 5.04559422e-01 8.63374694e-01 -1.98200808e-03 2.65150257e+01] [ 4.17443767e-03 -1.43924838e-04 9.99991277e-01 4.53605437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.15, Y:26.54, Z:0.46 [[ 8.64650143e-01 -5.02361040e-01 -3.67647271e-03 9.81502674e+01] [ 5.02357146e-01 8.64657948e-01 -1.98247128e-03 2.65410319e+01] [ 4.17480768e-03 -1.32758260e-04 9.99991277e-01 4.56402508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.20, Y:26.57, Z:0.45 [[ 8.65378603e-01 -5.01105140e-01 -3.67582912e-03 9.82011819e+01] [ 5.01101229e-01 8.65386401e-01 -1.98366389e-03 2.65688769e+01] [ 4.17503670e-03 -1.25342204e-04 9.99991277e-01 4.54648382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.25, Y:26.60, Z:0.45 [[ 8.65810124e-01 -5.00359190e-01 -3.67563150e-03 9.82530791e+01] [ 5.00355271e-01 8.65817917e-01 -1.98402999e-03 2.65959327e+01] [ 4.17515525e-03 -1.21328348e-04 9.99991277e-01 4.54454788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.30, Y:26.62, Z:0.45 [[ 8.66811852e-01 -4.98621808e-01 -3.67503600e-03 9.83042465e+01] [ 4.98617869e-01 8.66819635e-01 -1.98513242e-03 2.66224348e+01] [ 4.17542369e-03 -1.11702310e-04 9.99991277e-01 4.54448730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.36, Y:26.65, Z:0.45 [[ 8.67201196e-01 -4.97944356e-01 -3.67482732e-03 9.83561334e+01] [ 4.97940409e-01 8.67208975e-01 -1.98551865e-03 2.66485308e+01] [ 4.17552104e-03 -1.08000871e-04 9.99991277e-01 4.53925972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.41, Y:26.67, Z:0.46 [[ 8.67225604e-01 -4.97901849e-01 -3.67417613e-03 9.84077280e+01] [ 4.97897897e-01 8.67233381e-01 -1.98672294e-03 2.66747595e+01] [ 4.17556122e-03 -1.06427566e-04 9.99991277e-01 4.55881098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.46, Y:26.70, Z:0.46 [[ 8.67182165e-01 -4.97977507e-01 -3.67353116e-03 9.84598754e+01] [ 4.97973550e-01 8.67189940e-01 -1.98791480e-03 2.66989247e+01] [ 4.17558612e-03 -1.05437090e-04 9.99991277e-01 4.57678705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.51, Y:26.72, Z:0.46 [[ 8.66202364e-01 -4.99679870e-01 -3.67309741e-03 9.85111045e+01] [ 4.99675925e-01 8.66210145e-01 -1.98871592e-03 2.67235034e+01] [ 4.17539556e-03 -1.12727914e-04 9.99991277e-01 4.57102606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.57, Y:26.75, Z:0.46 [[ 8.66486677e-01 -4.99186688e-01 -3.67282661e-03 9.85661529e+01] [ 4.99182737e-01 8.66494454e-01 -1.98921592e-03 2.67456925e+01] [ 4.17547400e-03 -1.09782548e-04 9.99991277e-01 4.59572272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.62, Y:26.77, Z:0.46 [[ 8.64872355e-01 -5.01978410e-01 -3.67223393e-03 9.86158557e+01] [ 5.01974479e-01 8.64880143e-01 -1.99030945e-03 2.67744544e+01] [ 4.17513458e-03 -1.22004093e-04 9.99991277e-01 4.56835932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.67, Y:26.80, Z:0.46 [[ 8.65819612e-01 -5.00342798e-01 -3.67198578e-03 9.86680070e+01] [ 5.00338850e-01 8.65827391e-01 -1.99076717e-03 2.67996241e+01] [ 4.17537188e-03 -1.13591885e-04 9.99991277e-01 4.57044970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.72, Y:26.82, Z:0.46 [[ 8.67510227e-01 -4.97405797e-01 -3.67135557e-03 9.87189065e+01] [ 4.97401818e-01 8.67517990e-01 -1.99192872e-03 2.68244399e+01] [ 4.17576390e-03 -9.81203969e-05 9.99991277e-01 4.56794279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.77, Y:26.85, Z:0.46 [[ 8.69272289e-01 -4.94319947e-01 -3.67108514e-03 9.87709752e+01] [ 4.94315938e-01 8.69280037e-01 -1.99242700e-03 2.68497289e+01] [ 4.17609743e-03 -8.27143123e-05 9.99991277e-01 4.57740701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.82, Y:26.88, Z:0.46 [[ 8.70495446e-01 -4.92162783e-01 -3.67048452e-03 9.88231479e+01] [ 4.92158751e-01 8.70503182e-01 -1.99353284e-03 2.68758948e+01] [ 4.17631113e-03 -7.10998167e-05 9.99991277e-01 4.58661341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.88, Y:26.90, Z:0.46 [[ 8.71802476e-01 -4.89843827e-01 -3.66985962e-03 9.88753556e+01] [ 4.89839769e-01 8.71810198e-01 -1.99468255e-03 2.69007653e+01] [ 4.17650398e-03 -5.86740059e-05 9.99991277e-01 4.59623101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.93, Y:26.93, Z:0.46 [[ 8.72168570e-01 -4.89191703e-01 -3.66924160e-03 9.89281474e+01] [ 4.89187635e-01 8.72176286e-01 -1.99581877e-03 2.69259606e+01] [ 4.17656349e-03 -5.42572147e-05 9.99991277e-01 4.61045125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.98, Y:26.95, Z:0.46 [[ 8.71393623e-01 -4.90570785e-01 -3.66859431e-03 9.89808727e+01] [ 4.90566724e-01 8.71401344e-01 -1.99700786e-03 2.69515588e+01] [ 4.17649173e-03 -5.95103723e-05 9.99991277e-01 4.60184770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.03, Y:26.98, Z:0.46 [[ 8.70926706e-01 -4.91399245e-01 -3.66802477e-03 9.90323098e+01] [ 4.91395187e-01 8.70934428e-01 -1.99805342e-03 2.69787542e+01] [ 4.17645100e-03 -6.22916327e-05 9.99991277e-01 4.60087534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.08, Y:27.00, Z:0.46 [[ 8.69972059e-01 -4.93087382e-01 -3.66736947e-03 9.90843027e+01] [ 4.93083334e-01 8.69979787e-01 -1.99925548e-03 2.70043488e+01] [ 4.17634496e-03 -6.90223563e-05 9.99991277e-01 4.58574999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.962755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:99.14, Y:27.03, Z:0.46 [[ 8.70546332e-01 -4.92072796e-01 -3.66714108e-03 9.91386621e+01] [ 4.92068737e-01 8.70554053e-01 -1.99967433e-03 2.70280353e+01] [ 4.17642987e-03 -6.36763243e-05 9.99991277e-01 4.60470101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.19, Y:27.05, Z:0.46 [[ 8.70196788e-01 -4.92690681e-01 -3.66647749e-03 9.91907502e+01] [ 4.92686623e-01 8.70204510e-01 -2.00089031e-03 2.70523776e+01] [ 4.17640525e-03 -6.52560925e-05 9.99991277e-01 4.59602668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.24, Y:27.08, Z:0.46 [[ 8.69455719e-01 -4.93997278e-01 -3.66620398e-03 9.92440211e+01] [ 4.93993229e-01 8.69463446e-01 -2.00139133e-03 2.70769862e+01] [ 4.17631221e-03 -7.09587992e-05 9.99991277e-01 4.59075901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.30, Y:27.10, Z:0.46 [[ 8.68032717e-01 -4.96493471e-01 -3.66555019e-03 9.92960621e+01] [ 4.96489439e-01 8.68040452e-01 -2.00258802e-03 2.71017181e+01] [ 4.17611772e-03 -8.15950391e-05 9.99991277e-01 4.60303699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.35, Y:27.13, Z:0.46 [[ 8.67190146e-01 -4.97963668e-01 -3.66534987e-03 9.93476603e+01] [ 4.97959648e-01 8.67197888e-01 -2.00295460e-03 2.71276598e+01] [ 4.17598229e-03 -8.82538417e-05 9.99991277e-01 4.61269884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.40, Y:27.15, Z:0.46 [[ 8.67285947e-01 -4.97796802e-01 -3.66471310e-03 9.93992048e+01] [ 4.97792775e-01 8.67293685e-01 -2.00411901e-03 2.71541077e+01] [ 4.17602656e-03 -8.61234522e-05 9.99991277e-01 4.62163387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.45, Y:27.18, Z:0.46 [[ 8.68212349e-01 -4.96179294e-01 -3.66407419e-03 9.94489712e+01] [ 4.96175248e-01 8.68220077e-01 -2.00528643e-03 2.71815171e+01] [ 4.17620438e-03 -7.70084782e-05 9.99991277e-01 4.63141475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.50, Y:27.21, Z:0.46 [[ 8.68539413e-01 -4.95606563e-01 -3.66380016e-03 9.94994539e+01] [ 4.95602509e-01 8.68547137e-01 -2.00578697e-03 2.72084771e+01] [ 4.17626432e-03 -7.36835193e-05 9.99991277e-01 4.63408553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.55, Y:27.24, Z:0.46 [[ 8.68193908e-01 -4.96211565e-01 -3.66353194e-03 9.95505024e+01] [ 4.96207515e-01 8.68201634e-01 -2.00627674e-03 2.72369429e+01] [ 4.17622214e-03 -7.60348377e-05 9.99991277e-01 4.63359234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.60, Y:27.27, Z:0.46 [[ 8.67262348e-01 -4.97837928e-01 -3.66294009e-03 9.96012318e+01] [ 4.97833888e-01 8.67270079e-01 -2.00735672e-03 2.72658422e+01] [ 4.17609666e-03 -8.26308084e-05 9.99991277e-01 4.64171111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.65, Y:27.30, Z:0.46 [[ 8.66620720e-01 -4.98954022e-01 -3.66230733e-03 9.96505450e+01] [ 4.98949987e-01 8.66628454e-01 -2.00851050e-03 2.72958929e+01] [ 4.17601413e-03 -8.66913771e-05 9.99991277e-01 4.64482196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.70, Y:27.32, Z:0.46 [[ 8.65306221e-01 -5.01230222e-01 -3.66166843e-03 9.97010231e+01] [ 5.01226203e-01 8.65313963e-01 -2.00967459e-03 2.73248695e+01] [ 4.17580246e-03 -9.63402408e-05 9.99991277e-01 4.64209783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.682755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:99.75, Y:27.35, Z:0.46 [[ 8.64346027e-01 -5.02884223e-01 -3.66102987e-03 9.97517049e+01] [ 5.02880213e-01 8.64353775e-01 -2.01083718e-03 2.73537236e+01] [ 4.17564328e-03 -1.03000358e-04 9.99991277e-01 4.61571056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.80, Y:27.38, Z:0.46 [[ 8.63817287e-01 -5.03791915e-01 -3.66081316e-03 9.98012701e+01] [ 5.03787911e-01 8.63825037e-01 -2.01123163e-03 2.73847620e+01] [ 4.17554430e-03 -1.06936765e-04 9.99991277e-01 4.64038374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.85, Y:27.41, Z:0.47 [[ 8.63774783e-01 -5.03864792e-01 -3.66007210e-03 9.98504058e+01] [ 5.03860784e-01 8.63782530e-01 -2.01257933e-03 2.74140502e+01] [ 4.17557420e-03 -1.05751519e-04 9.99991277e-01 4.65058454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.90, Y:27.44, Z:0.46 [[ 8.62409135e-01 -5.06198667e-01 -3.65979249e-03 9.99011265e+01] [ 5.06194677e-01 8.62416892e-01 -2.01308766e-03 2.74444376e+01] [ 4.17528915e-03 -1.16462286e-04 9.99991277e-01 4.63358917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.95, Y:27.47, Z:0.47 [[ 8.63308900e-01 -5.04662613e-01 -3.65923427e-03 9.99537577e+01] [ 5.04658605e-01 8.63316649e-01 -2.01410184e-03 2.74708948e+01] [ 4.17551976e-03 -1.07872022e-04 9.99991277e-01 4.73705106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98275509599999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:100.00, Y:27.50, Z:0.47 [[ 8.61372692e-01 -5.07960333e-01 -3.65855231e-03 1.00003709e+02] [ 5.07956350e-01 8.61380453e-01 -2.01533983e-03 2.75018926e+01] [ 4.17511814e-03 -1.22426185e-04 9.99991277e-01 4.73916150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.05, Y:27.53, Z:0.47 [[ 8.59666748e-01 -5.10842150e-01 -3.65795380e-03 1.00051994e+02] [ 5.10838188e-01 8.59674519e-01 -2.01642558e-03 2.75334588e+01] [ 4.17472485e-03 -1.35168472e-04 9.99991277e-01 4.68885733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.10, Y:27.56, Z:0.47 [[ 8.59985758e-01 -5.10304926e-01 -3.65774462e-03 1.00101732e+02] [ 5.10300958e-01 8.59993526e-01 -2.01680495e-03 2.75630654e+01] [ 4.17482220e-03 -1.32127047e-04 9.99991277e-01 4.69726621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.15, Y:27.59, Z:0.47 [[ 8.59428020e-01 -5.11243683e-01 -3.65713298e-03 1.00151665e+02] [ 5.11239718e-01 8.59435791e-01 -2.01791344e-03 2.75941230e+01] [ 4.17471648e-03 -1.35420281e-04 9.99991277e-01 4.69498116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.20, Y:27.62, Z:0.47 [[ 8.59930041e-01 -5.10398818e-01 -3.65653224e-03 1.00201951e+02] [ 5.10394841e-01 8.59937806e-01 -2.01900142e-03 2.76232495e+01] [ 4.17488625e-03 -1.30075219e-04 9.99991277e-01 4.72157825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.25, Y:27.65, Z:0.47 [[ 8.60617385e-01 -5.09238989e-01 -3.65632146e-03 1.00253105e+02] [ 5.09235000e-01 8.60625143e-01 -2.01938306e-03 2.76527127e+01] [ 4.17507077e-03 -1.24010686e-04 9.99991277e-01 4.70203341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34275509599999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:100.30, Y:27.68, Z:0.47 [[ 8.61334640e-01 -5.08024875e-01 -3.65576039e-03 1.00303301e+02] [ 5.08020871e-01 8.61342390e-01 -2.02039828e-03 2.76831591e+01] [ 4.17527397e-03 -1.16963551e-04 9.99991277e-01 4.74403061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.35, Y:27.71, Z:0.47 [[ 8.63506529e-01 -5.04324414e-01 -3.65519316e-03 1.00351825e+02] [ 5.04320373e-01 8.63514259e-01 -2.02142396e-03 2.77124688e+01] [ 4.17576487e-03 -9.78755856e-05 9.99991277e-01 4.74048645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.40, Y:27.74, Z:0.47 [[ 8.64776272e-01 -5.02144044e-01 -3.65491581e-03 1.00402101e+02] [ 5.02139981e-01 8.64783991e-01 -2.02192530e-03 2.77416764e+01] [ 4.17601043e-03 -8.67663339e-05 9.99991277e-01 4.73882611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.45, Y:27.77, Z:0.47 [[ 8.65959761e-01 -5.00100329e-01 -3.65428072e-03 1.00451698e+02] [ 5.00096242e-01 8.65967468e-01 -2.02307247e-03 2.77707523e+01] [ 4.17622743e-03 -7.55927053e-05 9.99991277e-01 4.74019168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.50, Y:27.80, Z:0.47 [[ 8.65448930e-01 -5.00983832e-01 -3.65385229e-03 1.00502441e+02] [ 5.00979750e-01 8.65456639e-01 -2.02384596e-03 2.77996985e+01] [ 4.17616483e-03 -7.89706890e-05 9.99991277e-01 4.74174631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.55, Y:27.83, Z:0.47 [[ 8.63761060e-01 -5.03888366e-01 -3.65323347e-03 1.00552901e+02] [ 5.03884306e-01 8.63768780e-01 -2.02496237e-03 2.78283657e+01] [ 4.17590400e-03 -9.17233692e-05 9.99991277e-01 4.74976038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.60, Y:27.86, Z:0.48 [[ 8.62989154e-01 -5.05209240e-01 -3.65304368e-03 1.00603327e+02] [ 5.05205190e-01 8.62996880e-01 -2.02530470e-03 2.78568109e+01] [ 4.17576794e-03 -9.77206360e-05 9.99991277e-01 4.75333494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.65, Y:27.89, Z:0.47 [[ 8.60717752e-01 -5.09069358e-01 -3.65245093e-03 1.00653300e+02] [ 5.09065338e-01 8.60725493e-01 -2.02637311e-03 2.78861079e+01] [ 4.17532209e-03 -1.15200857e-04 9.99991277e-01 4.74725812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.70, Y:27.91, Z:0.48 [[ 8.59336848e-01 -5.11396957e-01 -3.65172665e-03 1.00702661e+02] [ 5.11392952e-01 8.59344598e-01 -2.02767749e-03 2.79143660e+01] [ 4.17503967e-03 -1.25009285e-04 9.99991277e-01 4.75884641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.75, Y:27.94, Z:0.48 [[ 8.57453633e-01 -5.14548282e-01 -3.65141938e-03 1.00752127e+02] [ 5.14544304e-01 8.57461396e-01 -2.02823067e-03 2.79448820e+01] [ 4.17457377e-03 -1.39703285e-04 9.99991277e-01 4.76707673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.80, Y:27.98, Z:0.48 [[ 8.56453602e-01 -5.16211099e-01 -3.65079524e-03 1.00801819e+02] [ 5.16207131e-01 8.56461371e-01 -2.02935349e-03 2.79750643e+01] [ 4.17433989e-03 -1.46519430e-04 9.99991277e-01 4.76528232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.85, Y:28.01, Z:0.48 [[ 8.56117343e-01 -5.16768586e-01 -3.65017891e-03 1.00852112e+02] [ 5.16764618e-01 8.56125112e-01 -2.03046148e-03 2.80051171e+01] [ 4.17428853e-03 -1.47970025e-04 9.99991277e-01 4.76966192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.90, Y:28.04, Z:0.48 [[ 8.56826827e-01 -5.15591378e-01 -3.64956994e-03 1.00900756e+02] [ 5.15587395e-01 8.56834588e-01 -2.03155545e-03 2.80350265e+01] [ 4.17453023e-03 -1.40981053e-04 9.99991277e-01 4.75014645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.95, Y:28.07, Z:0.47 [[ 8.57307553e-01 -5.14791649e-01 -3.64929163e-03 1.00949977e+02] [ 5.14787657e-01 8.57315309e-01 -2.03205526e-03 2.80652345e+01] [ 4.17467866e-03 -1.36513961e-04 9.99991277e-01 4.74282052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.00, Y:28.10, Z:0.48 [[ 8.60668498e-01 -5.09152652e-01 -3.64861390e-03 1.00999950e+02] [ 5.09148604e-01 8.60676225e-01 -2.03327141e-03 2.80950117e+01] [ 4.17552077e-03 -1.07714019e-04 9.99991277e-01 4.76394884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.242755096 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:101.05, Y:28.12, Z:0.48 [[ 8.63890017e-01 -5.03667283e-01 -3.64790861e-03 1.01050057e+02] [ 5.03663180e-01 8.63897715e-01 -2.03453600e-03 2.81243616e+01] [ 4.17614913e-03 -7.97019066e-05 9.99991277e-01 4.75660539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.302755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:101.10, Y:28.15, Z:0.48 [[ 8.65687576e-01 -5.00571388e-01 -3.64770097e-03 1.01100574e+02] [ 5.00567256e-01 8.65695259e-01 -2.03490821e-03 2.81542132e+01] [ 4.17641426e-03 -6.43249078e-05 9.99991277e-01 4.78814867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36275509599999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:101.15, Y:28.18, Z:0.48 [[ 8.68899246e-01 -4.94975553e-01 -3.64711254e-03 1.01150409e+02] [ 4.94971367e-01 8.68906900e-01 -2.03596229e-03 2.81833640e+01] [ 4.17675281e-03 -3.61701749e-05 9.99991277e-01 4.80358530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.20, Y:28.21, Z:0.48 [[ 8.68941917e-01 -4.94900642e-01 -3.64692280e-03 1.01200955e+02] [ 4.94896454e-01 8.68949569e-01 -2.03630210e-03 2.82122612e+01] [ 4.17675921e-03 -3.54209088e-05 9.99991277e-01 4.79487983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.25, Y:28.24, Z:0.48 [[ 8.68297238e-01 -4.96030857e-01 -3.64628511e-03 1.01252302e+02] [ 4.96026674e-01 8.68304893e-01 -2.03744334e-03 2.82402509e+01] [ 4.17672197e-03 -3.95482516e-05 9.99991277e-01 4.79795957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.30, Y:28.27, Z:0.48 [[ 8.66197734e-01 -4.99688098e-01 -3.64563105e-03 1.01302790e+02] [ 4.99683943e-01 8.66205404e-01 -2.03861298e-03 2.82665678e+01] [ 4.17653596e-03 -5.58213544e-05 9.99991277e-01 4.79515266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.35, Y:28.29, Z:0.48 [[ 8.63085541e-01 -5.05044612e-01 -3.64535080e-03 1.01354168e+02] [ 5.05040502e-01 8.63093236e-01 -2.03911399e-03 2.82932493e+01] [ 4.17612115e-03 -8.11199992e-05 9.99991277e-01 4.80126974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.40, Y:28.32, Z:0.48 [[ 8.59736859e-01 -5.10724241e-01 -3.64471491e-03 1.01404441e+02] [ 5.10720177e-01 8.59744577e-01 -2.04024995e-03 2.83193229e+01] [ 4.17552899e-03 -1.07351358e-04 9.99991277e-01 4.79926517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.46, Y:28.35, Z:0.48 [[ 8.57341121e-01 -5.14735778e-01 -3.64428741e-03 1.01455955e+02] [ 5.14731747e-01 8.57348857e-01 -2.04101325e-03 2.83471293e+01] [ 4.17500819e-03 -1.25985837e-04 9.99991277e-01 4.78650440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.51, Y:28.37, Z:0.48 [[ 8.53970085e-01 -5.20309349e-01 -3.64366934e-03 1.01507102e+02] [ 5.20305363e-01 8.53977844e-01 -2.04211607e-03 2.83739238e+01] [ 4.17414497e-03 -1.51914668e-04 9.99991277e-01 4.78274845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.56, Y:28.40, Z:0.48 [[ 8.51343074e-01 -5.24596701e-01 -3.64305887e-03 1.01558418e+02] [ 5.24592750e-01 8.51350851e-01 -2.04320454e-03 2.84013855e+01] [ 4.17337963e-03 -1.71654238e-04 9.99991277e-01 4.79538210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.61, Y:28.43, Z:0.48 [[ 8.50771684e-01 -5.25522859e-01 -3.64241596e-03 1.01608921e+02] [ 5.25518911e-01 8.50779463e-01 -2.04435001e-03 2.84296855e+01] [ 4.17324535e-03 -1.74883365e-04 9.99991277e-01 4.80623720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.66, Y:28.46, Z:0.48 [[ 8.51357068e-01 -5.24574000e-01 -3.64178067e-03 1.01659096e+02] [ 5.24570039e-01 8.51364840e-01 -2.04548108e-03 2.84585235e+01] [ 4.17349021e-03 -1.68934253e-04 9.99991277e-01 4.81168450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.71, Y:28.49, Z:0.48 [[ 8.53638658e-01 -5.20852939e-01 -3.64114141e-03 1.01708983e+02] [ 5.20848939e-01 8.53646410e-01 -2.04661838e-03 2.84886791e+01] [ 4.17423450e-03 -1.49412071e-04 9.99991277e-01 4.81373359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.76, Y:28.52, Z:0.48 [[ 8.57305415e-01 -5.14795273e-01 -3.64047645e-03 1.01758189e+02] [ 5.14791213e-01 8.57313136e-01 -2.04780053e-03 2.85184284e+01] [ 4.17522631e-03 -1.18494807e-04 9.99991277e-01 4.81325278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.81, Y:28.55, Z:0.48 [[ 8.61634351e-01 -5.07516496e-01 -3.64018994e-03 1.01807561e+02] [ 5.07512369e-01 8.61642037e-01 -2.04830970e-03 2.85476261e+01] [ 4.17609163e-03 -8.25474231e-05 9.99991277e-01 4.81717214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.86, Y:28.58, Z:0.48 [[ 8.63826252e-01 -5.03776694e-01 -3.63990991e-03 1.01857610e+02] [ 5.03772532e-01 8.63833919e-01 -2.04880720e-03 2.85767249e+01] [ 4.17641896e-03 -6.38731810e-05 9.99991277e-01 4.82139311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.91, Y:28.61, Z:0.48 [[ 8.65975992e-01 -5.00072332e-01 -3.63926249e-03 1.01907254e+02] [ 5.00068133e-01 8.65983637e-01 -2.04995655e-03 2.86055305e+01] [ 4.17666832e-03 -4.46660448e-05 9.99991277e-01 4.83364609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.96, Y:28.63, Z:0.48 [[ 8.66566455e-01 -4.99048433e-01 -3.63882662e-03 1.01957843e+02] [ 4.99044221e-01 8.66574094e-01 -2.05072996e-03 2.86333853e+01] [ 4.17672646e-03 -3.88416073e-05 9.99991277e-01 4.83752378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.382755096 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:102.01, Y:28.66, Z:0.48 [[ 8.66033079e-01 -4.99973469e-01 -3.63818267e-03 1.02009244e+02] [ 4.99969261e-01 8.66040720e-01 -2.05187176e-03 2.86600135e+01] [ 4.17669578e-03 -4.19906821e-05 9.99991277e-01 4.83210022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.06, Y:28.69, Z:0.48 [[ 8.64659402e-01 -5.02345386e-01 -3.63753447e-03 1.02060363e+02] [ 5.02341193e-01 8.64667052e-01 -2.05302024e-03 2.86884817e+01] [ 4.17658145e-03 -5.21201513e-05 9.99991277e-01 4.81724682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.11, Y:28.72, Z:0.48 [[ 8.62102518e-01 -5.06720851e-01 -3.63689189e-03 1.02111965e+02] [ 5.06716693e-01 8.62110186e-01 -2.05415791e-03 2.87161017e+01] [ 4.17628620e-03 -7.19791223e-05 9.99991277e-01 4.80240777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.16, Y:28.74, Z:0.48 [[ 8.60345786e-01 -5.09697858e-01 -3.63620227e-03 1.02162644e+02] [ 5.09693721e-01 8.60353466e-01 -2.05537793e-03 2.87420982e+01] [ 4.17604096e-03 -8.50137238e-05 9.99991277e-01 4.81191065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.21, Y:28.77, Z:0.48 [[ 8.58349628e-01 -5.13052334e-01 -3.63588101e-03 1.02214385e+02] [ 5.13048224e-01 8.58357322e-01 -2.05594608e-03 2.87692089e+01] [ 4.17569302e-03 -1.00661741e-04 9.99991277e-01 4.79360083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.27, Y:28.80, Z:0.48 [[ 8.53481342e-01 -5.21110721e-01 -3.63525695e-03 1.02265434e+02] [ 5.21106679e-01 8.53489073e-01 -2.05704894e-03 2.87964787e+01] [ 4.17460234e-03 -1.38703790e-04 9.99991277e-01 4.79015168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.32, Y:28.82, Z:0.48 [[ 8.53562532e-01 -5.20977728e-01 -3.63457395e-03 1.02316608e+02] [ 5.20973680e-01 8.53570259e-01 -2.05825500e-03 2.88213448e+01] [ 4.17466925e-03 -1.36668020e-04 9.99991277e-01 4.78793968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.37, Y:28.85, Z:0.48 [[ 8.49824570e-01 -5.27053121e-01 -3.63428075e-03 1.02368028e+02] [ 5.27049126e-01 8.49832325e-01 -2.05877258e-03 2.88505318e+01] [ 4.17361177e-03 -1.65848968e-04 9.99991277e-01 4.82446156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.42, Y:28.88, Z:0.48 [[ 8.49765600e-01 -5.27148197e-01 -3.63362885e-03 1.02419062e+02] [ 5.27144198e-01 8.49773353e-01 -2.05992252e-03 2.88777513e+01] [ 4.17364541e-03 -1.64995066e-04 9.99991277e-01 4.78682731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.47, Y:28.91, Z:0.48 [[ 8.50524946e-01 -5.25922156e-01 -3.63341136e-03 1.02470907e+02] [ 5.25918144e-01 8.50532692e-01 -2.06030606e-03 2.89058846e+01] [ 4.17389575e-03 -1.58535264e-04 9.99991277e-01 4.83624629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.52, Y:28.93, Z:0.48 [[ 8.53206836e-01 -5.21560062e-01 -3.63281434e-03 1.02521585e+02] [ 5.21556006e-01 8.53214559e-01 -2.06135822e-03 2.89340668e+01] [ 4.17469220e-03 -1.35951218e-04 9.99991277e-01 4.84194150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.57, Y:28.96, Z:0.48 [[ 8.56803414e-01 -5.15630407e-01 -3.63215619e-03 1.02571982e+02] [ 5.15626293e-01 8.56811106e-01 -2.06251723e-03 2.89635155e+01] [ 4.17556837e-03 -1.05663429e-04 9.99991277e-01 4.84593212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.62, Y:28.99, Z:0.48 [[ 8.58701104e-01 -5.12463877e-01 -3.63149913e-03 1.02621545e+02] [ 5.12459730e-01 8.58708779e-01 -2.06367348e-03 2.89926078e+01] [ 4.17595830e-03 -8.89183657e-05 9.99991277e-01 4.84568230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.67, Y:29.02, Z:0.49 [[ 8.61700065e-01 -5.07404978e-01 -3.63119861e-03 1.02672038e+02] [ 5.07400783e-01 8.61707714e-01 -2.06420213e-03 2.90214348e+01] [ 4.17641829e-03 -6.37499112e-05 9.99991277e-01 4.86010054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.72, Y:29.05, Z:0.49 [[ 8.62392177e-01 -5.06227767e-01 -3.63049841e-03 1.02722384e+02] [ 5.06223556e-01 8.62399817e-01 -2.06543291e-03 2.90504113e+01] [ 4.17652065e-03 -5.66306351e-05 9.99991277e-01 4.86146228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.77, Y:29.08, Z:0.49 [[ 8.62556342e-01 -5.05948002e-01 -3.62985414e-03 1.02772196e+02] [ 5.05943784e-01 8.62563978e-01 -2.06656455e-03 2.90792960e+01] [ 4.17655563e-03 -5.39737835e-05 9.99991277e-01 4.85916262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34275509599999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:102.82, Y:29.11, Z:0.49 [[ 8.62052371e-01 -5.06806215e-01 -3.62919206e-03 1.02821497e+02] [ 5.06802000e-01 8.62060008e-01 -2.06772661e-03 2.91072828e+01] [ 4.17651803e-03 -5.67931650e-05 9.99991277e-01 4.86360669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.87, Y:29.14, Z:0.49 [[ 8.60430025e-01 -5.09555692e-01 -3.62888360e-03 1.02872586e+02] [ 5.09551499e-01 8.60437675e-01 -2.06826782e-03 2.91354996e+01] [ 4.17632580e-03 -6.95033447e-05 9.99991277e-01 4.85795403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.92, Y:29.16, Z:0.48 [[ 8.58556148e-01 -5.12706716e-01 -3.62825744e-03 1.02922777e+02] [ 5.12702547e-01 8.58563810e-01 -2.06936568e-03 2.91642819e+01] [ 4.17606821e-03 -8.35502022e-05 9.99991277e-01 4.83163946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.97, Y:29.19, Z:0.48 [[ 8.56186062e-01 -5.16654883e-01 -3.62759026e-03 1.02973045e+02] [ 5.16650744e-01 8.56193741e-01 -2.07053458e-03 2.91925288e+01] [ 4.17567187e-03 -1.01434362e-04 9.99991277e-01 4.83682594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.02, Y:29.22, Z:0.48 [[ 8.54288612e-01 -5.19786315e-01 -3.62689038e-03 1.03023012e+02] [ 5.19782199e-01 8.54296303e-01 -2.07175980e-03 2.92209777e+01] [ 4.17531144e-03 -1.15312254e-04 9.99991277e-01 4.83843195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.07, Y:29.25, Z:0.48 [[ 8.52797195e-01 -5.22229634e-01 -3.62661913e-03 1.03073179e+02] [ 5.22225538e-01 8.52804897e-01 -2.07223451e-03 2.92501168e+01] [ 4.17498083e-03 -1.26717348e-04 9.99991277e-01 4.83991085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.12, Y:29.28, Z:0.48 [[ 8.52370314e-01 -5.22926094e-01 -3.62600454e-03 1.03123736e+02] [ 5.22921999e-01 8.52378017e-01 -2.07330938e-03 2.92789731e+01] [ 4.17491413e-03 -1.28890176e-04 9.99991277e-01 4.84423106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.17, Y:29.31, Z:0.49 [[ 8.52093836e-01 -5.23376492e-01 -3.62539088e-03 1.03173936e+02] [ 5.23372397e-01 8.52101538e-01 -2.07438186e-03 2.93082170e+01] [ 4.17488385e-03 -1.29861519e-04 9.99991277e-01 4.85565081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.822755096 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:103.22, Y:29.34, Z:0.48 [[ 8.51265084e-01 -5.24723373e-01 -3.62474012e-03 1.03223311e+02] [ 5.24719286e-01 8.51272790e-01 -2.07551837e-03 2.93375241e+01] [ 4.17471564e-03 -1.35154733e-04 9.99991277e-01 4.83643451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.27, Y:29.37, Z:0.49 [[ 8.51279635e-01 -5.24699771e-01 -3.62401074e-03 1.03273759e+02] [ 5.24695678e-01 8.51287338e-01 -2.07679114e-03 2.93666207e+01] [ 4.17476629e-03 -1.33572772e-04 9.99991277e-01 4.85899922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.32, Y:29.40, Z:0.49 [[ 8.51195042e-01 -5.24836997e-01 -3.62327304e-03 1.03322335e+02] [ 5.24832900e-01 8.51202743e-01 -2.07807738e-03 2.93963986e+01] [ 4.17479184e-03 -1.32763728e-04 9.99991277e-01 4.86640596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.37, Y:29.43, Z:0.49 [[ 8.51039522e-01 -5.25089140e-01 -3.62300096e-03 1.03372088e+02] [ 5.25085043e-01 8.51047224e-01 -2.07855162e-03 2.94264881e+01] [ 4.17476979e-03 -1.33454033e-04 9.99991277e-01 4.87458159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.42, Y:29.46, Z:0.49 [[ 8.51441642e-01 -5.24436849e-01 -3.62234577e-03 1.03420901e+02] [ 5.24432741e-01 8.51449338e-01 -2.07969282e-03 2.94566176e+01] [ 4.17491145e-03 -1.28939652e-04 9.99991277e-01 4.88251840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.47, Y:29.49, Z:0.49 [[ 8.52843284e-01 -5.22154396e-01 -3.62206410e-03 1.03469976e+02] [ 5.22150265e-01 8.52850968e-01 -2.08018327e-03 2.94873211e+01] [ 4.17525771e-03 -1.17191402e-04 9.99991277e-01 4.87004275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.52, Y:29.52, Z:0.49 [[ 8.54748551e-01 -5.19029672e-01 -3.62138652e-03 1.03518177e+02] [ 5.19025509e-01 8.54756216e-01 -2.08136220e-03 2.95179192e+01] [ 4.17569138e-03 -1.00550659e-04 9.99991277e-01 4.85364037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.242755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:103.57, Y:29.54, Z:0.49 [[ 8.58042489e-01 -5.13565941e-01 -3.62110141e-03 1.03571165e+02] [ 5.13561726e-01 8.58050126e-01 -2.08185810e-03 2.95435876e+01] [ 4.17625794e-03 -7.33363885e-05 9.99991277e-01 4.91685660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.62, Y:29.58, Z:0.49 [[ 8.57694309e-01 -5.14147221e-01 -3.62049527e-03 1.03617728e+02] [ 5.14143007e-01 8.57701947e-01 -2.08291169e-03 2.95787008e+01] [ 4.17622910e-03 -7.49508270e-05 9.99991277e-01 4.85645406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.67, Y:29.61, Z:0.49 [[ 8.58778476e-01 -5.12334289e-01 -3.62017700e-03 1.03667742e+02] [ 5.12330057e-01 8.58786104e-01 -2.08346470e-03 2.96088661e+01] [ 4.17638811e-03 -6.54908523e-05 9.99991277e-01 4.86349370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.72, Y:29.64, Z:0.49 [[ 8.59021164e-01 -5.11927279e-01 -3.61951883e-03 1.03717177e+02] [ 5.11923038e-01 8.59028787e-01 -2.08460749e-03 2.96378212e+01] [ 4.17643831e-03 -6.21931213e-05 9.99991277e-01 4.85922761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.77, Y:29.67, Z:0.49 [[ 8.58414581e-01 -5.12943768e-01 -3.61923637e-03 1.03768208e+02] [ 5.12939534e-01 8.58422208e-01 -2.08509778e-03 2.96662785e+01] [ 4.17637078e-03 -6.65710779e-05 9.99991277e-01 4.87024474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.82, Y:29.69, Z:0.49 [[ 8.57799313e-01 -5.13972026e-01 -3.61858746e-03 1.03818331e+02] [ 5.13967797e-01 8.57806943e-01 -2.08622331e-03 2.96948590e+01] [ 4.17630987e-03 -7.02765004e-05 9.99991277e-01 4.87326963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.87, Y:29.72, Z:0.49 [[ 8.55838805e-01 -5.17229979e-01 -3.61794282e-03 1.03868301e+02] [ 5.17225774e-01 8.55846448e-01 -2.08734065e-03 2.97222592e+01] [ 4.17603868e-03 -8.48661499e-05 9.99991277e-01 4.87591368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.92, Y:29.75, Z:0.49 [[ 8.53025754e-01 -5.21856278e-01 -3.61766625e-03 1.03919372e+02] [ 5.21852113e-01 8.53033419e-01 -2.08781988e-03 2.97489558e+01] [ 4.17553212e-03 -1.06922647e-04 9.99991277e-01 4.88150842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.97, Y:29.78, Z:0.49 [[ 8.51212924e-01 -5.24808036e-01 -3.61702129e-03 1.03970028e+02] [ 5.24803892e-01 8.51220601e-01 -2.08893663e-03 2.97762026e+01] [ 4.17517377e-03 -1.20096993e-04 9.99991277e-01 4.88158119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.02, Y:29.80, Z:0.49 [[ 8.49560838e-01 -5.27478248e-01 -3.61674463e-03 1.04021711e+02] [ 5.27474127e-01 8.49568526e-01 -2.08941553e-03 2.98032449e+01] [ 4.17479365e-03 -1.32653610e-04 9.99991277e-01 4.89070064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.07, Y:29.83, Z:0.49 [[ 8.47862286e-01 -5.30204176e-01 -3.61602862e-03 1.04070411e+02] [ 5.30200074e-01 8.47869984e-01 -2.09065397e-03 2.98321774e+01] [ 4.17439559e-03 -1.44631990e-04 9.99991277e-01 4.89609096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.12, Y:29.86, Z:0.49 [[ 8.49326255e-01 -5.27855889e-01 -3.61572678e-03 1.04120068e+02] [ 5.27851763e-01 8.49333941e-01 -2.09117585e-03 2.98594380e+01] [ 4.17479896e-03 -1.32477200e-04 9.99991277e-01 4.91336267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.17, Y:29.89, Z:0.49 [[ 8.49627974e-01 -5.27370111e-01 -3.61541549e-03 1.04168903e+02] [ 5.27365979e-01 8.49635657e-01 -2.09171391e-03 2.98898921e+01] [ 4.17489331e-03 -1.29468477e-04 9.99991277e-01 4.90762399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.22, Y:29.92, Z:0.49 [[ 8.51792071e-01 -5.23867540e-01 -3.61510860e-03 1.04218930e+02] [ 5.23863374e-01 8.51799735e-01 -2.09224417e-03 2.99189730e+01] [ 4.17540735e-03 -1.11665998e-04 9.99991277e-01 4.91394744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.27, Y:29.95, Z:0.49 [[ 8.52288615e-01 -5.23059321e-01 -3.61446036e-03 1.04268162e+02] [ 5.23055143e-01 8.52296272e-01 -2.09336343e-03 2.99495602e+01] [ 4.17554435e-03 -1.06412267e-04 9.99991277e-01 4.88597863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.32, Y:29.98, Z:0.49 [[ 8.52739923e-01 -5.22323237e-01 -3.61381766e-03 1.04318265e+02] [ 5.22319048e-01 8.52747574e-01 -2.09447235e-03 2.99793243e+01] [ 4.17566582e-03 -1.01525610e-04 9.99991277e-01 4.90524319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.37, Y:30.01, Z:0.49 [[ 8.51826506e-01 -5.23811556e-01 -3.61362060e-03 1.04367918e+02] [ 5.23807378e-01 8.51834164e-01 -2.09481229e-03 3.00090896e+01] [ 4.17549237e-03 -1.08424494e-04 9.99991277e-01 4.92692584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.42, Y:30.04, Z:0.50 [[ 8.49884675e-01 -5.26956340e-01 -3.61301724e-03 1.04417702e+02] [ 5.26952187e-01 8.49892346e-01 -2.09585242e-03 3.00394345e+01] [ 4.17509842e-03 -1.22654483e-04 9.99991277e-01 4.95035351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.322755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:104.47, Y:30.07, Z:0.49 [[ 8.48694093e-01 -5.28871712e-01 -3.61224552e-03 1.04467607e+02] [ 5.28867570e-01 8.48701770e-01 -2.09718165e-03 3.00699425e+01] [ 4.17485922e-03 -1.30533829e-04 9.99991277e-01 4.94851549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.52, Y:30.10, Z:0.49 [[ 8.47477542e-01 -5.30818964e-01 -3.61157575e-03 1.04517048e+02] [ 5.30814835e-01 8.47485226e-01 -2.09833442e-03 3.01010018e+01] [ 4.17459280e-03 -1.38786691e-04 9.99991277e-01 4.93301598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.57, Y:30.13, Z:0.49 [[ 8.47321823e-01 -5.31067500e-01 -3.61089458e-03 1.04566056e+02] [ 5.31063368e-01 8.47329506e-01 -2.09950596e-03 3.01307487e+01] [ 4.17459690e-03 -1.38656617e-04 9.99991277e-01 4.92668643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.62, Y:30.16, Z:0.49 [[ 8.47467873e-01 -5.30834407e-01 -3.61060218e-03 1.04615186e+02] [ 5.30830271e-01 8.47475553e-01 -2.10000869e-03 3.01610287e+01] [ 4.17465395e-03 -1.36927035e-04 9.99991277e-01 4.92149376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.66, Y:30.19, Z:0.49 [[ 8.48292884e-01 -5.29515016e-01 -3.60992532e-03 1.04664302e+02] [ 5.29510862e-01 8.48300555e-01 -2.10117157e-03 3.01907703e+01] [ 4.17490355e-03 -1.29085783e-04 9.99991277e-01 4.92113427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.71, Y:30.22, Z:0.49 [[ 8.49030380e-01 -5.28331700e-01 -3.60963517e-03 1.04713425e+02] [ 5.28327534e-01 8.49038044e-01 -2.10166991e-03 3.02205402e+01] [ 4.17509642e-03 -1.22688046e-04 9.99991277e-01 4.92549172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.76, Y:30.25, Z:0.49 [[ 8.50429178e-01 -5.26077168e-01 -3.60935194e-03 1.04762855e+02] [ 5.26072980e-01 8.50436830e-01 -2.10215621e-03 3.02501394e+01] [ 4.17542220e-03 -1.11047556e-04 9.99991277e-01 4.92365187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.81, Y:30.28, Z:0.49 [[ 8.51952997e-01 -5.23605834e-01 -3.60867609e-03 1.04812604e+02] [ 5.23601618e-01 8.51960634e-01 -2.10331577e-03 3.02789560e+01] [ 4.17575837e-03 -9.75824698e-05 9.99991277e-01 4.92778362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.86, Y:30.31, Z:0.49 [[ 8.52676924e-01 -5.22426113e-01 -3.60838638e-03 1.04862907e+02] [ 5.22421885e-01 8.52684554e-01 -2.10381267e-03 3.03080274e+01] [ 4.17590200e-03 -9.12274994e-05 9.99991277e-01 4.89801568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.91, Y:30.34, Z:0.49 [[ 8.53984090e-01 -5.20286612e-01 -3.60773184e-03 1.04914181e+02] [ 5.20282360e-01 8.53991707e-01 -2.10493452e-03 3.03373874e+01] [ 4.17614232e-03 -7.94586443e-05 9.99991277e-01 4.92628405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.96, Y:30.37, Z:0.49 [[ 8.54116573e-01 -5.20069100e-01 -3.60714404e-03 1.04964766e+02] [ 5.20064842e-01 8.54124186e-01 -2.10594132e-03 3.03657456e+01] [ 4.17618397e-03 -7.72294147e-05 9.99991277e-01 4.92297330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.02, Y:30.39, Z:0.49 [[ 8.53123365e-01 -5.21696767e-01 -3.60648240e-03 1.05015005e+02] [ 5.21692519e-01 8.53130984e-01 -2.10707379e-03 3.03926863e+01] [ 4.17605546e-03 -8.38810027e-05 9.99991277e-01 4.92430309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.07, Y:30.42, Z:0.49 [[ 8.51524829e-01 -5.24301880e-01 -3.60619857e-03 1.05066026e+02] [ 5.24297652e-01 8.51532460e-01 -2.10755944e-03 3.04203655e+01] [ 4.17579251e-03 -9.60822493e-05 9.99991277e-01 4.89183778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.12, Y:30.44, Z:0.49 [[ 8.50260374e-01 -5.26349976e-01 -3.60547038e-03 1.05118552e+02] [ 5.26345762e-01 8.50268012e-01 -2.10880444e-03 3.04447707e+01] [ 4.17558530e-03 -1.04691200e-04 9.99991277e-01 4.91660857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.17, Y:30.47, Z:0.49 [[ 8.48176851e-01 -5.29700889e-01 -3.60513530e-03 1.05167872e+02] [ 5.29696703e-01 8.48184505e-01 -2.10937713e-03 3.04746362e+01] [ 4.17515884e-03 -1.20503432e-04 9.99991277e-01 4.92667615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.22, Y:30.50, Z:0.49 [[ 8.46446962e-01 -5.32460842e-01 -3.60447537e-03 1.05218980e+02] [ 5.32456676e-01 8.46454626e-01 -2.11050421e-03 3.05016705e+01] [ 4.17478570e-03 -1.32797097e-04 9.99991277e-01 4.92160053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.27, Y:30.53, Z:0.49 [[ 8.45281575e-01 -5.34308966e-01 -3.60380682e-03 1.05270040e+02] [ 5.34304812e-01 8.45289246e-01 -2.11164517e-03 3.05285473e+01] [ 4.17453010e-03 -1.40596573e-04 9.99991277e-01 4.91393614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.32, Y:30.56, Z:0.49 [[ 8.45353627e-01 -5.34194966e-01 -3.60313431e-03 1.05321128e+02] [ 5.34190806e-01 8.45361295e-01 -2.11279207e-03 3.05569767e+01] [ 4.17459317e-03 -1.38704782e-04 9.99991277e-01 4.90814212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.37, Y:30.59, Z:0.49 [[ 8.45984193e-01 -5.33195806e-01 -3.60247331e-03 1.05371826e+02] [ 5.33191632e-01 8.45991853e-01 -2.11391853e-03 3.05860439e+01] [ 4.17479556e-03 -1.32466966e-04 9.99991277e-01 4.90824415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.42, Y:30.61, Z:0.49 [[ 8.46788141e-01 -5.31918105e-01 -3.60182143e-03 1.05422498e+02] [ 5.31913915e-01 8.46795792e-01 -2.11502865e-03 3.06143954e+01] [ 4.17502927e-03 -1.24877761e-04 9.99991277e-01 4.91273423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.47, Y:30.64, Z:0.49 [[ 8.47713588e-01 -5.30441990e-01 -3.60117910e-03 1.05473081e+02] [ 5.30437782e-01 8.47721229e-01 -2.11612176e-03 3.06426434e+01] [ 4.17527581e-03 -1.16336281e-04 9.99991277e-01 4.92573378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.52, Y:30.67, Z:0.49 [[ 8.49448765e-01 -5.27658822e-01 -3.60054364e-03 1.05522739e+02] [ 5.27654584e-01 8.49456389e-01 -2.11720244e-03 3.06709912e+01] [ 4.17566534e-03 -1.01388359e-04 9.99991277e-01 4.93890675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.57, Y:30.70, Z:0.50 [[ 8.50140013e-01 -5.26544393e-01 -3.60011478e-03 1.05571778e+02] [ 5.26540143e-01 8.50147630e-01 -2.11793142e-03 3.06994714e+01] [ 4.17581396e-03 -9.50667019e-05 9.99991277e-01 4.95430576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70275509599999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:105.62, Y:30.73, Z:0.50 [[ 8.50570999e-01 -5.25847906e-01 -3.59944314e-03 1.05621856e+02] [ 5.25843644e-01 8.50578610e-01 -2.11907226e-03 3.07284315e+01] [ 4.17591905e-03 -9.03228849e-05 9.99991277e-01 4.96465808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.67, Y:30.76, Z:0.50 [[ 8.51110907e-01 -5.24973593e-01 -3.59880028e-03 1.05672595e+02] [ 5.24969319e-01 8.51118511e-01 -2.12016347e-03 3.07574159e+01] [ 4.17603537e-03 -8.47654776e-05 9.99991277e-01 4.95164293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.72, Y:30.79, Z:0.49 [[ 8.51502770e-01 -5.24337760e-01 -3.59803334e-03 1.05722453e+02] [ 5.24333474e-01 8.51510368e-01 -2.12146420e-03 3.07867588e+01] [ 4.17612648e-03 -8.01366812e-05 9.99991277e-01 4.93211242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.882755096 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:105.77, Y:30.82, Z:0.49 [[ 8.51253449e-01 -5.24742437e-01 -3.59731065e-03 1.05773005e+02] [ 5.24738150e-01 8.51261046e-01 -2.12268895e-03 3.08156458e+01] [ 4.17611540e-03 -8.06998450e-05 9.99991277e-01 4.94258127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.82, Y:30.84, Z:0.49 [[ 8.50778837e-01 -5.25511594e-01 -3.59657150e-03 1.05823347e+02] [ 5.25507308e-01 8.50786435e-01 -2.12394059e-03 3.08433352e+01] [ 4.17606965e-03 -8.30209044e-05 9.99991277e-01 4.93513296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.87, Y:30.87, Z:0.49 [[ 8.49541380e-01 -5.27509726e-01 -3.59622719e-03 1.05873044e+02] [ 5.27505456e-01 8.49548986e-01 -2.12452341e-03 3.08734381e+01] [ 4.17587792e-03 -9.21589117e-05 9.99991277e-01 4.92856651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.92, Y:30.90, Z:0.49 [[ 8.49276841e-01 -5.27935526e-01 -3.59550087e-03 1.05921925e+02] [ 5.27931255e-01 8.49284447e-01 -2.12575190e-03 3.09021389e+01] [ 4.17586292e-03 -9.28254250e-05 9.99991277e-01 4.92828834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12275509599999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:105.97, Y:30.93, Z:0.49 [[ 8.48879605e-01 -5.28574017e-01 -3.59521977e-03 1.05971806e+02] [ 5.28569749e-01 8.48887213e-01 -2.12622721e-03 3.09323965e+01] [ 4.17580455e-03 -9.54134984e-05 9.99991277e-01 4.93420278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.182755096 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:106.02, Y:30.96, Z:0.49 [[ 8.49815831e-01 -5.27067483e-01 -3.59474921e-03 1.06021611e+02] [ 5.27063198e-01 8.49823429e-01 -2.12702248e-03 3.09625749e+01] [ 4.17598648e-03 -8.70826388e-05 9.99991277e-01 4.93026043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.07, Y:30.99, Z:0.50 [[ 8.53369836e-01 -5.21293590e-01 -3.59398638e-03 1.06074854e+02] [ 5.21289249e-01 8.53377402e-01 -2.12831063e-03 3.09856194e+01] [ 4.17650145e-03 -5.72703670e-05 9.99991277e-01 4.99071235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.12, Y:31.01, Z:0.50 [[ 8.53675722e-01 -5.20792517e-01 -3.59374892e-03 1.06124020e+02] [ 5.20788170e-01 8.53683285e-01 -2.12871152e-03 3.10142248e+01] [ 4.17654042e-03 -5.43525817e-05 9.99991277e-01 4.99770611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.17, Y:31.05, Z:0.49 [[ 8.51183031e-01 -5.24856681e-01 -3.59331993e-03 1.06171008e+02] [ 5.24852366e-01 8.51190613e-01 -2.12943542e-03 3.10498891e+01] [ 4.17624860e-03 -7.34231691e-05 9.99991277e-01 4.93285783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42275509599999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:106.22, Y:31.08, Z:0.50 [[ 8.50759986e-01 -5.25542136e-01 -3.59296412e-03 1.06221234e+02] [ 5.25537825e-01 8.50767570e-01 -2.13003560e-03 3.10774989e+01] [ 4.17620081e-03 -7.60894936e-05 9.99991277e-01 4.96585020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48275509599999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:106.27, Y:31.10, Z:0.50 [[ 8.50886139e-01 -5.25337864e-01 -3.59247513e-03 1.06272973e+02] [ 5.25333548e-01 8.50893720e-01 -2.13086001e-03 3.11045852e+01] [ 4.17623597e-03 -7.41284623e-05 9.99991277e-01 4.99005685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.32, Y:31.13, Z:0.50 [[ 8.49932467e-01 -5.26879400e-01 -3.59174924e-03 1.06323960e+02] [ 5.26875092e-01 8.49940052e-01 -2.13208286e-03 3.11335264e+01] [ 4.17612207e-03 -8.02767637e-05 9.99991277e-01 4.98536544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.602755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:106.37, Y:31.17, Z:0.50 [[ 8.48619180e-01 -5.28992051e-01 -3.59115553e-03 1.06373126e+02] [ 5.28987758e-01 8.48626774e-01 -2.13308240e-03 3.11650639e+01] [ 4.17593437e-03 -8.95026701e-05 9.99991277e-01 4.95583583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.42, Y:31.19, Z:0.50 [[ 8.49210806e-01 -5.28041771e-01 -3.59094028e-03 1.06424003e+02] [ 5.28037468e-01 8.49218394e-01 -2.13344469e-03 3.11934661e+01] [ 4.17604046e-03 -8.44067286e-05 9.99991277e-01 4.96395328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.47, Y:31.22, Z:0.50 [[ 8.48711134e-01 -5.28844515e-01 -3.59025601e-03 1.06474295e+02] [ 5.28840214e-01 8.48718723e-01 -2.13459560e-03 3.12247490e+01] [ 4.17598667e-03 -8.70167089e-05 9.99991277e-01 4.96763005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.52, Y:31.26, Z:0.50 [[ 8.50038140e-01 -5.26708910e-01 -3.58965056e-03 1.06524451e+02] [ 5.26704585e-01 8.50045716e-01 -2.13561327e-03 3.12554736e+01] [ 4.17621362e-03 -7.53326785e-05 9.99991277e-01 4.96367279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.57, Y:31.29, Z:0.49 [[ 8.49928964e-01 -5.26885069e-01 -3.58901082e-03 1.06571556e+02] [ 5.26880742e-01 8.49936538e-01 -2.13668785e-03 3.12888362e+01] [ 4.17622035e-03 -7.49477953e-05 9.99991277e-01 4.90765969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.62, Y:31.32, Z:0.49 [[ 8.50484871e-01 -5.25987268e-01 -3.58875898e-03 1.06621820e+02] [ 5.25982931e-01 8.50492439e-01 -2.13711074e-03 3.13195481e+01] [ 4.17630542e-03 -7.00456132e-05 9.99991277e-01 4.89854005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.67, Y:31.35, Z:0.49 [[ 8.49372159e-01 -5.27782210e-01 -3.58807955e-03 1.06671661e+02] [ 5.27777885e-01 8.49379734e-01 -2.13825086e-03 3.13517084e+01] [ 4.17617282e-03 -7.75382903e-05 9.99991277e-01 4.92648408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.72, Y:31.38, Z:0.49 [[ 8.49559258e-01 -5.27480993e-01 -3.58742892e-03 1.06719951e+02] [ 5.27476660e-01 8.49566829e-01 -2.13934189e-03 3.13818873e+01] [ 4.17622280e-03 -7.47873187e-05 9.99991277e-01 4.92547761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.77, Y:31.41, Z:0.49 [[ 8.48891028e-01 -5.28555726e-01 -3.58711369e-03 1.06768480e+02] [ 5.28551400e-01 8.48898603e-01 -2.13987032e-03 3.14140563e+01] [ 4.17613651e-03 -7.94572522e-05 9.99991277e-01 4.93971150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.82, Y:31.44, Z:0.50 [[ 8.50681922e-01 -5.25668533e-01 -3.58635172e-03 1.06819425e+02] [ 5.25664176e-01 8.50689479e-01 -2.14114659e-03 3.14420214e+01] [ 4.17640507e-03 -6.37819240e-05 9.99991277e-01 4.97060675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.87, Y:31.48, Z:0.50 [[ 8.49642247e-01 -5.27347316e-01 -3.58612158e-03 1.06867798e+02] [ 5.27342972e-01 8.49649812e-01 -2.14153198e-03 3.14763257e+01] [ 4.17627867e-03 -7.15799756e-05 9.99991277e-01 4.96027502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.92, Y:31.51, Z:0.50 [[ 8.50298720e-01 -5.26288164e-01 -3.58554986e-03 1.06917495e+02] [ 5.26283807e-01 8.50306277e-01 -2.14248878e-03 3.15054781e+01] [ 4.17638204e-03 -6.52613574e-05 9.99991277e-01 4.97894081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.97, Y:31.54, Z:0.50 [[ 8.49268587e-01 -5.27948876e-01 -3.58482568e-03 1.06966238e+02] [ 5.27944529e-01 8.49276150e-01 -2.14369980e-03 3.15387406e+01] [ 4.17627085e-03 -7.20122039e-05 9.99991277e-01 4.97173247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.02, Y:31.57, Z:0.50 [[ 8.49924184e-01 -5.26892811e-01 -3.58417876e-03 1.07017016e+02] [ 5.26888450e-01 8.49931739e-01 -2.14478087e-03 3.15675920e+01] [ 4.17637691e-03 -6.55612595e-05 9.99991277e-01 4.99307127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.07, Y:31.60, Z:0.50 [[ 8.48287921e-01 -5.29523145e-01 -3.58354389e-03 1.07066320e+02] [ 5.29518803e-01 8.48295487e-01 -2.14584110e-03 3.15977957e+01] [ 4.17617664e-03 -7.72627860e-05 9.99991277e-01 4.97525219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.11, Y:31.63, Z:0.49 [[ 8.45941840e-01 -5.33263127e-01 -3.58332248e-03 1.07114275e+02] [ 5.33258816e-01 8.45949424e-01 -2.14621077e-03 3.16295340e+01] [ 4.17580466e-03 -9.52688129e-05 9.99991277e-01 4.94748149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.17, Y:31.66, Z:0.50 [[ 8.45027054e-01 -5.34711549e-01 -3.58302084e-03 1.07166075e+02] [ 5.34707250e-01 8.45034644e-01 -2.14671424e-03 3.16575559e+01] [ 4.17564963e-03 -1.01835610e-04 9.99991277e-01 4.97535084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.22, Y:31.69, Z:0.50 [[ 8.43296963e-01 -5.37435949e-01 -3.58242366e-03 1.07216570e+02] [ 5.37431669e-01 8.43304564e-01 -2.14771035e-03 3.16870864e+01] [ 4.17533097e-03 -1.14150312e-04 9.99991277e-01 4.99075814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.682755096 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:107.26, Y:31.72, Z:0.50 [[ 8.38675911e-01 -5.44619030e-01 -3.58178170e-03 1.07264261e+02] [ 5.44614811e-01 8.38683546e-01 -2.14878042e-03 3.17210219e+01] [ 4.17424808e-03 -1.48560985e-04 9.99991277e-01 4.95301544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.32, Y:31.75, Z:0.50 [[ 8.41615562e-01 -5.40065202e-01 -3.58109359e-03 1.07318318e+02] [ 5.40060937e-01 8.41623171e-01 -2.14992659e-03 3.17451151e+01] [ 4.17503188e-03 -1.24597080e-04 9.99991277e-01 5.00203468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.37, Y:31.78, Z:0.50 [[ 8.39097003e-01 -5.43970036e-01 -3.58043115e-03 1.07366068e+02] [ 5.43965802e-01 8.39104630e-01 -2.15102923e-03 3.17796396e+01] [ 4.17445180e-03 -1.42709924e-04 9.99991277e-01 4.99400572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.42, Y:31.81, Z:0.50 [[ 8.39170564e-01 -5.43856552e-01 -3.57983095e-03 1.07415959e+02] [ 5.43852313e-01 8.39178188e-01 -2.15202765e-03 3.18097427e+01] [ 4.17451039e-03 -1.40981087e-04 9.99991277e-01 5.00219964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.47, Y:31.84, Z:0.50 [[ 8.39331929e-01 -5.43607489e-01 -3.57914511e-03 1.07466026e+02] [ 5.43603243e-01 8.39339549e-01 -2.15316769e-03 3.18393885e+01] [ 4.17459613e-03 -1.38412497e-04 9.99991277e-01 5.00008475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98275509599999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:107.51, Y:31.87, Z:0.50 [[ 8.39473289e-01 -5.43389172e-01 -3.57835319e-03 1.07514249e+02] [ 5.43384917e-01 8.39480905e-01 -2.15448299e-03 3.18706097e+01] [ 4.17468190e-03 -1.35792230e-04 9.99991277e-01 4.99930607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.042755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:107.56, Y:31.90, Z:0.50 [[ 8.40722609e-01 -5.41454238e-01 -3.57810624e-03 1.07563861e+02] [ 5.41449964e-01 8.40730214e-01 -2.15489305e-03 3.19013584e+01] [ 4.17499799e-03 -1.25698190e-04 9.99991277e-01 5.01626672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.61, Y:31.93, Z:0.50 [[ 8.43669188e-01 -5.36851472e-01 -3.57741930e-03 1.07611406e+02] [ 5.36847152e-01 8.43676767e-01 -2.15603286e-03 3.19326525e+01] [ 4.17565496e-03 -1.01548868e-04 9.99991277e-01 5.01983075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.66, Y:31.96, Z:0.50 [[ 8.47348982e-01 -5.31024394e-01 -3.57712498e-03 1.07660552e+02] [ 5.31020020e-01 8.47356529e-01 -2.15652105e-03 3.19639807e+01] [ 4.17626549e-03 -7.21990602e-05 9.99991277e-01 5.01146975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.71, Y:31.99, Z:0.51 [[ 8.51423652e-01 -5.24466368e-01 -3.57691831e-03 1.07712039e+02] [ 5.24461934e-01 8.51431164e-01 -2.15686380e-03 3.19926905e+01] [ 4.17670224e-03 -3.95526434e-05 9.99991277e-01 5.05033367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.76, Y:32.02, Z:0.50 [[ 8.51678985e-01 -5.24051635e-01 -3.57628565e-03 1.07760636e+02] [ 5.24047193e-01 8.51686493e-01 -2.15791229e-03 3.20238521e+01] [ 4.17673165e-03 -3.62939043e-05 9.99991277e-01 5.04216129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.81, Y:32.06, Z:0.50 [[ 8.50168956e-01 -5.26497825e-01 -3.57595282e-03 1.07808148e+02] [ 5.26493402e-01 8.50176475e-01 -2.15846370e-03 3.20565976e+01] [ 4.17661740e-03 -4.76567325e-05 9.99991277e-01 5.00782781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.86, Y:32.09, Z:0.50 [[ 8.49519516e-01 -5.27545078e-01 -3.57530518e-03 1.07857171e+02] [ 5.27540660e-01 8.49527038e-01 -2.15953593e-03 3.20857695e+01] [ 4.17657097e-03 -5.15509364e-05 9.99991277e-01 5.03907643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.462755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:107.91, Y:32.12, Z:0.51 [[ 8.47384335e-01 -5.30967992e-01 -3.57498527e-03 1.07907665e+02] [ 5.30963602e-01 8.47391873e-01 -2.16006539e-03 3.21156607e+01] [ 4.17633905e-03 -6.77814877e-05 9.99991277e-01 5.05135854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.96, Y:32.15, Z:0.51 [[ 8.44878450e-01 -5.34946379e-01 -3.57439498e-03 1.07958084e+02] [ 5.34942021e-01 8.44886007e-01 -2.16104173e-03 3.21453916e+01] [ 4.17599775e-03 -8.62764866e-05 9.99991277e-01 5.06696105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.582755096 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:108.01, Y:32.17, Z:0.51 [[ 8.42645981e-01 -5.38456107e-01 -3.57371743e-03 1.08007852e+02] [ 5.38451776e-01 8.42653553e-01 -2.16216162e-03 3.21746071e+01] [ 4.17563482e-03 -1.02337694e-04 9.99991277e-01 5.07330081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64275509599999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:108.06, Y:32.21, Z:0.50 [[ 8.40918030e-01 -5.41150718e-01 -3.57302626e-03 1.08057763e+02] [ 5.41146406e-01 8.40925613e-01 -2.16330319e-03 3.22056188e+01] [ 4.17532238e-03 -1.14369663e-04 9.99991277e-01 5.04770825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70275509599999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:108.11, Y:32.24, Z:0.51 [[ 8.41762412e-01 -5.39836345e-01 -3.57242149e-03 1.08107473e+02] [ 5.39832017e-01 8.41769986e-01 -2.16430143e-03 3.22364840e+01] [ 4.17552576e-03 -1.06679905e-04 9.99991277e-01 5.07068646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.16, Y:32.27, Z:0.51 [[ 8.43029231e-01 -5.37855890e-01 -3.57175125e-03 1.08155407e+02] [ 5.37851539e-01 8.43036792e-01 -2.16540697e-03 3.22674564e+01] [ 4.17579461e-03 -9.55705377e-05 9.99991277e-01 5.06583285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.20, Y:32.30, Z:0.51 [[ 8.45065182e-01 -5.34651366e-01 -3.57128648e-03 1.08203834e+02] [ 5.34646984e-01 8.45072725e-01 -2.16617322e-03 3.22991338e+01] [ 4.17614427e-03 -7.88199758e-05 9.99991277e-01 5.08337881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.25, Y:32.33, Z:0.51 [[ 8.45893323e-01 -5.33340170e-01 -3.57062399e-03 1.08252692e+02] [ 5.33335771e-01 8.45900856e-01 -2.16726468e-03 3.23309499e+01] [ 4.17628320e-03 -7.10667807e-05 9.99991277e-01 5.08980495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.30, Y:32.36, Z:0.51 [[ 8.46153952e-01 -5.32926584e-01 -3.56996633e-03 1.08301000e+02] [ 5.32922177e-01 8.46161481e-01 -2.16834745e-03 3.23638902e+01] [ 4.17633800e-03 -6.77584619e-05 9.99991277e-01 5.10449452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.35, Y:32.40, Z:0.51 [[ 8.45057847e-01 -5.34662974e-01 -3.56930929e-03 1.08349414e+02] [ 5.34658578e-01 8.45065381e-01 -2.16942846e-03 3.23957815e+01] [ 4.17621279e-03 -7.50692849e-05 9.99991277e-01 5.12007439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06275509599999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:108.40, Y:32.43, Z:0.51 [[ 8.42870888e-01 -5.38104015e-01 -3.56864714e-03 1.08397547e+02] [ 5.38099645e-01 8.42878438e-01 -2.17051715e-03 3.24274873e+01] [ 4.17589971e-03 -9.08220446e-05 9.99991277e-01 5.12545685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12275509599999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:108.45, Y:32.46, Z:0.51 [[ 8.40931775e-01 -5.41129393e-01 -3.56796063e-03 1.08445657e+02] [ 5.41125046e-01 8.40939337e-01 -2.17164505e-03 3.24589897e+01] [ 4.17557942e-03 -1.04507536e-04 9.99991277e-01 5.12305568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.50, Y:32.49, Z:0.51 [[ 8.38897511e-01 -5.44277722e-01 -3.56749890e-03 1.08495006e+02] [ 5.44273399e-01 8.38905088e-01 -2.17240330e-03 3.24904684e+01] [ 4.17518370e-03 -1.19271035e-04 9.99991277e-01 5.12186776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.54, Y:32.52, Z:0.51 [[ 8.36693995e-01 -5.47659051e-01 -3.56686715e-03 1.08544047e+02] [ 5.47654755e-01 8.36701587e-01 -2.17344009e-03 3.25221008e+01] [ 4.17470754e-03 -1.34907480e-04 9.99991277e-01 5.12671134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.59, Y:32.55, Z:0.51 [[ 8.34259037e-01 -5.51361171e-01 -3.56624374e-03 1.08592610e+02] [ 5.51356904e-01 8.34266646e-01 -2.17446251e-03 3.25532659e+01] [ 4.17411240e-03 -1.52208112e-04 9.99991277e-01 5.12987647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.64, Y:32.58, Z:0.51 [[ 8.32617855e-01 -5.53836433e-01 -3.56553965e-03 1.08640102e+02] [ 5.53832184e-01 8.32625473e-01 -2.17561641e-03 3.25847737e+01] [ 4.17369477e-03 -1.63253546e-04 9.99991277e-01 5.12079040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.69, Y:32.62, Z:0.51 [[ 8.32499282e-01 -5.54014653e-01 -3.56523800e-03 1.08688882e+02] [ 5.54010403e-01 8.32506900e-01 -2.17611063e-03 3.26165530e+01] [ 4.17368241e-03 -1.63568408e-04 9.99991277e-01 5.12329759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.74, Y:32.65, Z:0.51 [[ 8.34417459e-01 -5.51121401e-01 -3.56455433e-03 1.08736985e+02] [ 5.51117120e-01 8.34425059e-01 -2.17722994e-03 3.26499002e+01] [ 4.17427147e-03 -1.47768244e-04 9.99991277e-01 5.13021258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.78, Y:32.68, Z:0.51 [[ 8.38664154e-01 -5.44637252e-01 -3.56387640e-03 1.08784614e+02] [ 5.44632907e-01 8.38671718e-01 -2.17833905e-03 3.26825722e+01] [ 4.17532694e-03 -1.14109488e-04 9.99991277e-01 5.12919873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.83, Y:32.72, Z:0.51 [[ 8.41852984e-01 -5.39695152e-01 -3.56316103e-03 1.08831480e+02] [ 5.39690759e-01 8.41860520e-01 -2.17950858e-03 3.27156859e+01] [ 4.17595481e-03 -8.81792734e-05 9.99991277e-01 5.13212907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.88, Y:32.75, Z:0.51 [[ 8.43759075e-01 -5.36710285e-01 -3.56284262e-03 1.08880614e+02] [ 5.36705862e-01 8.43766594e-01 -2.18002896e-03 3.27474741e+01] [ 4.17625155e-03 -7.27793055e-05 9.99991277e-01 5.13683845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.93, Y:32.78, Z:0.51 [[ 8.45812670e-01 -5.33468123e-01 -3.56218343e-03 1.08929625e+02] [ 5.33463667e-01 8.45820170e-01 -2.18110555e-03 3.27784916e+01] [ 4.17651687e-03 -5.54887223e-05 9.99991277e-01 5.10730608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.98, Y:32.81, Z:0.51 [[ 8.46451644e-01 -5.32453685e-01 -3.56196646e-03 1.08979360e+02] [ 5.32449219e-01 8.46459137e-01 -2.18145983e-03 3.28075208e+01] [ 4.17658538e-03 -5.00659960e-05 9.99991277e-01 5.14634537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.03, Y:32.84, Z:0.52 [[ 8.45720995e-01 -5.33613449e-01 -3.56164514e-03 1.09029825e+02] [ 5.33608990e-01 8.45728493e-01 -2.18198432e-03 3.28368219e+01] [ 4.17652095e-03 -5.51759136e-05 9.99991277e-01 5.15201914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.08, Y:32.86, Z:0.52 [[ 8.45830241e-01 -5.33440271e-01 -3.56093902e-03 1.09081501e+02] [ 5.33435806e-01 8.45837735e-01 -2.18313608e-03 3.28643767e+01] [ 4.17654930e-03 -5.29698562e-05 9.99991277e-01 5.15690412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.13, Y:32.89, Z:0.51 [[ 8.43290039e-01 -5.37446960e-01 -3.56021115e-03 1.09129546e+02] [ 5.37442526e-01 8.43297551e-01 -2.18432242e-03 3.28947193e+01] [ 4.17627479e-03 -7.13915341e-05 9.99991277e-01 5.14827754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.18, Y:32.92, Z:0.51 [[ 8.41559351e-01 -5.40152929e-01 -3.55990029e-03 1.09179328e+02] [ 5.40148517e-01 8.41566876e-01 -2.18482892e-03 3.29239802e+01] [ 4.17603591e-03 -8.42116532e-05 9.99991277e-01 5.14218514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.23, Y:32.95, Z:0.51 [[ 8.40321545e-01 -5.42076593e-01 -3.55920468e-03 1.09229294e+02] [ 5.42072193e-01 8.40329078e-01 -2.18596153e-03 3.29538307e+01] [ 4.17586177e-03 -9.24353204e-05 9.99991277e-01 5.13639273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.28, Y:32.98, Z:0.51 [[ 8.38047206e-01 -5.45586123e-01 -3.55850804e-03 1.09279466e+02] [ 5.45581750e-01 8.38054754e-01 -2.18709500e-03 3.29835212e+01] [ 4.17547326e-03 -1.08568191e-04 9.99991277e-01 5.13355813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.33, Y:33.01, Z:0.51 [[ 8.35794165e-01 -5.49031380e-01 -3.55782585e-03 1.09329124e+02] [ 5.49027033e-01 8.35801728e-01 -2.18820418e-03 3.30133797e+01] [ 4.17502975e-03 -1.24454284e-04 9.99991277e-01 5.14305488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.38, Y:33.04, Z:0.51 [[ 8.34143022e-01 -5.51536732e-01 -3.55713894e-03 1.09377743e+02] [ 5.51532403e-01 8.34150595e-01 -2.18932024e-03 3.30425066e+01] [ 4.17468010e-03 -1.35671188e-04 9.99991277e-01 5.14578201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.43, Y:33.07, Z:0.52 [[ 8.33493320e-01 -5.52518085e-01 -3.55684404e-03 1.09427078e+02] [ 5.52513763e-01 8.33500898e-01 -2.18979925e-03 3.30726711e+01] [ 4.17453639e-03 -1.40022238e-04 9.99991277e-01 5.15120309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.48, Y:33.10, Z:0.52 [[ 8.33580631e-01 -5.52386356e-01 -3.55619039e-03 1.09476637e+02] [ 5.52382028e-01 8.33588205e-01 -2.19086025e-03 3.31020878e+01] [ 4.17459967e-03 -1.38116990e-04 9.99991277e-01 5.15889497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.52, Y:33.13, Z:0.52 [[ 8.34702118e-01 -5.50690233e-01 -3.55548427e-03 1.09524880e+02] [ 5.50685885e-01 8.34709681e-01 -2.19200559e-03 3.31319186e+01] [ 4.17491321e-03 -1.28283293e-04 9.99991277e-01 5.17252159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.57, Y:33.16, Z:0.52 [[ 8.34937228e-01 -5.50333704e-01 -3.55518172e-03 1.09574230e+02] [ 5.50329351e-01 8.34944787e-01 -2.19249619e-03 3.31633107e+01] [ 4.17498499e-03 -1.25924162e-04 9.99991277e-01 5.17792796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.62, Y:33.19, Z:0.52 [[ 8.36204818e-01 -5.48405752e-01 -3.55449936e-03 1.09624290e+02] [ 5.48401376e-01 8.36212364e-01 -2.19360188e-03 3.31935824e+01] [ 4.17530020e-03 -1.14991885e-04 9.99991277e-01 5.19505689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.67, Y:33.23, Z:0.52 [[ 8.36018063e-01 -5.48690413e-01 -3.55375112e-03 1.09671848e+02] [ 5.48686035e-01 8.36025608e-01 -2.19481340e-03 3.32250897e+01] [ 4.17530001e-03 -1.14989961e-04 9.99991277e-01 5.16529569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.72, Y:33.26, Z:0.52 [[ 8.35649451e-01 -5.49251643e-01 -3.55345891e-03 1.09721453e+02] [ 5.49247268e-01 8.35656998e-01 -2.19528639e-03 3.32550210e+01] [ 4.17523746e-03 -1.17237731e-04 9.99991277e-01 5.17468253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.77, Y:33.29, Z:0.52 [[ 8.34343092e-01 -5.51234054e-01 -3.55279033e-03 1.09771050e+02] [ 5.51229692e-01 8.34350647e-01 -2.19636786e-03 3.32870892e+01] [ 4.17498567e-03 -1.25879169e-04 9.99991277e-01 5.16271367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.82, Y:33.32, Z:0.52 [[ 8.34054716e-01 -5.51670294e-01 -3.55216342e-03 1.09820260e+02] [ 5.51665932e-01 8.34062270e-01 -2.19738129e-03 3.33188009e+01] [ 4.17495547e-03 -1.26871313e-04 9.99991277e-01 5.19975075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.87, Y:33.35, Z:0.52 [[ 8.32961341e-01 -5.53319791e-01 -3.55149812e-03 1.09868469e+02] [ 5.53315439e-01 8.32968902e-01 -2.19845605e-03 3.33504134e+01] [ 4.17473673e-03 -1.33869846e-04 9.99991277e-01 5.17970233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.92, Y:33.38, Z:0.52 [[ 8.31603222e-01 -5.55358866e-01 -3.55128745e-03 1.09917731e+02] [ 5.55354532e-01 8.31610792e-01 -2.19879630e-03 3.33813817e+01] [ 4.17440999e-03 -1.43697494e-04 9.99991277e-01 5.16349808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.97, Y:33.41, Z:0.52 [[ 8.29764858e-01 -5.58101849e-01 -3.55050777e-03 1.09966497e+02] [ 5.58097534e-01 8.29772440e-01 -2.20005458e-03 3.34110080e+01] [ 4.17396802e-03 -1.56001653e-04 9.99991277e-01 5.18344655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.02, Y:33.44, Z:0.52 [[ 8.28924016e-01 -5.59349956e-01 -3.55016738e-03 1.10015077e+02] [ 5.59345650e-01 8.28931602e-01 -2.20060372e-03 3.34419099e+01] [ 4.17375353e-03 -1.61637413e-04 9.99991277e-01 5.19757967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.06, Y:33.47, Z:0.52 [[ 8.29408793e-01 -5.58630875e-01 -3.54948943e-03 1.10063327e+02] [ 5.58626558e-01 8.29416374e-01 -2.20169669e-03 3.34732622e+01] [ 4.17394040e-03 -1.56732467e-04 9.99991277e-01 5.20242958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.11, Y:33.50, Z:0.52 [[ 8.30677580e-01 -5.56742455e-01 -3.54919485e-03 1.10112514e+02] [ 5.56738119e-01 8.30685149e-01 -2.20217144e-03 3.35048530e+01] [ 4.17430579e-03 -1.46677623e-04 9.99991277e-01 5.20207136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.16, Y:33.54, Z:0.52 [[ 8.33490682e-01 -5.52522119e-01 -3.54852253e-03 1.10159575e+02] [ 5.52517740e-01 8.33498226e-01 -2.20325427e-03 3.35367923e+01] [ 4.17503396e-03 -1.24229742e-04 9.99991277e-01 5.18483404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.21, Y:33.57, Z:0.52 [[ 8.35245637e-01 -5.49865563e-01 -3.54806929e-03 1.10208249e+02] [ 5.49861157e-01 8.35253165e-01 -2.20398391e-03 3.35681483e+01] [ 4.17543097e-03 -1.10077539e-04 9.99991277e-01 5.19204075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.26, Y:33.60, Z:0.52 [[ 8.36650165e-01 -5.47726133e-01 -3.54741065e-03 1.10257237e+02] [ 5.47721704e-01 8.36657680e-01 -2.20504353e-03 3.35991077e+01] [ 4.17572833e-03 -9.81437674e-05 9.99991277e-01 5.19416429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.31, Y:33.63, Z:0.52 [[ 8.37310817e-01 -5.46715662e-01 -3.54696209e-03 1.10307051e+02] [ 5.46711220e-01 8.37318325e-01 -2.20576483e-03 3.36298251e+01] [ 4.17586253e-03 -9.22532127e-05 9.99991277e-01 5.20486302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.36, Y:33.66, Z:0.52 [[ 8.37431684e-01 -5.46530510e-01 -3.54622013e-03 1.10356006e+02] [ 5.46526061e-01 8.37439188e-01 -2.20695704e-03 3.36597099e+01] [ 4.17591306e-03 -8.99259699e-05 9.99991277e-01 5.21587680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.41, Y:33.69, Z:0.52 [[ 8.36812289e-01 -5.47478420e-01 -3.54590754e-03 1.10406183e+02] [ 5.47473978e-01 8.36819796e-01 -2.20745915e-03 3.36887297e+01] [ 4.17582188e-03 -9.40631602e-05 9.99991277e-01 5.20778131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.45, Y:33.72, Z:0.52 [[ 8.36078773e-01 -5.48597955e-01 -3.54523526e-03 1.10454800e+02] [ 5.48593518e-01 8.36086284e-01 -2.20853832e-03 3.37177775e+01] [ 4.17572218e-03 -9.83810749e-05 9.99991277e-01 5.21867254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.50, Y:33.75, Z:0.52 [[ 8.33864290e-01 -5.51958132e-01 -3.54492197e-03 1.10503413e+02] [ 5.51953723e-01 8.33871817e-01 -2.20904108e-03 3.37486910e+01] [ 4.17530871e-03 -1.14592410e-04 9.99991277e-01 5.18544272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.55, Y:33.78, Z:0.52 [[ 8.34568756e-01 -5.50892393e-01 -3.54430925e-03 1.10553298e+02] [ 5.50887971e-01 8.34576275e-01 -2.21002372e-03 3.37776861e+01] [ 4.17548167e-03 -1.08100583e-04 9.99991277e-01 5.22179061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.60, Y:33.81, Z:0.52 [[ 8.33314717e-01 -5.52787505e-01 -3.54357919e-03 1.10601795e+02] [ 5.52783095e-01 8.33322243e-01 -2.21119369e-03 3.38075060e+01] [ 4.17526360e-03 -1.16210431e-04 9.99991277e-01 5.22122907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.65, Y:33.84, Z:0.52 [[ 8.32836106e-01 -5.53508325e-01 -3.54312432e-03 1.10651385e+02] [ 5.53503919e-01 8.32843634e-01 -2.21192231e-03 3.38386043e+01] [ 4.17518595e-03 -1.18964430e-04 9.99991277e-01 5.22595597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.70, Y:33.87, Z:0.52 [[ 8.33128133e-01 -5.53068680e-01 -3.54244425e-03 1.10700543e+02] [ 5.53064264e-01 8.33135657e-01 -2.21301093e-03 3.38693379e+01] [ 4.17528365e-03 -1.15477656e-04 9.99991277e-01 5.22355636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.75, Y:33.90, Z:0.52 [[ 8.34206937e-01 -5.51440151e-01 -3.54195283e-03 1.10747928e+02] [ 5.51435718e-01 8.34214450e-01 -2.21379718e-03 3.39031515e+01] [ 4.17552488e-03 -1.06394335e-04 9.99991277e-01 5.16298238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.80, Y:33.93, Z:0.53 [[ 8.40278445e-01 -5.42143517e-01 -3.54158686e-03 1.10798570e+02] [ 5.42138998e-01 8.40285906e-01 -2.21438249e-03 3.39311643e+01] [ 4.17645863e-03 -5.93344792e-05 9.99991277e-01 5.26437002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.85, Y:33.96, Z:0.52 [[ 8.38941324e-01 -5.44210358e-01 -3.54125061e-03 1.10846000e+02] [ 5.44205855e-01 8.38948795e-01 -2.21492010e-03 3.39639583e+01] [ 4.17631039e-03 -6.89813174e-05 9.99991277e-01 5.24398374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.89, Y:34.00, Z:0.52 [[ 8.39188850e-01 -5.43828593e-01 -3.54046387e-03 1.10893482e+02] [ 5.43824081e-01 8.39196316e-01 -2.21617694e-03 3.39950983e+01] [ 4.17636463e-03 -6.55985313e-05 9.99991277e-01 5.24677611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.94, Y:34.03, Z:0.53 [[ 8.38756792e-01 -5.44494732e-01 -3.53993757e-03 1.10942493e+02] [ 5.44490223e-01 8.38764259e-01 -2.21701730e-03 3.40266544e+01] [ 4.17632735e-03 -6.79230790e-05 9.99991277e-01 5.25228655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.99, Y:34.06, Z:0.52 [[ 8.37079805e-01 -5.47069350e-01 -3.53924848e-03 1.10991835e+02] [ 5.47064859e-01 8.37087283e-01 -2.21811682e-03 3.40575842e+01] [ 4.17612362e-03 -7.94576742e-05 9.99991277e-01 5.22779022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.302755096 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:111.04, Y:34.09, Z:0.52 [[ 8.35163687e-01 -5.49990085e-01 -3.53856192e-03 1.11041000e+02] [ 5.49985616e-01 8.35171179e-01 -2.21921155e-03 3.40889027e+01] [ 4.17584928e-03 -9.27532517e-05 9.99991277e-01 5.23794212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.09, Y:34.12, Z:0.52 [[ 8.34274100e-01 -5.51338561e-01 -3.53783456e-03 1.11090218e+02] [ 5.51334099e-01 8.34281596e-01 -2.22037049e-03 3.41203573e+01] [ 4.17572613e-03 -9.81312314e-05 9.99991277e-01 5.21065240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.14, Y:34.15, Z:0.52 [[ 8.32358224e-01 -5.54226737e-01 -3.53705562e-03 1.11138318e+02] [ 5.54222296e-01 8.32365732e-01 -2.22161065e-03 3.41518303e+01] [ 4.17539991e-03 -1.11139192e-04 9.99991277e-01 5.18553375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.19, Y:34.18, Z:0.52 [[ 8.31176456e-01 -5.55997474e-01 -3.53676408e-03 1.11187288e+02] [ 5.55993046e-01 8.31183972e-01 -2.22207467e-03 3.41827564e+01] [ 4.17516952e-03 -1.19480085e-04 9.99991277e-01 5.19647674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.24, Y:34.21, Z:0.52 [[ 8.30554037e-01 -5.56926825e-01 -3.53604590e-03 1.11235210e+02] [ 5.56922401e-01 8.30561555e-01 -2.22321694e-03 3.42132149e+01] [ 4.17507294e-03 -1.22801370e-04 9.99991277e-01 5.22286475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.28, Y:34.24, Z:0.52 [[ 8.31323056e-01 -5.55778264e-01 -3.53528633e-03 1.11284216e+02] [ 5.55773824e-01 8.31330565e-01 -2.22442414e-03 3.42445415e+01] [ 4.17527817e-03 -1.15604530e-04 9.99991277e-01 5.21862649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.33, Y:34.27, Z:0.52 [[ 8.33136223e-01 -5.53056544e-01 -3.53450964e-03 1.11331920e+02] [ 5.53052074e-01 8.33143715e-01 -2.22565758e-03 3.42748629e+01] [ 4.17566898e-03 -1.00491932e-04 9.99991277e-01 5.23958604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.38, Y:34.31, Z:0.52 [[ 8.34911203e-01 -5.50373321e-01 -3.53412195e-03 1.11380639e+02] [ 5.50368825e-01 8.34918679e-01 -2.22627302e-03 3.43060981e+01] [ 4.17598571e-03 -8.63302606e-05 9.99991277e-01 5.21645943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.43, Y:34.34, Z:0.52 [[ 8.36706605e-01 -5.47640003e-01 -3.53337647e-03 1.11428983e+02] [ 5.47635478e-01 8.36714062e-01 -2.22745556e-03 3.43361144e+01] [ 4.17626955e-03 -7.12755361e-05 9.99991277e-01 5.24486374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.48, Y:34.37, Z:0.53 [[ 8.38892787e-01 -5.44285228e-01 -3.53305599e-03 1.11477440e+02] [ 5.44280670e-01 8.38900225e-01 -2.22796377e-03 3.43670794e+01] [ 4.17652924e-03 -5.39513516e-05 9.99991277e-01 5.25135179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.53, Y:34.40, Z:0.53 [[ 8.40431910e-01 -5.41905641e-01 -3.53276897e-03 1.11528120e+02] [ 5.41901061e-01 8.40439334e-01 -2.22841880e-03 3.43956625e+01] [ 4.17667072e-03 -4.15769848e-05 9.99991277e-01 5.26036299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.58, Y:34.43, Z:0.53 [[ 8.38735773e-01 -5.44527160e-01 -3.53206926e-03 1.11575627e+02] [ 5.44522598e-01 8.38743208e-01 -2.22952730e-03 3.44275234e+01] [ 4.17653727e-03 -5.33072298e-05 9.99991277e-01 5.26671826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.63, Y:34.46, Z:0.53 [[ 8.38038874e-01 -5.45599096e-01 -3.53156619e-03 1.11625245e+02] [ 5.45594541e-01 8.38046313e-01 -2.23032387e-03 3.44579570e+01] [ 4.17647871e-03 -5.77051220e-05 9.99991277e-01 5.27309649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.67, Y:34.49, Z:0.53 [[ 8.37193097e-01 -5.46896016e-01 -3.53080474e-03 1.11674467e+02] [ 5.46891466e-01 8.37200540e-01 -2.23152866e-03 3.44889255e+01] [ 4.17640577e-03 -6.27465972e-05 9.99991277e-01 5.27080025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.72, Y:34.52, Z:0.52 [[ 8.35705673e-01 -5.49166247e-01 -3.53007903e-03 1.11724361e+02] [ 5.49161714e-01 8.35713125e-01 -2.23267608e-03 3.45178059e+01] [ 4.17624372e-03 -7.27241865e-05 9.99991277e-01 5.22939112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.77, Y:34.55, Z:0.53 [[ 8.32794857e-01 -5.53570475e-01 -3.52929816e-03 1.11772406e+02] [ 5.53565975e-01 8.32802330e-01 -2.23390976e-03 3.45489731e+01] [ 4.17583422e-03 -9.33108185e-05 9.99991277e-01 5.25086647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.82, Y:34.58, Z:0.53 [[ 8.31667401e-01 -5.55262896e-01 -3.52848423e-03 1.11821710e+02] [ 5.55258406e-01 8.31674880e-01 -2.23519463e-03 3.45791978e+01] [ 4.17567234e-03 -1.00282026e-04 9.99991277e-01 5.25486401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.87, Y:34.61, Z:0.53 [[ 8.31151396e-01 -5.56034992e-01 -3.52771807e-03 1.11871080e+02] [ 5.56030504e-01 8.31158876e-01 -2.23640318e-03 3.46100323e+01] [ 4.17561261e-03 -1.02729230e-04 9.99991277e-01 5.25669854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.92, Y:34.64, Z:0.53 [[ 8.31205019e-01 -5.55954833e-01 -3.52701161e-03 1.11919430e+02] [ 5.55950339e-01 8.31212496e-01 -2.23751677e-03 3.46418052e+01] [ 4.17565439e-03 -1.01008136e-04 9.99991277e-01 5.26423512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.97, Y:34.67, Z:0.53 [[ 8.32187054e-01 -5.54483790e-01 -3.52628013e-03 1.11968640e+02] [ 5.54479278e-01 8.32194520e-01 -2.23866897e-03 3.46722390e+01] [ 4.17585666e-03 -9.22579249e-05 9.99991277e-01 5.25603319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.02, Y:34.70, Z:0.53 [[ 8.33234335e-01 -5.52908775e-01 -3.52555323e-03 1.12015785e+02] [ 5.52904244e-01 8.33241790e-01 -2.23981315e-03 3.47038464e+01] [ 4.17605063e-03 -8.30041221e-05 9.99991277e-01 5.28953690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.06, Y:34.74, Z:0.53 [[ 8.33969044e-01 -5.51799970e-01 -3.52506387e-03 1.12064250e+02] [ 5.51795427e-01 8.33976491e-01 -2.24058304e-03 3.47357313e+01] [ 4.17617405e-03 -7.65372250e-05 9.99991277e-01 5.29352019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.11, Y:34.77, Z:0.53 [[ 8.34935605e-01 -5.50336365e-01 -3.52434546e-03 1.12111651e+02] [ 5.50331804e-01 8.34943040e-01 -2.24171250e-03 3.47666075e+01] [ 4.17632363e-03 -6.78738108e-05 9.99991277e-01 5.28537652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.16, Y:34.80, Z:0.53 [[ 8.34940138e-01 -5.50329490e-01 -3.52401515e-03 1.12160123e+02] [ 5.50324926e-01 8.34947572e-01 -2.24223164e-03 3.47989564e+01] [ 4.17633409e-03 -6.72241859e-05 9.99991277e-01 5.29504242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.21, Y:34.83, Z:0.53 [[ 8.35096127e-01 -5.50092760e-01 -3.52323591e-03 1.12207594e+02] [ 5.50088189e-01 8.35103557e-01 -2.24345540e-03 3.48298770e+01] [ 4.17637541e-03 -6.45895418e-05 9.99991277e-01 5.29271827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.26, Y:34.86, Z:0.53 [[ 8.33923659e-01 -5.51868572e-01 -3.52293162e-03 1.12256240e+02] [ 5.51864015e-01 8.33931097e-01 -2.24393313e-03 3.48613836e+01] [ 4.17623840e-03 -7.29102554e-05 9.99991277e-01 5.30177226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.30, Y:34.89, Z:0.53 [[ 8.33492578e-01 -5.52519426e-01 -3.52220658e-03 1.12304528e+02] [ 5.52514870e-01 8.33500017e-01 -2.24507061e-03 3.48924157e+01] [ 4.17620437e-03 -7.48218162e-05 9.99991277e-01 5.28586376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.35, Y:34.92, Z:0.53 [[ 8.33585059e-01 -5.52379895e-01 -3.52145042e-03 1.12353237e+02] [ 5.52375333e-01 8.33592494e-01 -2.24625604e-03 3.49240434e+01] [ 4.17624132e-03 -7.27168720e-05 9.99991277e-01 5.27825112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.40, Y:34.96, Z:0.53 [[ 8.33727959e-01 -5.52164192e-01 -3.52069794e-03 1.12402009e+02] [ 5.52159623e-01 8.33735390e-01 -2.24743484e-03 3.49554543e+01] [ 4.17628351e-03 -7.02379788e-05 9.99991277e-01 5.28129493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.45, Y:34.99, Z:0.53 [[ 8.34415111e-01 -5.51125242e-01 -3.51995296e-03 1.12451062e+02] [ 5.51120659e-01 8.34422533e-01 -2.24860102e-03 3.49854611e+01] [ 4.17638885e-03 -6.36521200e-05 9.99991277e-01 5.30041835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.50, Y:35.02, Z:0.53 [[ 8.32722975e-01 -5.53678660e-01 -3.51963364e-03 1.12500022e+02] [ 5.53674097e-01 8.32730410e-01 -2.24910073e-03 3.50173394e+01] [ 4.17618504e-03 -7.58521326e-05 9.99991277e-01 5.29435022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.162755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:112.55, Y:35.05, Z:0.53 [[ 8.32035451e-01 -5.54711299e-01 -3.51890918e-03 1.12549462e+02] [ 5.54706740e-01 8.32042889e-01 -2.25023365e-03 3.50482611e+01] [ 4.17611338e-03 -7.96884716e-05 9.99991277e-01 5.31218447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.60, Y:35.08, Z:0.53 [[ 8.31418522e-01 -5.55635549e-01 -3.51825554e-03 1.12598601e+02] [ 5.55630995e-01 8.31425962e-01 -2.25125515e-03 3.50788640e+01] [ 4.17604639e-03 -8.31165982e-05 9.99991277e-01 5.31812744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.65, Y:35.11, Z:0.53 [[ 8.30861388e-01 -5.56468310e-01 -3.51754273e-03 1.12648188e+02] [ 5.56463759e-01 8.30868830e-01 -2.25236834e-03 3.51099818e+01] [ 4.17598822e-03 -8.59791607e-05 9.99991277e-01 5.32153833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.70, Y:35.14, Z:0.53 [[ 8.29567283e-01 -5.58395698e-01 -3.51680911e-03 1.12697993e+02] [ 5.58391158e-01 8.29574732e-01 -2.25351323e-03 3.51406241e+01] [ 4.17580807e-03 -9.43142643e-05 9.99991277e-01 5.32442898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.75, Y:35.17, Z:0.53 [[ 8.28088905e-01 -5.60585767e-01 -3.51607240e-03 1.12747664e+02] [ 5.60581243e-01 8.28096363e-01 -2.25466210e-03 3.51702025e+01] [ 4.17557825e-03 -1.03983565e-04 9.99991277e-01 5.31017968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.80, Y:35.20, Z:0.53 [[ 8.27418448e-01 -5.61574888e-01 -3.51533626e-03 1.12797340e+02] [ 5.61570367e-01 8.27425909e-01 -2.25580927e-03 3.52008082e+01] [ 4.17548613e-03 -1.07610465e-04 9.99991277e-01 5.31453994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.85, Y:35.23, Z:0.53 [[ 8.26004333e-01 -5.63652809e-01 -3.51462651e-03 1.12846805e+02] [ 5.63648303e-01 8.26011802e-01 -2.25691455e-03 3.52328006e+01] [ 4.17523920e-03 -1.16792072e-04 9.99991277e-01 5.34706007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.90, Y:35.26, Z:0.53 [[ 8.25911562e-01 -5.63788740e-01 -3.51390189e-03 1.12896052e+02] [ 5.63784231e-01 8.25919029e-01 -2.25804217e-03 3.52635719e+01] [ 4.17525719e-03 -1.16139334e-04 9.99991277e-01 5.34781187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.95, Y:35.29, Z:0.53 [[ 8.25851359e-01 -5.63876925e-01 -3.51368119e-03 1.12945278e+02] [ 5.63872415e-01 8.25858825e-01 -2.25838555e-03 3.52949609e+01] [ 4.17525612e-03 -1.16177120e-04 9.99991277e-01 5.34799584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.99, Y:35.33, Z:0.54 [[ 8.25283983e-01 -5.64707009e-01 -3.51298358e-03 1.12994462e+02] [ 5.64702502e-01 8.25291451e-01 -2.25947018e-03 3.53252627e+01] [ 4.17517396e-03 -1.19086065e-04 9.99991277e-01 5.35020554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.04, Y:35.36, Z:0.54 [[ 8.24721109e-01 -5.65528740e-01 -3.51228196e-03 1.13043679e+02] [ 5.65524235e-01 8.24728579e-01 -2.26056030e-03 3.53554641e+01] [ 4.17509113e-03 -1.21948774e-04 9.99991277e-01 5.36334963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.09, Y:35.38, Z:0.53 [[ 8.25035696e-01 -5.65069703e-01 -3.51158001e-03 1.13093158e+02] [ 5.65065189e-01 8.25043160e-01 -2.26165020e-03 3.53841434e+01] [ 4.17519507e-03 -1.18329476e-04 9.99991277e-01 5.34405247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.14, Y:35.42, Z:0.54 [[ 8.24214107e-01 -5.66267408e-01 -3.51127877e-03 1.13141288e+02] [ 5.66262903e-01 8.24221577e-01 -2.26211778e-03 3.54165486e+01] [ 4.17503529e-03 -1.23837523e-04 9.99991277e-01 5.35921599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.19, Y:35.45, Z:0.54 [[ 8.24191344e-01 -5.66300542e-01 -3.51059148e-03 1.13190774e+02] [ 5.66296033e-01 8.24198812e-01 -2.26318389e-03 3.54478444e+01] [ 4.17506759e-03 -1.22737459e-04 9.99991277e-01 5.36072671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.24, Y:35.48, Z:0.54 [[ 8.22919790e-01 -5.68146724e-01 -3.50982699e-03 1.13240152e+02] [ 5.68142227e-01 8.22927264e-01 -2.26436886e-03 3.54795386e+01] [ 4.17482608e-03 -1.30686971e-04 9.99991277e-01 5.36333803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.29, Y:35.51, Z:0.54 [[ 8.23023071e-01 -5.67997104e-01 -3.50908081e-03 1.13288963e+02] [ 5.67992600e-01 8.23030542e-01 -2.26552462e-03 3.55101106e+01] [ 4.17489211e-03 -1.28552905e-04 9.99991277e-01 5.40031834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.34, Y:35.54, Z:0.54 [[ 8.23495336e-01 -5.67312189e-01 -3.50881976e-03 1.13337517e+02] [ 5.67307677e-01 8.23502802e-01 -2.26592886e-03 3.55420161e+01] [ 4.17501197e-03 -1.24598540e-04 9.99991277e-01 5.41830650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.39, Y:35.57, Z:0.54 [[ 8.23214934e-01 -5.67719002e-01 -3.50810526e-03 1.13386249e+02] [ 5.67714489e-01 8.23222400e-01 -2.26703451e-03 3.55741573e+01] [ 4.17498940e-03 -1.25345527e-04 9.99991277e-01 5.41566191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.44, Y:35.61, Z:0.54 [[ 8.22089762e-01 -5.69347101e-01 -3.50739997e-03 1.13435053e+02] [ 5.69342598e-01 8.22097234e-01 -2.26812516e-03 3.56071932e+01] [ 4.17477430e-03 -1.32309745e-04 9.99991277e-01 5.37857094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.48, Y:35.64, Z:0.54 [[ 8.22300479e-01 -5.69042728e-01 -3.50666770e-03 1.13484117e+02] [ 5.69038218e-01 8.22307946e-01 -2.26925673e-03 3.56384337e+01] [ 4.17486475e-03 -1.29417038e-04 9.99991277e-01 5.42404270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.53, Y:35.67, Z:0.53 [[ 8.20982051e-01 -5.70943234e-01 -3.50640664e-03 1.13529471e+02] [ 5.70938740e-01 8.20989527e-01 -2.26966004e-03 3.56739962e+01] [ 4.17457018e-03 -1.38593236e-04 9.99991277e-01 5.33575728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.58, Y:35.70, Z:0.54 [[ 8.22622920e-01 -5.68576502e-01 -3.50613841e-03 1.13581320e+02] [ 5.68571984e-01 8.22630382e-01 -2.27007432e-03 3.57025163e+01] [ 4.17496690e-03 -1.26076908e-04 9.99991277e-01 5.39581770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.63, Y:35.74, Z:0.54 [[ 8.22352242e-01 -5.68967926e-01 -3.50550822e-03 1.13627935e+02] [ 5.68963408e-01 8.22359704e-01 -2.27104707e-03 3.57380202e+01] [ 4.17494164e-03 -1.26905251e-04 9.99991277e-01 5.36332440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.68, Y:35.77, Z:0.54 [[ 8.24388685e-01 -5.66013258e-01 -3.50528312e-03 1.13678324e+02] [ 5.66008712e-01 8.24396130e-01 -2.27139446e-03 3.57677200e+01] [ 4.17538121e-03 -1.11508891e-04 9.99991277e-01 5.43771216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.73, Y:35.80, Z:0.54 [[ 8.26833233e-01 -5.62436239e-01 -3.50464983e-03 1.13727559e+02] [ 5.62431656e-01 8.26840655e-01 -2.27237116e-03 3.57998085e+01] [ 4.17585085e-03 -9.22540190e-05 9.99991277e-01 5.42826740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.77, Y:35.83, Z:0.54 [[ 8.27272833e-01 -5.61789447e-01 -3.50401579e-03 1.13774616e+02] [ 5.61784854e-01 8.27280249e-01 -2.27334843e-03 3.58338775e+01] [ 4.17594622e-03 -8.78236026e-05 9.99991277e-01 5.41518919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.82, Y:35.87, Z:0.55 [[ 8.27738225e-01 -5.61103518e-01 -3.50324762e-03 1.13823900e+02] [ 5.61098914e-01 8.27745634e-01 -2.27453158e-03 3.58668362e+01] [ 4.17604559e-03 -8.29517064e-05 9.99991277e-01 5.45908330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.87, Y:35.90, Z:0.55 [[ 8.27101998e-01 -5.62040939e-01 -3.50252807e-03 1.13872368e+02] [ 5.62036339e-01 8.27109409e-01 -2.27563906e-03 3.58991674e+01] [ 4.17597624e-03 -8.63624395e-05 9.99991277e-01 5.47722478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.92, Y:35.93, Z:0.55 [[ 8.25396343e-01 -5.64542838e-01 -3.50174186e-03 1.13919628e+02] [ 5.64538255e-01 8.25403765e-01 -2.27684825e-03 3.59306455e+01] [ 4.17572928e-03 -9.75650220e-05 9.99991277e-01 5.47806019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90275509599999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:113.97, Y:35.96, Z:0.55 [[ 8.24201239e-01 -5.66286198e-01 -3.50140529e-03 1.13968519e+02] [ 5.66281629e-01 8.24208669e-01 -2.27736571e-03 3.59621952e+01] [ 4.17552937e-03 -1.05773850e-04 9.99991277e-01 5.45088308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.962755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:114.02, Y:35.99, Z:0.55 [[ 8.23533636e-01 -5.67256640e-01 -3.50057146e-03 1.14017495e+02] [ 5.67252074e-01 8.23541069e-01 -2.27864669e-03 3.59936102e+01] [ 4.17544182e-03 -1.09164228e-04 9.99991277e-01 5.46592680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.07, Y:36.03, Z:0.55 [[ 8.23749479e-01 -5.66943158e-01 -3.50018848e-03 1.14065953e+02] [ 5.66938586e-01 8.23756909e-01 -2.27923483e-03 3.60250139e+01] [ 4.17550103e-03 -1.06873405e-04 9.99991277e-01 5.46736327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.12, Y:36.06, Z:0.54 [[ 8.24424724e-01 -5.65960801e-01 -3.49948130e-03 1.14115691e+02] [ 5.65956216e-01 8.24432145e-01 -2.28032009e-03 3.60566001e+01] [ 4.17565666e-03 -1.00600938e-04 9.99991277e-01 5.43682006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.17, Y:36.09, Z:0.55 [[ 8.24560331e-01 -5.65763218e-01 -3.49878662e-03 1.14165487e+02] [ 5.65758626e-01 8.24567749e-01 -2.28138546e-03 3.60877877e+01] [ 4.17571059e-03 -9.83287614e-05 9.99991277e-01 5.47007939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.22, Y:36.12, Z:0.55 [[ 8.23884624e-01 -5.66746760e-01 -3.49808666e-03 1.14215234e+02] [ 5.66742173e-01 8.23892043e-01 -2.28245822e-03 3.61177419e+01] [ 4.17562157e-03 -1.02031001e-04 9.99991277e-01 5.48993264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.26, Y:36.15, Z:0.55 [[ 8.23280207e-01 -5.67624409e-01 -3.49736662e-03 1.14264989e+02] [ 5.67619825e-01 8.23287628e-01 -2.28356099e-03 3.61479487e+01] [ 4.17554363e-03 -1.05164066e-04 9.99991277e-01 5.49991914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.31, Y:36.18, Z:0.55 [[ 8.22213723e-01 -5.69168136e-01 -3.49662723e-03 1.14314062e+02] [ 5.69163561e-01 8.22221151e-01 -2.28469259e-03 3.61776627e+01] [ 4.17537509e-03 -1.11647206e-04 9.99991277e-01 5.50522118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.37, Y:36.20, Z:0.56 [[ 8.24390014e-01 -5.66011378e-01 -3.49630998e-03 1.14367548e+02] [ 5.66006773e-01 8.24397423e-01 -2.28517799e-03 3.62034365e+01] [ 4.17578568e-03 -9.50572166e-05 9.99991277e-01 5.55173921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.42, Y:36.23, Z:0.55 [[ 8.24562808e-01 -5.65759627e-01 -3.49562733e-03 1.14416619e+02] [ 5.65755015e-01 8.24570213e-01 -2.28622176e-03 3.62345522e+01] [ 4.17584214e-03 -9.25352593e-05 9.99991277e-01 5.54709012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.47, Y:36.27, Z:0.55 [[ 8.23950006e-01 -5.66651719e-01 -3.49538715e-03 1.14465095e+02] [ 5.66647113e-01 8.23957414e-01 -2.28658890e-03 3.62688289e+01] [ 4.17574969e-03 -9.66161001e-05 9.99991277e-01 5.52360714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56275509599999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:114.51, Y:36.30, Z:0.55 [[ 8.22381027e-01 -5.68926387e-01 -3.49472565e-03 1.14512252e+02] [ 5.68921798e-01 8.22388445e-01 -2.28759947e-03 3.63044348e+01] [ 4.17549770e-03 -1.06947197e-04 9.99991277e-01 5.48567136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.56, Y:36.33, Z:0.55 [[ 8.24723975e-01 -5.65524674e-01 -3.49407244e-03 1.14561975e+02] [ 5.65520050e-01 8.24731372e-01 -2.28859674e-03 3.63343308e+01] [ 4.17592909e-03 -8.85074214e-05 9.99991277e-01 5.53178087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.61, Y:36.37, Z:0.55 [[ 8.25842070e-01 -5.63890654e-01 -3.49373022e-03 1.14610040e+02] [ 5.63886013e-01 8.25849456e-01 -2.28911905e-03 3.63653745e+01] [ 4.17610804e-03 -7.96147902e-05 9.99991277e-01 5.53357029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.66, Y:36.40, Z:0.55 [[ 8.25479301e-01 -5.64421581e-01 -3.49324156e-03 1.14658194e+02] [ 5.64416942e-01 8.25486688e-01 -2.28986452e-03 3.63990498e+01] [ 4.17607336e-03 -8.14089563e-05 9.99991277e-01 5.49383151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.71, Y:36.43, Z:0.55 [[ 8.26834854e-01 -5.62433930e-01 -3.49254866e-03 1.14708820e+02] [ 5.62429269e-01 8.26842227e-01 -2.29092086e-03 3.64271391e+01] [ 4.17627834e-03 -7.00983781e-05 9.99991277e-01 5.52170274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.76, Y:36.46, Z:0.55 [[ 8.25812642e-01 -5.63933762e-01 -3.49181055e-03 1.14756885e+02] [ 5.63929109e-01 8.25820020e-01 -2.29204533e-03 3.64593438e+01] [ 4.17616881e-03 -7.63336006e-05 9.99991277e-01 5.52195708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.81, Y:36.49, Z:0.55 [[ 8.27233413e-01 -5.61847570e-01 -3.49103654e-03 1.14807148e+02] [ 5.61842894e-01 8.27240777e-01 -2.29322362e-03 3.64905223e+01] [ 4.17636990e-03 -6.43828729e-05 9.99991277e-01 5.54750779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98275509599999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:114.86, Y:36.52, Z:0.55 [[ 8.26978178e-01 -5.62223186e-01 -3.49033157e-03 1.14857320e+02] [ 5.62218509e-01 8.26985541e-01 -2.29429610e-03 3.65223228e+01] [ 4.17636021e-03 -6.49962068e-05 9.99991277e-01 5.52549353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.91, Y:36.55, Z:0.56 [[ 8.27248190e-01 -5.61825822e-01 -3.48970275e-03 1.14905448e+02] [ 5.61821137e-01 8.27255548e-01 -2.29525216e-03 3.65524589e+01] [ 4.17640789e-03 -6.18455732e-05 9.99991277e-01 5.55064213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.102755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:114.95, Y:36.58, Z:0.56 [[ 8.26515743e-01 -5.62902793e-01 -3.48894629e-03 1.14954893e+02] [ 5.62898113e-01 8.26523104e-01 -2.29640146e-03 3.65832378e+01] [ 4.17634551e-03 -6.59093212e-05 9.99991277e-01 5.55707069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.00, Y:36.61, Z:0.56 [[ 8.26686241e-01 -5.62652373e-01 -3.48806867e-03 1.15003726e+02] [ 5.62647685e-01 8.26693597e-01 -2.29773373e-03 3.66141317e+01] [ 4.17638937e-03 -6.30488992e-05 9.99991277e-01 5.55897576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.05, Y:36.64, Z:0.55 [[ 8.26859517e-01 -5.62397701e-01 -3.48782451e-03 1.15052912e+02] [ 5.62393009e-01 8.26866871e-01 -2.29810429e-03 3.66448372e+01] [ 4.17641511e-03 -6.13187202e-05 9.99991277e-01 5.54881650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.10, Y:36.68, Z:0.55 [[ 8.26300953e-01 -5.63218053e-01 -3.48712338e-03 1.15101403e+02] [ 5.63213364e-01 8.26308308e-01 -2.29916769e-03 3.66780391e+01] [ 4.17637177e-03 -6.41900383e-05 9.99991277e-01 5.52480491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.15, Y:36.71, Z:0.55 [[ 8.27954488e-01 -5.60784459e-01 -3.48646362e-03 1.15152223e+02] [ 5.60779744e-01 8.27961827e-01 -2.30016771e-03 3.67066613e+01] [ 4.17655710e-03 -5.07039925e-05 9.99991277e-01 5.54806622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40275509599999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:115.20, Y:36.74, Z:0.55 [[ 8.28020715e-01 -5.60686670e-01 -3.48623212e-03 1.15200652e+02] [ 5.60681953e-01 8.28028052e-01 -2.30051852e-03 3.67379545e+01] [ 4.17656807e-03 -4.97904422e-05 9.99991277e-01 5.51662923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.25, Y:36.77, Z:0.55 [[ 8.29760217e-01 -5.58109160e-01 -3.48551195e-03 1.15250029e+02] [ 5.58104415e-01 8.29767536e-01 -2.30160914e-03 3.67677871e+01] [ 4.17671381e-03 -3.54959076e-05 9.99991277e-01 5.54598856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.30, Y:36.80, Z:0.56 [[ 8.29240189e-01 -5.58881531e-01 -3.48475782e-03 1.15298412e+02] [ 5.58876788e-01 8.29247510e-01 -2.30275036e-03 3.67988919e+01] [ 4.17669140e-03 -3.80171107e-05 9.99991277e-01 5.56347977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.35, Y:36.83, Z:0.56 [[ 8.29793134e-01 -5.58060225e-01 -3.48425052e-03 1.15346869e+02] [ 5.58055471e-01 8.29800449e-01 -2.30351769e-03 3.68306896e+01] [ 4.17673425e-03 -3.29619038e-05 9.99991277e-01 5.56420048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.40, Y:36.86, Z:0.56 [[ 8.29907415e-01 -5.57890261e-01 -3.48403117e-03 1.15395968e+02] [ 5.57885505e-01 8.29914728e-01 -2.30384941e-03 3.68609939e+01] [ 4.17674393e-03 -3.17087836e-05 9.99991277e-01 5.55390539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.44, Y:36.89, Z:0.56 [[ 8.29881495e-01 -5.57928822e-01 -3.48331953e-03 1.15444548e+02] [ 5.57924061e-01 8.29888805e-01 -2.30492488e-03 3.68943841e+01] [ 4.17675190e-03 -3.06132749e-05 9.99991277e-01 5.56928841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76275509599999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.49, Y:36.93, Z:0.56 [[ 8.30215364e-01 -5.57431898e-01 -3.48262533e-03 1.15492873e+02] [ 5.57427129e-01 8.30222668e-01 -2.30597331e-03 3.69264613e+01] [ 4.17677757e-03 -2.68553665e-05 9.99991277e-01 5.57971305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.54, Y:36.96, Z:0.56 [[ 8.29321524e-01 -5.58760850e-01 -3.48182947e-03 1.15539176e+02] [ 5.58756087e-01 8.29328832e-01 -2.30717436e-03 3.69618951e+01] [ 4.17674027e-03 -3.21040559e-05 9.99991277e-01 5.56816485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.59, Y:37.00, Z:0.56 [[ 8.29794760e-01 -5.58057824e-01 -3.48158628e-03 1.15585256e+02] [ 5.58053054e-01 8.29802063e-01 -2.30754128e-03 3.69960453e+01] [ 4.17676895e-03 -2.81241997e-05 9.99991277e-01 5.56598325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.63, Y:37.03, Z:0.55 [[ 8.28684953e-01 -5.59704501e-01 -3.48126556e-03 1.15632481e+02] [ 5.59699744e-01 8.28692265e-01 -2.30802504e-03 3.70304356e+01] [ 4.17670984e-03 -3.58378204e-05 9.99991277e-01 5.54893191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.68, Y:37.06, Z:0.55 [[ 8.25925886e-01 -5.63767964e-01 -3.48052646e-03 1.15680285e+02] [ 5.63763237e-01 8.25933218e-01 -2.30913906e-03 3.70634283e+01] [ 4.17650105e-03 -5.50151413e-05 9.99991277e-01 5.54207404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.73, Y:37.10, Z:0.55 [[ 8.24095625e-01 -5.66440016e-01 -3.47979283e-03 1.15727605e+02] [ 5.66435309e-01 8.24102969e-01 -2.31024410e-03 3.70967920e+01] [ 4.17632230e-03 -6.72154689e-05 9.99991277e-01 5.54890078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.77, Y:37.13, Z:0.56 [[ 8.21847858e-01 -5.69696406e-01 -3.47907049e-03 1.15774220e+02] [ 5.69691723e-01 8.21855217e-01 -2.31133138e-03 3.71315294e+01] [ 4.17604941e-03 -8.24349241e-05 9.99991277e-01 5.56593350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.82, Y:37.17, Z:0.56 [[ 8.20495265e-01 -5.71642739e-01 -3.47834128e-03 1.15821515e+02] [ 5.71638069e-01 8.20502633e-01 -2.31242824e-03 3.71653036e+01] [ 4.17587100e-03 -9.10158704e-05 9.99991277e-01 5.58695905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.87, Y:37.20, Z:0.56 [[ 8.20345668e-01 -5.71857404e-01 -3.47758221e-03 1.15867181e+02] [ 5.71852731e-01 8.20353034e-01 -2.31356923e-03 3.71998464e+01] [ 4.17587681e-03 -9.07383899e-05 9.99991277e-01 5.59320782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.92, Y:37.23, Z:0.56 [[ 8.21928168e-01 -5.69580545e-01 -3.47707253e-03 1.15915098e+02] [ 5.69575848e-01 8.21935519e-01 -2.31433497e-03 3.72332620e+01] [ 4.17612959e-03 -7.82394309e-05 9.99991277e-01 5.58734162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.96, Y:37.27, Z:0.56 [[ 8.20951158e-01 -5.70987838e-01 -3.47631477e-03 1.15958876e+02] [ 5.70983149e-01 8.20958514e-01 -2.31547263e-03 3.72700354e+01] [ 4.17601692e-03 -8.40272169e-05 9.99991277e-01 5.61691367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.00, Y:37.31, Z:0.56 [[ 8.21096343e-01 -5.70779042e-01 -3.47580325e-03 1.16003746e+02] [ 5.70774348e-01 8.21103695e-01 -2.31624023e-03 3.73051633e+01] [ 4.17605627e-03 -8.20429462e-05 9.99991277e-01 5.61079114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.05, Y:37.34, Z:0.56 [[ 8.20568983e-01 -5.71536935e-01 -3.47500096e-03 1.16050052e+02] [ 5.71532243e-01 8.20576337e-01 -2.31744326e-03 3.73412096e+01] [ 4.17600798e-03 -8.44530370e-05 9.99991277e-01 5.61725772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.09, Y:37.38, Z:0.56 [[ 8.19991665e-01 -5.72364918e-01 -3.47419766e-03 1.16094882e+02] [ 5.72360229e-01 8.19999020e-01 -2.31864690e-03 3.73765658e+01] [ 4.17595082e-03 -8.72214405e-05 9.99991277e-01 5.61326851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.14, Y:37.41, Z:0.56 [[ 8.18707430e-01 -5.74200380e-01 -3.47376629e-03 1.16140712e+02] [ 5.74195704e-01 8.18714794e-01 -2.31929299e-03 3.74128144e+01] [ 4.17576277e-03 -9.57992784e-05 9.99991277e-01 5.62916006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.19, Y:37.45, Z:0.56 [[ 8.18341162e-01 -5.74722265e-01 -3.47295736e-03 1.16186547e+02] [ 5.74717588e-01 8.18348526e-01 -2.32050368e-03 3.74473322e+01] [ 4.17573466e-03 -9.70060011e-05 9.99991277e-01 5.62938124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.23, Y:37.48, Z:0.56 [[ 8.17571179e-01 -5.75817080e-01 -3.47246333e-03 1.16231937e+02] [ 5.75812411e-01 8.17578547e-01 -2.32124272e-03 3.74833695e+01] [ 4.17562273e-03 -1.01706335e-04 9.99991277e-01 5.63946505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.28, Y:37.52, Z:0.56 [[ 8.17085908e-01 -5.76505477e-01 -3.47180052e-03 1.16279087e+02] [ 5.76500810e-01 8.17093277e-01 -2.32223363e-03 3.75170562e+01] [ 4.17556528e-03 -1.04031440e-04 9.99991277e-01 5.63766891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.32, Y:37.55, Z:0.56 [[ 8.15603195e-01 -5.78601227e-01 -3.47104608e-03 1.16324144e+02] [ 5.78596574e-01 8.15610573e-01 -2.32336075e-03 3.75538901e+01] [ 4.17532126e-03 -1.13394915e-04 9.99991277e-01 5.64612501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.37, Y:37.59, Z:0.57 [[ 8.14281954e-01 -5.80459178e-01 -3.47029381e-03 1.16368963e+02] [ 5.80454536e-01 8.14289339e-01 -2.32448383e-03 3.75902421e+01] [ 4.17509123e-03 -1.21562550e-04 9.99991277e-01 5.65702568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.41, Y:37.63, Z:0.56 [[ 8.13804211e-01 -5.81128784e-01 -3.47005091e-03 1.16414896e+02] [ 5.81124147e-01 8.13811600e-01 -2.32484639e-03 3.76268326e+01] [ 4.17500284e-03 -1.24560590e-04 9.99991277e-01 5.63960702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.46, Y:37.66, Z:0.57 [[ 8.13885697e-01 -5.81014661e-01 -3.46926995e-03 1.16460845e+02] [ 5.81010018e-01 8.13893082e-01 -2.32601120e-03 3.76617106e+01] [ 4.17506142e-03 -1.22573348e-04 9.99991277e-01 5.65043713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.51, Y:37.70, Z:0.56 [[ 8.13758050e-01 -5.81193431e-01 -3.46879753e-03 1.16506356e+02] [ 5.81188787e-01 8.13765433e-01 -2.32671551e-03 3.76975202e+01] [ 4.17505930e-03 -1.22642749e-04 9.99991277e-01 5.63218434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.55, Y:37.73, Z:0.57 [[ 8.13274708e-01 -5.81869592e-01 -3.46800108e-03 1.16552780e+02] [ 5.81864949e-01 8.13282092e-01 -2.32790202e-03 3.77325431e+01] [ 4.17499858e-03 -1.24684435e-04 9.99991277e-01 5.65105372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.60, Y:37.77, Z:0.56 [[ 8.11009595e-01 -5.85022573e-01 -3.46775743e-03 1.16599990e+02] [ 5.85017957e-01 8.11016997e-01 -2.32826492e-03 3.77684557e+01] [ 4.17449775e-03 -1.40455175e-04 9.99991277e-01 5.63850662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.65, Y:37.80, Z:0.56 [[ 8.09925839e-01 -5.86522050e-01 -3.46707870e-03 1.16647225e+02] [ 5.86517443e-01 8.09933246e-01 -2.32927520e-03 3.78026509e+01] [ 4.17427357e-03 -1.46961961e-04 9.99991277e-01 5.63908585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.69, Y:37.84, Z:0.56 [[ 8.08905549e-01 -5.87928395e-01 -3.46628291e-03 1.16693669e+02] [ 5.87923796e-01 8.08912961e-01 -2.33045884e-03 3.78365971e+01] [ 4.17406410e-03 -1.52789123e-04 9.99991277e-01 5.64259190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.74, Y:37.87, Z:0.56 [[ 8.08574825e-01 -5.88383157e-01 -3.46594227e-03 1.16740388e+02] [ 5.88378560e-01 8.08582238e-01 -2.33096534e-03 3.78695953e+01] [ 4.17400011e-03 -1.54526229e-04 9.99991277e-01 5.64676799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.79, Y:37.90, Z:0.56 [[ 8.08599306e-01 -5.88349515e-01 -3.46562487e-03 1.16787166e+02] [ 5.88344916e-01 8.08606718e-01 -2.33143716e-03 3.79042612e+01] [ 4.17402747e-03 -1.53784306e-04 9.99991277e-01 5.63193847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.83, Y:37.94, Z:0.56 [[ 8.09084823e-01 -5.87681668e-01 -3.46485934e-03 1.16833515e+02] [ 5.87677058e-01 8.09092229e-01 -2.33257429e-03 3.79385862e+01] [ 4.17420191e-03 -1.48967883e-04 9.99991277e-01 5.62837386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.88, Y:37.97, Z:0.56 [[ 8.09315293e-01 -5.87364245e-01 -3.46410663e-03 1.16880842e+02] [ 5.87359627e-01 8.09322694e-01 -2.33369160e-03 3.79719012e+01] [ 4.17430711e-03 -1.45984079e-04 9.99991277e-01 5.62976545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.93, Y:38.01, Z:0.56 [[ 8.10601163e-01 -5.85588387e-01 -3.46335890e-03 1.16927178e+02] [ 5.85583748e-01 8.10608551e-01 -2.33480075e-03 3.80056986e+01] [ 4.17466055e-03 -1.35494483e-04 9.99991277e-01 5.63351918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.97, Y:38.04, Z:0.56 [[ 8.12920447e-01 -5.82364451e-01 -3.46293485e-03 1.16973011e+02] [ 5.82359781e-01 8.12927815e-01 -2.33542953e-03 3.80394702e+01] [ 4.17518720e-03 -1.18155566e-04 9.99991277e-01 5.63161482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.02, Y:38.07, Z:0.56 [[ 8.14754354e-01 -5.79795959e-01 -3.46252111e-03 1.17020363e+02] [ 5.79791262e-01 8.14761704e-01 -2.33604278e-03 3.80731427e+01] [ 4.17555777e-03 -1.04238457e-04 9.99991277e-01 5.63814193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.07, Y:38.11, Z:0.56 [[ 8.18908380e-01 -5.73913827e-01 -3.46181310e-03 1.17067247e+02] [ 5.73909074e-01 8.18915694e-01 -2.33709152e-03 3.81069521e+01] [ 4.17622222e-03 -7.29021247e-05 9.99991277e-01 5.61439276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.11, Y:38.14, Z:0.56 [[ 8.20492191e-01 -5.71647257e-01 -3.46101807e-03 1.17114806e+02] [ 5.71642478e-01 8.20499488e-01 -2.33826830e-03 3.81400330e+01] [ 4.17642821e-03 -5.99340640e-05 9.99991277e-01 5.62489146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.16, Y:38.17, Z:0.56 [[ 8.22624073e-01 -5.68575115e-01 -3.46023829e-03 1.17161671e+02] [ 5.68570304e-01 8.22631349e-01 -2.33942166e-03 3.81722804e+01] [ 4.17663744e-03 -4.29241630e-05 9.99991277e-01 5.61950619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.21, Y:38.21, Z:0.56 [[ 8.23191718e-01 -5.67752961e-01 -3.45989797e-03 1.17209637e+02] [ 5.67748141e-01 8.23198988e-01 -2.33992488e-03 3.82051937e+01] [ 4.17668378e-03 -3.81438624e-05 9.99991277e-01 5.62568348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.26, Y:38.24, Z:0.56 [[ 8.23570212e-01 -5.67203791e-01 -3.45913184e-03 1.17259262e+02] [ 5.67198961e-01 8.23577475e-01 -2.34105691e-03 3.82376593e+01] [ 4.17671942e-03 -3.39912524e-05 9.99991277e-01 5.61142698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.31, Y:38.27, Z:0.56 [[ 8.21068392e-01 -5.70819354e-01 -3.45848241e-03 1.17308281e+02] [ 5.70814552e-01 8.21075674e-01 -2.34201592e-03 3.82693858e+01] [ 4.17654379e-03 -5.11968385e-05 9.99991277e-01 5.62055865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16275509599998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:117.36, Y:38.30, Z:0.56 [[ 8.18879364e-01 -5.73955252e-01 -3.45767521e-03 1.17356446e+02] [ 5.73950472e-01 8.18886662e-01 -2.34320704e-03 3.83019194e+01] [ 4.17634010e-03 -6.57304281e-05 9.99991277e-01 5.62096519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.41, Y:38.33, Z:0.56 [[ 8.15878212e-01 -5.78213449e-01 -3.45688579e-03 1.17405467e+02] [ 5.78208703e-01 8.15885531e-01 -2.34437108e-03 3.83335630e+01] [ 4.17596999e-03 -8.60801640e-05 9.99991277e-01 5.60830158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.45, Y:38.36, Z:0.56 [[ 8.13745170e-01 -5.81211539e-01 -3.45610725e-03 1.17454137e+02] [ 5.81206815e-01 8.13752504e-01 -2.34551826e-03 3.83644442e+01] [ 4.17565820e-03 -1.00058932e-04 9.99991277e-01 5.59722809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.50, Y:38.40, Z:0.56 [[ 8.13484886e-01 -5.81575791e-01 -3.45532754e-03 1.17503051e+02] [ 5.81571065e-01 8.13492218e-01 -2.34666633e-03 3.83958409e+01] [ 4.17564639e-03 -1.00540930e-04 9.99991277e-01 5.60548572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.55, Y:38.43, Z:0.56 [[ 8.12862493e-01 -5.82445392e-01 -3.45458765e-03 1.17550637e+02] [ 5.82440669e-01 8.12869827e-01 -2.34775504e-03 3.84270124e+01] [ 4.17556917e-03 -1.03690329e-04 9.99991277e-01 5.60279808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.60, Y:38.46, Z:0.56 [[ 8.12874758e-01 -5.82428276e-01 -3.45412318e-03 1.17599343e+02] [ 5.82423551e-01 8.12882090e-01 -2.34843819e-03 3.84588663e+01] [ 4.17559168e-03 -1.02776561e-04 9.99991277e-01 5.60958061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.65, Y:38.49, Z:0.56 [[ 8.13363525e-01 -5.81745520e-01 -3.45336397e-03 1.17647632e+02] [ 5.81740783e-01 8.13370851e-01 -2.34955407e-03 3.84905506e+01] [ 4.17570814e-03 -9.79210850e-05 9.99991277e-01 5.60629761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.70, Y:38.52, Z:0.56 [[ 8.13476814e-01 -5.81587098e-01 -3.45255624e-03 1.17696039e+02] [ 5.81582356e-01 8.13484135e-01 -2.35074040e-03 3.85228389e+01] [ 4.17576001e-03 -9.56729817e-05 9.99991277e-01 5.61004186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.74, Y:38.56, Z:0.56 [[ 8.12951663e-01 -5.82320941e-01 -3.45175181e-03 1.17744807e+02] [ 5.82316200e-01 8.12958985e-01 -2.35192099e-03 3.85552112e+01] [ 4.17570550e-03 -9.80129159e-05 9.99991277e-01 5.55800282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.79, Y:38.59, Z:0.56 [[ 8.12456662e-01 -5.83011375e-01 -3.45100759e-03 1.17792543e+02] [ 5.83006635e-01 8.12463985e-01 -2.35301250e-03 3.85874156e+01] [ 4.17565243e-03 -1.00239640e-04 9.99991277e-01 5.55553995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.762755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:117.84, Y:38.62, Z:0.56 [[ 8.11576785e-01 -5.84235585e-01 -3.45013512e-03 1.17840884e+02] [ 5.84230851e-01 8.11584111e-01 -2.35429107e-03 3.86190326e+01] [ 4.17553547e-03 -1.04987406e-04 9.99991277e-01 5.55650036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.89, Y:38.65, Z:0.56 [[ 8.12042847e-01 -5.83587623e-01 -3.44986822e-03 1.17891354e+02] [ 5.83582881e-01 8.12050168e-01 -2.35468211e-03 3.86482835e+01] [ 4.17562941e-03 -1.01181276e-04 9.99991277e-01 5.60688242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.94, Y:38.68, Z:0.56 [[ 8.10835287e-01 -5.85264246e-01 -3.44961475e-03 1.17939876e+02] [ 5.85259518e-01 8.10842617e-01 -2.35505338e-03 3.86825642e+01] [ 4.17542320e-03 -1.09359481e-04 9.99991277e-01 5.55576478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.99, Y:38.71, Z:0.56 [[ 8.09491584e-01 -5.87121351e-01 -3.44893750e-03 1.17989129e+02] [ 5.87116635e-01 8.09498923e-01 -2.35604480e-03 3.87138158e+01] [ 4.17519539e-03 -1.17730143e-04 9.99991277e-01 5.55510748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.04, Y:38.74, Z:0.56 [[ 8.09645883e-01 -5.86908554e-01 -3.44868148e-03 1.18039062e+02] [ 5.86903835e-01 8.09653219e-01 -2.35641948e-03 3.87437225e+01] [ 4.17523881e-03 -1.16179059e-04 9.99991277e-01 5.62122911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.09, Y:38.78, Z:0.56 [[ 8.08915605e-01 -5.87914667e-01 -3.44789962e-03 1.18085585e+02] [ 5.87909952e-01 8.08922944e-01 -2.35756294e-03 3.87762431e+01] [ 4.17513094e-03 -1.19985054e-04 9.99991277e-01 5.56754652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.13, Y:38.81, Z:0.56 [[ 8.10555285e-01 -5.85651985e-01 -3.44712991e-03 1.18134271e+02] [ 5.85647245e-01 8.10562608e-01 -2.35868785e-03 3.88083945e+01] [ 4.17548483e-03 -1.06955231e-04 9.99991277e-01 5.59294355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.18, Y:38.84, Z:0.56 [[ 8.13959488e-01 -5.80911417e-01 -3.44623797e-03 1.18182991e+02] [ 5.80906629e-01 8.13966780e-01 -2.35999032e-03 3.88381463e+01] [ 4.17606855e-03 -8.10059662e-05 9.99991277e-01 5.61040384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.23, Y:38.87, Z:0.56 [[ 8.15635196e-01 -5.78556267e-01 -3.44589578e-03 1.18229318e+02] [ 5.78551455e-01 8.15642472e-01 -2.36048986e-03 3.88735884e+01] [ 4.17629515e-03 -6.83294138e-05 9.99991277e-01 5.60479794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.28, Y:38.91, Z:0.56 [[ 8.16913924e-01 -5.76749314e-01 -3.44505648e-03 1.18277419e+02] [ 5.76744482e-01 8.16921187e-01 -2.36171415e-03 3.89068360e+01] [ 4.17645665e-03 -5.76001398e-05 9.99991277e-01 5.61970408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.362755096 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:118.33, Y:38.94, Z:0.56 [[ 8.17977280e-01 -5.75240216e-01 -3.44419425e-03 1.18325656e+02] [ 5.75235365e-01 8.17984530e-01 -2.36297091e-03 3.89384998e+01] [ 4.17657351e-03 -4.83658207e-05 9.99991277e-01 5.59844096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.38, Y:38.97, Z:0.57 [[ 8.19761785e-01 -5.72694297e-01 -3.44336254e-03 1.18376232e+02] [ 5.72689419e-01 8.19769017e-01 -2.36418227e-03 3.89678310e+01] [ 4.17671563e-03 -3.39110159e-05 9.99991277e-01 5.65121331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.42, Y:39.00, Z:0.56 [[ 8.18279595e-01 -5.74810102e-01 -3.44255112e-03 1.18423558e+02] [ 5.74805237e-01 8.18286835e-01 -2.36536322e-03 3.90032194e+01] [ 4.17662893e-03 -4.32679505e-05 9.99991277e-01 5.64925872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.47, Y:39.04, Z:0.57 [[ 8.17152260e-01 -5.76411605e-01 -3.44186394e-03 1.18472578e+02] [ 5.76406749e-01 8.17159507e-01 -2.36636271e-03 3.90350579e+01] [ 4.17655077e-03 -5.02349660e-05 9.99991277e-01 5.65039117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.52, Y:39.07, Z:0.57 [[ 8.15951777e-01 -5.78109727e-01 -3.44105967e-03 1.18520689e+02] [ 5.78104882e-01 8.15959031e-01 -2.36753167e-03 3.90664099e+01] [ 4.17645680e-03 -5.75017248e-05 9.99991277e-01 5.66376773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.57, Y:39.10, Z:0.56 [[ 8.14746733e-01 -5.79806799e-01 -3.44050900e-03 1.18570173e+02] [ 5.79801965e-01 8.14753995e-01 -2.36833163e-03 3.90992367e+01] [ 4.17634324e-03 -6.52234194e-05 9.99991277e-01 5.63096654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.62, Y:39.13, Z:0.56 [[ 8.13658164e-01 -5.81333431e-01 -3.44012255e-03 1.18620014e+02] [ 5.81328609e-01 8.13665433e-01 -2.36889285e-03 3.91298907e+01] [ 4.17622541e-03 -7.23726451e-05 9.99991277e-01 5.63612557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.67, Y:39.16, Z:0.56 [[ 8.10692981e-01 -5.85461408e-01 -3.43934716e-03 1.18668081e+02] [ 5.85456619e-01 8.10700272e-01 -2.37001809e-03 3.91611175e+01] [ 4.17583380e-03 -9.22315277e-05 9.99991277e-01 5.63875403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.842755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:118.72, Y:39.19, Z:0.56 [[ 8.09439020e-01 -5.87193875e-01 -3.43882794e-03 1.18717873e+02] [ 5.87189098e-01 8.09446319e-01 -2.37077122e-03 3.91918303e+01] [ 4.17564896e-03 -1.00247536e-04 9.99991277e-01 5.63426182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.77, Y:39.22, Z:0.57 [[ 8.08477244e-01 -5.88517395e-01 -3.43812873e-03 1.18766468e+02] [ 5.88512626e-01 8.08484548e-01 -2.37178479e-03 3.92231799e+01] [ 4.17551056e-03 -1.05848132e-04 9.99991277e-01 5.67659270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.82, Y:39.25, Z:0.57 [[ 8.09379723e-01 -5.87275616e-01 -3.43726882e-03 1.18815681e+02] [ 5.87270830e-01 8.09387015e-01 -2.37303034e-03 3.92535369e+01] [ 4.17570361e-03 -9.79250743e-05 9.99991277e-01 5.66465603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.022755096 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:118.87, Y:39.28, Z:0.57 [[ 8.11390801e-01 -5.84493934e-01 -3.43648202e-03 1.18865313e+02] [ 5.84489118e-01 8.11398074e-01 -2.37416920e-03 3.92834351e+01] [ 4.17604239e-03 -8.22072966e-05 9.99991277e-01 5.67889809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.082755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:118.91, Y:39.32, Z:0.57 [[ 8.11347421e-01 -5.84554150e-01 -3.43624010e-03 1.18912209e+02] [ 5.84549333e-01 8.11354694e-01 -2.37451928e-03 3.93187734e+01] [ 4.17604464e-03 -8.20917634e-05 9.99991277e-01 5.69082383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.96, Y:39.35, Z:0.57 [[ 8.13481242e-01 -5.81581005e-01 -3.43557182e-03 1.18960977e+02] [ 5.81576158e-01 8.13488494e-01 -2.37548580e-03 3.93505091e+01] [ 4.17633556e-03 -6.56335178e-05 9.99991277e-01 5.70523153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.202755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:119.01, Y:39.38, Z:0.57 [[ 8.14970279e-01 -5.79492577e-01 -3.43482798e-03 1.19010630e+02] [ 5.79487706e-01 8.14977516e-01 -2.37656085e-03 3.93813684e+01] [ 4.17650695e-03 -5.36141278e-05 9.99991277e-01 5.68738907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.06, Y:39.41, Z:0.57 [[ 8.17028600e-01 -5.76586918e-01 -3.43408067e-03 1.19062784e+02] [ 5.76582017e-01 8.17035816e-01 -2.37764022e-03 3.94098556e+01] [ 4.17668315e-03 -3.74291007e-05 9.99991277e-01 5.71957637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.11, Y:39.44, Z:0.57 [[ 8.15263487e-01 -5.79080011e-01 -3.43342788e-03 1.19110056e+02] [ 5.79075128e-01 8.15270715e-01 -2.37858250e-03 3.94446604e+01] [ 4.17656278e-03 -4.90412229e-05 9.99991277e-01 5.69920995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.16, Y:39.47, Z:0.57 [[ 8.14453454e-01 -5.80218740e-01 -3.43278033e-03 1.19160452e+02] [ 5.80213863e-01 8.14460687e-01 -2.37951668e-03 3.94749630e+01] [ 4.17650480e-03 -5.37411583e-05 9.99991277e-01 5.68419897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.21, Y:39.50, Z:0.57 [[ 8.12799957e-01 -5.82532790e-01 -3.43210020e-03 1.19210683e+02] [ 5.82527930e-01 8.12807200e-01 -2.38049727e-03 3.95033853e+01] [ 4.17635347e-03 -6.44261406e-05 9.99991277e-01 5.70041040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.26, Y:39.54, Z:0.57 [[ 8.08553006e-01 -5.88413341e-01 -3.43185988e-03 1.19258604e+02] [ 5.88408532e-01 8.08560283e-01 -2.38084368e-03 3.95363669e+01] [ 4.17578578e-03 -9.42973229e-05 9.99991277e-01 5.69040271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.31, Y:39.57, Z:0.57 [[ 8.08451700e-01 -5.88552523e-01 -3.43163016e-03 1.19306796e+02] [ 5.88547713e-01 8.08458978e-01 -2.38117474e-03 3.95692938e+01] [ 4.17577861e-03 -9.46133185e-05 9.99991277e-01 5.69655583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.36, Y:39.60, Z:0.57 [[ 8.06421295e-01 -5.91331484e-01 -3.43085296e-03 1.19356225e+02] [ 5.91326695e-01 8.06428586e-01 -2.38229402e-03 3.96006474e+01] [ 4.17546336e-03 -1.07622313e-04 9.99991277e-01 5.69408651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.40, Y:39.63, Z:0.57 [[ 8.05467584e-01 -5.92629905e-01 -3.43018197e-03 1.19404251e+02] [ 5.92625124e-01 8.05474880e-01 -2.38325976e-03 3.96324713e+01] [ 4.17531642e-03 -1.13173531e-04 9.99991277e-01 5.70069779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.45, Y:39.66, Z:0.57 [[ 8.05179239e-01 -5.93021613e-01 -3.42940673e-03 1.19452200e+02] [ 5.93016830e-01 8.05186534e-01 -2.38437478e-03 3.96635122e+01] [ 4.17529789e-03 -1.13846839e-04 9.99991277e-01 5.67358030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.802755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:119.50, Y:39.70, Z:0.57 [[ 8.05817004e-01 -5.92154708e-01 -3.42896366e-03 1.19501035e+02] [ 5.92149915e-01 8.05824293e-01 -2.38501179e-03 3.96950995e+01] [ 4.17543817e-03 -1.08577479e-04 9.99991277e-01 5.70886275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.55, Y:39.73, Z:0.57 [[ 8.06990744e-01 -5.90554136e-01 -3.42808919e-03 1.19549820e+02] [ 5.90549324e-01 8.06998019e-01 -2.38626804e-03 3.97278736e+01] [ 4.17568165e-03 -9.87595364e-05 9.99991277e-01 5.71490426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.60, Y:39.76, Z:0.57 [[ 8.10181940e-01 -5.86168471e-01 -3.42742475e-03 1.19599740e+02] [ 5.86163615e-01 8.10189186e-01 -2.38722201e-03 3.97587818e+01] [ 4.17617674e-03 -7.49475209e-05 9.99991277e-01 5.74466130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.982755096 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:119.65, Y:39.79, Z:0.58 [[ 8.13135932e-01 -5.82063754e-01 -3.42676570e-03 1.19648797e+02] [ 5.82058857e-01 8.13143151e-01 -2.38816766e-03 3.97913172e+01] [ 4.17651690e-03 -5.26743925e-05 9.99991277e-01 5.76008275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.70, Y:39.83, Z:0.57 [[ 8.13782642e-01 -5.81159250e-01 -3.42606244e-03 1.19695140e+02] [ 5.81154341e-01 8.13789852e-01 -2.38917614e-03 3.98260268e+01] [ 4.17658666e-03 -4.68009826e-05 9.99991277e-01 5.74820748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.74, Y:39.86, Z:0.58 [[ 8.15245165e-01 -5.79105850e-01 -3.42581577e-03 1.19743301e+02] [ 5.79100921e-01 8.15252362e-01 -2.38952978e-03 3.98592502e+01] [ 4.17669507e-03 -3.58404692e-05 9.99991277e-01 5.75116223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.79, Y:39.89, Z:0.58 [[ 8.15273064e-01 -5.79066576e-01 -3.42509761e-03 1.19791028e+02] [ 5.79061642e-01 8.15280258e-01 -2.39055873e-03 3.98913925e+01] [ 4.17670712e-03 -3.43845040e-05 9.99991277e-01 5.76002618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.84, Y:39.92, Z:0.58 [[ 8.11139241e-01 -5.84843058e-01 -3.42478270e-03 1.19837719e+02] [ 5.84838174e-01 8.11146468e-01 -2.39100980e-03 3.99235290e+01] [ 4.17636587e-03 -6.35017815e-05 9.99991277e-01 5.75163350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.89, Y:39.95, Z:0.58 [[ 8.09354486e-01 -5.87310471e-01 -3.42426532e-03 1.19887746e+02] [ 5.87305606e-01 8.09361727e-01 -2.39175053e-03 3.99544340e+01] [ 4.17616942e-03 -7.53161957e-05 9.99991277e-01 5.75463619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.94, Y:39.99, Z:0.58 [[ 8.07295180e-01 -5.90137925e-01 -3.42352617e-03 1.19936003e+02] [ 5.90133081e-01 8.07302435e-01 -2.39280808e-03 3.99862467e+01] [ 4.17590780e-03 -8.86336159e-05 9.99991277e-01 5.77075587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.99, Y:40.02, Z:0.58 [[ 8.05118926e-01 -5.93103529e-01 -3.42317397e-03 1.19987494e+02] [ 5.93098709e-01 8.05126197e-01 -2.39331182e-03 4.00153362e+01] [ 4.17556873e-03 -1.03379423e-04 9.99991277e-01 5.76133010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.03, Y:40.05, Z:0.58 [[ 8.01793200e-01 -5.97591793e-01 -3.42255491e-03 1.20034269e+02] [ 5.97587010e-01 8.01800495e-01 -2.39419678e-03 4.00496105e+01] [ 4.17495857e-03 -1.25623655e-04 9.99991277e-01 5.76584256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.08, Y:40.08, Z:0.58 [[ 8.00968759e-01 -5.98696363e-01 -3.42222960e-03 1.20082561e+02] [ 5.98691588e-01 8.00976060e-01 -2.39466169e-03 4.00821555e+01] [ 4.17479922e-03 -1.30810874e-04 9.99991277e-01 5.77420017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.13, Y:40.12, Z:0.58 [[ 7.99755261e-01 -6.00316430e-01 -3.42155156e-03 1.20130229e+02] [ 6.00311666e-01 7.99762568e-01 -2.39563010e-03 4.01174908e+01] [ 4.17456497e-03 -1.38079546e-04 9.99991277e-01 5.79222687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.18, Y:40.15, Z:0.58 [[ 8.02851483e-01 -5.96169265e-01 -3.42089449e-03 1.20178964e+02] [ 5.96164460e-01 8.02858763e-01 -2.39656800e-03 4.01498749e+01] [ 4.17525531e-03 -1.15327541e-04 9.99991277e-01 5.79231842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.23, Y:40.18, Z:0.58 [[ 8.05358154e-01 -5.92778665e-01 -3.42009402e-03 1.20226132e+02] [ 5.92773824e-01 8.05365411e-01 -2.39770980e-03 4.01839672e+01] [ 4.17573664e-03 -9.63270698e-05 9.99991277e-01 5.80510034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.27, Y:40.22, Z:0.58 [[ 8.08856086e-01 -5.87996718e-01 -3.41935931e-03 1.20272496e+02] [ 5.87991829e-01 8.08863311e-01 -2.39875711e-03 4.02190041e+01] [ 4.17625560e-03 -7.03060459e-05 9.99991277e-01 5.82482658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.32, Y:40.25, Z:0.58 [[ 8.13040707e-01 -5.82196807e-01 -3.41860636e-03 1.20318130e+02] [ 5.82191862e-01 8.13047893e-01 -2.39982971e-03 4.02527596e+01] [ 4.17666389e-03 -3.91255620e-05 9.99991277e-01 5.81930343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.36, Y:40.29, Z:0.58 [[ 8.15863766e-01 -5.78234063e-01 -3.41828292e-03 1.20364797e+02] [ 5.78229081e-01 8.15870926e-01 -2.40029031e-03 4.02879979e+01] [ 4.17680727e-03 -1.82407036e-05 9.99991277e-01 5.81679807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.41, Y:40.32, Z:0.58 [[ 8.16730172e-01 -5.77009659e-01 -3.41750957e-03 1.20411960e+02] [ 5.77004662e-01 8.16737322e-01 -2.40139089e-03 4.03220777e+01] [ 4.17683336e-03 -1.06305571e-05 9.99991277e-01 5.81289483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.46, Y:40.36, Z:0.58 [[ 8.16608219e-01 -5.77182244e-01 -3.41674580e-03 1.20459481e+02] [ 5.77177244e-01 8.16615367e-01 -2.40247712e-03 4.03563093e+01] [ 4.17683426e-03 -1.01853663e-05 9.99991277e-01 5.81253465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.51, Y:40.39, Z:0.58 [[ 8.14621644e-01 -5.79982680e-01 -3.41599373e-03 1.20506543e+02] [ 5.79977700e-01 8.14628805e-01 -2.40354598e-03 4.03891066e+01] [ 4.17678193e-03 -2.32196070e-05 9.99991277e-01 5.80757447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.55, Y:40.42, Z:0.58 [[ 8.12529602e-01 -5.82909924e-01 -3.41567122e-03 1.20554167e+02] [ 5.82904968e-01 8.12536780e-01 -2.40400421e-03 4.04219397e+01] [ 4.17667641e-03 -3.76871338e-05 9.99991277e-01 5.81743612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.60, Y:40.46, Z:0.58 [[ 8.09561489e-01 -5.87025156e-01 -3.41492050e-03 1.20601067e+02] [ 5.87020232e-01 8.09568690e-01 -2.40507014e-03 4.04550196e+01] [ 4.17644939e-03 -5.75752580e-05 9.99991277e-01 5.81555042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.65, Y:40.49, Z:0.58 [[ 8.06315559e-01 -5.91475748e-01 -3.41459970e-03 1.20647407e+02] [ 5.91470862e-01 8.06322785e-01 -2.40552551e-03 4.04895110e+01] [ 4.17607954e-03 -8.00235806e-05 9.99991277e-01 5.80487489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.69, Y:40.52, Z:0.58 [[ 8.03821423e-01 -5.94860880e-01 -3.41384007e-03 1.20694397e+02] [ 5.94856019e-01 8.03828666e-01 -2.40660307e-03 4.05235231e+01] [ 4.17573653e-03 -9.62642120e-05 9.99991277e-01 5.79652076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.74, Y:40.56, Z:0.58 [[ 8.01877944e-01 -5.97478129e-01 -3.41306610e-03 1.20741935e+02] [ 5.97473287e-01 8.01885200e-01 -2.40770023e-03 4.05576466e+01] [ 4.17543542e-03 -1.08534114e-04 9.99991277e-01 5.79825774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.79, Y:40.59, Z:0.58 [[ 7.99650476e-01 -6.00456054e-01 -3.41229296e-03 1.20788155e+02] [ 6.00451235e-01 7.99657747e-01 -2.40879545e-03 4.05912704e+01] [ 4.17504231e-03 -1.22721093e-04 9.99991277e-01 5.80044504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.83, Y:40.63, Z:0.58 [[ 7.98972686e-01 -6.01357636e-01 -3.41177386e-03 1.20834835e+02] [ 6.01352822e-01 7.98979961e-01 -2.40953047e-03 4.06251249e+01] [ 4.17492849e-03 -1.26530811e-04 9.99991277e-01 5.80670743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.88, Y:40.66, Z:0.58 [[ 7.98985588e-01 -6.01340498e-01 -3.41101691e-03 1.20881338e+02] [ 6.01335679e-01 7.98992860e-01 -2.41060156e-03 4.06587973e+01] [ 4.17497050e-03 -1.25130261e-04 9.99991277e-01 5.80855301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.93, Y:40.69, Z:0.58 [[ 8.00914823e-01 -5.98768581e-01 -3.41069206e-03 1.20926359e+02] [ 5.98763737e-01 8.00922077e-01 -2.41106110e-03 4.06942092e+01] [ 4.17536620e-03 -1.11144154e-04 9.99991277e-01 5.81674682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.97, Y:40.73, Z:0.58 [[ 8.02363251e-01 -5.96826259e-01 -3.41037459e-03 1.20972845e+02] [ 5.96821396e-01 8.02370492e-01 -2.41151007e-03 4.07294737e+01] [ 4.17563647e-03 -1.00477462e-04 9.99991277e-01 5.81706551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.02, Y:40.76, Z:0.58 [[ 8.04636221e-01 -5.93758307e-01 -3.40963081e-03 1.21017794e+02] [ 5.93753411e-01 8.04643441e-01 -2.41256124e-03 4.07649701e+01] [ 4.17601534e-03 -8.32457632e-05 9.99991277e-01 5.80235681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.06, Y:40.80, Z:0.58 [[ 8.06714404e-01 -5.90931678e-01 -3.40913129e-03 1.21063332e+02] [ 5.90926755e-01 8.06721604e-01 -2.41326689e-03 4.08012357e+01] [ 4.17629572e-03 -6.77297294e-05 9.99991277e-01 5.82491153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.11, Y:40.84, Z:0.58 [[ 8.06878162e-01 -5.90708062e-01 -3.40841405e-03 1.21109525e+02] [ 5.90703132e-01 8.06885358e-01 -2.41427947e-03 4.08368489e+01] [ 4.17633374e-03 -6.53314672e-05 9.99991277e-01 5.81623102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.15, Y:40.87, Z:0.58 [[ 8.06394787e-01 -5.91367767e-01 -3.40764565e-03 1.21154785e+02] [ 5.91362838e-01 8.06401984e-01 -2.41536354e-03 4.08726734e+01] [ 4.17630036e-03 -6.74184294e-05 9.99991277e-01 5.81441025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.20, Y:40.91, Z:0.58 [[ 8.05348412e-01 -5.92791977e-01 -3.40687691e-03 1.21199500e+02] [ 5.92787056e-01 8.05355615e-01 -2.41644737e-03 4.09075346e+01] [ 4.17619806e-03 -7.34704780e-05 9.99991277e-01 5.82168581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.24, Y:40.94, Z:0.58 [[ 8.03815149e-01 -5.94869399e-01 -3.40654671e-03 1.21244905e+02] [ 5.94864495e-01 8.03822363e-01 -2.41691277e-03 4.09431313e+01] [ 4.17600587e-03 -8.36825977e-05 9.99991277e-01 5.81431276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.29, Y:40.98, Z:0.58 [[ 8.02610769e-01 -5.96493382e-01 -3.40577513e-03 1.21291100e+02] [ 5.96488488e-01 8.02617990e-01 -2.41799954e-03 4.09786160e+01] [ 4.17585712e-03 -9.07931868e-05 9.99991277e-01 5.80208493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.34, Y:41.01, Z:0.58 [[ 8.03062291e-01 -5.95885360e-01 -3.40500460e-03 1.21339359e+02] [ 5.95880456e-01 8.03069505e-01 -2.41908412e-03 4.10119481e+01] [ 4.17595217e-03 -8.63004556e-05 9.99991277e-01 5.81882070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.38, Y:41.05, Z:0.58 [[ 8.00312941e-01 -5.99572853e-01 -3.40429941e-03 1.21383471e+02] [ 5.99567978e-01 8.00320175e-01 -2.42007611e-03 4.10524393e+01] [ 4.17554143e-03 -1.04290685e-04 9.99991277e-01 5.78242289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.43, Y:41.09, Z:0.58 [[ 8.00561322e-01 -5.99241174e-01 -3.40365653e-03 1.21428927e+02] [ 5.99236292e-01 8.00568551e-01 -2.42097992e-03 4.10875085e+01] [ 4.17561123e-03 -1.01451627e-04 9.99991277e-01 5.78541724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.47, Y:41.12, Z:0.58 [[ 8.01876373e-01 -5.97480292e-01 -3.40332090e-03 1.21473550e+02] [ 5.97475392e-01 8.01883590e-01 -2.42145164e-03 4.11232308e+01] [ 4.17583682e-03 -9.16956302e-05 9.99991277e-01 5.80959526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38275509599998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:121.52, Y:41.16, Z:0.58 [[ 8.04271352e-01 -5.94252482e-01 -3.40299981e-03 1.21518894e+02] [ 5.94247551e-01 8.04278548e-01 -2.42190280e-03 4.11580768e+01] [ 4.17618150e-03 -7.43572642e-05 9.99991277e-01 5.81725475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.56, Y:41.19, Z:0.58 [[ 8.06854714e-01 -5.90740123e-01 -3.40264638e-03 1.21564840e+02] [ 5.90735159e-01 8.06861887e-01 -2.42239926e-03 4.11914814e+01] [ 4.17647411e-03 -5.55385892e-05 9.99991277e-01 5.82179281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.61, Y:41.22, Z:0.58 [[ 8.07817659e-01 -5.89422645e-01 -3.40226511e-03 1.21612618e+02] [ 5.89417667e-01 8.07824822e-01 -2.42293463e-03 4.12249552e+01] [ 4.17656675e-03 -4.80657851e-05 9.99991277e-01 5.81955705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.66, Y:41.26, Z:0.58 [[ 8.07843343e-01 -5.89387447e-01 -3.40158715e-03 1.21661780e+02] [ 5.89382465e-01 8.07850503e-01 -2.42388605e-03 4.12562106e+01] [ 4.17658191e-03 -4.67156124e-05 9.99991277e-01 5.79631926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.622755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:121.71, Y:41.29, Z:0.58 [[ 8.06460697e-01 -5.91277920e-01 -3.40082518e-03 1.21711943e+02] [ 5.91272950e-01 8.06467866e-01 -2.42495467e-03 4.12863194e+01] [ 4.17647838e-03 -5.51853033e-05 9.99991277e-01 5.78389907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.76, Y:41.32, Z:0.58 [[ 8.05131405e-01 -5.93086722e-01 -3.40007746e-03 1.21760982e+02] [ 5.93081764e-01 8.05138582e-01 -2.42600261e-03 4.13177530e+01] [ 4.17636348e-03 -6.32730433e-05 9.99991277e-01 5.78440269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.81, Y:41.35, Z:0.58 [[ 8.03385891e-01 -5.95449036e-01 -3.39932213e-03 1.21810396e+02] [ 5.95444095e-01 8.03393079e-01 -2.42706052e-03 4.13472523e+01] [ 4.17618272e-03 -7.42401105e-05 9.99991277e-01 5.78528915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.86, Y:41.38, Z:0.58 [[ 8.02193993e-01 -5.97053804e-01 -3.39899792e-03 1.21861345e+02] [ 5.97048875e-01 8.02201189e-01 -2.42751447e-03 4.13768249e+01] [ 4.17603693e-03 -8.20303625e-05 9.99991277e-01 5.75489511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.91, Y:41.41, Z:0.58 [[ 8.00710912e-01 -5.99041306e-01 -3.39833426e-03 1.21910599e+02] [ 5.99036390e-01 8.00718119e-01 -2.42844319e-03 4.14070864e+01] [ 4.17584560e-03 -9.12449328e-05 9.99991277e-01 5.77046218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.96, Y:41.44, Z:0.57 [[ 7.99840113e-01 -6.00203508e-01 -3.39750030e-03 1.21958957e+02] [ 6.00198598e-01 7.99847323e-01 -2.42960938e-03 4.14390402e+01] [ 4.17574159e-03 -9.58758692e-05 9.99991277e-01 5.74249865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.982755096 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:122.01, Y:41.47, Z:0.57 [[ 8.01006006e-01 -5.98646675e-01 -3.39663120e-03 1.22008357e+02] [ 5.98641746e-01 8.01013203e-01 -2.43082378e-03 4.14698578e+01] [ 4.17595101e-03 -8.62607811e-05 9.99991277e-01 5.72982612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.06, Y:41.50, Z:0.57 [[ 8.02118389e-01 -5.97155389e-01 -3.39582699e-03 1.22055086e+02] [ 5.97150442e-01 8.02125574e-01 -2.43194674e-03 4.15033541e+01] [ 4.17612977e-03 -7.71103831e-05 9.99991277e-01 5.73356174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.10, Y:41.54, Z:0.58 [[ 8.03560516e-01 -5.95213381e-01 -3.39528673e-03 1.22102118e+02] [ 5.95208413e-01 8.03567686e-01 -2.43270077e-03 4.15371704e+01] [ 4.17631875e-03 -6.60809434e-05 9.99991277e-01 5.76480864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16275509599998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:122.15, Y:41.57, Z:0.58 [[ 8.05948293e-01 -5.91976205e-01 -3.39446694e-03 1.22149855e+02] [ 5.91971204e-01 8.05955439e-01 -2.43384413e-03 4.15712473e+01] [ 4.17656690e-03 -4.78741638e-05 9.99991277e-01 5.78361900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.20, Y:41.60, Z:0.58 [[ 8.09051062e-01 -5.87728562e-01 -3.39372540e-03 1.22198130e+02] [ 5.87723519e-01 8.09058179e-01 -2.43487768e-03 4.16042894e+01] [ 4.17676845e-03 -2.46318651e-05 9.99991277e-01 5.78807827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.24, Y:41.64, Z:0.58 [[ 8.09627625e-01 -5.86934065e-01 -3.39290913e-03 1.22244142e+02] [ 5.86929010e-01 8.09634735e-01 -2.43601459e-03 4.16400465e+01] [ 4.17679703e-03 -1.91320874e-05 9.99991277e-01 5.81933403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.29, Y:41.67, Z:0.58 [[ 8.09951909e-01 -5.86486487e-01 -3.39213452e-03 1.22290938e+02] [ 5.86481423e-01 8.09959012e-01 -2.43709275e-03 4.16737513e+01] [ 4.17681189e-03 -1.54959573e-05 9.99991277e-01 5.78551242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.34, Y:41.71, Z:0.58 [[ 8.09644350e-01 -5.86911003e-01 -3.39130842e-03 1.22338793e+02] [ 5.86905938e-01 8.09651453e-01 -2.43824176e-03 4.17079689e+01] [ 4.17680871e-03 -1.62703843e-05 9.99991277e-01 5.75526355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.39, Y:41.74, Z:0.58 [[ 8.08958902e-01 -5.87855423e-01 -3.39064693e-03 1.22385859e+02] [ 5.87850363e-01 8.08966007e-01 -2.43916129e-03 4.17401102e+01] [ 4.17679230e-03 -2.00117918e-05 9.99991277e-01 5.77695494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.43, Y:41.77, Z:0.58 [[ 8.05557534e-01 -5.92507860e-01 -3.39033438e-03 1.22433992e+02] [ 5.92502840e-01 8.05564667e-01 -2.43959564e-03 4.17724776e+01] [ 4.17661318e-03 -4.35480969e-05 9.99991277e-01 5.75734618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.48, Y:41.81, Z:0.58 [[ 8.02395301e-01 -5.96783287e-01 -3.38960309e-03 1.22482087e+02] [ 5.96778300e-01 8.02402458e-01 -2.44061129e-03 4.18058378e+01] [ 4.17634188e-03 -6.45065430e-05 9.99991277e-01 5.76358043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.53, Y:41.84, Z:0.58 [[ 7.97211566e-01 -6.03690512e-01 -3.38885305e-03 1.22527967e+02] [ 6.03685582e-01 7.97218763e-01 -2.44165230e-03 4.18416517e+01] [ 4.17565956e-03 -9.92882749e-05 9.99991277e-01 5.77565392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.58, Y:41.88, Z:0.58 [[ 7.93808320e-01 -6.08158590e-01 -3.38832867e-03 1.22575363e+02] [ 6.08153698e-01 7.93815542e-01 -2.44237977e-03 4.18756178e+01] [ 4.17506220e-03 -1.21843230e-04 9.99991277e-01 5.79218319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.62, Y:41.91, Z:0.58 [[ 7.92219778e-01 -6.10226471e-01 -3.38788817e-03 1.22622833e+02] [ 6.10221595e-01 7.92227011e-01 -2.44299064e-03 4.19112217e+01] [ 4.17475408e-03 -1.31977026e-04 9.99991277e-01 5.78261608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.67, Y:41.95, Z:0.58 [[ 7.92347487e-01 -6.10060642e-01 -3.38719531e-03 1.22669280e+02] [ 6.10055761e-01 7.92354716e-01 -2.44395092e-03 4.19468458e+01] [ 4.17481844e-03 -1.29919644e-04 9.99991277e-01 5.78617553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.72, Y:41.98, Z:0.58 [[ 7.94607134e-01 -6.07114516e-01 -3.38639332e-03 1.22717944e+02] [ 6.07109603e-01 7.94614342e-01 -2.44506166e-03 4.19765461e+01] [ 4.17530913e-03 -1.13048464e-04 9.99991277e-01 5.82432876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.76, Y:42.01, Z:0.58 [[ 7.95117168e-01 -6.06446391e-01 -3.38584399e-03 1.22762396e+02] [ 6.06441468e-01 7.95124370e-01 -2.44582212e-03 4.20144059e+01] [ 4.17542707e-03 -1.08601040e-04 9.99991277e-01 5.78554272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.81, Y:42.05, Z:0.58 [[ 7.94159438e-01 -6.07700031e-01 -3.38514521e-03 1.22805510e+02] [ 6.07695116e-01 7.94166645e-01 -2.44678889e-03 4.20530784e+01] [ 4.17528310e-03 -1.13995713e-04 9.99991277e-01 5.79224898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.85, Y:42.09, Z:0.58 [[ 7.96176383e-01 -6.05055133e-01 -3.38430192e-03 1.22852052e+02] [ 6.05050189e-01 7.96183570e-01 -2.44795474e-03 4.20872043e+01] [ 4.17567316e-03 -9.86687691e-05 9.99991277e-01 5.84420594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.90, Y:42.13, Z:0.58 [[ 7.95220964e-01 -6.06310293e-01 -3.38347129e-03 1.22895338e+02] [ 6.06305355e-01 7.95228155e-01 -2.44910227e-03 4.21256286e+01] [ 4.17554754e-03 -1.03839300e-04 9.99991277e-01 5.81792331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.94, Y:42.16, Z:0.58 [[ 7.95556152e-01 -6.05870417e-01 -3.38321671e-03 1.22939076e+02] [ 6.05865474e-01 7.95563339e-01 -2.44945389e-03 4.21628927e+01] [ 4.17561484e-03 -1.01096083e-04 9.99991277e-01 5.80981997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.98, Y:42.20, Z:0.58 [[ 7.95894291e-01 -6.05426158e-01 -3.38286817e-03 1.22983201e+02] [ 6.05421209e-01 7.95901475e-01 -2.44993515e-03 4.21983930e+01] [ 4.17568460e-03 -9.81707375e-05 9.99991277e-01 5.81475963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.03, Y:42.24, Z:0.58 [[ 7.93924232e-01 -6.08007296e-01 -3.38252695e-03 1.23026558e+02] [ 6.08002368e-01 7.93931430e-01 -2.45040618e-03 4.22367033e+01] [ 4.17535929e-03 -1.11147551e-04 9.99991277e-01 5.77354793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.07, Y:42.27, Z:0.58 [[ 7.93649085e-01 -6.08366413e-01 -3.38175411e-03 1.23072196e+02] [ 6.08361484e-01 7.93656282e-01 -2.45147230e-03 4.22723024e+01] [ 4.17534380e-03 -1.11720202e-04 9.99991277e-01 5.78628874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.12, Y:42.31, Z:0.58 [[ 7.91510662e-01 -6.11146006e-01 -3.38099106e-03 1.23116216e+02] [ 6.11141098e-01 7.91517873e-01 -2.45252421e-03 4.23105540e+01] [ 4.17496523e-03 -1.25063525e-04 9.99991277e-01 5.75291272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.482755096 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:123.16, Y:42.34, Z:0.58 [[ 7.90793098e-01 -6.12074220e-01 -3.38023555e-03 1.23162618e+02] [ 6.12069316e-01 7.90800311e-01 -2.45356507e-03 4.23439360e+01] [ 4.17485525e-03 -1.28676141e-04 9.99991277e-01 5.76451827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54275509599998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:123.21, Y:42.38, Z:0.57 [[ 7.88625684e-01 -6.14864299e-01 -3.37991202e-03 1.23206321e+02] [ 6.14859419e-01 7.88632914e-01 -2.45401067e-03 4.23802328e+01] [ 4.17439342e-03 -1.42874892e-04 9.99991277e-01 5.73819444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.25, Y:42.42, Z:0.57 [[ 7.87899936e-01 -6.15794015e-01 -3.37950502e-03 1.23250563e+02] [ 6.15789141e-01 7.87907170e-01 -2.45457104e-03 4.24173216e+01] [ 4.17424639e-03 -1.47106122e-04 9.99991277e-01 5.74471812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.30, Y:42.45, Z:0.57 [[ 7.90071108e-01 -6.13005896e-01 -3.37878927e-03 1.23296853e+02] [ 6.13000992e-01 7.90078321e-01 -2.45555590e-03 4.24535543e+01] [ 4.17477840e-03 -1.31137405e-04 9.99991277e-01 5.68670415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.34, Y:42.49, Z:0.58 [[ 7.93903794e-01 -6.08034008e-01 -3.37815605e-03 1.23343582e+02] [ 6.08029055e-01 7.93910974e-01 -2.45642672e-03 4.24886267e+01] [ 4.17554614e-03 -1.03850539e-04 9.99991277e-01 5.82736635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.39, Y:42.53, Z:0.58 [[ 7.97266570e-01 -6.03617933e-01 -3.37741948e-03 1.23386962e+02] [ 6.03612936e-01 7.97273720e-01 -2.45743904e-03 4.25260985e+01] [ 4.17608206e-03 -7.94200938e-05 9.99991277e-01 5.78074633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.43, Y:42.56, Z:0.58 [[ 7.97330495e-01 -6.03533492e-01 -3.37705663e-03 1.23432047e+02] [ 6.03528492e-01 7.97337643e-01 -2.45793757e-03 4.25611191e+01] [ 4.17610202e-03 -7.83613139e-05 9.99991277e-01 5.79882087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.48, Y:42.60, Z:0.58 [[ 8.02225822e-01 -5.97011162e-01 -3.37670974e-03 1.23479644e+02] [ 5.97006102e-01 8.02232928e-01 -2.45841403e-03 4.25950426e+01] [ 4.17660836e-03 -4.37131067e-05 9.99991277e-01 5.81642949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.53, Y:42.63, Z:0.58 [[ 8.03744669e-01 -5.94964798e-01 -3.37594184e-03 1.23525893e+02] [ 5.94959715e-01 8.03751758e-01 -2.45946808e-03 4.26303638e+01] [ 4.17671611e-03 -3.17650393e-05 9.99991277e-01 5.82541940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.022755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:123.57, Y:42.66, Z:0.59 [[ 8.04702543e-01 -5.93668616e-01 -3.37511833e-03 1.23573203e+02] [ 5.93663518e-01 8.04709621e-01 -2.46059765e-03 4.26625347e+01] [ 4.17676980e-03 -2.36354351e-05 9.99991277e-01 5.86022224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.62, Y:42.70, Z:0.59 [[ 8.03717211e-01 -5.95001897e-01 -3.37456786e-03 1.23621299e+02] [ 5.94996807e-01 8.03724294e-01 -2.46135237e-03 4.26955757e+01] [ 4.17673150e-03 -2.96258411e-05 9.99991277e-01 5.86215067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.67, Y:42.72, Z:0.59 [[ 8.03445636e-01 -5.95368565e-01 -3.37376143e-03 1.23670568e+02] [ 5.95363473e-01 8.03452719e-01 -2.46245724e-03 4.27245304e+01] [ 4.17672742e-03 -3.01637994e-05 9.99991277e-01 5.88167155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.72, Y:42.76, Z:0.59 [[ 8.01848798e-01 -5.97517469e-01 -3.37343352e-03 1.23718591e+02] [ 5.97512394e-01 8.01855893e-01 -2.46290638e-03 4.27588295e+01] [ 4.17663713e-03 -4.07898222e-05 9.99991277e-01 5.86269204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.262755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:123.77, Y:42.79, Z:0.58 [[ 7.98139808e-01 -6.02462839e-01 -3.37269399e-03 1.23765365e+02] [ 6.02457804e-01 7.98146931e-01 -2.46391866e-03 4.27916416e+01] [ 4.17632479e-03 -6.53542513e-05 9.99991277e-01 5.82631447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.81, Y:42.83, Z:0.59 [[ 7.96611111e-01 -6.04482726e-01 -3.37233059e-03 1.23812693e+02] [ 6.04477707e-01 7.96618245e-01 -2.46441594e-03 4.28254135e+01] [ 4.17615694e-03 -7.53175413e-05 9.99991277e-01 5.87070076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.86, Y:42.86, Z:0.59 [[ 7.92739592e-01 -6.09551124e-01 -3.37148896e-03 1.23860968e+02] [ 6.09546146e-01 7.92746755e-01 -2.46556681e-03 4.28556503e+01] [ 4.17562595e-03 -1.00525677e-04 9.99991277e-01 5.87839323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.91, Y:42.89, Z:0.59 [[ 7.90209590e-01 -6.12827415e-01 -3.37098245e-03 1.23908930e+02] [ 6.12822464e-01 7.90216771e-01 -2.46625914e-03 4.28886177e+01] [ 4.17519808e-03 -1.16952149e-04 9.99991277e-01 5.88370377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.96, Y:42.92, Z:0.59 [[ 7.88868255e-01 -6.14553104e-01 -3.37015895e-03 1.23958736e+02] [ 6.14548164e-01 7.88875444e-01 -2.46738393e-03 4.29186633e+01] [ 4.17497410e-03 -1.24684136e-04 9.99991277e-01 5.86566745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.00, Y:42.96, Z:0.59 [[ 7.82559733e-01 -6.22566392e-01 -3.36932554e-03 1.24002596e+02] [ 6.22561520e-01 7.82566968e-01 -2.46852148e-03 4.29559968e+01] [ 4.17354138e-03 -1.65846921e-04 9.99991277e-01 5.89497017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.05, Y:42.98, Z:0.59 [[ 7.87884129e-01 -6.15814301e-01 -3.36843674e-03 1.24053757e+02] [ 6.15809362e-01 7.87891319e-01 -2.46973370e-03 4.29847912e+01] [ 4.17485939e-03 -1.28450898e-04 9.99991277e-01 5.87571871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.10, Y:43.02, Z:0.59 [[ 7.88731722e-01 -6.14728339e-01 -3.36754500e-03 1.24098091e+02] [ 6.14723385e-01 7.88738901e-01 -2.47094901e-03 4.30206861e+01] [ 4.17507612e-03 -1.21192800e-04 9.99991277e-01 5.87962067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.14, Y:43.06, Z:0.59 [[ 7.91497059e-01 -6.11163700e-01 -3.36719682e-03 1.24144228e+02] [ 6.11158711e-01 7.91504215e-01 -2.47142339e-03 4.30552579e+01] [ 4.17559473e-03 -1.01767325e-04 9.99991277e-01 5.90059502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.19, Y:43.09, Z:0.59 [[ 7.95555449e-01 -6.05871434e-01 -3.36638916e-03 1.24191351e+02] [ 6.05866393e-01 7.95562569e-01 -2.47252304e-03 4.30895068e+01] [ 4.17620428e-03 -7.25528789e-05 9.99991277e-01 5.86295418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.24, Y:43.12, Z:0.58 [[ 7.95037233e-01 -6.06551293e-01 -3.36558365e-03 1.24236701e+02] [ 6.06546253e-01 7.95044353e-01 -2.47361900e-03 4.31248247e+01] [ 4.17616508e-03 -7.47629423e-05 9.99991277e-01 5.84651901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.29, Y:43.16, Z:0.59 [[ 7.99271540e-01 -6.00960634e-01 -3.36484834e-03 1.24285247e+02] [ 6.00955541e-01 7.99278621e-01 -2.47461884e-03 4.31580270e+01] [ 4.17659985e-03 -4.42318430e-05 9.99991277e-01 5.86429916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.982755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:124.33, Y:43.19, Z:0.59 [[ 8.01129993e-01 -5.98480925e-01 -3.36411649e-03 1.24332802e+02] [ 5.98475806e-01 8.01137055e-01 -2.47561335e-03 4.31916397e+01] [ 4.17672574e-03 -3.00542209e-05 9.99991277e-01 5.87338326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04275509599998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:124.38, Y:43.22, Z:0.59 [[ 8.01113912e-01 -5.98502453e-01 -3.36373308e-03 1.24380443e+02] [ 5.98497331e-01 8.01120973e-01 -2.47613419e-03 4.32242249e+01] [ 4.17672951e-03 -2.95197301e-05 9.99991277e-01 5.88501214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.43, Y:43.26, Z:0.59 [[ 8.00743449e-01 -5.98998012e-01 -3.36295934e-03 1.24427927e+02] [ 5.98992891e-01 8.00750511e-01 -2.47718460e-03 4.32574089e+01] [ 4.17672006e-03 -3.07993932e-05 9.99991277e-01 5.87900650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.48, Y:43.29, Z:0.59 [[ 7.98257685e-01 -6.02306703e-01 -3.36210303e-03 1.24475867e+02] [ 6.02301606e-01 7.98264764e-01 -2.47834627e-03 4.32909917e+01] [ 4.17657295e-03 -4.66411002e-05 9.99991277e-01 5.88489739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.52, Y:43.32, Z:0.59 [[ 7.95800625e-01 -6.05549393e-01 -3.36120972e-03 1.24521906e+02] [ 6.05544320e-01 7.95807721e-01 -2.47955720e-03 4.33241403e+01] [ 4.17637101e-03 -6.21282838e-05 9.99991277e-01 5.88210705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.57, Y:43.36, Z:0.59 [[ 7.92702153e-01 -6.09599871e-01 -3.36070972e-03 1.24569605e+02] [ 6.09594831e-01 7.92709272e-01 -2.48023471e-03 4.33567781e+01] [ 4.17601651e-03 -8.25838789e-05 9.99991277e-01 5.88368502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.62, Y:43.39, Z:0.59 [[ 7.89824284e-01 -6.13323985e-01 -3.35992468e-03 1.24617315e+02] [ 6.13318974e-01 7.89831424e-01 -2.48129773e-03 4.33903633e+01] [ 4.17561351e-03 -1.00916352e-04 9.99991277e-01 5.86858163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.66, Y:43.42, Z:0.59 [[ 7.88711707e-01 -6.14754064e-01 -3.35914541e-03 1.24664604e+02] [ 6.14749061e-01 7.88718853e-01 -2.48235225e-03 4.34237236e+01] [ 4.17545745e-03 -1.07171203e-04 9.99991277e-01 5.86332328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.71, Y:43.46, Z:0.59 [[ 7.88669229e-01 -6.14808563e-01 -3.35836067e-03 1.24711839e+02] [ 6.14803556e-01 7.88676372e-01 -2.48341347e-03 4.34580950e+01] [ 4.17548357e-03 -1.06140296e-04 9.99991277e-01 5.86038746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.522755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:124.76, Y:43.49, Z:0.59 [[ 7.89897349e-01 -6.13229896e-01 -3.35759246e-03 1.24758403e+02] [ 6.13224871e-01 7.89904479e-01 -2.48445165e-03 4.34925201e+01] [ 4.17571735e-03 -9.64974289e-05 9.99991277e-01 5.87916315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.80, Y:43.53, Z:0.59 [[ 7.92313604e-01 -6.10104815e-01 -3.35679055e-03 1.24804409e+02] [ 6.10099757e-01 7.92320711e-01 -2.48553465e-03 4.35255393e+01] [ 4.17609134e-03 -7.86541845e-05 9.99991277e-01 5.88377050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.85, Y:43.56, Z:0.59 [[ 7.95164121e-01 -6.06384989e-01 -3.35644666e-03 1.24851298e+02] [ 6.06379896e-01 7.95171203e-01 -2.48599895e-03 4.35600299e+01] [ 4.17642218e-03 -5.85046029e-05 9.99991277e-01 5.90037205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.90, Y:43.59, Z:0.59 [[ 7.98380418e-01 -6.02144043e-01 -3.35567992e-03 1.24898773e+02] [ 6.02138908e-01 7.98387469e-01 -2.48703349e-03 4.35931940e+01] [ 4.17668520e-03 -3.49866058e-05 9.99991277e-01 5.92608848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.95, Y:43.63, Z:0.59 [[ 7.99585765e-01 -6.00542546e-01 -3.35486716e-03 1.24945232e+02] [ 6.00537392e-01 7.99592803e-01 -2.48812938e-03 4.36272156e+01] [ 4.17675519e-03 -2.52503456e-05 9.99991277e-01 5.91219341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.99, Y:43.66, Z:0.59 [[ 8.00159598e-01 -5.99777763e-01 -3.35461855e-03 1.24992555e+02] [ 5.99772601e-01 8.00166629e-01 -2.48846452e-03 4.36602439e+01] [ 4.17677950e-03 -2.08395221e-05 9.99991277e-01 5.90952739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.04, Y:43.69, Z:0.59 [[ 7.99539349e-01 -6.00604347e-01 -3.35384785e-03 1.25040666e+02] [ 6.00599188e-01 7.99546383e-01 -2.48950280e-03 4.36936019e+01] [ 4.17676312e-03 -2.38628496e-05 9.99991277e-01 5.91381520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.09, Y:43.73, Z:0.59 [[ 7.98353036e-01 -6.02180361e-01 -3.35305673e-03 1.25088276e+02] [ 6.02175211e-01 7.98360077e-01 -2.49056789e-03 4.37266425e+01] [ 4.17671770e-03 -3.07752140e-05 9.99991277e-01 5.92162145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.14, Y:43.76, Z:0.59 [[ 7.97566633e-01 -6.03221541e-01 -3.35225678e-03 1.25135631e+02] [ 6.03216396e-01 7.97573678e-01 -2.49164415e-03 4.37595951e+01] [ 4.17668519e-03 -3.48840194e-05 9.99991277e-01 5.92244836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.18, Y:43.79, Z:0.59 [[ 7.96277604e-01 -6.04922099e-01 -3.35145870e-03 1.25183723e+02] [ 6.04916964e-01 7.96284656e-01 -2.49271716e-03 4.37919394e+01] [ 4.17661484e-03 -4.24593753e-05 9.99991277e-01 5.91882988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.23, Y:43.82, Z:0.59 [[ 7.95955387e-01 -6.05346013e-01 -3.35066993e-03 1.25230564e+02] [ 6.05340878e-01 7.95962438e-01 -2.49377696e-03 4.38242816e+01] [ 4.17660535e-03 -4.33622722e-05 9.99991277e-01 5.90604973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.28, Y:43.86, Z:0.59 [[ 7.96152698e-01 -6.05086489e-01 -3.35013975e-03 1.25276954e+02] [ 6.05081348e-01 7.96159745e-01 -2.49448901e-03 4.38586451e+01] [ 4.17662800e-03 -4.11129173e-05 9.99991277e-01 5.90294897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.33, Y:43.89, Z:0.59 [[ 7.98078747e-01 -6.02543853e-01 -3.34938722e-03 1.25325486e+02] [ 6.02538686e-01 7.98085775e-01 -2.49549904e-03 4.38928850e+01] [ 4.17674590e-03 -2.65306304e-05 9.99991277e-01 5.89113803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.37, Y:43.93, Z:0.59 [[ 7.98865232e-01 -6.01500729e-01 -3.34874811e-03 1.25371765e+02] [ 6.01495549e-01 7.98872251e-01 -2.49635637e-03 4.39263866e+01] [ 4.17678211e-03 -2.00047702e-05 9.99991277e-01 5.88964685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.42, Y:43.96, Z:0.59 [[ 7.98680514e-01 -6.01745981e-01 -3.34841022e-03 1.25418972e+02] [ 6.01740801e-01 7.98687532e-01 -2.49680951e-03 4.39597053e+01] [ 4.17677858e-03 -2.07219439e-05 9.99991277e-01 5.91059933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.47, Y:43.99, Z:0.59 [[ 7.97873871e-01 -6.02815128e-01 -3.34762091e-03 1.25467223e+02] [ 6.02809954e-01 7.97880894e-01 -2.49786733e-03 4.39917248e+01] [ 4.17675498e-03 -2.49961247e-05 9.99991277e-01 5.92180280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.52, Y:44.02, Z:0.59 [[ 7.97672835e-01 -6.03081128e-01 -3.34684343e-03 1.25515357e+02] [ 6.03075951e-01 7.97679856e-01 -2.49890862e-03 4.40241975e+01] [ 4.17675422e-03 -2.50892572e-05 9.99991277e-01 5.93702727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.56, Y:44.06, Z:0.60 [[ 7.97896279e-01 -6.02785478e-01 -3.34607498e-03 1.25563950e+02] [ 6.02780294e-01 7.97903294e-01 -2.49993717e-03 4.40578543e+01] [ 4.17677007e-03 -2.22574937e-05 9.99991277e-01 5.95183627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.61, Y:44.09, Z:0.60 [[ 7.98085359e-01 -6.02535118e-01 -3.34540600e-03 1.25610914e+02] [ 6.02529928e-01 7.98092370e-01 -2.50083207e-03 4.40904593e+01] [ 4.17678215e-03 -1.98297758e-05 9.99991277e-01 5.95943413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.66, Y:44.12, Z:0.60 [[ 7.98641452e-01 -6.01797842e-01 -3.34498609e-03 1.25658659e+02] [ 6.01792644e-01 7.98648457e-01 -2.50139360e-03 4.41233606e+01] [ 4.17680125e-03 -1.52714052e-05 9.99991277e-01 5.97555921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.70, Y:44.16, Z:0.60 [[ 7.99299547e-01 -6.00923498e-01 -3.34419338e-03 1.25704524e+02] [ 6.00918288e-01 7.99306543e-01 -2.50245295e-03 4.41566997e+01] [ 4.17681843e-03 -9.37744879e-06 9.99991277e-01 5.97779255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.75, Y:44.19, Z:0.60 [[ 7.99234394e-01 -6.01010152e-01 -3.34385347e-03 1.25749638e+02] [ 6.01004940e-01 7.99241389e-01 -2.50290707e-03 4.41921405e+01] [ 4.17681865e-03 -9.26303331e-06 9.99991277e-01 5.97935569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.842755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:125.80, Y:44.23, Z:0.60 [[ 7.98816547e-01 -6.01565414e-01 -3.34333995e-03 1.25795309e+02] [ 6.01560204e-01 7.98823543e-01 -2.50359283e-03 4.42273541e+01] [ 4.17681352e-03 -1.13088847e-05 9.99991277e-01 5.98746354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.902755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:125.84, Y:44.26, Z:0.60 [[ 7.97571681e-01 -6.03214921e-01 -3.34258900e-03 1.25840885e+02] [ 6.03209721e-01 7.97578685e-01 -2.50459503e-03 4.42633412e+01] [ 4.17678683e-03 -1.86881132e-05 9.99991277e-01 5.99323085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.89, Y:44.30, Z:0.60 [[ 7.95825853e-01 -6.05516345e-01 -3.34177305e-03 1.25886108e+02] [ 6.05511161e-01 7.95832869e-01 -2.50568324e-03 4.42980081e+01] [ 4.17672500e-03 -2.93933776e-05 9.99991277e-01 5.98321222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.93, Y:44.33, Z:0.60 [[ 7.93501265e-01 -6.08559427e-01 -3.34142337e-03 1.25932109e+02] [ 6.08554269e-01 7.93508300e-01 -2.50614947e-03 4.43337461e+01] [ 4.17658806e-03 -4.48046778e-05 9.99991277e-01 5.97644249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.98, Y:44.37, Z:0.60 [[ 7.91098683e-01 -6.11679421e-01 -3.34062719e-03 1.25977827e+02] [ 6.11674285e-01 7.91105734e-01 -2.50721032e-03 4.43689545e+01] [ 4.17639828e-03 -5.99249661e-05 9.99991277e-01 5.98201717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.02, Y:44.40, Z:0.60 [[ 7.90218227e-01 -6.12816448e-01 -3.33982802e-03 1.26023693e+02] [ 6.12811318e-01 7.90225282e-01 -2.50827443e-03 4.44046027e+01] [ 4.17632836e-03 -6.46002372e-05 9.99991277e-01 5.99311307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.07, Y:44.44, Z:0.60 [[ 7.90589250e-01 -6.12337725e-01 -3.33902439e-03 1.26068781e+02] [ 6.12332586e-01 7.90596298e-01 -2.50934376e-03 4.44413208e+01] [ 4.17638617e-03 -6.07332410e-05 9.99991277e-01 6.01248297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.11, Y:44.48, Z:0.60 [[ 7.91748906e-01 -6.10837561e-01 -3.33823298e-03 1.26114449e+02] [ 6.10832404e-01 7.91755942e-01 -2.51039616e-03 4.44771510e+01] [ 4.17651006e-03 -5.14974614e-05 9.99991277e-01 6.02435556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.16, Y:44.51, Z:0.60 [[ 7.93430043e-01 -6.08652305e-01 -3.33743157e-03 1.26159320e+02] [ 6.08647125e-01 7.93437061e-01 -2.51146113e-03 4.45135609e+01] [ 4.17664850e-03 -3.86494224e-05 9.99991277e-01 6.03850004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.20, Y:44.55, Z:0.60 [[ 7.93930370e-01 -6.07999536e-01 -3.33663370e-03 1.26203939e+02] [ 6.07994345e-01 7.93937380e-01 -2.51252070e-03 4.45498651e+01] [ 4.17668964e-03 -3.38879311e-05 9.99991277e-01 6.03936009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.25, Y:44.58, Z:0.60 [[ 7.95528245e-01 -6.05907323e-01 -3.33580533e-03 1.26250684e+02] [ 6.05902109e-01 7.95535239e-01 -2.51362002e-03 4.45844847e+01] [ 4.17677147e-03 -2.15157633e-05 9.99991277e-01 6.04875730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.30, Y:44.62, Z:0.61 [[ 7.95737927e-01 -6.05631926e-01 -3.33494124e-03 1.26297556e+02] [ 6.05626705e-01 7.95744915e-01 -2.51476594e-03 4.46191118e+01] [ 4.17678507e-03 -1.86348401e-05 9.99991277e-01 6.05865777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.34, Y:44.65, Z:0.61 [[ 7.94829228e-01 -6.06824013e-01 -3.33414789e-03 1.26344131e+02] [ 6.06818798e-01 7.94836220e-01 -2.51581734e-03 4.46528822e+01] [ 4.17675988e-03 -2.35784665e-05 9.99991277e-01 6.05365767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.39, Y:44.69, Z:0.60 [[ 7.93093308e-01 -6.09091036e-01 -3.33380752e-03 1.26392137e+02] [ 6.09085839e-01 7.93100315e-01 -2.51626829e-03 4.46864142e+01] [ 4.17668026e-03 -3.49394070e-05 9.99991277e-01 6.04091179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.44, Y:44.72, Z:0.60 [[ 7.91610570e-01 -6.11016854e-01 -3.33304211e-03 1.26439672e+02] [ 6.11011670e-01 7.91617586e-01 -2.51728175e-03 4.47198400e+01] [ 4.17659632e-03 -4.38207813e-05 9.99991277e-01 6.03245393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.49, Y:44.75, Z:0.60 [[ 7.89709108e-01 -6.13472429e-01 -3.33228814e-03 1.26487555e+02] [ 6.13467263e-01 7.89716136e-01 -2.51827944e-03 4.47519182e+01] [ 4.17645671e-03 -5.55414746e-05 9.99991277e-01 6.03026166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.53, Y:44.79, Z:0.60 [[ 7.90356210e-01 -6.12638524e-01 -3.33187260e-03 1.26533145e+02] [ 6.12633348e-01 7.90363231e-01 -2.51882910e-03 4.47881900e+01] [ 4.17652134e-03 -5.04440510e-05 9.99991277e-01 6.03855031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.862755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:126.58, Y:44.82, Z:0.60 [[ 7.92580953e-01 -6.09757604e-01 -3.33113298e-03 1.26579008e+02] [ 6.09752399e-01 7.92587953e-01 -2.51980686e-03 4.48245614e+01] [ 4.17668727e-03 -3.40153978e-05 9.99991277e-01 6.03233022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.63, Y:44.86, Z:0.60 [[ 7.95928259e-01 -6.05381793e-01 -3.33031312e-03 1.26625147e+02] [ 6.05376545e-01 7.95935226e-01 -2.52088997e-03 4.48600428e+01] [ 4.17681442e-03 -9.64588570e-06 9.99991277e-01 6.03654371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.67, Y:44.89, Z:0.60 [[ 7.98050729e-01 -6.02581072e-01 -3.32941196e-03 1.26670244e+02] [ 6.02575794e-01 7.98057674e-01 -2.52207959e-03 4.48948022e+01] [ 4.17682019e-03 6.52440173e-06 9.99991277e-01 6.04388860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.72, Y:44.93, Z:0.61 [[ 8.00147010e-01 -5.99794699e-01 -3.32892131e-03 1.26717702e+02] [ 5.99789394e-01 8.00153934e-01 -2.52272705e-03 4.49304609e+01] [ 4.17676779e-03 2.19008105e-05 9.99991277e-01 6.06958530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.76, Y:44.97, Z:0.61 [[ 8.00460786e-01 -5.99375886e-01 -3.32830417e-03 1.26764467e+02] [ 5.99370574e-01 8.00467705e-01 -2.52354100e-03 4.49655545e+01] [ 4.17674962e-03 2.51080267e-05 9.99991277e-01 6.08783275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.81, Y:45.00, Z:0.61 [[ 7.99334698e-01 -6.00876833e-01 -3.32764126e-03 1.26810068e+02] [ 6.00871530e-01 7.99341624e-01 -2.52441483e-03 4.50011843e+01] [ 4.17678456e-03 1.83674633e-05 9.99991277e-01 6.13058059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.86, Y:45.03, Z:0.62 [[ 7.96162668e-01 -6.05073495e-01 -3.32740987e-03 1.26857580e+02] [ 6.05068228e-01 7.96169621e-01 -2.52471979e-03 4.50345816e+01] [ 4.17682368e-03 -3.22235220e-06 9.99991277e-01 6.18511367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.91, Y:45.07, Z:0.62 [[ 7.92130779e-01 -6.10342330e-01 -3.32718268e-03 1.26906730e+02] [ 6.10337108e-01 7.92137765e-01 -2.52501915e-03 4.50672733e+01] [ 4.17671313e-03 -3.05576696e-05 9.99991277e-01 6.23861872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.95, Y:45.10, Z:0.62 [[ 7.88395282e-01 -6.15159991e-01 -3.32651528e-03 1.26952793e+02] [ 6.15154807e-01 7.88402297e-01 -2.52589809e-03 4.51045594e+01] [ 4.17646374e-03 -5.49157353e-05 9.99991277e-01 6.22133614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.00, Y:45.14, Z:0.62 [[ 7.87821877e-01 -6.15894170e-01 -3.32585967e-03 1.27001858e+02] [ 6.15888989e-01 7.87828895e-01 -2.52676105e-03 4.51379051e+01] [ 4.17642574e-03 -5.77227183e-05 9.99991277e-01 6.23740634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.462755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:127.05, Y:45.18, Z:0.63 [[ 7.84805422e-01 -6.19733324e-01 -3.32510979e-03 1.27045141e+02] [ 6.19728173e-01 7.84812463e-01 -2.52774747e-03 4.51766822e+01] [ 4.17611694e-03 -7.68742907e-05 9.99991277e-01 6.32211917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.09, Y:45.21, Z:0.63 [[ 7.82634300e-01 -6.22472892e-01 -3.32442520e-03 1.27089696e+02] [ 6.22467762e-01 7.82641355e-01 -2.52864750e-03 4.52148755e+01] [ 4.17584717e-03 -9.03412525e-05 9.99991277e-01 6.25517952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.13, Y:45.25, Z:0.62 [[ 7.80828855e-01 -6.24736146e-01 -3.32362585e-03 1.27133738e+02] [ 6.24731033e-01 7.80835922e-01 -2.52969772e-03 4.52518193e+01] [ 4.17560006e-03 -1.01111237e-04 9.99991277e-01 6.23116339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.18, Y:45.29, Z:0.62 [[ 7.80828484e-01 -6.24736612e-01 -3.32332310e-03 1.27179451e+02] [ 6.24731496e-01 7.80835550e-01 -2.53009539e-03 4.52886400e+01] [ 4.17561204e-03 -1.00614068e-04 9.99991277e-01 6.15831341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.22, Y:45.33, Z:0.61 [[ 7.81070277e-01 -6.24434290e-01 -3.32262005e-03 1.27224695e+02] [ 6.24429168e-01 7.81077338e-01 -2.53101832e-03 4.53263698e+01] [ 4.17567785e-03 -9.78376966e-05 9.99991277e-01 6.11525221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.27, Y:45.37, Z:0.61 [[ 7.77294457e-01 -6.29128200e-01 -3.32191505e-03 1.27268011e+02] [ 6.29123117e-01 7.77301546e-01 -2.53194329e-03 4.53651744e+01] [ 4.17504663e-03 -1.21828067e-04 9.99991277e-01 6.09381541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.31, Y:45.40, Z:0.60 [[ 7.76176419e-01 -6.30507044e-01 -3.32166473e-03 1.27312121e+02] [ 6.30501972e-01 7.76183516e-01 -2.53227163e-03 4.54026652e+01] [ 4.17483652e-03 -1.28826638e-04 9.99991277e-01 6.02793151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.36, Y:45.44, Z:0.60 [[ 7.75864075e-01 -6.30891359e-01 -3.32132150e-03 1.27357520e+02] [ 6.30886288e-01 7.75871173e-01 -2.53272173e-03 4.54408223e+01] [ 4.17478987e-03 -1.30328391e-04 9.99991277e-01 5.95976071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.40, Y:45.48, Z:0.59 [[ 7.77181856e-01 -6.29267302e-01 -3.32060542e-03 1.27402942e+02] [ 6.29262212e-01 7.77188940e-01 -2.53366023e-03 4.54767806e+01] [ 4.17508734e-03 -1.20416756e-04 9.99991277e-01 5.93086285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.44, Y:45.52, Z:0.58 [[ 7.74322302e-01 -6.32782702e-01 -3.32035418e-03 1.27443557e+02] [ 6.32777644e-01 7.74329408e-01 -2.53398944e-03 4.55193401e+01] [ 4.17451257e-03 -1.38921358e-04 9.99991277e-01 5.80350437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.48, Y:45.56, Z:0.58 [[ 7.73323244e-01 -6.34003265e-01 -3.31956854e-03 1.27484068e+02] [ 6.33998213e-01 7.73330356e-01 -2.53501822e-03 4.55625067e+01] [ 4.17433295e-03 -1.44212009e-04 9.99991277e-01 5.75248452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.52, Y:45.60, Z:0.57 [[ 7.75636912e-01 -6.31170632e-01 -3.31877099e-03 1.27524310e+02] [ 6.31165550e-01 7.75644002e-01 -2.53606192e-03 4.56045149e+01] [ 4.17487262e-03 -1.27630686e-04 9.99991277e-01 5.67393444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.57, Y:45.65, Z:0.57 [[ 7.77747451e-01 -6.28568127e-01 -3.31850326e-03 1.27566277e+02] [ 6.28563019e-01 7.77754522e-01 -2.53641221e-03 4.56450177e+01] [ 4.17528879e-03 -1.13200295e-04 9.99991277e-01 5.65908279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.61, Y:45.69, Z:0.57 [[ 7.77933986e-01 -6.28337255e-01 -3.31763276e-03 1.27605451e+02] [ 6.28332141e-01 7.77941053e-01 -2.53755031e-03 4.56886465e+01] [ 4.17536012e-03 -1.10528665e-04 9.99991277e-01 5.65271271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.64, Y:45.73, Z:0.56 [[ 7.76707421e-01 -6.29852825e-01 -3.31670285e-03 1.27643232e+02] [ 6.29847719e-01 7.76714494e-01 -2.53876517e-03 4.57338814e+01] [ 4.17517959e-03 -1.17139976e-04 9.99991277e-01 5.62272656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.68, Y:45.78, Z:0.56 [[ 7.77018622e-01 -6.29468874e-01 -3.31642090e-03 1.27682157e+02] [ 6.29463763e-01 7.77025691e-01 -2.53913343e-03 4.57801957e+01] [ 4.17524970e-03 -1.14612819e-04 9.99991277e-01 5.60274948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.72, Y:45.82, Z:0.56 [[ 7.78021876e-01 -6.28228435e-01 -3.31565632e-03 1.27721696e+02] [ 6.28223309e-01 7.78028934e-01 -2.54013143e-03 4.58239402e+01] [ 4.17545935e-03 -1.06694761e-04 9.99991277e-01 5.61077189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.76, Y:45.86, Z:0.56 [[ 7.76859778e-01 -6.29664909e-01 -3.31476949e-03 1.27763129e+02] [ 6.29659791e-01 7.76866842e-01 -2.54128820e-03 4.58642206e+01] [ 4.17529450e-03 -1.12952478e-04 9.99991277e-01 5.63061312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.81, Y:45.91, Z:0.57 [[ 7.78895199e-01 -6.27145346e-01 -3.31437843e-03 1.27805175e+02] [ 6.27140203e-01 7.78902244e-01 -2.54179811e-03 4.59054035e+01] [ 4.17565365e-03 -9.87856129e-05 9.99991277e-01 5.68451536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.85, Y:45.94, Z:0.58 [[ 7.80471494e-01 -6.25182587e-01 -3.31361565e-03 1.27850431e+02] [ 6.25177422e-01 7.80478523e-01 -2.54279213e-03 4.59434743e+01] [ 4.17591521e-03 -8.70209153e-05 9.99991277e-01 5.75315491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.90, Y:45.98, Z:0.58 [[ 7.84246593e-01 -6.20440413e-01 -3.31280874e-03 1.27896284e+02] [ 6.20435201e-01 7.84253588e-01 -2.54384295e-03 4.59800229e+01] [ 4.17638511e-03 -6.03829889e-05 9.99991277e-01 5.79914495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.94, Y:46.01, Z:0.58 [[ 7.86983869e-01 -6.16964684e-01 -3.31202612e-03 1.27942748e+02] [ 6.16959436e-01 7.86990837e-01 -2.54486150e-03 4.60149657e+01] [ 4.17662388e-03 -4.06208176e-05 9.99991277e-01 5.81529992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.99, Y:46.05, Z:0.58 [[ 7.91109443e-01 -6.11665665e-01 -3.31114761e-03 1.27991273e+02] [ 6.11660367e-01 7.91116372e-01 -2.54600402e-03 4.60476894e+01] [ 4.17680633e-03 -1.11299426e-05 9.99991277e-01 5.84371029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.04, Y:46.08, Z:0.59 [[ 7.93655883e-01 -6.08357938e-01 -3.31028602e-03 1.28039302e+02] [ 6.08352606e-01 7.93662787e-01 -2.54712377e-03 4.60811255e+01] [ 4.17681379e-03 7.71863846e-06 9.99991277e-01 5.87062920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.09, Y:46.11, Z:0.59 [[ 7.95531801e-01 -6.05902799e-01 -3.30939254e-03 1.28088385e+02] [ 6.05897441e-01 7.95538684e-01 -2.54828410e-03 4.61127637e+01] [ 4.17676225e-03 2.20885628e-05 9.99991277e-01 5.87827217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.14, Y:46.15, Z:0.59 [[ 7.94391685e-01 -6.07396826e-01 -3.30857211e-03 1.28135989e+02] [ 6.07391477e-01 7.94398574e-01 -2.54934886e-03 4.61450844e+01] [ 4.17679138e-03 1.55830356e-05 9.99991277e-01 5.87074122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.18, Y:46.18, Z:0.59 [[ 7.94982426e-01 -6.06623441e-01 -3.30819264e-03 1.28184193e+02] [ 6.06618082e-01 7.94989309e-01 -2.54984119e-03 4.61783063e+01] [ 4.17677122e-03 2.02694638e-05 9.99991277e-01 5.87610404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.23, Y:46.21, Z:0.59 [[ 7.92093041e-01 -6.10391412e-01 -3.30729671e-03 1.28234610e+02] [ 6.10386082e-01 7.92099946e-01 -2.55100273e-03 4.62074360e+01] [ 4.17681971e-03 1.90363229e-06 9.99991277e-01 5.89751021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.29, Y:46.24, Z:0.59 [[ 7.88587522e-01 -6.14913643e-01 -3.30637637e-03 1.28285767e+02] [ 6.14908347e-01 7.88594453e-01 -2.55219504e-03 4.62359333e+01] [ 4.17676961e-03 -2.04892635e-05 9.99991277e-01 5.90288905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.34, Y:46.26, Z:0.59 [[ 7.86143423e-01 -6.18035267e-01 -3.30553360e-03 1.28336402e+02] [ 6.18029994e-01 7.86150372e-01 -2.55328610e-03 4.62629438e+01] [ 4.17666733e-03 -3.56698381e-05 9.99991277e-01 5.91168866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.39, Y:46.29, Z:0.59 [[ 7.84306784e-01 -6.20364364e-01 -3.30517526e-03 1.28386231e+02] [ 6.20359110e-01 7.84313747e-01 -2.55374988e-03 4.62940705e+01] [ 4.17654982e-03 -4.74722279e-05 9.99991277e-01 5.92146982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.44, Y:46.32, Z:0.59 [[ 7.82267164e-01 -6.22934318e-01 -3.30435810e-03 1.28438483e+02] [ 6.22929082e-01 7.82274141e-01 -2.55480679e-03 4.63218116e+01] [ 4.17639072e-03 -5.98392951e-05 9.99991277e-01 5.93409761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.49, Y:46.35, Z:0.60 [[ 7.80241725e-01 -6.25469374e-01 -3.30349213e-03 1.28489043e+02] [ 6.25464156e-01 7.80248715e-01 -2.55592605e-03 4.63494697e+01] [ 4.17619895e-03 -7.19757689e-05 9.99991277e-01 5.95727889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.54, Y:46.38, Z:0.60 [[ 7.79830297e-01 -6.25982267e-01 -3.30300354e-03 1.28538891e+02] [ 6.25977050e-01 7.79837288e-01 -2.55655728e-03 4.63793173e+01] [ 4.17616485e-03 -7.39235880e-05 9.99991277e-01 5.96620221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.59, Y:46.41, Z:0.60 [[ 7.81078604e-01 -6.24423983e-01 -3.30218366e-03 1.28587177e+02] [ 6.24418748e-01 7.81085581e-01 -2.55761585e-03 4.64118492e+01] [ 4.17632472e-03 -6.42463762e-05 9.99991277e-01 5.97292575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.64, Y:46.44, Z:0.60 [[ 7.82758438e-01 -6.22316904e-01 -3.30138382e-03 1.28636408e+02] [ 6.22311646e-01 7.82765398e-01 -2.55864787e-03 4.64433991e+01] [ 4.17649884e-03 -5.16863874e-05 9.99991277e-01 5.97469367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.69, Y:46.47, Z:0.60 [[ 7.84220789e-01 -6.20473094e-01 -3.30053710e-03 1.28685079e+02] [ 6.20467815e-01 7.84227733e-01 -2.55973963e-03 4.64749555e+01] [ 4.17662230e-03 -4.04760095e-05 9.99991277e-01 5.96999977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.73, Y:46.51, Z:0.60 [[ 7.83764477e-01 -6.21049400e-01 -3.29964814e-03 1.28733021e+02] [ 6.21044122e-01 7.83771421e-01 -2.56088504e-03 4.65056933e+01] [ 4.17660603e-03 -4.20963549e-05 9.99991277e-01 5.95420929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.78, Y:46.54, Z:0.60 [[ 7.82568692e-01 -6.22555505e-01 -3.29929942e-03 1.28781190e+02] [ 6.22550238e-01 7.82575646e-01 -2.56133424e-03 4.65389865e+01] [ 4.17652410e-03 -4.95596496e-05 9.99991277e-01 5.96405922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.83, Y:46.57, Z:0.60 [[ 7.80241035e-01 -6.25470261e-01 -3.29847479e-03 1.28827820e+02] [ 6.25465015e-01 7.80248005e-01 -2.56239575e-03 4.65712146e+01] [ 4.17633071e-03 -6.37942678e-05 9.99991277e-01 5.98153055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.87, Y:46.61, Z:0.60 [[ 7.79472139e-01 -6.26428213e-01 -3.29812117e-03 1.28873731e+02] [ 6.26422974e-01 7.79479114e-01 -2.56285082e-03 4.66063844e+01] [ 4.17625863e-03 -6.83480562e-05 9.99991277e-01 6.00180691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.92, Y:46.64, Z:0.60 [[ 7.79922768e-01 -6.25867082e-01 -3.29730109e-03 1.28919708e+02] [ 6.25861834e-01 7.79929735e-01 -2.56390548e-03 4.66414501e+01] [ 4.17632721e-03 -6.40066523e-05 9.99991277e-01 5.99320864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.97, Y:46.68, Z:0.60 [[ 7.85144727e-01 -6.19303553e-01 -3.29647690e-03 1.28967611e+02] [ 6.19298242e-01 7.85151646e-01 -2.56496472e-03 4.66764501e+01] [ 4.17672603e-03 -2.76338269e-05 9.99991277e-01 6.01125881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.01, Y:46.72, Z:0.60 [[ 7.84197135e-01 -6.20503015e-01 -3.29576597e-03 1.29011151e+02] [ 6.20497711e-01 7.84204060e-01 -2.56587789e-03 4.67165016e+01] [ 4.17668802e-03 -3.28611527e-05 9.99991277e-01 5.95462058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10275509599998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:129.06, Y:46.75, Z:0.59 [[ 7.82587936e-01 -6.22531337e-01 -3.29503899e-03 1.29055352e+02] [ 6.22526047e-01 7.82594871e-01 -2.56681112e-03 4.67542495e+01] [ 4.17660097e-03 -4.24921834e-05 9.99991277e-01 5.94480950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16275509599998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:129.10, Y:46.79, Z:0.60 [[ 7.83187911e-01 -6.21776362e-01 -3.29414162e-03 1.29100822e+02] [ 6.21771061e-01 7.83194838e-01 -2.56796225e-03 4.67898239e+01] [ 4.17665294e-03 -3.70049440e-05 9.99991277e-01 5.96234496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.222755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:129.15, Y:46.83, Z:0.60 [[ 7.81503069e-01 -6.23892705e-01 -3.29329932e-03 1.29145564e+02] [ 6.23887418e-01 7.81510006e-01 -2.56904200e-03 4.68260835e+01] [ 4.17655294e-03 -4.69338006e-05 9.99991277e-01 5.96923004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.282755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:129.19, Y:46.86, Z:0.60 [[ 7.79844385e-01 -6.25964769e-01 -3.29275563e-03 1.29190285e+02] [ 6.25959497e-01 7.79851335e-01 -2.56973867e-03 4.68633692e+01] [ 4.17642575e-03 -5.71353829e-05 9.99991277e-01 5.96801573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.342755096 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:129.24, Y:46.90, Z:0.60 [[ 7.78235043e-01 -6.27964474e-01 -3.29187840e-03 1.29235616e+02] [ 6.27959215e-01 7.78242003e-01 -2.57086193e-03 4.68998860e+01] [ 4.17628800e-03 -6.64305321e-05 9.99991277e-01 5.98163655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.28, Y:46.94, Z:0.60 [[ 7.76605516e-01 -6.29978605e-01 -3.29098261e-03 1.29280777e+02] [ 6.29973359e-01 7.76612485e-01 -2.57200813e-03 4.69357851e+01] [ 4.17612827e-03 -7.57956684e-05 9.99991277e-01 5.98551927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.33, Y:46.97, Z:0.60 [[ 7.74111060e-01 -6.33041263e-01 -3.29015857e-03 1.29325896e+02] [ 6.33036041e-01 7.74118047e-01 -2.57306181e-03 4.69717828e+01] [ 4.17582543e-03 -9.09533498e-05 9.99991277e-01 5.99362010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.522755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:129.37, Y:47.01, Z:0.60 [[ 7.72277124e-01 -6.35277281e-01 -3.28934884e-03 1.29371611e+02] [ 6.35272074e-01 7.72284122e-01 -2.57409654e-03 4.70083965e+01] [ 4.17557694e-03 -1.01715593e-04 9.99991277e-01 6.00358323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.42, Y:47.04, Z:0.60 [[ 7.69792905e-01 -6.38285257e-01 -3.28853824e-03 1.29417877e+02] [ 6.38280073e-01 7.69799920e-01 -2.57513171e-03 4.70437101e+01] [ 4.17518508e-03 -1.16690307e-04 9.99991277e-01 6.02194952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.642755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:129.46, Y:47.08, Z:0.60 [[ 7.67815820e-01 -6.40662202e-01 -3.28772509e-03 1.29463599e+02] [ 6.40657036e-01 7.67822848e-01 -2.57616946e-03 4.70792615e+01] [ 4.17484484e-03 -1.28280542e-04 9.99991277e-01 6.02418511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.51, Y:47.12, Z:0.60 [[ 7.66219351e-01 -6.42570699e-01 -3.28690418e-03 1.29509223e+02] [ 6.42565545e-01 7.66226388e-01 -2.57721642e-03 4.71157837e+01] [ 4.17455648e-03 -1.37338287e-04 9.99991277e-01 6.01914362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.55, Y:47.15, Z:0.60 [[ 7.65974178e-01 -6.42862940e-01 -3.28609160e-03 1.29554658e+02] [ 6.42857785e-01 7.65981214e-01 -2.57825209e-03 4.71515415e+01] [ 4.17454715e-03 -1.37615039e-04 9.99991277e-01 6.01839660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.60, Y:47.19, Z:0.60 [[ 7.67783797e-01 -6.40700591e-01 -3.28528792e-03 1.29599876e+02] [ 6.40695412e-01 7.67790816e-01 -2.57927575e-03 4.71877615e+01] [ 4.17495739e-03 -1.24542768e-04 9.99991277e-01 6.02069468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.64, Y:47.22, Z:0.60 [[ 7.69266136e-01 -6.38920046e-01 -3.28446260e-03 1.29643841e+02] [ 6.38914845e-01 7.69273139e-01 -2.58032630e-03 4.72243442e+01] [ 4.17527105e-03 -1.13534270e-04 9.99991277e-01 6.00885247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.69, Y:47.26, Z:0.60 [[ 7.70083696e-01 -6.37934414e-01 -3.28401930e-03 1.29689010e+02] [ 6.37929202e-01 7.70090691e-01 -2.58089036e-03 4.72605135e+01] [ 4.17543147e-03 -1.07470222e-04 9.99991277e-01 6.02009879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.73, Y:47.30, Z:0.60 [[ 7.73578274e-01 -6.33692256e-01 -3.28322053e-03 1.29734243e+02] [ 6.33687001e-01 7.73585236e-01 -2.58190610e-03 4.72969189e+01] [ 4.17598483e-03 -8.32277096e-05 9.99991277e-01 6.03200321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.78, Y:47.34, Z:0.60 [[ 7.75987950e-01 -6.30739191e-01 -3.28240502e-03 1.29778009e+02] [ 6.30733906e-01 7.75994890e-01 -2.58294246e-03 4.73351674e+01] [ 4.17629255e-03 -6.59919130e-05 9.99991277e-01 6.01153297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.82, Y:47.37, Z:0.60 [[ 7.79230057e-01 -6.26729405e-01 -3.28195380e-03 1.29823702e+02] [ 6.26724081e-01 7.79236968e-01 -2.58351565e-03 4.73723705e+01] [ 4.17658496e-03 -4.37264330e-05 9.99991277e-01 6.04015722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.87, Y:47.41, Z:0.61 [[ 7.78400138e-01 -6.27759873e-01 -3.28116495e-03 1.29868950e+02] [ 6.27754555e-01 7.78407052e-01 -2.58451714e-03 4.74094368e+01] [ 4.17653809e-03 -4.79777418e-05 9.99991277e-01 6.05906288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.91, Y:47.45, Z:0.60 [[ 7.73693785e-01 -6.33551234e-01 -3.28032583e-03 1.29913029e+02] [ 6.33545963e-01 7.73700735e-01 -2.58558173e-03 4.74455238e+01] [ 4.17608900e-03 -7.77886702e-05 9.99991277e-01 6.04022077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.96, Y:47.48, Z:0.60 [[ 7.72602812e-01 -6.34881200e-01 -3.27983880e-03 1.29959645e+02] [ 6.34875938e-01 7.72609769e-01 -2.58619938e-03 4.74794704e+01] [ 4.17596487e-03 -8.41858233e-05 9.99991277e-01 6.02247102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.00, Y:47.51, Z:0.60 [[ 7.70203144e-01 -6.37790220e-01 -3.27889663e-03 1.30004819e+02] [ 6.37784980e-01 7.70210118e-01 -2.58739336e-03 4.75141739e+01] [ 4.17565354e-03 -9.84125140e-05 9.99991277e-01 6.03620650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.05, Y:47.55, Z:0.60 [[ 7.68888900e-01 -6.39374002e-01 -3.27799302e-03 1.30049771e+02] [ 6.39368770e-01 7.68895881e-01 -2.58853764e-03 4.75501803e+01] [ 4.17547900e-03 -1.05548510e-04 9.99991277e-01 6.04522659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.10, Y:47.59, Z:0.60 [[ 7.68227776e-01 -6.40168216e-01 -3.27713692e-03 1.30096005e+02] [ 6.40162987e-01 7.68234758e-01 -2.58962103e-03 4.75858814e+01] [ 4.17540356e-03 -1.08482952e-04 9.99991277e-01 6.04013478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.14, Y:47.62, Z:0.60 [[ 7.68801681e-01 -6.39478883e-01 -3.27634754e-03 1.30141672e+02] [ 6.39473644e-01 7.68808655e-01 -2.59061936e-03 4.76212540e+01] [ 4.17553072e-03 -1.03465384e-04 9.99991277e-01 6.02690462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.19, Y:47.66, Z:0.60 [[ 7.69794603e-01 -6.38283276e-01 -3.27551651e-03 1.30186263e+02] [ 6.38278021e-01 7.69801566e-01 -2.59166966e-03 4.76563917e+01] [ 4.17571714e-03 -9.56368775e-05 9.99991277e-01 6.01809475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.24, Y:47.69, Z:0.60 [[ 7.73022295e-01 -6.34370401e-01 -3.27506301e-03 1.30235200e+02] [ 6.34365109e-01 7.73029229e-01 -2.59224262e-03 4.76900085e+01] [ 4.17616142e-03 -7.37243677e-05 9.99991277e-01 6.02409979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.28, Y:47.73, Z:0.60 [[ 7.71814975e-01 -6.35838755e-01 -3.27436374e-03 1.30281112e+02] [ 6.35833472e-01 7.71821917e-01 -2.59312560e-03 4.77275883e+01] [ 4.17603545e-03 -8.05368918e-05 9.99991277e-01 6.03381383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.33, Y:47.76, Z:0.60 [[ 7.71505113e-01 -6.36214700e-01 -3.27363059e-03 1.30326853e+02] [ 6.36209416e-01 7.71512054e-01 -2.59405082e-03 4.77613939e+01] [ 4.17601872e-03 -8.13911340e-05 9.99991277e-01 6.03661669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.37, Y:47.80, Z:0.60 [[ 7.71400573e-01 -6.36341451e-01 -3.27316884e-03 1.30371144e+02] [ 6.36336166e-01 7.71407513e-01 -2.59463332e-03 4.77974858e+01] [ 4.17601977e-03 -8.13340786e-05 9.99991277e-01 6.03459547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.42, Y:47.83, Z:0.61 [[ 7.70873218e-01 -6.36980197e-01 -3.27261722e-03 1.30417164e+02] [ 6.36974915e-01 7.70880160e-01 -2.59532889e-03 4.78324734e+01] [ 4.17596880e-03 -8.39055386e-05 9.99991277e-01 6.05542461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.46, Y:47.87, Z:0.61 [[ 7.69781076e-01 -6.38299609e-01 -3.27178387e-03 1.30463299e+02] [ 6.38294335e-01 7.69788024e-01 -2.59637902e-03 4.78684420e+01] [ 4.17584775e-03 -8.97176719e-05 9.99991277e-01 6.07517438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.51, Y:47.91, Z:0.61 [[ 7.69022225e-01 -6.39213672e-01 -3.27096457e-03 1.30507849e+02] [ 6.39208401e-01 7.69029176e-01 -2.59741078e-03 4.79062160e+01] [ 4.17576767e-03 -9.33614158e-05 9.99991277e-01 6.07138378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.55, Y:47.94, Z:0.61 [[ 7.68435985e-01 -6.39918310e-01 -3.27010589e-03 1.30552238e+02] [ 6.39913041e-01 7.68442937e-01 -2.59849139e-03 4.79424146e+01] [ 4.17571200e-03 -9.58091125e-05 9.99991277e-01 6.06274499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.60, Y:47.98, Z:0.60 [[ 7.68173565e-01 -6.40233304e-01 -3.26952947e-03 1.30597214e+02] [ 6.40228035e-01 7.68180517e-01 -2.59921648e-03 4.79791691e+01] [ 4.17569379e-03 -9.65950387e-05 9.99991277e-01 6.04642528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.202755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:130.64, Y:48.02, Z:0.60 [[ 7.68658749e-01 -6.39650720e-01 -3.26869568e-03 1.30641126e+02] [ 6.39645441e-01 7.68665693e-01 -2.60026460e-03 4.80158356e+01] [ 4.17579535e-03 -9.20901605e-05 9.99991277e-01 6.04218503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.69, Y:48.05, Z:0.60 [[ 7.68521600e-01 -6.39815496e-01 -3.26823816e-03 1.30685967e+02] [ 6.39810217e-01 7.68528543e-01 -2.60083952e-03 4.80535374e+01] [ 4.17579174e-03 -9.22508184e-05 9.99991277e-01 6.03443720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.73, Y:48.09, Z:0.61 [[ 7.67037888e-01 -6.41593487e-01 -3.26740687e-03 1.30729719e+02] [ 6.41588219e-01 7.67044841e-01 -2.60188344e-03 4.80903058e+01] [ 4.17559905e-03 -1.00586572e-04 9.99991277e-01 6.06690471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.77, Y:48.13, Z:0.61 [[ 7.65115967e-01 -6.43884216e-01 -3.26693463e-03 1.30774762e+02] [ 6.43878966e-01 7.65122934e-01 -2.60247626e-03 4.81262959e+01] [ 4.17529999e-03 -1.12314352e-04 9.99991277e-01 6.07816939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.82, Y:48.16, Z:0.61 [[ 7.63701193e-01 -6.45561631e-01 -3.26610911e-03 1.30819123e+02] [ 6.45556393e-01 7.63708168e-01 -2.60351187e-03 4.81630502e+01] [ 4.17508158e-03 -1.20152497e-04 9.99991277e-01 6.07993880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.86, Y:48.20, Z:0.61 [[ 7.61968638e-01 -6.47605693e-01 -3.26528824e-03 1.30862781e+02] [ 6.47600468e-01 7.61975623e-01 -2.60454098e-03 4.82004502e+01] [ 4.17478561e-03 -1.30023650e-04 9.99991277e-01 6.05125431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.562755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:130.91, Y:48.24, Z:0.61 [[ 7.62809607e-01 -6.46614913e-01 -3.26453926e-03 1.30908218e+02] [ 6.46609676e-01 7.62816583e-01 -2.60547942e-03 4.82369631e+01] [ 4.17498653e-03 -1.23397941e-04 9.99991277e-01 6.07165118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.95, Y:48.28, Z:0.61 [[ 7.61929844e-01 -6.47651342e-01 -3.26370437e-03 1.30952367e+02] [ 6.47646110e-01 7.61936823e-01 -2.60652481e-03 4.82754255e+01] [ 4.17485583e-03 -1.27736398e-04 9.99991277e-01 6.09084374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.00, Y:48.31, Z:0.61 [[ 7.61583712e-01 -6.48058333e-01 -3.26281222e-03 1.30996291e+02] [ 6.48053100e-01 7.61590691e-01 -2.60764112e-03 4.83127863e+01] [ 4.17483097e-03 -1.28538571e-04 9.99991277e-01 6.09226175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.04, Y:48.35, Z:0.61 [[ 7.61617118e-01 -6.48019077e-01 -3.26199005e-03 1.31039918e+02] [ 6.48013839e-01 7.61624093e-01 -2.60866920e-03 4.83495707e+01] [ 4.17487762e-03 -1.27007579e-04 9.99991277e-01 6.08626088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.08, Y:48.39, Z:0.61 [[ 7.62017072e-01 -6.47548720e-01 -3.26153685e-03 1.31084697e+02] [ 6.47543475e-01 7.62024042e-01 -2.60923569e-03 4.83858985e+01] [ 4.17497672e-03 -1.23704767e-04 9.99991277e-01 6.08692460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.13, Y:48.42, Z:0.61 [[ 7.63135727e-01 -6.46230013e-01 -3.26078797e-03 1.31128426e+02] [ 6.46224752e-01 7.63142685e-01 -2.61017124e-03 4.84217584e+01] [ 4.17521748e-03 -1.15286969e-04 9.99991277e-01 6.09652652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.17, Y:48.46, Z:0.61 [[ 7.64253875e-01 -6.44907269e-01 -3.26028319e-03 1.31173286e+02] [ 6.44901993e-01 7.64260821e-01 -2.61080159e-03 4.84588871e+01] [ 4.17543163e-03 -1.07247894e-04 9.99991277e-01 6.09872327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.22, Y:48.50, Z:0.61 [[ 7.65740605e-01 -6.43141276e-01 -3.25948057e-03 1.31215994e+02] [ 6.43135980e-01 7.65747537e-01 -2.61180325e-03 4.84964213e+01] [ 4.17569769e-03 -9.63254234e-05 9.99991277e-01 6.10277983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.26, Y:48.53, Z:0.61 [[ 7.65587227e-01 -6.43323851e-01 -3.25904097e-03 1.31260937e+02] [ 6.43318554e-01 7.65594157e-01 -2.61235167e-03 4.85333803e+01] [ 4.17569086e-03 -9.66184509e-05 9.99991277e-01 6.10806493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.31, Y:48.57, Z:0.61 [[ 7.65546212e-01 -6.43372661e-01 -3.25823149e-03 1.31305509e+02] [ 6.43367361e-01 7.65553139e-01 -2.61336090e-03 4.85694592e+01] [ 4.17571430e-03 -9.55912596e-05 9.99991277e-01 6.11204406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.35, Y:48.61, Z:0.61 [[ 7.65390920e-01 -6.43557400e-01 -3.25778720e-03 1.31349263e+02] [ 6.43552099e-01 7.65397847e-01 -2.61391463e-03 4.86078709e+01] [ 4.17570741e-03 -9.58892663e-05 9.99991277e-01 6.11426211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.39, Y:48.65, Z:0.61 [[ 7.65485179e-01 -6.43445284e-01 -3.25691341e-03 1.31392931e+02] [ 6.43439977e-01 7.65492102e-01 -2.61500290e-03 4.86470425e+01] [ 4.17575278e-03 -9.38823250e-05 9.99991277e-01 6.11550035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.44, Y:48.69, Z:0.61 [[ 7.64731634e-01 -6.44340692e-01 -3.25600800e-03 1.31436743e+02] [ 6.44335388e-01 7.64738559e-01 -2.61612977e-03 4.86854103e+01] [ 4.17567373e-03 -9.73239853e-05 9.99991277e-01 6.12550630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.48, Y:48.72, Z:0.61 [[ 7.63775201e-01 -6.45474125e-01 -3.25521338e-03 1.31479990e+02] [ 6.45468827e-01 7.63782131e-01 -2.61711813e-03 4.87229203e+01] [ 4.17555585e-03 -1.02248838e-04 9.99991277e-01 6.12469358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.52, Y:48.76, Z:0.61 [[ 7.60920729e-01 -6.48836692e-01 -3.25442932e-03 1.31523332e+02] [ 6.48831421e-01 7.60927679e-01 -2.61809276e-03 4.87610217e+01] [ 4.17510000e-03 -1.19414954e-04 9.99991277e-01 6.08868553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.57, Y:48.80, Z:0.61 [[ 7.58283652e-01 -6.51916649e-01 -3.25365783e-03 1.31565856e+02] [ 6.51911402e-01 7.58290620e-01 -2.61905119e-03 4.88004097e+01] [ 4.17462129e-03 -1.35112937e-04 9.99991277e-01 6.09608151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.61, Y:48.84, Z:0.61 [[ 7.57291872e-01 -6.53068480e-01 -3.25274594e-03 1.31609762e+02] [ 6.53063239e-01 7.57298845e-01 -2.62018322e-03 4.88378714e+01] [ 4.17445982e-03 -1.40005343e-04 9.99991277e-01 6.10018914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.66, Y:48.87, Z:0.61 [[ 7.57967446e-01 -6.52284276e-01 -3.25189788e-03 1.31655164e+02] [ 6.52279023e-01 7.57974409e-01 -2.62123533e-03 4.88738286e+01] [ 4.17464596e-03 -1.34333728e-04 9.99991277e-01 6.14507043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.70, Y:48.92, Z:0.61 [[ 7.56911941e-01 -6.53508795e-01 -3.25101654e-03 1.31695316e+02] [ 6.53503549e-01 7.56918909e-01 -2.62232796e-03 4.89157225e+01] [ 4.17447028e-03 -1.39679496e-04 9.99991277e-01 6.11504975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.74, Y:48.95, Z:0.61 [[ 7.57716988e-01 -6.52575205e-01 -3.25074780e-03 1.31739732e+02] [ 6.52569949e-01 7.57723949e-01 -2.62266106e-03 4.89537071e+01] [ 4.17465304e-03 -1.34105482e-04 9.99991277e-01 6.11893594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.78, Y:48.99, Z:0.61 [[ 7.58238035e-01 -6.51969723e-01 -3.24993589e-03 1.31783529e+02] [ 6.51964457e-01 7.58244989e-01 -2.62366678e-03 4.89916598e+01] [ 4.17479890e-03 -1.29478746e-04 9.99991277e-01 6.12313906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.83, Y:49.03, Z:0.61 [[ 7.58087776e-01 -6.52144437e-01 -3.24912694e-03 1.31826852e+02] [ 6.52139168e-01 7.58094728e-01 -2.62466819e-03 4.90297634e+01] [ 4.17480876e-03 -1.29154062e-04 9.99991277e-01 6.12449767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.87, Y:49.07, Z:0.61 [[ 7.55939158e-01 -6.54633820e-01 -3.24828158e-03 1.31872026e+02] [ 6.54628570e-01 7.55946123e-01 -2.62571398e-03 4.90666711e+01] [ 4.17440705e-03 -1.41537909e-04 9.99991277e-01 6.13075187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.92, Y:49.10, Z:0.61 [[ 7.53652727e-01 -6.57264803e-01 -3.24743518e-03 1.31917012e+02] [ 6.57259572e-01 7.53659707e-01 -2.62676039e-03 4.91035809e+01] [ 4.17393819e-03 -1.54742728e-04 9.99991277e-01 6.13288717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.96, Y:49.14, Z:0.61 [[ 7.51515475e-01 -6.59707474e-01 -3.24659746e-03 1.31960328e+02] [ 6.59702261e-01 7.51522469e-01 -2.62779537e-03 4.91417860e+01] [ 4.17346718e-03 -1.66958800e-04 9.99991277e-01 6.05944843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.01, Y:49.18, Z:0.61 [[ 7.52463133e-01 -6.58626372e-01 -3.24573922e-03 1.32006401e+02] [ 6.58621145e-01 7.52470117e-01 -2.62885500e-03 4.91774015e+01] [ 4.17375500e-03 -1.59596009e-04 9.99991277e-01 6.10016049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.05, Y:49.21, Z:0.61 [[ 7.55624549e-01 -6.54996955e-01 -3.24483296e-03 1.32051321e+02] [ 6.54991690e-01 7.55631504e-01 -2.62997314e-03 4.92123478e+01] [ 4.17452241e-03 -1.38066359e-04 9.99991277e-01 6.12478901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.10, Y:49.25, Z:0.61 [[ 7.58151699e-01 -6.52070148e-01 -3.24384774e-03 1.32095315e+02] [ 6.52064851e-01 7.58158629e-01 -2.63118776e-03 4.92503369e+01] [ 4.17507015e-03 -1.20359624e-04 9.99991277e-01 6.10239344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.14, Y:49.29, Z:0.61 [[ 7.61096025e-01 -6.48631116e-01 -3.24283013e-03 1.32140417e+02] [ 6.48625782e-01 7.61102927e-01 -2.63244133e-03 4.92860824e+01] [ 4.17561086e-03 -9.98425943e-05 9.99991277e-01 6.13845993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.18, Y:49.32, Z:0.61 [[ 7.61399649e-01 -6.48274682e-01 -3.24194734e-03 1.32184715e+02] [ 6.48269340e-01 7.61406545e-01 -2.63352807e-03 4.93238306e+01] [ 4.17568949e-03 -9.64877091e-05 9.99991277e-01 6.09315864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.23, Y:49.36, Z:0.61 [[ 7.61787837e-01 -6.47818482e-01 -3.24109710e-03 1.32231004e+02] [ 6.47813132e-01 7.61794727e-01 -2.63457404e-03 4.93579564e+01] [ 4.17577644e-03 -9.26388032e-05 9.99991277e-01 6.11618207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.28, Y:49.39, Z:0.62 [[ 7.62201823e-01 -6.47331351e-01 -3.24079688e-03 1.32280173e+02] [ 6.47325995e-01 7.62208708e-01 -2.63494329e-03 4.93908095e+01] [ 4.17584501e-03 -8.94934823e-05 9.99991277e-01 6.15752602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.32, Y:49.43, Z:0.61 [[ 7.57677134e-01 -6.52621532e-01 -3.23998169e-03 1.32324803e+02] [ 6.52616219e-01 7.57684052e-01 -2.63594529e-03 4.94294248e+01] [ 4.17515711e-03 -1.17269131e-04 9.99991277e-01 6.13450039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.37, Y:49.46, Z:0.61 [[ 7.55551845e-01 -6.55080848e-01 -3.23925384e-03 1.32370771e+02] [ 6.55075554e-01 7.55558777e-01 -2.63683942e-03 4.94649279e+01] [ 4.17478968e-03 -1.29687119e-04 9.99991277e-01 6.12985176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60275509599998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:132.42, Y:49.50, Z:0.62 [[ 7.54442710e-01 -6.56357913e-01 -3.23842553e-03 1.32419235e+02] [ 6.56352626e-01 7.54449648e-01 -2.63785632e-03 4.94971060e+01] [ 4.17460687e-03 -1.35437631e-04 9.99991277e-01 6.17485422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.46, Y:49.53, Z:0.62 [[ 7.54480636e-01 -6.56314321e-01 -3.23760206e-03 1.32463028e+02] [ 6.56309029e-01 7.54487571e-01 -2.63886662e-03 4.95331627e+01] [ 4.17465647e-03 -1.33893698e-04 9.99991277e-01 6.17110921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.51, Y:49.57, Z:0.62 [[ 7.55611934e-01 -6.55011548e-01 -3.23684201e-03 1.32508251e+02] [ 6.55006240e-01 7.55618857e-01 -2.63979858e-03 4.95693964e+01] [ 4.17491741e-03 -1.25488402e-04 9.99991277e-01 6.19199686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.782755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:132.56, Y:49.60, Z:0.61 [[ 7.59052619e-01 -6.51021236e-01 -3.23598509e-03 1.32556024e+02] [ 6.51015888e-01 7.59059510e-01 -2.64084861e-03 4.96031190e+01] [ 4.17555378e-03 -1.02134647e-04 9.99991277e-01 6.12812361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.60, Y:49.64, Z:0.61 [[ 7.62548889e-01 -6.46922504e-01 -3.23513713e-03 1.32603073e+02] [ 6.46917114e-01 7.62555747e-01 -2.64188698e-03 4.96364325e+01] [ 4.17606856e-03 -7.82975993e-05 9.99991277e-01 6.14650926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.902755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:132.65, Y:49.67, Z:0.61 [[ 7.63434662e-01 -6.45876964e-01 -3.23487764e-03 1.32648489e+02] [ 6.45871564e-01 7.63441512e-01 -2.64220468e-03 4.96720633e+01] [ 4.17617901e-03 -7.21648469e-05 9.99991277e-01 6.14095289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.70, Y:49.70, Z:0.62 [[ 7.64995702e-01 -6.44027264e-01 -3.23396855e-03 1.32695579e+02] [ 6.44021842e-01 7.65002535e-01 -2.64331690e-03 4.97044679e+01] [ 4.17636230e-03 -6.06203167e-05 9.99991277e-01 6.19983858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.74, Y:49.74, Z:0.62 [[ 7.63195409e-01 -6.46159664e-01 -3.23357890e-03 1.32741351e+02] [ 6.46154260e-01 7.63202256e-01 -2.64379349e-03 4.97394058e+01] [ 4.17618742e-03 -7.16597270e-05 9.99991277e-01 6.18919999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.79, Y:49.77, Z:0.62 [[ 7.64331134e-01 -6.44815840e-01 -3.23263030e-03 1.32791394e+02] [ 6.44810419e-01 7.64337967e-01 -2.64495285e-03 4.97697451e+01] [ 4.17632957e-03 -6.28138888e-05 9.99991277e-01 6.22129516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.84, Y:49.81, Z:0.62 [[ 7.61543784e-01 -6.48105408e-01 -3.23173062e-03 1.32835266e+02] [ 6.48100012e-01 7.61550637e-01 -2.64605167e-03 4.98071222e+01] [ 4.17604691e-03 -7.94004475e-05 9.99991277e-01 6.21862299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.88, Y:49.84, Z:0.63 [[ 7.61575179e-01 -6.48068521e-01 -3.23082588e-03 1.32880778e+02] [ 6.48063119e-01 7.61582029e-01 -2.64715589e-03 4.98425392e+01] [ 4.17607733e-03 -7.77708733e-05 9.99991277e-01 6.26061109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.93, Y:49.88, Z:0.62 [[ 7.63323962e-01 -6.46007814e-01 -3.22991564e-03 1.32927529e+02] [ 6.46002389e-01 7.63330793e-01 -2.64826605e-03 4.98772845e+01] [ 4.17629463e-03 -6.50482813e-05 9.99991277e-01 6.24966641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.97, Y:49.92, Z:0.62 [[ 7.64529455e-01 -6.44580706e-01 -3.22899079e-03 1.32971680e+02] [ 6.44575263e-01 7.64536272e-01 -2.64939323e-03 4.99156001e+01] [ 4.17642834e-03 -5.57884322e-05 9.99991277e-01 6.24183584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.01, Y:49.96, Z:0.62 [[ 7.65060297e-01 -6.43950557e-01 -3.22813986e-03 1.33012857e+02] [ 6.43945105e-01 7.65067106e-01 -2.65042964e-03 4.99562035e+01] [ 4.17648926e-03 -5.10063740e-05 9.99991277e-01 6.22464394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.06, Y:49.99, Z:0.62 [[ 7.65640154e-01 -6.43261018e-01 -3.22756020e-03 1.33059286e+02] [ 6.43255557e-01 7.65646955e-01 -2.65113532e-03 4.99925882e+01] [ 4.17654365e-03 -4.63303772e-05 9.99991277e-01 6.21577008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.10, Y:50.03, Z:0.62 [[ 7.60548379e-01 -6.49273249e-01 -3.22664858e-03 1.33101690e+02] [ 6.49267837e-01 7.60555219e-01 -2.65224438e-03 5.00324645e+01] [ 4.17607574e-03 -7.77989774e-05 9.99991277e-01 6.21187351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.15, Y:50.07, Z:0.62 [[ 7.58503263e-01 -6.51661254e-01 -3.22636875e-03 1.33145636e+02] [ 6.51655862e-01 7.58510120e-01 -2.65258474e-03 5.00704186e+01] [ 4.17582004e-03 -9.04879257e-05 9.99991277e-01 6.23314594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.19, Y:50.11, Z:0.62 [[ 7.56665298e-01 -6.53794481e-01 -3.22550888e-03 1.33189706e+02] [ 6.53789103e-01 7.56672166e-01 -2.65362992e-03 5.01084445e+01] [ 4.17558139e-03 -1.00892882e-04 9.99991277e-01 6.23602658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.24, Y:50.14, Z:0.62 [[ 7.57109553e-01 -6.53279976e-01 -3.22465871e-03 1.33237922e+02] [ 6.53274589e-01 7.57116414e-01 -2.65466263e-03 5.01419424e+01] [ 4.17567998e-03 -9.67171608e-05 9.99991277e-01 6.24057875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.28, Y:50.18, Z:0.62 [[ 7.55183919e-01 -6.55505038e-01 -3.22375333e-03 1.33279068e+02] [ 6.55499667e-01 7.55190793e-01 -2.65576165e-03 5.01810010e+01] [ 4.17541397e-03 -1.07580737e-04 9.99991277e-01 6.23675408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.32, Y:50.22, Z:0.62 [[ 7.55137611e-01 -6.55558387e-01 -3.22336704e-03 1.33324068e+02] [ 6.55553014e-01 7.55144483e-01 -2.65623041e-03 5.02180906e+01] [ 4.17542196e-03 -1.07268493e-04 9.99991277e-01 6.23781443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.37, Y:50.25, Z:0.63 [[ 7.55269395e-01 -6.55406558e-01 -3.22252099e-03 1.33370411e+02] [ 6.55401180e-01 7.55276263e-01 -2.65725645e-03 5.02529528e+01] [ 4.17547691e-03 -1.05099588e-04 9.99991277e-01 6.25651186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.42, Y:50.29, Z:0.62 [[ 7.55612520e-01 -6.55010947e-01 -3.22166646e-03 1.33416811e+02] [ 6.55005561e-01 7.55619381e-01 -2.65829207e-03 5.02878808e+01] [ 4.17556402e-03 -1.01570673e-04 9.99991277e-01 6.23404636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.46, Y:50.32, Z:0.62 [[ 7.54660720e-01 -6.56107327e-01 -3.22082302e-03 1.33462204e+02] [ 6.56101946e-01 7.54667585e-01 -2.65931361e-03 5.03246534e+01] [ 4.17544587e-03 -1.06308727e-04 9.99991277e-01 6.21299281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.51, Y:50.36, Z:0.63 [[ 7.54252500e-01 -6.56576574e-01 -3.21997820e-03 1.33507744e+02] [ 6.56571193e-01 7.54259366e-01 -2.66033614e-03 5.03604245e+01] [ 4.17541311e-03 -1.07579748e-04 9.99991277e-01 6.27676022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.55, Y:50.40, Z:0.63 [[ 7.55482876e-01 -6.55160485e-01 -3.21913411e-03 1.33552401e+02] [ 6.55155087e-01 7.55489728e-01 -2.66135714e-03 5.03977454e+01] [ 4.17563879e-03 -9.84223446e-05 9.99991277e-01 6.27004110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.60, Y:50.43, Z:0.62 [[ 7.59578255e-01 -6.50407962e-01 -3.21829662e-03 1.33599270e+02] [ 6.50402517e-01 7.59585070e-01 -2.66236951e-03 5.04319383e+01] [ 4.17619639e-03 -7.09102285e-05 9.99991277e-01 6.22855134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.64, Y:50.47, Z:0.62 [[ 7.60929100e-01 -6.48827059e-01 -3.21746797e-03 1.33640611e+02] [ 6.48821595e-01 7.60935900e-01 -2.66337055e-03 5.04726023e+01] [ 4.17635377e-03 -6.09265443e-05 9.99991277e-01 6.24671956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.69, Y:50.51, Z:0.63 [[ 7.65644014e-01 -6.43256476e-01 -3.21721594e-03 1.33687279e+02] [ 6.43250961e-01 7.65650773e-01 -2.66367496e-03 5.05077871e+01] [ 4.17669004e-03 -3.00504610e-05 9.99991277e-01 6.28894077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.73, Y:50.55, Z:0.63 [[ 7.63186798e-01 -6.46169921e-01 -3.21628937e-03 1.33728581e+02] [ 6.46164427e-01 7.63193574e-01 -2.66479328e-03 5.05493334e+01] [ 4.17656065e-03 -4.45167274e-05 9.99991277e-01 6.27320251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.77, Y:50.59, Z:0.63 [[ 7.60413081e-01 -6.49431755e-01 -3.21587138e-03 1.33773866e+02] [ 6.49426289e-01 7.60419879e-01 -2.66529762e-03 5.05863980e+01] [ 4.17634144e-03 -6.17442432e-05 9.99991277e-01 6.29307538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.82, Y:50.62, Z:0.63 [[ 7.57350671e-01 -6.53000478e-01 -3.21507383e-03 1.33817720e+02] [ 6.52995040e-01 7.57357491e-01 -2.66625934e-03 5.06224877e+01] [ 4.17602887e-03 -8.01339662e-05 9.99991277e-01 6.30298101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.86, Y:50.66, Z:0.63 [[ 7.55340295e-01 -6.55324886e-01 -3.21453724e-03 1.33862005e+02] [ 6.55319466e-01 7.55347129e-01 -2.66690611e-03 5.06604887e+01] [ 4.17578142e-03 -9.21271788e-05 9.99991277e-01 6.30568235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.91, Y:50.70, Z:0.63 [[ 7.50708637e-01 -6.60625623e-01 -3.21362835e-03 1.33905512e+02] [ 6.60620247e-01 7.50715506e-01 -2.66800088e-03 5.06976464e+01] [ 4.17507038e-03 -1.20096645e-04 9.99991277e-01 6.31074639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.95, Y:50.73, Z:0.63 [[ 7.49645156e-01 -6.61832166e-01 -3.21310752e-03 1.33949702e+02] [ 6.61826798e-01 7.49652031e-01 -2.66862798e-03 5.07349568e+01] [ 4.17489641e-03 -1.25996624e-04 9.99991277e-01 6.30968785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.99, Y:50.77, Z:0.63 [[ 7.46596567e-01 -6.65269304e-01 -3.21225951e-03 1.33993172e+02] [ 6.65263963e-01 7.46603464e-01 -2.66964834e-03 5.07728973e+01] [ 4.17431917e-03 -1.43850208e-04 9.99991277e-01 6.26259712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.04, Y:50.81, Z:0.63 [[ 7.46897320e-01 -6.64931633e-01 -3.21198450e-03 1.34037930e+02] [ 6.64926287e-01 7.46904213e-01 -2.66997918e-03 5.08108659e+01] [ 4.17439837e-03 -1.41532630e-04 9.99991277e-01 6.29885861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.09, Y:50.84, Z:0.63 [[ 7.49587006e-01 -6.61898034e-01 -3.21122416e-03 1.34087062e+02] [ 6.61892657e-01 7.49593875e-01 -2.67089334e-03 5.08445599e+01] [ 4.17497301e-03 -1.23418742e-04 9.99991277e-01 6.33492908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.13, Y:50.89, Z:0.63 [[ 7.48666420e-01 -6.62939126e-01 -3.21048425e-03 1.34127181e+02] [ 6.62933754e-01 7.48673293e-01 -2.67178243e-03 5.08870090e+01] [ 4.17483292e-03 -1.28064587e-04 9.99991277e-01 6.29219382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.17, Y:50.93, Z:0.63 [[ 7.49331197e-01 -6.62187627e-01 -3.21006357e-03 1.34170988e+02] [ 6.62182246e-01 7.49338062e-01 -2.67228777e-03 5.09255514e+01] [ 4.17497871e-03 -1.23218514e-04 9.99991277e-01 6.27458704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.22, Y:50.96, Z:0.63 [[ 7.52216956e-01 -6.58907696e-01 -3.20916504e-03 1.34216071e+02] [ 6.58902281e-01 7.52223795e-01 -2.67336639e-03 5.09625641e+01] [ 4.17551199e-03 -1.03574636e-04 9.99991277e-01 6.28583282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.26, Y:51.00, Z:0.63 [[ 7.52868094e-01 -6.58163612e-01 -3.20825151e-03 1.34260543e+02] [ 6.58158185e-01 7.52874924e-01 -2.67446224e-03 5.10000828e+01] [ 4.17564584e-03 -9.80197037e-05 9.99991277e-01 6.27960499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.31, Y:51.04, Z:0.63 [[ 7.53556906e-01 -6.57374856e-01 -3.20739859e-03 1.34305919e+02] [ 6.57369418e-01 7.53563727e-01 -2.67548473e-03 5.10369296e+01] [ 4.17577563e-03 -9.23157525e-05 9.99991277e-01 6.28397710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.35, Y:51.07, Z:0.63 [[ 7.52071020e-01 -6.59074274e-01 -3.20656066e-03 1.34350500e+02] [ 6.59068847e-01 7.52077849e-01 -2.67648861e-03 5.10738014e+01] [ 4.17558803e-03 -1.00434717e-04 9.99991277e-01 6.29180831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.39, Y:51.11, Z:0.63 [[ 7.50758061e-01 -6.60569495e-01 -3.20573132e-03 1.34394236e+02] [ 6.60564077e-01 7.50764897e-01 -2.67748157e-03 5.11097045e+01] [ 4.17541320e-03 -1.07450079e-04 9.99991277e-01 6.29258772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.44, Y:51.14, Z:0.63 [[ 7.48965129e-01 -6.62601662e-01 -3.20526950e-03 1.34439891e+02] [ 6.62596261e-01 7.48971978e-01 -2.67803431e-03 5.11449864e+01] [ 4.17512703e-03 -1.18045276e-04 9.99991277e-01 6.30708016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.49, Y:51.18, Z:0.63 [[ 7.47713863e-01 -6.64013336e-01 -3.20446772e-03 1.34485014e+02] [ 6.64007944e-01 7.47720719e-01 -2.67899336e-03 5.11811959e+01] [ 4.17493423e-03 -1.24671550e-04 9.99991277e-01 6.30036970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.53, Y:51.22, Z:0.63 [[ 7.48755497e-01 -6.62838549e-01 -3.20363884e-03 1.34532782e+02] [ 6.62833141e-01 7.48762342e-01 -2.67998421e-03 5.12162162e+01] [ 4.17516096e-03 -1.16825084e-04 9.99991277e-01 6.33753534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.57, Y:51.26, Z:0.63 [[ 7.45748950e-01 -6.66219367e-01 -3.20291573e-03 1.34574954e+02] [ 6.66213986e-01 7.45755816e-01 -2.68084813e-03 5.12574935e+01] [ 4.17462598e-03 -1.34587572e-04 9.99991277e-01 6.26035928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.62, Y:51.29, Z:0.64 [[ 7.51275888e-01 -6.59980520e-01 -3.20214248e-03 1.34623901e+02] [ 6.59975078e-01 7.51282706e-01 -2.68177142e-03 5.12909976e+01] [ 4.17563116e-03 -9.85840253e-05 9.99991277e-01 6.36260386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.67, Y:51.33, Z:0.64 [[ 7.51856606e-01 -6.59318888e-01 -3.20125272e-03 1.34668633e+02] [ 6.59313436e-01 7.51863415e-01 -2.68283311e-03 5.13291211e+01] [ 4.17574735e-03 -9.35231384e-05 9.99991277e-01 6.37300562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.71, Y:51.37, Z:0.63 [[ 7.52446949e-01 -6.58645083e-01 -3.20047421e-03 1.34710256e+02] [ 6.58639622e-01 7.52453750e-01 -2.68376152e-03 5.13700435e+01] [ 4.17585515e-03 -8.85709514e-05 9.99991277e-01 6.33617752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.76, Y:51.41, Z:0.64 [[ 7.53595630e-01 -6.57330500e-01 -3.20006973e-03 1.34756127e+02] [ 6.57325024e-01 7.53602420e-01 -2.68424372e-03 5.14077241e+01] [ 4.17601556e-03 -8.06515756e-05 9.99991277e-01 6.35764536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.80, Y:51.45, Z:0.63 [[ 7.53584724e-01 -6.57343006e-01 -3.19932000e-03 1.34800587e+02] [ 6.57337527e-01 7.53591512e-01 -2.68513702e-03 5.14457066e+01] [ 4.17603643e-03 -7.95548557e-05 9.99991277e-01 6.34990467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.84, Y:51.48, Z:0.64 [[ 7.53518254e-01 -6.57419205e-01 -3.19840246e-03 1.34844353e+02] [ 6.57413722e-01 7.53525038e-01 -2.68622951e-03 5.14815243e+01] [ 4.17605520e-03 -7.85506982e-05 9.99991277e-01 6.35712181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.89, Y:51.52, Z:0.64 [[ 7.52191521e-01 -6.58936786e-01 -3.19800775e-03 1.34887520e+02] [ 6.58931314e-01 7.52198315e-01 -2.68669934e-03 5.15186216e+01] [ 4.17590106e-03 -8.63549871e-05 9.99991277e-01 6.36116786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.93, Y:51.56, Z:0.64 [[ 7.49661199e-01 -6.61814069e-01 -3.19758421e-03 1.34932202e+02] [ 6.61808621e-01 7.49668012e-01 -2.68720331e-03 5.15560174e+01] [ 4.17555556e-03 -1.01696739e-04 9.99991277e-01 6.36784722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.98, Y:51.59, Z:0.64 [[ 7.49136404e-01 -6.62408053e-01 -3.19666446e-03 1.34975372e+02] [ 6.62402606e-01 7.49143217e-01 -2.68829699e-03 5.15925887e+01] [ 4.17550908e-03 -1.03577731e-04 9.99991277e-01 6.36824686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.02, Y:51.63, Z:0.64 [[ 7.48220280e-01 -6.63442687e-01 -3.19583059e-03 1.35020496e+02] [ 6.63437245e-01 7.48227097e-01 -2.68928793e-03 5.16298896e+01] [ 4.17539546e-03 -1.08053275e-04 9.99991277e-01 6.36963536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.06, Y:51.67, Z:0.64 [[ 7.48855738e-01 -6.62725340e-01 -3.19498857e-03 1.35063990e+02] [ 6.62719887e-01 7.48862547e-01 -2.69028792e-03 5.16682905e+01] [ 4.17552925e-03 -1.02744919e-04 9.99991277e-01 6.37689425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.11, Y:51.71, Z:0.64 [[ 7.50970422e-01 -6.60328117e-01 -3.19413321e-03 1.35108068e+02] [ 6.60322638e-01 7.50977210e-01 -2.69130309e-03 5.17061227e+01] [ 4.17586434e-03 -8.80694517e-05 9.99991277e-01 6.36869242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.15, Y:51.74, Z:0.64 [[ 7.52456111e-01 -6.58634651e-01 -3.19327729e-03 1.35151253e+02] [ 6.58629153e-01 7.52462883e-01 -2.69231827e-03 5.17428513e+01] [ 4.17607674e-03 -7.73341819e-05 9.99991277e-01 6.37006169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.19, Y:51.78, Z:0.64 [[ 7.55334554e-01 -6.55331609e-01 -3.19270026e-03 1.35193094e+02] [ 6.55326078e-01 7.55341300e-01 -2.69300236e-03 5.17817344e+01] [ 4.17638794e-03 -5.81420016e-05 9.99991277e-01 6.37062843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.24, Y:51.82, Z:0.64 [[ 7.57024103e-01 -6.53379153e-01 -3.19223725e-03 1.35236596e+02] [ 6.53373603e-01 7.57030832e-01 -2.69355110e-03 5.18204054e+01] [ 4.17653215e-03 -4.66404501e-05 9.99991277e-01 6.39399765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.28, Y:51.86, Z:0.64 [[ 7.57395252e-01 -6.52948886e-01 -3.19142214e-03 1.35279822e+02] [ 6.52943327e-01 7.57401974e-01 -2.69451652e-03 5.18570116e+01] [ 4.17657099e-03 -4.30037754e-05 9.99991277e-01 6.40203661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.32, Y:51.90, Z:0.64 [[ 7.56502227e-01 -6.53983332e-01 -3.19087289e-03 1.35323333e+02] [ 6.53977780e-01 7.56508955e-01 -2.69516679e-03 5.18962229e+01] [ 4.17651808e-03 -4.78602875e-05 9.99991277e-01 6.41439925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.37, Y:51.93, Z:0.64 [[ 7.55878604e-01 -6.54704025e-01 -3.19000751e-03 1.35366072e+02] [ 6.54698475e-01 7.55885333e-01 -2.69619067e-03 5.19334484e+01] [ 4.17648677e-03 -5.05002097e-05 9.99991277e-01 6.41658962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.41, Y:51.97, Z:0.64 [[ 7.53555462e-01 -6.57376599e-01 -3.18942571e-03 1.35409372e+02] [ 6.57371070e-01 7.53562209e-01 -2.69687872e-03 5.19717623e+01] [ 4.17629565e-03 -6.43885026e-05 9.99991277e-01 6.42499174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.45, Y:52.01, Z:0.64 [[ 7.51169722e-01 -6.60101418e-01 -3.18855125e-03 1.35453001e+02] [ 6.60095909e-01 7.51176485e-01 -2.69791222e-03 5.20094391e+01] [ 4.17606040e-03 -7.81596624e-05 9.99991277e-01 6.41538561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.50, Y:52.05, Z:0.64 [[ 7.47509562e-01 -6.64243400e-01 -3.18753664e-03 1.35495799e+02] [ 6.64237923e-01 7.47516352e-01 -2.69911043e-03 5.20486357e+01] [ 4.17560205e-03 -9.96718568e-05 9.99991277e-01 6.42150930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.54, Y:52.09, Z:0.64 [[ 7.43697226e-01 -6.68508999e-01 -3.18651355e-03 1.35538205e+02] [ 6.68503557e-01 7.43704043e-01 -2.70031772e-03 5.20871069e+01] [ 4.17500971e-03 -1.21976841e-04 9.99991277e-01 6.40036484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.58, Y:52.13, Z:0.64 [[ 7.39748601e-01 -6.72875810e-01 -3.18604396e-03 1.35581531e+02] [ 6.72870405e-01 7.39755448e-01 -2.70087167e-03 5.21252118e+01] [ 4.17424459e-03 -1.45828650e-04 9.99991277e-01 6.39396378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.63, Y:52.16, Z:0.64 [[ 7.37083139e-01 -6.75794570e-01 -3.18519427e-03 1.35625202e+02] [ 6.75789188e-01 7.37090003e-01 -2.70187336e-03 5.21639041e+01] [ 4.17368620e-03 -1.61014553e-04 9.99991277e-01 6.39270187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.67, Y:52.20, Z:0.64 [[ 7.33915378e-01 -6.79233449e-01 -3.18435853e-03 1.35668709e+02] [ 6.79228095e-01 7.33922264e-01 -2.70285798e-03 5.22028705e+01] [ 4.17294317e-03 -1.79236745e-04 9.99991277e-01 6.40396241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.71, Y:52.24, Z:0.64 [[ 7.34235952e-01 -6.78886907e-01 -3.18348995e-03 1.35713643e+02] [ 6.78881545e-01 7.34242832e-01 -2.70388063e-03 5.22400576e+01] [ 4.17308383e-03 -1.75926210e-04 9.99991277e-01 6.41331582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.76, Y:52.28, Z:0.64 [[ 7.36053832e-01 -6.76915524e-01 -3.18261995e-03 1.35757363e+02] [ 6.76910140e-01 7.36060695e-01 -2.70490428e-03 5.22781485e+01] [ 4.17359315e-03 -1.63392551e-04 9.99991277e-01 6.42343550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.80, Y:52.32, Z:0.64 [[ 7.41058234e-01 -6.71433221e-01 -3.18175228e-03 1.35801374e+02] [ 6.71427781e-01 7.41065053e-01 -2.70592452e-03 5.23168000e+01] [ 4.17473304e-03 -1.31069226e-04 9.99991277e-01 6.42856645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.84, Y:52.35, Z:0.64 [[ 7.43034343e-01 -6.69245728e-01 -3.18126937e-03 1.35843532e+02] [ 6.69240266e-01 7.43041144e-01 -2.70649215e-03 5.23545771e+01] [ 4.17512234e-03 -1.18016943e-04 9.99991277e-01 6.44462782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.89, Y:52.39, Z:0.64 [[ 7.47130920e-01 -6.64669295e-01 -3.18060580e-03 1.35887664e+02] [ 6.64663788e-01 7.47137685e-01 -2.70727174e-03 5.23918247e+01] [ 4.17579085e-03 -9.13470690e-05 9.99991277e-01 6.44400819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.93, Y:52.43, Z:0.65 [[ 7.46942917e-01 -6.64880567e-01 -3.17972688e-03 1.35931148e+02] [ 6.64875057e-01 7.46949679e-01 -2.70830364e-03 5.24306701e+01] [ 4.17579444e-03 -9.11728700e-05 9.99991277e-01 6.45758639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.97, Y:52.47, Z:0.64 [[ 7.45936534e-01 -6.66009446e-01 -3.17875546e-03 1.35972749e+02] [ 6.66003942e-01 7.45943301e-01 -2.70944332e-03 5.24692582e+01] [ 4.17568619e-03 -9.59909053e-05 9.99991277e-01 6.44746114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.02, Y:52.51, Z:0.64 [[ 7.44113109e-01 -6.68046091e-01 -3.17828229e-03 1.36016977e+02] [ 6.68040602e-01 7.44119889e-01 -2.70999826e-03 5.25065384e+01] [ 4.17542681e-03 -1.06676383e-04 9.99991277e-01 6.42697403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.06, Y:52.54, Z:0.64 [[ 7.41849061e-01 -6.70559375e-01 -3.17740246e-03 1.36060407e+02] [ 6.70553905e-01 7.41855856e-01 -2.71102945e-03 5.25439362e+01] [ 4.17508083e-03 -1.19444978e-04 9.99991277e-01 6.43966586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.582755096 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:136.11, Y:52.58, Z:0.64 [[ 7.39020406e-01 -6.73675550e-01 -3.17681102e-03 1.36105560e+02] [ 6.73670106e-01 7.39027222e-01 -2.71172233e-03 5.25803845e+01] [ 4.17457085e-03 -1.36104481e-04 9.99991277e-01 6.42258620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.15, Y:52.62, Z:0.64 [[ 7.36877402e-01 -6.76018941e-01 -3.17586555e-03 1.36149140e+02] [ 6.76013514e-01 7.36884231e-01 -2.71282918e-03 5.26171495e+01] [ 4.17416915e-03 -1.47905516e-04 9.99991277e-01 6.41321962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.20, Y:52.65, Z:0.64 [[ 7.36309036e-01 -6.76637955e-01 -3.17499297e-03 1.36195388e+02] [ 6.76632530e-01 7.36315866e-01 -2.71385003e-03 5.26520757e+01] [ 4.17409163e-03 -1.50071225e-04 9.99991277e-01 6.44310354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.24, Y:52.69, Z:0.64 [[ 7.34079311e-01 -6.79056323e-01 -3.17402514e-03 1.36237401e+02] [ 6.79050915e-01 7.34086155e-01 -2.71498149e-03 5.26916525e+01] [ 4.17363326e-03 -1.62312932e-04 9.99991277e-01 6.44145407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.28, Y:52.73, Z:0.65 [[ 7.34881989e-01 -6.78187577e-01 -3.17364621e-03 1.36281315e+02] [ 6.78182159e-01 7.34888825e-01 -2.71542437e-03 5.27294941e+01] [ 4.17384421e-03 -1.56793775e-04 9.99991277e-01 6.45368457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.33, Y:52.77, Z:0.65 [[ 7.37047082e-01 -6.75833953e-01 -3.17281144e-03 1.36325281e+02] [ 6.75828509e-01 7.37053898e-01 -2.71639940e-03 5.27669449e+01] [ 4.17436798e-03 -1.42162175e-04 9.99991277e-01 6.45082060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.37, Y:52.81, Z:0.65 [[ 7.40253660e-01 -6.72320205e-01 -3.17198584e-03 1.36368228e+02] [ 6.72314724e-01 7.40260446e-01 -2.71736311e-03 5.28050456e+01] [ 4.17503378e-03 -1.21034799e-04 9.99991277e-01 6.48671661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.41, Y:52.84, Z:0.65 [[ 7.43406138e-01 -6.68832758e-01 -3.17111066e-03 1.36413809e+02] [ 6.68827241e-01 7.43412894e-01 -2.71838406e-03 5.28420100e+01] [ 4.17558886e-03 -1.00061798e-04 9.99991277e-01 6.50068462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.46, Y:52.88, Z:0.65 [[ 7.42708870e-01 -6.69606962e-01 -3.17026843e-03 1.36455323e+02] [ 6.69601448e-01 7.42715629e-01 -2.71936593e-03 5.28818085e+01] [ 4.17551427e-03 -1.03119138e-04 9.99991277e-01 6.48409084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.50, Y:52.92, Z:0.65 [[ 7.42012350e-01 -6.70378717e-01 -3.16977365e-03 1.36499379e+02] [ 6.70373208e-01 7.42019113e-01 -2.71994254e-03 5.29186447e+01] [ 4.17542423e-03 -1.06700377e-04 9.99991277e-01 6.48926688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.54, Y:52.95, Z:0.65 [[ 7.40749103e-01 -6.71774309e-01 -3.16931493e-03 1.36543531e+02] [ 6.71768810e-01 7.40755874e-01 -2.72047694e-03 5.29548505e+01] [ 4.17523517e-03 -1.13856065e-04 9.99991277e-01 6.46094994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.59, Y:52.99, Z:0.65 [[ 7.39672966e-01 -6.72959035e-01 -3.16859060e-03 1.36587394e+02] [ 6.72953544e-01 7.39679743e-01 -2.72132032e-03 5.29922698e+01] [ 4.17507938e-03 -1.19427201e-04 9.99991277e-01 6.46157994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.302755096 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:136.63, Y:53.03, Z:0.64 [[ 7.38760268e-01 -6.73960853e-01 -3.16771683e-03 1.36631561e+02] [ 6.73955366e-01 7.38767049e-01 -2.72233705e-03 5.30295633e+01] [ 4.17495341e-03 -1.23745309e-04 9.99991277e-01 6.44319669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.68, Y:53.07, Z:0.65 [[ 7.36501286e-01 -6.76428730e-01 -3.16689716e-03 1.36676854e+02] [ 6.76423262e-01 7.36508082e-01 -2.72329024e-03 5.30665698e+01] [ 4.17455711e-03 -1.36456140e-04 9.99991277e-01 6.47698275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.72, Y:53.10, Z:0.65 [[ 7.36557960e-01 -6.76367022e-01 -3.16594952e-03 1.36721326e+02] [ 6.76361548e-01 7.36564752e-01 -2.72439147e-03 5.31034033e+01] [ 4.17461536e-03 -1.34654294e-04 9.99991277e-01 6.45732151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.76, Y:53.14, Z:0.65 [[ 7.34636278e-01 -6.78453773e-01 -3.16504390e-03 1.36764945e+02] [ 6.78448314e-01 7.34643081e-01 -2.72544315e-03 5.31402423e+01] [ 4.17426480e-03 -1.45109288e-04 9.99991277e-01 6.45854610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.81, Y:53.18, Z:0.65 [[ 7.34459192e-01 -6.78645476e-01 -3.16421385e-03 1.36808281e+02] [ 6.78640015e-01 7.34465994e-01 -2.72640649e-03 5.31779940e+01] [ 4.17427091e-03 -1.44927827e-04 9.99991277e-01 6.49901169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.85, Y:53.22, Z:0.65 [[ 7.35309119e-01 -6.77724494e-01 -3.16380210e-03 1.36852788e+02] [ 6.77719023e-01 7.35315912e-01 -2.72688422e-03 5.32159739e+01] [ 4.17447026e-03 -1.39066038e-04 9.99991277e-01 6.50838297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.90, Y:53.25, Z:0.65 [[ 7.37521808e-01 -6.75315909e-01 -3.16300860e-03 1.36896139e+02] [ 6.75310412e-01 7.37528581e-01 -2.72780432e-03 5.32530446e+01] [ 4.17493890e-03 -1.24197465e-04 9.99991277e-01 6.51391870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.94, Y:53.29, Z:0.65 [[ 7.39326936e-01 -6.73339203e-01 -3.16230446e-03 1.36940333e+02] [ 6.73333683e-01 7.39333690e-01 -2.72862037e-03 5.32923641e+01] [ 4.17528529e-03 -1.11943568e-04 9.99991277e-01 6.48605739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.99, Y:53.33, Z:0.65 [[ 7.42770042e-01 -6.69539148e-01 -3.16150930e-03 1.36987111e+02] [ 6.69533590e-01 7.42776764e-01 -2.72954137e-03 5.33284000e+01] [ 4.17583045e-03 -8.93151121e-05 9.99991277e-01 6.51337635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.03, Y:53.36, Z:0.66 [[ 7.46432126e-01 -6.65454049e-01 -3.16063991e-03 1.37034648e+02] [ 6.65448450e-01 7.46438815e-01 -2.73054770e-03 5.33642170e+01] [ 4.17627833e-03 -6.50744048e-05 9.99991277e-01 6.58385670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.902755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:137.08, Y:53.40, Z:0.65 [[ 7.45520364e-01 -6.66475357e-01 -3.15990642e-03 1.37077845e+02] [ 6.66469763e-01 7.45527058e-01 -2.73139627e-03 5.34042193e+01] [ 4.17620404e-03 -6.96705424e-05 9.99991277e-01 6.54859589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.12, Y:53.44, Z:0.66 [[ 7.45101627e-01 -6.66943465e-01 -3.15913240e-03 1.37122217e+02] [ 6.66937872e-01 7.45108321e-01 -2.73229120e-03 5.34414640e+01] [ 4.17617960e-03 -7.11104221e-05 9.99991277e-01 6.55648047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.16, Y:53.48, Z:0.66 [[ 7.43268417e-01 -6.68985864e-01 -3.15824483e-03 1.37164611e+02] [ 6.68980285e-01 7.43275122e-01 -2.73331675e-03 5.34789316e+01] [ 4.17599508e-03 -8.12155162e-05 9.99991277e-01 6.55798276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.21, Y:53.52, Z:0.66 [[ 7.42256822e-01 -6.70108080e-01 -3.15775995e-03 1.37209086e+02] [ 6.70102509e-01 7.42263534e-01 -2.73387682e-03 5.35162127e+01] [ 4.17588300e-03 -8.67841498e-05 9.99991277e-01 6.55423078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.25, Y:53.55, Z:0.66 [[ 7.41461360e-01 -6.70988141e-01 -3.15691613e-03 1.37253871e+02] [ 6.70982574e-01 7.41468075e-01 -2.73485086e-03 5.35538477e+01] [ 4.17580502e-03 -9.04494677e-05 9.99991277e-01 6.56038495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.30, Y:53.59, Z:0.66 [[ 7.40730306e-01 -6.71795097e-01 -3.15608350e-03 1.37298219e+02] [ 6.71789533e-01 7.40737024e-01 -2.73581140e-03 5.35908485e+01] [ 4.17573258e-03 -9.37254439e-05 9.99991277e-01 6.56751563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.34, Y:53.63, Z:0.66 [[ 7.40452339e-01 -6.72101464e-01 -3.15522773e-03 1.37343078e+02] [ 6.72095898e-01 7.40459056e-01 -2.73679801e-03 5.36272790e+01] [ 4.17572289e-03 -9.41471272e-05 9.99991277e-01 6.57231647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.39, Y:53.66, Z:0.66 [[ 7.40658215e-01 -6.71874585e-01 -3.15436545e-03 1.37385488e+02] [ 6.71869013e-01 7.40664927e-01 -2.73779149e-03 5.36649788e+01] [ 4.17578038e-03 -9.15526408e-05 9.99991277e-01 6.55701553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.43, Y:53.70, Z:0.66 [[ 7.42869533e-01 -6.69428796e-01 -3.15352127e-03 1.37430107e+02] [ 6.69423198e-01 7.42876222e-01 -2.73876351e-03 5.37022222e+01] [ 4.17608313e-03 -7.64963239e-05 9.99991277e-01 6.59219722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.48, Y:53.74, Z:0.66 [[ 7.47661271e-01 -6.64072801e-01 -3.15258379e-03 1.37477378e+02] [ 6.64067151e-01 7.47667916e-01 -2.73984222e-03 5.37380464e+01] [ 4.17654045e-03 -4.50534216e-05 9.99991277e-01 6.62700701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.52, Y:53.78, Z:0.66 [[ 7.48496184e-01 -6.63131607e-01 -3.15177703e-03 1.37519034e+02] [ 6.63125944e-01 7.48502819e-01 -2.74076996e-03 5.37788740e+01] [ 4.17660518e-03 -3.85692583e-05 9.99991277e-01 6.60127953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.56, Y:53.82, Z:0.66 [[ 7.52798287e-01 -6.58243730e-01 -3.15135433e-03 1.37563174e+02] [ 6.58238022e-01 7.52804883e-01 -2.74125590e-03 5.38171267e+01] [ 4.17676943e-03 -1.07284942e-05 9.99991277e-01 6.61382027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.61, Y:53.86, Z:0.66 [[ 7.55270208e-01 -6.55405972e-01 -3.15046247e-03 1.37605574e+02] [ 6.55400235e-01 7.55276779e-01 -2.74228051e-03 5.38558465e+01] [ 4.17677817e-03 6.34893199e-06 9.99991277e-01 6.60883924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.65, Y:53.89, Z:0.66 [[ 7.56682231e-01 -6.53775251e-01 -3.14995582e-03 1.37648953e+02] [ 6.53769497e-01 7.56688788e-01 -2.74286235e-03 5.38924862e+01] [ 4.17675177e-03 1.61301716e-05 9.99991277e-01 6.62352906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.69, Y:53.93, Z:0.66 [[ 7.56607734e-01 -6.53861466e-01 -3.14949251e-03 1.37692250e+02] [ 6.53855711e-01 7.56614289e-01 -2.74339424e-03 5.39304902e+01] [ 4.17675082e-03 1.63596369e-05 9.99991277e-01 6.62927198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.74, Y:53.97, Z:0.66 [[ 7.54772066e-01 -6.55979584e-01 -3.14860384e-03 1.37736507e+02] [ 6.55973843e-01 7.54778633e-01 -2.74441379e-03 5.39669477e+01] [ 4.17677832e-03 6.00510376e-06 9.99991277e-01 6.62175208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.78, Y:54.00, Z:0.66 [[ 7.51639281e-01 -6.59566889e-01 -3.14812529e-03 1.37781586e+02] [ 6.59561177e-01 7.51645874e-01 -2.74496263e-03 5.40034392e+01] [ 4.17676185e-03 -1.31594823e-05 9.99991277e-01 6.63082786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.83, Y:54.04, Z:0.66 [[ 7.49525178e-01 -6.61968354e-01 -3.14724747e-03 1.37826677e+02] [ 6.61962660e-01 7.49531785e-01 -2.74596873e-03 5.40405354e+01] [ 4.17670642e-03 -2.51876085e-05 9.99991277e-01 6.62153453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.87, Y:54.08, Z:0.66 [[ 7.46276582e-01 -6.65628547e-01 -3.14638172e-03 1.37870575e+02] [ 6.65622880e-01 7.46283214e-01 -2.74696037e-03 5.40794920e+01] [ 4.17654710e-03 -4.43114661e-05 9.99991277e-01 6.60454523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.91, Y:54.12, Z:0.66 [[ 7.46913767e-01 -6.64913475e-01 -3.14563681e-03 1.37913266e+02] [ 6.64907799e-01 7.46920390e-01 -2.74781312e-03 5.41192097e+01] [ 4.17659825e-03 -3.91789999e-05 9.99991277e-01 6.62919939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.96, Y:54.16, Z:0.66 [[ 7.44488366e-01 -6.67628025e-01 -3.14537616e-03 1.37957463e+02] [ 6.67622371e-01 7.44495008e-01 -2.74811146e-03 5.41582489e+01] [ 4.17643307e-03 -5.39864815e-05 9.99991277e-01 6.61347919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.00, Y:54.20, Z:0.66 [[ 7.42009946e-01 -6.70381497e-01 -3.14465760e-03 1.37999870e+02] [ 6.70375865e-01 7.42016606e-01 -2.74893346e-03 5.41959569e+01] [ 4.17622228e-03 -6.83665885e-05 9.99991277e-01 6.61592800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.04, Y:54.24, Z:0.66 [[ 7.40917021e-01 -6.71589222e-01 -3.14419437e-03 1.38042170e+02] [ 6.71583598e-01 7.40923688e-01 -2.74946319e-03 5.42375066e+01] [ 4.17611793e-03 -7.44652954e-05 9.99991277e-01 6.64977919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.09, Y:54.28, Z:0.67 [[ 7.42532635e-01 -6.69802511e-01 -3.14348657e-03 1.38085660e+02] [ 6.69796868e-01 7.42539286e-01 -2.75027219e-03 5.42758389e+01] [ 4.17630149e-03 -6.33306027e-05 9.99991277e-01 6.69301322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.13, Y:54.31, Z:0.67 [[ 7.43155217e-01 -6.69111685e-01 -3.14255685e-03 1.38129782e+02] [ 6.69106031e-01 7.43161860e-01 -2.75133411e-03 5.43138823e+01] [ 4.17637819e-03 -5.80354392e-05 9.99991277e-01 6.70157263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.17, Y:54.35, Z:0.67 [[ 7.45164637e-01 -6.66873146e-01 -3.14162581e-03 1.38170547e+02] [ 6.66867468e-01 7.45171259e-01 -2.75239681e-03 5.43535230e+01] [ 4.17654878e-03 -4.40592832e-05 9.99991277e-01 6.70436419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.21, Y:54.39, Z:0.67 [[ 7.46761234e-01 -6.65084800e-01 -3.14123936e-03 1.38213015e+02] [ 6.65079104e-01 7.46767840e-01 -2.75283779e-03 5.43935966e+01] [ 4.17664710e-03 -3.34601107e-05 9.99991277e-01 6.70939644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.25, Y:54.43, Z:0.67 [[ 7.45474718e-01 -6.66526506e-01 -3.14033890e-03 1.38254037e+02] [ 6.66520818e-01 7.45481331e-01 -2.75386461e-03 5.44349888e+01] [ 4.17658778e-03 -4.01648090e-05 9.99991277e-01 6.69602414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.30, Y:54.47, Z:0.67 [[ 7.43245697e-01 -6.69011192e-01 -3.13993999e-03 1.38297000e+02] [ 6.69005525e-01 7.43252327e-01 -2.75431937e-03 5.44732215e+01] [ 4.17643819e-03 -5.35011791e-05 9.99991277e-01 6.71746889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.34, Y:54.51, Z:0.67 [[ 7.42032487e-01 -6.70356570e-01 -3.13947605e-03 1.38341308e+02] [ 6.70350913e-01 7.42039126e-01 -2.75484808e-03 5.45103996e+01] [ 4.17634458e-03 -6.03638611e-05 9.99991277e-01 6.72306207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.38, Y:54.55, Z:0.67 [[ 7.39762916e-01 -6.72860295e-01 -3.13860523e-03 1.38384687e+02] [ 6.72854656e-01 7.39769571e-01 -2.75583986e-03 5.45488865e+01] [ 4.17613986e-03 -7.31570089e-05 9.99991277e-01 6.70530861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.43, Y:54.59, Z:0.67 [[ 7.35734128e-01 -6.77263204e-01 -3.13774320e-03 1.38426835e+02] [ 6.77257600e-01 7.35740813e-01 -2.75682100e-03 5.45883392e+01] [ 4.17565915e-03 -9.67731297e-05 9.99991277e-01 6.72644305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.47, Y:54.63, Z:0.67 [[ 7.34042707e-01 -6.79096064e-01 -3.13687899e-03 1.38469506e+02] [ 6.79090473e-01 7.34049402e-01 -2.75780400e-03 5.46278077e+01] [ 4.17543799e-03 -1.05878720e-04 9.99991277e-01 6.73164801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.51, Y:54.67, Z:0.67 [[ 7.32443481e-01 -6.80820617e-01 -3.13601294e-03 1.38512042e+02] [ 6.80815037e-01 7.32450186e-01 -2.75878847e-03 5.46671910e+01] [ 4.17521333e-03 -1.14388130e-04 9.99991277e-01 6.71723623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.55, Y:54.71, Z:0.67 [[ 7.30961052e-01 -6.82411981e-01 -3.13504621e-03 1.38553508e+02] [ 6.82406411e-01 7.30967765e-01 -2.75988660e-03 5.47073797e+01] [ 4.17499741e-03 -1.22006019e-04 9.99991277e-01 6.71807823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.60, Y:54.75, Z:0.68 [[ 7.31297647e-01 -6.82051266e-01 -3.13396563e-03 1.38596055e+02] [ 6.82045688e-01 7.31304353e-01 -2.76111311e-03 5.47459433e+01] [ 4.17510340e-03 -1.18312218e-04 9.99991277e-01 6.75661711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.64, Y:54.79, Z:0.68 [[ 7.31349818e-01 -6.81995327e-01 -3.13337154e-03 1.38637929e+02] [ 6.81989745e-01 7.31356520e-01 -2.76178713e-03 5.47854469e+01] [ 4.17513762e-03 -1.17094744e-04 9.99991277e-01 6.75897072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.68, Y:54.82, Z:0.68 [[ 7.31541452e-01 -6.81789769e-01 -3.13287560e-03 1.38681543e+02] [ 6.81784183e-01 7.31548151e-01 -2.76234960e-03 5.48245075e+01] [ 4.17519104e-03 -1.15171794e-04 9.99991277e-01 6.77283252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.72, Y:54.86, Z:0.68 [[ 7.33101192e-01 -6.80112368e-01 -3.13202013e-03 1.38723407e+02] [ 6.80106762e-01 7.33107875e-01 -2.76331920e-03 5.48642079e+01] [ 4.17547619e-03 -1.04315471e-04 9.99991277e-01 6.77623442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.77, Y:54.90, Z:0.68 [[ 7.35367706e-01 -6.77661075e-01 -3.13115447e-03 1.38766197e+02] [ 6.77655443e-01 7.35374367e-01 -2.76429975e-03 5.49039170e+01] [ 4.17582907e-03 -8.90671047e-05 9.99991277e-01 6.75944919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.81, Y:54.94, Z:0.68 [[ 7.35183200e-01 -6.77861242e-01 -3.13021630e-03 1.38807595e+02] [ 6.77855607e-01 7.35189859e-01 -2.76536170e-03 5.49429106e+01] [ 4.17583479e-03 -8.87872071e-05 9.99991277e-01 6.75129488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.85, Y:54.98, Z:0.68 [[ 7.35946509e-01 -6.77032452e-01 -3.12967254e-03 1.38851353e+02] [ 6.77026807e-01 7.35953159e-01 -2.76597696e-03 5.49812776e+01] [ 4.17594855e-03 -8.32611184e-05 9.99991277e-01 6.75566699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.89, Y:55.02, Z:0.67 [[ 7.34075550e-01 -6.79060599e-01 -3.12870500e-03 1.38893045e+02] [ 6.79054968e-01 7.34082212e-01 -2.76707094e-03 5.50201805e+01] [ 4.17573554e-03 -9.33235490e-05 9.99991277e-01 6.73108277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.94, Y:55.06, Z:0.68 [[ 7.31824195e-01 -6.81486291e-01 -3.12783066e-03 1.38936695e+02] [ 6.81480678e-01 7.31830871e-01 -2.76805892e-03 5.50570025e+01] [ 4.17543725e-03 -1.05823666e-04 9.99991277e-01 6.75551390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.98, Y:55.10, Z:0.68 [[ 7.28657143e-01 -6.84871512e-01 -3.12736541e-03 1.38979569e+02] [ 6.84865927e-01 7.28663843e-01 -2.76858447e-03 5.50955169e+01] [ 4.17492273e-03 -1.24477162e-04 9.99991277e-01 6.76112059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.02, Y:55.13, Z:0.67 [[ 7.25572750e-01 -6.88138365e-01 -3.12651533e-03 1.39022615e+02] [ 6.88132807e-01 7.25579472e-01 -2.76954412e-03 5.51349638e+01] [ 4.17436490e-03 -1.41952025e-04 9.99991277e-01 6.74092587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.07, Y:55.17, Z:0.67 [[ 7.22755569e-01 -6.91096678e-01 -3.12557107e-03 1.39065022e+02] [ 6.91091142e-01 7.22762310e-01 -2.77060935e-03 5.51736172e+01] [ 4.17380389e-03 -1.57581139e-04 9.99991277e-01 6.72828241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.11, Y:55.21, Z:0.67 [[ 7.20834796e-01 -6.93099870e-01 -3.12516571e-03 1.39108261e+02] [ 6.93094351e-01 7.20841551e-01 -2.77106651e-03 5.52104881e+01] [ 4.17337514e-03 -1.68553535e-04 9.99991277e-01 6.71692041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.15, Y:55.25, Z:0.67 [[ 7.22309516e-01 -6.91562868e-01 -3.12467587e-03 1.39151979e+02] [ 6.91557332e-01 7.22316257e-01 -2.77161875e-03 5.52481221e+01] [ 4.17375279e-03 -1.58925908e-04 9.99991277e-01 6.74939187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.19, Y:55.29, Z:0.68 [[ 7.24873637e-01 -6.88874773e-01 -3.12376278e-03 1.39194030e+02] [ 6.88869208e-01 7.24880354e-01 -2.77264746e-03 5.52859676e+01] [ 4.17436116e-03 -1.42044945e-04 9.99991277e-01 6.78526430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.24, Y:55.32, Z:0.68 [[ 7.26530664e-01 -6.87126945e-01 -3.12327262e-03 1.39237207e+02] [ 6.87121362e-01 7.26537366e-01 -2.77319951e-03 5.53249102e+01] [ 4.17471436e-03 -1.31252854e-04 9.99991277e-01 6.77722866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.28, Y:55.36, Z:0.68 [[ 7.29002920e-01 -6.84503465e-01 -3.12233419e-03 1.39280169e+02] [ 6.84497852e-01 7.29009598e-01 -2.77425567e-03 5.53618590e+01] [ 4.17519921e-03 -1.14790559e-04 9.99991277e-01 6.80990532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.32, Y:55.40, Z:0.68 [[ 7.31223387e-01 -6.82130935e-01 -3.12182285e-03 1.39322569e+02] [ 6.82125298e-01 7.31230044e-01 -2.77483095e-03 5.53999143e+01] [ 4.17556870e-03 -1.00453058e-04 9.99991277e-01 6.82466356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.37, Y:55.44, Z:0.68 [[ 7.32102825e-01 -6.81186986e-01 -3.12132882e-03 1.39366340e+02] [ 6.81181339e-01 7.32109473e-01 -2.77538656e-03 5.54383865e+01] [ 4.17571161e-03 -9.43226002e-05 9.99991277e-01 6.81800122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.41, Y:55.48, Z:0.68 [[ 7.33620100e-01 -6.79552655e-01 -3.12046495e-03 1.39410455e+02] [ 6.79546989e-01 7.33626732e-01 -2.77635751e-03 5.54763068e+01] [ 4.17593762e-03 -8.37108837e-05 9.99991277e-01 6.81835426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.45, Y:55.51, Z:0.68 [[ 7.33703924e-01 -6.79462155e-01 -3.11951499e-03 1.39453086e+02] [ 6.79456483e-01 7.33710551e-01 -2.77742447e-03 5.55138587e+01] [ 4.17597588e-03 -8.17674497e-05 9.99991277e-01 6.83042628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.50, Y:55.55, Z:0.68 [[ 7.32683969e-01 -6.80561882e-01 -3.11867238e-03 1.39496851e+02] [ 6.80556216e-01 7.32690601e-01 -2.77837029e-03 5.55515857e+01] [ 4.17587485e-03 -8.67645055e-05 9.99991277e-01 6.81387480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.54, Y:55.59, Z:0.68 [[ 7.30940700e-01 -6.82433859e-01 -3.11774808e-03 1.39542179e+02] [ 6.82428206e-01 7.30947343e-01 -2.77940710e-03 5.55880651e+01] [ 4.17567119e-03 -9.60574635e-05 9.99991277e-01 6.80573632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.59, Y:55.63, Z:0.68 [[ 7.29370804e-01 -6.84111479e-01 -3.11687477e-03 1.39586344e+02] [ 6.84105837e-01 7.29377456e-01 -2.78038610e-03 5.56254637e+01] [ 4.17547224e-03 -1.04339783e-04 9.99991277e-01 6.81058883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.63, Y:55.66, Z:0.68 [[ 7.27351947e-01 -6.86257558e-01 -3.11598428e-03 1.39629997e+02] [ 6.86251931e-01 7.27358612e-01 -2.78138372e-03 5.56627725e+01] [ 4.17518360e-03 -1.15305362e-04 9.99991277e-01 6.81751195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.67, Y:55.70, Z:0.67 [[ 7.23050459e-01 -6.90788195e-01 -3.11503330e-03 1.39673492e+02] [ 6.90782605e-01 7.23057156e-01 -2.78244837e-03 5.57023735e+01] [ 4.17442960e-03 -1.39960246e-04 9.99991277e-01 6.74326766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.72, Y:55.74, Z:0.68 [[ 7.24253975e-01 -6.89526273e-01 -3.11409400e-03 1.39719861e+02] [ 6.89520668e-01 7.24260658e-01 -2.78349922e-03 5.57373027e+01] [ 4.17471162e-03 -1.31271799e-04 9.99991277e-01 6.81578055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.76, Y:55.78, Z:0.68 [[ 7.24580716e-01 -6.89182915e-01 -3.11364935e-03 1.39763960e+02] [ 6.89177304e-01 7.24587395e-01 -2.78399653e-03 5.57757194e+01] [ 4.17479392e-03 -1.28626263e-04 9.99991277e-01 6.82590748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.81, Y:55.81, Z:0.68 [[ 7.26625338e-01 -6.87026876e-01 -3.11276956e-03 1.39807046e+02] [ 6.87021241e-01 7.26631997e-01 -2.78497987e-03 5.58127474e+01] [ 4.17519398e-03 -1.14901862e-04 9.99991277e-01 6.82921087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.85, Y:55.85, Z:0.68 [[ 7.29340520e-01 -6.84143786e-01 -3.11228460e-03 1.39850678e+02] [ 6.84138122e-01 7.29347154e-01 -2.78552172e-03 5.58507410e+01] [ 4.17563329e-03 -9.76386800e-05 9.99991277e-01 6.81379905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.89, Y:55.89, Z:0.68 [[ 7.31536348e-01 -6.81795343e-01 -3.11141253e-03 1.39893358e+02] [ 6.81789654e-01 7.31542960e-01 -2.78649548e-03 5.58881398e+01] [ 4.17595157e-03 -8.29061414e-05 9.99991277e-01 6.82056005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.94, Y:55.92, Z:0.68 [[ 7.32599673e-01 -6.80652660e-01 -3.11056728e-03 1.39938301e+02] [ 6.80646957e-01 7.32606273e-01 -2.78743871e-03 5.59248708e+01] [ 4.17609867e-03 -7.51214627e-05 9.99991277e-01 6.82140308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.98, Y:55.96, Z:0.68 [[ 7.32017599e-01 -6.81278625e-01 -3.10965873e-03 1.39984382e+02] [ 6.81272922e-01 7.32024200e-01 -2.78845192e-03 5.59607928e+01] [ 4.17605813e-03 -7.73304129e-05 9.99991277e-01 6.81590836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.03, Y:56.00, Z:0.68 [[ 7.30513340e-01 -6.82891349e-01 -3.10875089e-03 1.40029112e+02] [ 6.82885658e-01 7.30519950e-01 -2.78946367e-03 5.59982009e+01] [ 4.17590516e-03 -8.51809689e-05 9.99991277e-01 6.81832345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.08, Y:56.03, Z:0.69 [[ 7.29926623e-01 -6.83518446e-01 -3.10784502e-03 1.40078677e+02] [ 6.83512756e-01 7.29933234e-01 -2.79047257e-03 5.60311230e+01] [ 4.17585884e-03 -8.74114918e-05 9.99991277e-01 6.85574205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.12, Y:56.07, Z:0.68 [[ 7.27215854e-01 -6.86401813e-01 -3.10699935e-03 1.40123351e+02] [ 6.86396144e-01 7.27222484e-01 -2.79141385e-03 5.60689770e+01] [ 4.17551131e-03 -1.02671964e-04 9.99991277e-01 6.83952990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.16, Y:56.11, Z:0.68 [[ 7.27523013e-01 -6.86076248e-01 -3.10604833e-03 1.40163895e+02] [ 6.86070572e-01 7.27529636e-01 -2.79247166e-03 5.61097353e+01] [ 4.17559069e-03 -9.93809630e-05 9.99991277e-01 6.80194823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.21, Y:56.15, Z:0.68 [[ 7.27881002e-01 -6.85696436e-01 -3.10546669e-03 1.40208214e+02] [ 6.85690754e-01 7.27887620e-01 -2.79311835e-03 5.61474848e+01] [ 4.17566205e-03 -9.63320166e-05 9.99991277e-01 6.81318237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.25, Y:56.19, Z:0.68 [[ 7.27706876e-01 -6.85881232e-01 -3.10450024e-03 1.40251226e+02] [ 6.85875547e-01 7.27713492e-01 -2.79419213e-03 5.61854297e+01] [ 4.17567065e-03 -9.59479752e-05 9.99991277e-01 6.81109339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.29, Y:56.23, Z:0.68 [[ 7.27851588e-01 -6.85727666e-01 -3.10401633e-03 1.40293003e+02] [ 6.85721977e-01 7.27858200e-01 -2.79472958e-03 5.62261420e+01] [ 4.17570713e-03 -9.43438548e-05 9.99991277e-01 6.79746549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.34, Y:56.26, Z:0.68 [[ 7.27693870e-01 -6.85895037e-01 -3.10314369e-03 1.40335905e+02] [ 6.85889346e-01 7.27700480e-01 -2.79569819e-03 5.62647848e+01] [ 4.17571467e-03 -9.40007587e-05 9.99991277e-01 6.81367043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.38, Y:56.30, Z:0.68 [[ 7.28628576e-01 -6.84902019e-01 -3.10216991e-03 1.40378010e+02] [ 6.84896314e-01 7.28635175e-01 -2.79677830e-03 5.63036861e+01] [ 4.17586922e-03 -8.68521421e-05 9.99991277e-01 6.83663044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.42, Y:56.34, Z:0.68 [[ 7.29219652e-01 -6.84272664e-01 -3.10175294e-03 1.40419119e+02] [ 6.84266952e-01 7.29226244e-01 -2.79724067e-03 5.63431868e+01] [ 4.17595497e-03 -8.26241658e-05 9.99991277e-01 6.83162317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.46, Y:56.38, Z:0.68 [[ 7.28908822e-01 -6.84603762e-01 -3.10122484e-03 1.40460599e+02] [ 6.84598050e-01 7.28915415e-01 -2.79782603e-03 5.63834526e+01] [ 4.17593282e-03 -8.37324061e-05 9.99991277e-01 6.82486744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.50, Y:56.42, Z:0.68 [[ 7.27313350e-01 -6.86298535e-01 -3.10027781e-03 1.40503365e+02] [ 6.86292834e-01 7.27319952e-01 -2.79887505e-03 5.64223482e+01] [ 4.17575775e-03 -9.20392598e-05 9.99991277e-01 6.83594682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.55, Y:56.46, Z:0.68 [[ 7.25537308e-01 -6.88175856e-01 -3.09930878e-03 1.40545596e+02] [ 6.88170168e-01 7.25543921e-01 -2.79994768e-03 5.64619732e+01] [ 4.17554104e-03 -1.01385339e-04 9.99991277e-01 6.83166564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.59, Y:56.50, Z:0.69 [[ 7.22800353e-01 -6.91049962e-01 -3.09834287e-03 1.40588097e+02] [ 6.91044295e-01 7.22806985e-01 -2.80101613e-03 5.64999474e+01] [ 4.17514595e-03 -1.16516715e-04 9.99991277e-01 6.85234642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.63, Y:56.54, Z:0.68 [[ 7.21567205e-01 -6.92337470e-01 -3.09769428e-03 1.40631322e+02] [ 6.92331812e-01 7.21573844e-01 -2.80173323e-03 5.65392979e+01] [ 4.17496006e-03 -1.22993481e-04 9.99991277e-01 6.84983421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.67, Y:56.58, Z:0.68 [[ 7.20325088e-01 -6.93629712e-01 -3.09680351e-03 1.40673599e+02] [ 6.93624061e-01 7.20331734e-01 -2.80271746e-03 5.65797272e+01] [ 4.17477395e-03 -1.29149725e-04 9.99991277e-01 6.84057901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.72, Y:56.62, Z:0.68 [[ 7.19152547e-01 -6.94845328e-01 -3.09591830e-03 1.40715107e+02] [ 6.94839684e-01 7.19159198e-01 -2.80369494e-03 5.66190274e+01] [ 4.17459245e-03 -1.34882537e-04 9.99991277e-01 6.83309125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.76, Y:56.66, Z:0.68 [[ 7.18723344e-01 -6.95289274e-01 -3.09532385e-03 1.40758605e+02] [ 6.95283632e-01 7.18729996e-01 -2.80435107e-03 5.66574864e+01] [ 4.17453731e-03 -1.36575428e-04 9.99991277e-01 6.83632524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.80, Y:56.70, Z:0.68 [[ 7.19284452e-01 -6.94708789e-01 -3.09441366e-03 1.40799561e+02] [ 6.94703137e-01 7.19291096e-01 -2.80535504e-03 5.66965153e+01] [ 4.17468900e-03 -1.31850615e-04 9.99991277e-01 6.84269733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.84, Y:56.74, Z:0.68 [[ 7.20699367e-01 -6.93240831e-01 -3.09391138e-03 1.40841234e+02] [ 6.93235163e-01 7.20705998e-01 -2.80590887e-03 5.67367692e+01] [ 4.17497109e-03 -1.22591416e-04 9.99991277e-01 6.84627251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.88, Y:56.78, Z:0.69 [[ 7.21098318e-01 -6.92825843e-01 -3.09303549e-03 1.40884569e+02] [ 6.92820168e-01 7.21104941e-01 -2.80687406e-03 5.67760123e+01] [ 4.17507806e-03 -1.18885201e-04 9.99991277e-01 6.85065032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.93, Y:56.82, Z:0.69 [[ 7.22990070e-01 -6.90851502e-01 -3.09215905e-03 1.40928024e+02] [ 6.90845804e-01 7.22996675e-01 -2.80783925e-03 5.68150327e+01] [ 4.17542067e-03 -1.06165214e-04 9.99991277e-01 6.86240009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.97, Y:56.85, Z:0.69 [[ 7.24348604e-01 -6.89426968e-01 -3.09127838e-03 1.40970104e+02] [ 6.89421253e-01 7.24355194e-01 -2.80880849e-03 5.68547169e+01] [ 4.17565187e-03 -9.66365041e-05 9.99991277e-01 6.86578227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.01, Y:56.89, Z:0.69 [[ 7.26289103e-01 -6.87382418e-01 -3.09041168e-03 1.41012852e+02] [ 6.87376681e-01 7.26295673e-01 -2.80976176e-03 5.68940881e+01] [ 4.17593346e-03 -8.35775728e-05 9.99991277e-01 6.86260755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.06, Y:56.93, Z:0.69 [[ 7.27352971e-01 -6.86256592e-01 -3.08952896e-03 1.41055753e+02] [ 6.86250840e-01 7.27359529e-01 -2.81073203e-03 5.69310691e+01] [ 4.17608171e-03 -7.57975468e-05 9.99991277e-01 6.87785299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.10, Y:56.97, Z:0.69 [[ 7.27436570e-01 -6.86167980e-01 -3.08867194e-03 1.41098501e+02] [ 6.86162224e-01 7.27443123e-01 -2.81167348e-03 5.69698075e+01] [ 4.17611348e-03 -7.40158971e-05 9.99991277e-01 6.87014073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.14, Y:57.01, Z:0.69 [[ 7.27074435e-01 -6.86551696e-01 -3.08781424e-03 1.41140911e+02] [ 6.86545939e-01 7.27080988e-01 -2.81261511e-03 5.70089778e+01] [ 4.17609670e-03 -7.49457849e-05 9.99991277e-01 6.85846155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.19, Y:57.05, Z:0.69 [[ 7.25417364e-01 -6.88302346e-01 -3.08693992e-03 1.41185409e+02] [ 6.88296600e-01 7.25423927e-01 -2.81357437e-03 5.70470005e+01] [ 4.17592992e-03 -8.37145471e-05 9.99991277e-01 6.87065726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.23, Y:57.08, Z:0.69 [[ 7.24774065e-01 -6.88979703e-01 -3.08606187e-03 1.41231770e+02] [ 6.88973959e-01 7.24780630e-01 -2.81453713e-03 5.70832929e+01] [ 4.17587682e-03 -8.63127540e-05 9.99991277e-01 6.89734327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.27, Y:57.12, Z:0.69 [[ 7.21898271e-01 -6.91992318e-01 -3.08525643e-03 1.41272694e+02] [ 6.91986598e-01 7.21904856e-01 -2.81541977e-03 5.71238446e+01] [ 4.17551045e-03 -1.02509436e-04 9.99991277e-01 6.85576627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.32, Y:57.16, Z:0.69 [[ 7.21133988e-01 -6.92788754e-01 -3.08440858e-03 1.41318161e+02] [ 6.92783038e-01 7.21140576e-01 -2.81634832e-03 5.71618990e+01] [ 4.17542662e-03 -1.05861449e-04 9.99991277e-01 6.89360630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.36, Y:57.20, Z:0.68 [[ 7.19253014e-01 -6.94741386e-01 -3.08347925e-03 1.41358513e+02] [ 6.94735683e-01 7.19259614e-01 -2.81736542e-03 5.72028736e+01] [ 4.17516246e-03 -1.15804491e-04 9.99991277e-01 6.84357956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.40, Y:57.24, Z:0.69 [[ 7.19713939e-01 -6.94263884e-01 -3.08299302e-03 1.41400516e+02] [ 6.94258175e-01 7.19720534e-01 -2.81789740e-03 5.72427712e+01] [ 4.17525777e-03 -1.12313065e-04 9.99991277e-01 6.87589451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.44, Y:57.28, Z:0.69 [[ 7.20716258e-01 -6.93223324e-01 -3.08199398e-03 1.41443362e+02] [ 6.93217600e-01 7.20722840e-01 -2.81898964e-03 5.72827022e+01] [ 4.17545282e-03 -1.04800804e-04 9.99991277e-01 6.87471504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.49, Y:57.32, Z:0.69 [[ 7.21661928e-01 -6.92238809e-01 -3.08110388e-03 1.41486103e+02] [ 6.92233072e-01 7.21668499e-01 -2.81996217e-03 5.73215498e+01] [ 4.17562287e-03 -9.77826613e-05 9.99991277e-01 6.88481820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.53, Y:57.36, Z:0.69 [[ 7.22278541e-01 -6.91595418e-01 -3.08021674e-03 1.41526742e+02] [ 6.91589671e-01 7.22285103e-01 -2.82093085e-03 5.73631764e+01] [ 4.17573752e-03 -9.27482667e-05 9.99991277e-01 6.89247934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.57, Y:57.40, Z:0.69 [[ 7.22055009e-01 -6.91828795e-01 -3.07932846e-03 1.41568960e+02] [ 6.91823046e-01 7.22061569e-01 -2.82190016e-03 5.74034953e+01] [ 4.17573653e-03 -9.27832458e-05 9.99991277e-01 6.90515922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.61, Y:57.44, Z:0.69 [[ 7.20782244e-01 -6.93154730e-01 -3.07843042e-03 1.41611281e+02] [ 6.93148989e-01 7.20788812e-01 -2.82287950e-03 5.74425546e+01] [ 4.17559048e-03 -9.91295094e-05 9.99991277e-01 6.92010798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.65, Y:57.48, Z:0.69 [[ 7.19339529e-01 -6.94651834e-01 -3.07751202e-03 1.41653528e+02] [ 6.94646103e-01 7.19346104e-01 -2.82388039e-03 5.74818960e+01] [ 4.17540998e-03 -1.06452940e-04 9.99991277e-01 6.91751283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.70, Y:57.52, Z:0.69 [[ 7.16923940e-01 -6.97144604e-01 -3.07659897e-03 1.41695086e+02] [ 6.97138891e-01 7.16930531e-01 -2.82487481e-03 5.75231058e+01] [ 4.17505396e-03 -1.19596420e-04 9.99991277e-01 6.89138543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.74, Y:57.56, Z:0.69 [[ 7.14729595e-01 -6.99394128e-01 -3.07564671e-03 1.41737746e+02] [ 6.99388432e-01 7.14736200e-01 -2.82591122e-03 5.75603762e+01] [ 4.17470176e-03 -1.31309346e-04 9.99991277e-01 6.91156872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.78, Y:57.60, Z:0.69 [[ 7.10892982e-01 -7.03293477e-01 -3.07471527e-03 1.41780547e+02] [ 7.03287812e-01 7.10899615e-01 -2.82692430e-03 5.75993828e+01] [ 4.17397132e-03 -1.52769135e-04 9.99991277e-01 6.88229705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.82, Y:57.64, Z:0.69 [[ 7.09447527e-01 -7.04751559e-01 -3.07367610e-03 1.41822778e+02] [ 7.04745903e-01 7.09454167e-01 -2.82805373e-03 5.76374775e+01] [ 4.17370759e-03 -1.59804915e-04 9.99991277e-01 6.91164860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.87, Y:57.68, Z:0.69 [[ 7.09596665e-01 -7.04601397e-01 -3.07322498e-03 1.41865635e+02] [ 7.04595737e-01 7.09603302e-01 -2.82854387e-03 5.76773475e+01] [ 4.17376656e-03 -1.58255921e-04 9.99991277e-01 6.89805101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.91, Y:57.72, Z:0.69 [[ 7.09638110e-01 -7.04559659e-01 -3.07226882e-03 1.41907228e+02] [ 7.04553995e-01 7.09644743e-01 -2.82958204e-03 5.77175810e+01] [ 4.17382878e-03 -1.56600015e-04 9.99991277e-01 6.91765701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.95, Y:57.76, Z:0.69 [[ 7.11708150e-01 -7.02468559e-01 -3.07130538e-03 1.41949428e+02] [ 7.02462870e-01 7.11714763e-01 -2.83062739e-03 5.77568366e+01] [ 4.17432013e-03 -1.42897407e-04 9.99991277e-01 6.90803704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.99, Y:57.80, Z:0.69 [[ 7.13062032e-01 -7.01094224e-01 -3.07036899e-03 1.41991109e+02] [ 7.01088518e-01 7.13068630e-01 -2.83164273e-03 5.77970241e+01] [ 4.17463217e-03 -1.33463533e-04 9.99991277e-01 6.94487781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.03, Y:57.84, Z:0.69 [[ 7.17943417e-01 -6.96094698e-01 -3.06942209e-03 1.42031968e+02] [ 6.96088942e-01 7.17949971e-01 -2.83266877e-03 5.78371634e+01] [ 4.17549721e-03 -1.02894882e-04 9.99991277e-01 6.92379506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.07, Y:57.88, Z:0.70 [[ 7.19555410e-01 -6.94428251e-01 -3.06847483e-03 1.42073267e+02] [ 6.94422475e-01 7.19561947e-01 -2.83369451e-03 5.78779117e+01] [ 4.17575525e-03 -9.18176677e-05 9.99991277e-01 6.95707425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.12, Y:57.92, Z:0.70 [[ 7.20439265e-01 -6.93511251e-01 -3.06747159e-03 1.42115756e+02] [ 6.93505463e-01 7.20445790e-01 -2.83478011e-03 5.79178924e+01] [ 4.17589889e-03 -8.50214025e-05 9.99991277e-01 6.95915856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.16, Y:57.96, Z:0.70 [[ 7.20484681e-01 -6.93464073e-01 -3.06656695e-03 1.42157778e+02] [ 6.93458280e-01 7.20491202e-01 -2.83575837e-03 5.79582134e+01] [ 4.17593106e-03 -8.34157781e-05 9.99991277e-01 6.95169499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.20, Y:58.00, Z:0.69 [[ 7.18257439e-01 -6.95770691e-01 -3.06560610e-03 1.42198599e+02] [ 6.95764914e-01 7.18263975e-01 -2.83679672e-03 5.79975559e+01] [ 4.17567444e-03 -9.53908170e-05 9.99991277e-01 6.94747008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.24, Y:58.04, Z:0.70 [[ 7.17629079e-01 -6.96418775e-01 -3.06506879e-03 1.42241963e+02] [ 6.96413002e-01 7.17635618e-01 -2.83737715e-03 5.80368424e+01] [ 4.17560526e-03 -9.83694112e-05 9.99991277e-01 6.95865348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.28, Y:58.08, Z:0.70 [[ 7.14841395e-01 -6.99279908e-01 -3.06414594e-03 1.42283393e+02] [ 6.99274157e-01 7.14847954e-01 -2.83837341e-03 5.80764395e+01] [ 4.17521595e-03 -1.13691266e-04 9.99991277e-01 6.96306364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.32, Y:58.12, Z:0.69 [[ 7.11795406e-01 -7.02380178e-01 -3.06362173e-03 1.42324836e+02] [ 7.02374453e-01 7.11801987e-01 -2.83893911e-03 5.81159517e+01] [ 4.17470659e-03 -1.31065822e-04 9.99991277e-01 6.94755241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.37, Y:58.16, Z:0.69 [[ 7.09410347e-01 -7.04789030e-01 -3.06301164e-03 1.42365863e+02] [ 7.04783325e-01 7.09416945e-01 -2.83959720e-03 5.81558986e+01] [ 4.17426932e-03 -1.44319896e-04 9.99991277e-01 6.93879509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.41, Y:58.20, Z:0.69 [[ 7.08318758e-01 -7.05886080e-01 -3.06252653e-03 1.42407436e+02] [ 7.05880383e-01 7.08325362e-01 -2.84012029e-03 5.81966924e+01] [ 4.17406660e-03 -1.50066926e-04 9.99991277e-01 6.94193421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.45, Y:58.24, Z:0.69 [[ 7.07720837e-01 -7.06485558e-01 -3.06162655e-03 1.42447225e+02] [ 7.06479861e-01 7.07727443e-01 -2.84109013e-03 5.82387327e+01] [ 4.17398628e-03 -1.52278814e-04 9.99991277e-01 6.94173411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.49, Y:58.28, Z:0.69 [[ 7.08253467e-01 -7.05951598e-01 -3.06072601e-03 1.42487698e+02] [ 7.05945892e-01 7.08260065e-01 -2.84205996e-03 5.82804341e+01] [ 4.17414677e-03 -1.47808136e-04 9.99991277e-01 6.94835271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.53, Y:58.32, Z:0.70 [[ 7.09556901e-01 -7.04641499e-01 -3.05982492e-03 1.42529565e+02] [ 7.04635777e-01 7.09563485e-01 -2.84302977e-03 5.83215247e+01] [ 4.17445679e-03 -1.38770717e-04 9.99991277e-01 6.96628256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.57, Y:58.36, Z:0.70 [[ 7.10956368e-01 -7.03229467e-01 -3.05931754e-03 1.42567382e+02] [ 7.03223730e-01 7.10962938e-01 -2.84357564e-03 5.83642682e+01] [ 4.17474757e-03 -1.29726490e-04 9.99991277e-01 6.97026113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.61, Y:58.41, Z:0.70 [[ 7.13342435e-01 -7.00808972e-01 -3.05864951e-03 1.42606849e+02] [ 7.00803209e-01 7.13348984e-01 -2.84429402e-03 5.84060954e+01] [ 4.17519128e-03 -1.14555769e-04 9.99991277e-01 6.98564008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.65, Y:58.45, Z:0.70 [[ 7.14343744e-01 -6.99788299e-01 -3.05806294e-03 1.42646292e+02] [ 6.99782524e-01 7.14350282e-01 -2.84492453e-03 5.84476802e+01] [ 4.17537302e-03 -1.07724966e-04 9.99991277e-01 6.98843705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.69, Y:58.49, Z:0.70 [[ 7.14741063e-01 -6.99382489e-01 -3.05730388e-03 1.42686614e+02] [ 6.99376707e-01 7.14747594e-01 -2.84574002e-03 5.84889937e+01] [ 4.17546133e-03 -1.04239875e-04 9.99991277e-01 6.98447799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.73, Y:58.53, Z:0.70 [[ 7.14198060e-01 -6.99936989e-01 -3.05647603e-03 1.42726926e+02] [ 6.99931208e-01 7.14204593e-01 -2.84662890e-03 5.85312436e+01] [ 4.17541008e-03 -1.06266116e-04 9.99991277e-01 6.98911136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.77, Y:58.57, Z:0.70 [[ 7.12974708e-01 -7.01183092e-01 -3.05557211e-03 1.42768912e+02] [ 7.01177319e-01 7.12981247e-01 -2.84759883e-03 5.85714474e+01] [ 4.17525377e-03 -1.12231914e-04 9.99991277e-01 6.98285832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.81, Y:58.61, Z:0.70 [[ 7.10744264e-01 -7.03443858e-01 -3.05468007e-03 1.42808921e+02] [ 7.03438101e-01 7.10750817e-01 -2.84855543e-03 5.86132182e+01] [ 4.17491517e-03 -1.24183913e-04 9.99991277e-01 6.96728469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.85, Y:58.66, Z:0.69 [[ 7.07330496e-01 -7.06876399e-01 -3.05377467e-03 1.42848688e+02] [ 7.06870670e-01 7.07337074e-01 -2.84952572e-03 5.86550144e+01] [ 4.17431052e-03 -1.43067307e-04 9.99991277e-01 6.94260050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.89, Y:58.69, Z:0.70 [[ 7.06018155e-01 -7.08187155e-01 -3.05273268e-03 1.42889902e+02] [ 7.08181433e-01 7.06024739e-01 -2.85064158e-03 5.86938743e+01] [ 4.17409254e-03 -1.49283896e-04 9.99991277e-01 6.96162205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.93, Y:58.74, Z:0.70 [[ 7.03500953e-01 -7.10687761e-01 -3.05215336e-03 1.42930264e+02] [ 7.10682060e-01 7.03507555e-01 -2.85126172e-03 5.87353980e+01] [ 4.17356976e-03 -1.63245302e-04 9.99991277e-01 6.96980009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.97, Y:58.78, Z:0.70 [[ 7.03577366e-01 -7.10612115e-01 -3.05154005e-03 1.42971719e+02] [ 7.10606410e-01 7.03583965e-01 -2.85191796e-03 5.87764522e+01] [ 4.17362210e-03 -1.61898993e-04 9.99991277e-01 6.98589627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.01, Y:58.82, Z:0.70 [[ 7.03618887e-01 -7.10571007e-01 -3.05052788e-03 1.43011355e+02] [ 7.10565297e-01 7.03625482e-01 -2.85300021e-03 5.88193090e+01] [ 4.17368838e-03 -1.60174414e-04 9.99991277e-01 6.98812733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.05, Y:58.86, Z:0.70 [[ 7.05282306e-01 -7.08920002e-01 -3.04953520e-03 1.43052323e+02] [ 7.08914272e-01 7.05288883e-01 -2.85406088e-03 5.88609461e+01] [ 4.17410412e-03 -1.48940386e-04 9.99991277e-01 6.98486286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.362755096 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:143.09, Y:58.90, Z:0.70 [[ 7.05388995e-01 -7.08813848e-01 -3.04851913e-03 1.43091316e+02] [ 7.08808113e-01 7.05395568e-01 -2.85514576e-03 5.89025362e+01] [ 4.17417874e-03 -1.46826699e-04 9.99991277e-01 6.97101220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.13, Y:58.94, Z:0.70 [[ 7.06221470e-01 -7.07984426e-01 -3.04764663e-03 1.43131647e+02] [ 7.07978679e-01 7.06228032e-01 -2.85607679e-03 5.89437510e+01] [ 4.17439136e-03 -1.40646087e-04 9.99991277e-01 6.98064541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.17, Y:58.98, Z:0.70 [[ 7.06164498e-01 -7.08041256e-01 -3.04658024e-03 1.43172557e+02] [ 7.08035505e-01 7.06171056e-01 -2.85721385e-03 5.89838118e+01] [ 4.17443207e-03 -1.39423992e-04 9.99991277e-01 7.00634192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.21, Y:59.02, Z:0.70 [[ 7.05305784e-01 -7.08896659e-01 -3.04598577e-03 1.43214835e+02] [ 7.08890913e-01 7.05312347e-01 -2.85784746e-03 5.90242909e+01] [ 4.17428988e-03 -1.43615292e-04 9.99991277e-01 7.00792607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.26, Y:59.06, Z:0.70 [[ 7.04244752e-01 -7.09950742e-01 -3.04508513e-03 1.43256308e+02] [ 7.09945002e-01 7.04251320e-01 -2.85880679e-03 5.90645973e+01] [ 4.17411722e-03 -1.48543287e-04 9.99991277e-01 7.01103968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.30, Y:59.11, Z:0.70 [[ 7.03232947e-01 -7.10952991e-01 -3.04408041e-03 1.43298486e+02] [ 7.10947256e-01 7.03239519e-01 -2.85987621e-03 5.91051229e+01] [ 4.17395519e-03 -1.53021438e-04 9.99991277e-01 7.00605386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.722755096 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:143.34, Y:59.15, Z:0.70 [[ 7.01989345e-01 -7.12180945e-01 -3.04308565e-03 1.43340214e+02] [ 7.12175217e-01 7.01995923e-01 -2.86093432e-03 5.91457372e+01] [ 4.17373662e-03 -1.58864773e-04 9.99991277e-01 6.98913779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.38, Y:59.19, Z:0.70 [[ 7.01356846e-01 -7.12803844e-01 -3.04211238e-03 1.43382291e+02] [ 7.12798117e-01 7.01363425e-01 -2.86196884e-03 5.91851971e+01] [ 4.17364875e-03 -1.61150540e-04 9.99991277e-01 6.99170915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.42, Y:59.23, Z:0.70 [[ 6.99425440e-01 -7.14699101e-01 -3.04105629e-03 1.43422784e+02] [ 7.14693387e-01 6.99432031e-01 -2.86309058e-03 5.92250159e+01] [ 4.17326044e-03 -1.70904428e-04 9.99991277e-01 6.97650867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.47, Y:59.26, Z:0.70 [[ 7.00174880e-01 -7.13964912e-01 -3.04005374e-03 1.43465508e+02] [ 7.13959187e-01 7.00181460e-01 -2.86415469e-03 5.92643841e+01] [ 4.17349522e-03 -1.65065128e-04 9.99991277e-01 6.97947719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.51, Y:59.30, Z:0.70 [[ 6.99955796e-01 -7.14179703e-01 -3.03905823e-03 1.43507027e+02] [ 7.14173975e-01 6.99962374e-01 -2.86521061e-03 5.93044423e+01] [ 4.17350168e-03 -1.64895527e-04 9.99991277e-01 6.98647630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.55, Y:59.35, Z:0.70 [[ 7.00820339e-01 -7.13331355e-01 -3.03810475e-03 1.43548013e+02] [ 7.13325615e-01 7.00826906e-01 -2.86622127e-03 5.93452215e+01] [ 4.17375106e-03 -1.58451772e-04 9.99991277e-01 6.98777749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.59, Y:59.38, Z:0.70 [[ 7.02427129e-01 -7.11749187e-01 -3.03708166e-03 1.43589407e+02] [ 7.11743426e-01 7.02433679e-01 -2.86730493e-03 5.93838494e+01] [ 4.17415040e-03 -1.47550138e-04 9.99991277e-01 7.00169576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.63, Y:59.42, Z:0.70 [[ 7.04956647e-01 -7.09243898e-01 -3.03639567e-03 1.43631786e+02] [ 7.09238111e-01 7.04963174e-01 -2.86803120e-03 5.94234582e+01] [ 4.17468075e-03 -1.31689874e-04 9.99991277e-01 7.01045124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.67, Y:59.46, Z:0.70 [[ 7.08000720e-01 -7.06205187e-01 -3.03546548e-03 1.43671806e+02] [ 7.06199368e-01 7.08007218e-01 -2.86901535e-03 5.94638480e+01] [ 4.17524500e-03 -1.12378869e-04 9.99991277e-01 7.00886110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.71, Y:59.50, Z:0.70 [[ 7.09733281e-01 -7.04463953e-01 -3.03463859e-03 1.43713819e+02] [ 7.04458114e-01 7.09739762e-01 -2.86988972e-03 5.95034492e+01] [ 4.17553752e-03 -1.00919532e-04 9.99991277e-01 6.98249932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.76, Y:59.54, Z:0.70 [[ 7.10283023e-01 -7.03909670e-01 -3.03366960e-03 1.43755951e+02] [ 7.03903822e-01 7.10289495e-01 -2.87091363e-03 5.95416842e+01] [ 4.17564752e-03 -9.62504154e-05 9.99991277e-01 7.01365824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38275509599998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:143.80, Y:59.58, Z:0.70 [[ 7.09258235e-01 -7.04942238e-01 -3.03265755e-03 1.43799377e+02] [ 7.04936395e-01 7.09264711e-01 -2.87198230e-03 5.95807388e+01] [ 4.17553862e-03 -1.00853584e-04 9.99991277e-01 7.00214282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.84, Y:59.62, Z:0.70 [[ 7.06417523e-01 -7.07788876e-01 -3.03163904e-03 1.43843048e+02] [ 7.07783054e-01 7.06424018e-01 -2.87305703e-03 5.96192025e+01] [ 4.17514044e-03 -1.16164906e-04 9.99991277e-01 7.02050753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.89, Y:59.66, Z:0.70 [[ 7.04781674e-01 -7.09417793e-01 -3.03101385e-03 1.43886231e+02] [ 7.09411984e-01 7.04788180e-01 -2.87371644e-03 5.96567782e+01] [ 4.17488831e-03 -1.24894865e-04 9.99991277e-01 7.03104329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.93, Y:59.70, Z:0.70 [[ 7.01977370e-01 -7.12192803e-01 -3.03032633e-03 1.43929425e+02] [ 7.12187016e-01 7.01983897e-01 -2.87444125e-03 5.96958624e+01] [ 4.17439666e-03 -1.40366352e-04 9.99991277e-01 7.01966450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.97, Y:59.73, Z:0.70 [[ 7.00947185e-01 -7.13206749e-01 -3.02933799e-03 1.43973139e+02] [ 7.13200967e-01 7.00953716e-01 -2.87548248e-03 5.97337032e+01] [ 4.17423923e-03 -1.44965434e-04 9.99991277e-01 6.99157191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.01, Y:59.77, Z:0.70 [[ 6.98873482e-01 -7.15238901e-01 -3.02832804e-03 1.44014859e+02] [ 7.15233134e-01 6.98880025e-01 -2.87654571e-03 5.97729471e+01] [ 4.17385537e-03 -1.55619035e-04 9.99991277e-01 6.95545411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.06, Y:59.81, Z:0.70 [[ 6.99721227e-01 -7.14409574e-01 -3.02740382e-03 1.44058898e+02] [ 7.14403794e-01 6.99727761e-01 -2.87751807e-03 5.98110796e+01] [ 4.17408496e-03 -1.49328299e-04 9.99991277e-01 6.99287701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.10, Y:59.85, Z:0.70 [[ 7.00073248e-01 -7.14064625e-01 -3.02639654e-03 1.44101161e+02] [ 7.14058838e-01 7.00079774e-01 -2.87857708e-03 5.98512360e+01] [ 4.17420907e-03 -1.45810388e-04 9.99991277e-01 6.97690186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.14, Y:59.89, Z:0.70 [[ 7.01420696e-01 -7.12741085e-01 -3.02533313e-03 1.44144397e+02] [ 7.12735281e-01 7.01427207e-01 -2.87969427e-03 5.98886678e+01] [ 4.17452739e-03 -1.36384497e-04 9.99991277e-01 7.00066651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.19, Y:59.93, Z:0.70 [[ 7.05185041e-01 -7.09016860e-01 -3.02478693e-03 1.44186779e+02] [ 7.09011019e-01 7.05191519e-01 -2.88026788e-03 5.99277935e+01] [ 4.17521258e-03 -1.13485443e-04 9.99991277e-01 7.01266422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.23, Y:59.97, Z:0.70 [[ 7.09675013e-01 -7.04522699e-01 -3.02378082e-03 1.44229570e+02] [ 7.04516812e-01 7.09681450e-01 -2.88132373e-03 5.99677413e+01] [ 4.17587913e-03 -8.55009612e-05 9.99991277e-01 7.01645834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04275509599998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:144.27, Y:60.01, Z:0.70 [[ 7.12703599e-01 -7.01458796e-01 -3.02280367e-03 1.44272141e+02] [ 7.01452877e-01 7.12710006e-01 -2.88234850e-03 6.00067436e+01] [ 4.17623113e-03 -6.60941839e-05 9.99991277e-01 7.01138930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.32, Y:60.05, Z:0.70 [[ 7.15918157e-01 -6.98177671e-01 -3.02191142e-03 1.44315238e+02] [ 6.98171719e-01 7.15924533e-01 -2.88328365e-03 6.00454394e+01] [ 4.17650478e-03 -4.56179769e-05 9.99991277e-01 7.02260158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.36, Y:60.08, Z:0.70 [[ 7.16170878e-01 -6.97918439e-01 -3.02101672e-03 1.44358415e+02] [ 6.97912481e-01 7.16177248e-01 -2.88422078e-03 6.00832959e+01] [ 4.17653431e-03 -4.28103459e-05 9.99991277e-01 7.01333402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.40, Y:60.12, Z:0.70 [[ 7.14937455e-01 -6.99181887e-01 -3.02052500e-03 1.44402253e+02] [ 6.99175938e-01 7.14943834e-01 -2.88473565e-03 6.01213596e+01] [ 4.17646064e-03 -4.94728361e-05 9.99991277e-01 7.01490021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.45, Y:60.16, Z:0.70 [[ 7.11972810e-01 -7.02200541e-01 -3.01966228e-03 1.44446196e+02] [ 7.02194615e-01 7.11979210e-01 -2.88563844e-03 6.01596225e+01] [ 4.17623364e-03 -6.58944809e-05 9.99991277e-01 7.00698865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.49, Y:60.20, Z:0.70 [[ 7.08116094e-01 -7.06089572e-01 -3.01880957e-03 1.44489587e+02] [ 7.06083678e-01 7.08122523e-01 -2.88653022e-03 6.01976878e+01] [ 4.17583594e-03 -8.75336591e-05 9.99991277e-01 6.99212374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.53, Y:60.24, Z:0.70 [[ 7.05709873e-01 -7.08494508e-01 -3.01797239e-03 1.44532169e+02] [ 7.08488631e-01 7.05716319e-01 -2.88740526e-03 6.02351480e+01] [ 4.17554313e-03 -1.00528735e-04 9.99991277e-01 6.99666670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.57, Y:60.27, Z:0.70 [[ 7.04185690e-01 -7.10009443e-01 -3.01740076e-03 1.44574568e+02] [ 7.10003577e-01 7.04192147e-01 -2.88800250e-03 6.02742644e+01] [ 4.17533896e-03 -1.08675298e-04 9.99991277e-01 7.00109830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.62, Y:60.31, Z:0.70 [[ 7.02777134e-01 -7.11403684e-01 -3.01647155e-03 1.44616280e+02] [ 7.11397827e-01 7.02783598e-01 -2.88897272e-03 6.03133672e+01] [ 4.17515256e-03 -1.15607345e-04 9.99991277e-01 6.95667188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.66, Y:60.35, Z:0.70 [[ 7.04998158e-01 -7.09202723e-01 -3.01568294e-03 1.44659714e+02] [ 7.09196843e-01 7.05004601e-01 -2.88979569e-03 6.03534461e+01] [ 4.17552132e-03 -1.01412179e-04 9.99991277e-01 7.01272065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.70, Y:60.39, Z:0.70 [[ 7.07321561e-01 -7.06885507e-01 -3.01482353e-03 1.44702231e+02] [ 7.06879602e-01 7.07327981e-01 -2.89069200e-03 6.03923517e+01] [ 4.17585732e-03 -8.64684808e-05 9.99991277e-01 7.02986813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.74, Y:60.43, Z:0.70 [[ 7.09129355e-01 -7.05071963e-01 -3.01394173e-03 1.44744499e+02] [ 7.05066038e-01 7.09135756e-01 -2.89161110e-03 6.04321351e+01] [ 4.17608777e-03 -7.45016427e-05 9.99991277e-01 7.03783551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.79, Y:60.47, Z:0.70 [[ 7.12017165e-01 -7.02155594e-01 -3.01307107e-03 1.44785872e+02] [ 7.02149639e-01 7.12023538e-01 -2.89251805e-03 6.04712217e+01] [ 4.17637525e-03 -5.61042642e-05 9.99991277e-01 7.04850302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.83, Y:60.51, Z:0.71 [[ 7.14260787e-01 -6.99873170e-01 -3.01229518e-03 1.44828165e+02] [ 6.99867191e-01 7.14267138e-01 -2.89332584e-03 6.05116898e+01] [ 4.17654459e-03 -4.16173718e-05 9.99991277e-01 7.05199842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.87, Y:60.55, Z:0.71 [[ 7.14572896e-01 -6.99554506e-01 -3.01140218e-03 1.44870263e+02] [ 6.99548520e-01 7.14579241e-01 -2.89425499e-03 6.05511444e+01] [ 4.17657460e-03 -3.84657620e-05 9.99991277e-01 7.05429590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.91, Y:60.59, Z:0.71 [[ 7.14634475e-01 -6.99491604e-01 -3.01051092e-03 1.44912646e+02] [ 6.99485614e-01 7.14640815e-01 -2.89518175e-03 6.05894179e+01] [ 4.17658931e-03 -3.68123868e-05 9.99991277e-01 7.05533290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.96, Y:60.63, Z:0.71 [[ 7.13668445e-01 -7.00477188e-01 -3.00991152e-03 1.44955195e+02] [ 7.00471203e-01 7.13674791e-01 -2.89580477e-03 6.06285073e+01] [ 4.17654316e-03 -4.17118609e-05 9.99991277e-01 7.05726858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.00, Y:60.67, Z:0.71 [[ 7.11461072e-01 -7.02719068e-01 -3.00904751e-03 1.44998955e+02] [ 7.02713099e-01 7.11467434e-01 -2.89670229e-03 6.06666729e+01] [ 4.17640724e-03 -5.36061793e-05 9.99991277e-01 7.05927645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.04, Y:60.70, Z:0.71 [[ 7.08028015e-01 -7.06177938e-01 -3.00815179e-03 1.45042574e+02] [ 7.06171997e-01 7.08034402e-01 -2.89763218e-03 6.07042366e+01] [ 4.17611887e-03 -7.26677948e-05 9.99991277e-01 7.06317002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.09, Y:60.74, Z:0.71 [[ 7.07959002e-01 -7.06247128e-01 -3.00754952e-03 1.45089746e+02] [ 7.06241185e-01 7.07965387e-01 -2.89825715e-03 6.07398403e+01] [ 4.17612675e-03 -7.22080949e-05 9.99991277e-01 7.10504483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.13, Y:60.78, Z:0.71 [[ 7.02191845e-01 -7.11981442e-01 -3.00669247e-03 1.45129622e+02] [ 7.11975547e-01 7.02198274e-01 -2.89914600e-03 6.07819228e+01] [ 4.17543241e-03 -1.04934834e-04 9.99991277e-01 7.07102392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.17, Y:60.82, Z:0.71 [[ 6.99279616e-01 -7.14841927e-01 -3.00639287e-03 1.45172453e+02] [ 7.14836057e-01 6.99286068e-01 -2.89945665e-03 6.08211427e+01] [ 4.17498183e-03 -1.21547098e-04 9.99991277e-01 7.06272081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.21, Y:60.86, Z:0.71 [[ 6.97977292e-01 -7.16113585e-01 -3.00546825e-03 1.45214878e+02] [ 7.16107723e-01 6.97983751e-01 -2.90041476e-03 6.08601703e+01] [ 4.17479441e-03 -1.27815383e-04 9.99991277e-01 7.06037992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.26, Y:60.90, Z:0.71 [[ 6.97479167e-01 -7.16598761e-01 -3.00452344e-03 1.45257067e+02] [ 7.16592899e-01 6.97485627e-01 -2.90139315e-03 6.09004254e+01] [ 4.17474665e-03 -1.29358881e-04 9.99991277e-01 7.07083552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.30, Y:60.94, Z:0.71 [[ 6.99793307e-01 -7.14339069e-01 -3.00354296e-03 1.45300807e+02] [ 7.14333182e-01 6.99799744e-01 -2.90240780e-03 6.09389095e+01] [ 4.17518188e-03 -1.14444844e-04 9.99991277e-01 7.09724539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.34, Y:60.98, Z:0.71 [[ 7.02560004e-01 -7.11618171e-01 -3.00324364e-03 1.45342865e+02] [ 7.11612257e-01 7.02566417e-01 -2.90271748e-03 6.09784754e+01] [ 4.17560463e-03 -9.78117850e-05 9.99991277e-01 7.12578641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.38, Y:61.02, Z:0.71 [[ 7.03062176e-01 -7.11122045e-01 -3.00224304e-03 1.45382858e+02] [ 7.11116123e-01 7.03068580e-01 -2.90375202e-03 6.10198394e+01] [ 4.17570483e-03 -9.34252214e-05 9.99991277e-01 7.11675738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.42, Y:61.06, Z:0.71 [[ 7.06433920e-01 -7.07772638e-01 -3.00173481e-03 1.45423817e+02] [ 7.07766683e-01 7.06440293e-01 -2.90427731e-03 6.10603044e+01] [ 4.17611443e-03 -7.28478885e-05 9.99991277e-01 7.12681431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.46, Y:61.10, Z:0.71 [[ 7.09129494e-01 -7.05071880e-01 -3.00082663e-03 1.45464957e+02] [ 7.05065897e-01 7.09135841e-01 -2.90521538e-03 6.11009898e+01] [ 4.17637938e-03 -5.56066060e-05 9.99991277e-01 7.11987608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.51, Y:61.14, Z:0.71 [[ 7.09669928e-01 -7.04527923e-01 -2.99988557e-03 1.45507291e+02] [ 7.04521931e-01 7.09676266e-01 -2.90618677e-03 6.11413183e+01] [ 4.17643732e-03 -5.10518214e-05 9.99991277e-01 7.11678736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.55, Y:61.18, Z:0.71 [[ 7.07727539e-01 -7.06479113e-01 -2.99895571e-03 1.45549505e+02] [ 7.06473134e-01 7.07733890e-01 -2.90714600e-03 6.11809370e+01] [ 4.17630052e-03 -6.12143574e-05 9.99991277e-01 7.11517056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.59, Y:61.22, Z:0.71 [[ 7.04910143e-01 -7.09290281e-01 -2.99800697e-03 1.45591870e+02] [ 7.09284323e-01 7.04916514e-01 -2.90812407e-03 6.12210916e+01] [ 4.17604876e-03 -7.64731902e-05 9.99991277e-01 7.11123141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.63, Y:61.26, Z:0.71 [[ 7.01138836e-01 -7.13018479e-01 -2.99706497e-03 1.45633788e+02] [ 7.13012551e-01 7.01145234e-01 -2.90909455e-03 6.12596376e+01] [ 4.17561599e-03 -9.72657788e-05 9.99991277e-01 7.10762406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.68, Y:61.30, Z:0.71 [[ 6.98010636e-01 -7.16081121e-01 -2.99655350e-03 1.45675422e+02] [ 7.16075219e-01 6.98017059e-01 -2.90962130e-03 6.13007875e+01] [ 4.17517035e-03 -1.14811085e-04 9.99991277e-01 7.10595626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.72, Y:61.34, Z:0.71 [[ 6.96299701e-01 -7.17744908e-01 -2.99557111e-03 1.45717448e+02] [ 7.17739017e-01 6.96306133e-01 -2.91063236e-03 6.13392508e+01] [ 4.17492609e-03 -1.23365821e-04 9.99991277e-01 7.08697628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.76, Y:61.38, Z:0.71 [[ 6.93936003e-01 -7.20030453e-01 -2.99505216e-03 1.45759641e+02] [ 7.20024581e-01 6.93942453e-01 -2.91116626e-03 6.13792375e+01] [ 4.17452221e-03 -1.36348097e-04 9.99991277e-01 7.08971389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.80, Y:61.42, Z:0.71 [[ 6.91987892e-01 -7.21902897e-01 -2.99415233e-03 1.45799794e+02] [ 7.21897038e-01 6.91994354e-01 -2.91209145e-03 6.14228437e+01] [ 4.17418376e-03 -1.46337668e-04 9.99991277e-01 7.05038149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.84, Y:61.46, Z:0.71 [[ 6.94477718e-01 -7.19507984e-01 -2.99333179e-03 1.45842792e+02] [ 7.19502099e-01 6.94484157e-01 -2.91293464e-03 6.14623373e+01] [ 4.17470123e-03 -1.30740309e-04 9.99991277e-01 7.10715861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.88, Y:61.50, Z:0.71 [[ 6.97132830e-01 -7.16935746e-01 -2.99237791e-03 1.45883684e+02] [ 7.16929833e-01 6.97139243e-01 -2.91391420e-03 6.15037447e+01] [ 4.17519332e-03 -1.13939746e-04 9.99991277e-01 7.11090305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.92, Y:61.54, Z:0.71 [[ 6.99727863e-01 -7.14403226e-01 -2.99144494e-03 1.45924332e+02] [ 7.14397286e-01 6.99734250e-01 -2.91487168e-03 6.15445963e+01] [ 4.17561022e-03 -9.74632141e-05 9.99991277e-01 7.12045447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.96, Y:61.59, Z:0.71 [[ 7.02108339e-01 -7.12063858e-01 -2.99050103e-03 1.45964978e+02] [ 7.12057892e-01 7.02114703e-01 -2.91583976e-03 6.15868043e+01] [ 4.17593885e-03 -8.21744475e-05 9.99991277e-01 7.12876703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.01, Y:61.63, Z:0.71 [[ 7.03381873e-01 -7.10805883e-01 -2.98956340e-03 1.46006335e+02] [ 7.10799902e-01 7.03388223e-01 -2.91680078e-03 6.16280567e+01] [ 4.17610284e-03 -7.33565753e-05 9.99991277e-01 7.13701200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.05, Y:61.67, Z:0.71 [[ 7.04699533e-01 -7.09499568e-01 -2.98863041e-03 1.46047125e+02] [ 7.09493571e-01 7.04705867e-01 -2.91775644e-03 6.16676627e+01] [ 4.17625231e-03 -6.42724630e-05 9.99991277e-01 7.14755761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.09, Y:61.71, Z:0.71 [[ 7.05990750e-01 -7.08214750e-01 -2.98800254e-03 1.46088470e+02] [ 7.08208739e-01 7.05997071e-01 -2.91839928e-03 6.17084971e+01] [ 4.17637446e-03 -5.57666091e-05 9.99991277e-01 7.12681375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.13, Y:61.75, Z:0.71 [[ 7.06681391e-01 -7.07525611e-01 -2.98709155e-03 1.46127826e+02] [ 7.07519590e-01 7.06687702e-01 -2.91933141e-03 6.17500982e+01] [ 4.17644260e-03 -5.03886027e-05 9.99991277e-01 7.12082881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.17, Y:61.79, Z:0.71 [[ 7.04978358e-01 -7.09222530e-01 -2.98623167e-03 1.46168902e+02] [ 7.09216520e-01 7.04984680e-01 -2.92021074e-03 6.17909691e+01] [ 4.17632682e-03 -5.91994609e-05 9.99991277e-01 7.12994833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.21, Y:61.83, Z:0.71 [[ 7.04068610e-01 -7.10125679e-01 -2.98526078e-03 1.46210296e+02] [ 7.10119673e-01 7.04074936e-01 -2.92120291e-03 6.18314717e+01] [ 4.17626850e-03 -6.31651374e-05 9.99991277e-01 7.13313112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.25, Y:61.87, Z:0.71 [[ 7.01413789e-01 -7.12748056e-01 -2.98434756e-03 1.46251741e+02] [ 7.12742070e-01 7.01420133e-01 -2.92213558e-03 6.18725534e+01] [ 4.17602791e-03 -7.74438690e-05 9.99991277e-01 7.13090781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.922755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:146.29, Y:61.91, Z:0.71 [[ 6.98211753e-01 -7.15885080e-01 -2.98342993e-03 1.46292769e+02] [ 7.15879118e-01 6.98218121e-01 -2.92307215e-03 6.19133132e+01] [ 4.17566858e-03 -9.48518609e-05 9.99991277e-01 7.12835711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.34, Y:61.95, Z:0.71 [[ 6.95735429e-01 -7.18291945e-01 -2.98248217e-03 1.46335202e+02] [ 7.18286001e-01 6.95741813e-01 -2.92403885e-03 6.19531366e+01] [ 4.17535111e-03 -1.07917767e-04 9.99991277e-01 7.14139162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.38, Y:61.99, Z:0.71 [[ 6.93320781e-01 -7.20622929e-01 -2.98154046e-03 1.46375740e+02] [ 7.20617003e-01 6.93327181e-01 -2.92499877e-03 6.19938413e+01] [ 4.17500422e-03 -1.20586324e-04 9.99991277e-01 7.13989452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.42, Y:62.04, Z:0.71 [[ 6.93280965e-01 -7.20661236e-01 -2.98101379e-03 1.46416023e+02] [ 7.20655308e-01 6.93287364e-01 -2.92553543e-03 6.20362698e+01] [ 4.17501917e-03 -1.20065387e-04 9.99991277e-01 7.14289463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.46, Y:62.08, Z:0.71 [[ 6.94665487e-01 -7.19326755e-01 -2.98008625e-03 1.46455556e+02] [ 7.19320810e-01 6.94671871e-01 -2.92647996e-03 6.20769455e+01] [ 4.17527742e-03 -1.10713422e-04 9.99991277e-01 7.13083433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.50, Y:62.12, Z:0.72 [[ 6.96813780e-01 -7.17245899e-01 -2.97920350e-03 1.46495509e+02] [ 7.17239932e-01 6.96820142e-01 -2.92737833e-03 6.21186229e+01] [ 4.17561911e-03 -9.69661564e-05 9.99991277e-01 7.15101244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.54, Y:62.16, Z:0.72 [[ 6.98512488e-01 -7.15591667e-01 -2.97824992e-03 1.46535138e+02] [ 7.15585681e-01 6.98518832e-01 -2.92834817e-03 6.21614260e+01] [ 4.17586520e-03 -8.57052311e-05 9.99991277e-01 7.16647023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.342755096 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:146.57, Y:62.20, Z:0.71 [[ 6.99603736e-01 -7.14524841e-01 -2.97736820e-03 1.46574610e+02] [ 7.14518840e-01 6.99610067e-01 -2.92924437e-03 6.22034843e+01] [ 4.17601463e-03 -7.80753691e-05 9.99991277e-01 7.14646231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.61, Y:62.24, Z:0.71 [[ 6.99776627e-01 -7.14355523e-01 -2.97641307e-03 1.46613983e+02] [ 7.14349517e-01 6.99782953e-01 -2.93021456e-03 6.22445035e+01] [ 4.17605808e-03 -7.57035704e-05 9.99991277e-01 7.13065845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.65, Y:62.29, Z:0.72 [[ 6.98818358e-01 -7.15292982e-01 -2.97538636e-03 1.46653879e+02] [ 7.15286980e-01 6.98824688e-01 -2.93125672e-03 6.22871957e+01] [ 4.17598081e-03 -7.98391173e-05 9.99991277e-01 7.15960221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.69, Y:62.33, Z:0.72 [[ 6.96766813e-01 -7.17291546e-01 -2.97436169e-03 1.46692802e+02] [ 7.17285558e-01 6.96773156e-01 -2.93229610e-03 6.23290030e+01] [ 4.17576658e-03 -9.03400766e-05 9.99991277e-01 7.15355972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.73, Y:62.37, Z:0.71 [[ 6.94383320e-01 -7.19599168e-01 -2.97352027e-03 1.46732962e+02] [ 7.19593198e-01 6.94389679e-01 -2.93314910e-03 6.23707771e+01] [ 4.17547344e-03 -1.02995147e-04 9.99991277e-01 7.14082080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.77, Y:62.41, Z:0.71 [[ 6.93133697e-01 -7.20802915e-01 -2.97260925e-03 1.46773550e+02] [ 7.20796952e-01 6.93140062e-01 -2.93407208e-03 6.24117176e+01] [ 4.17532227e-03 -1.08943456e-04 9.99991277e-01 7.11127820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.81, Y:62.45, Z:0.71 [[ 6.89214167e-01 -7.24551586e-01 -2.97169242e-03 1.46812812e+02] [ 7.24545654e-01 6.89220561e-01 -2.93500038e-03 6.24530882e+01] [ 4.17471070e-03 -1.30282983e-04 9.99991277e-01 7.09119650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.85, Y:62.49, Z:0.71 [[ 6.87126280e-01 -7.26531933e-01 -2.97080555e-03 1.46853220e+02] [ 7.26526014e-01 6.87132688e-01 -2.93589779e-03 6.24931282e+01] [ 4.17436110e-03 -1.41034994e-04 9.99991277e-01 7.14123937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.89, Y:62.53, Z:0.71 [[ 6.84625229e-01 -7.28889206e-01 -2.97010693e-03 1.46894169e+02] [ 7.28883307e-01 6.84631654e-01 -2.93660438e-03 6.25336874e+01] [ 4.17388846e-03 -1.54387918e-04 9.99991277e-01 7.13427925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.93, Y:62.58, Z:0.72 [[ 6.83961816e-01 -7.29511767e-01 -2.96915918e-03 1.46933993e+02] [ 7.29505869e-01 6.83968243e-01 -2.93756233e-03 6.25754204e+01] [ 4.17379687e-03 -1.56838580e-04 9.99991277e-01 7.15786611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94275509599998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:146.97, Y:62.62, Z:0.71 [[ 6.84766095e-01 -7.28756877e-01 -2.96809832e-03 1.46973501e+02] [ 7.28750967e-01 6.84772511e-01 -2.93863382e-03 6.26178591e+01] [ 4.17402175e-03 -1.50727716e-04 9.99991277e-01 7.14193848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.01, Y:62.66, Z:0.72 [[ 6.87789136e-01 -7.25904471e-01 -2.96703374e-03 1.47012276e+02] [ 7.25898531e-01 6.87795523e-01 -2.93970829e-03 6.26595986e+01] [ 4.17465992e-03 -1.31866008e-04 9.99991277e-01 7.15637244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.05, Y:62.70, Z:0.72 [[ 6.87903831e-01 -7.25795785e-01 -2.96606806e-03 1.47051947e+02] [ 7.25789839e-01 6.87910213e-01 -2.94068231e-03 6.27020553e+01] [ 4.17472334e-03 -1.29835433e-04 9.99991277e-01 7.17281232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.09, Y:62.74, Z:0.72 [[ 6.88965530e-01 -7.24788043e-01 -2.96495660e-03 1.47090651e+02] [ 7.24782083e-01 6.88971899e-01 -2.94180252e-03 6.27434339e+01] [ 4.17495507e-03 -1.22146889e-04 9.99991277e-01 7.17213106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.13, Y:62.78, Z:0.72 [[ 6.88986142e-01 -7.24768451e-01 -2.96442300e-03 1.47131522e+02] [ 7.24762489e-01 6.88992509e-01 -2.94234013e-03 6.27848501e+01] [ 4.17498054e-03 -1.21271013e-04 9.99991277e-01 7.18172511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.17, Y:62.83, Z:0.72 [[ 6.89126884e-01 -7.24634636e-01 -2.96347896e-03 1.47172068e+02] [ 7.24628668e-01 6.89133246e-01 -2.94329065e-03 6.28257174e+01] [ 4.17504222e-03 -1.19121096e-04 9.99991277e-01 7.18589490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.21, Y:62.87, Z:0.72 [[ 6.89629423e-01 -7.24156394e-01 -2.96254604e-03 1.47212175e+02] [ 7.24150418e-01 6.89635777e-01 -2.94422936e-03 6.28671942e+01] [ 4.17516026e-03 -1.14901758e-04 9.99991277e-01 7.19082527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.25, Y:62.91, Z:0.72 [[ 6.91227081e-01 -7.22631547e-01 -2.96161731e-03 1.47254612e+02] [ 7.22625552e-01 6.91233417e-01 -2.94516329e-03 6.29074272e+01] [ 4.17543675e-03 -1.04363722e-04 9.99991277e-01 7.18876076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.29, Y:62.95, Z:0.72 [[ 6.89707212e-01 -7.24082313e-01 -2.96067747e-03 1.47292451e+02] [ 7.24076328e-01 6.89713557e-01 -2.94610777e-03 6.29499498e+01] [ 4.17524392e-03 -1.11804697e-04 9.99991277e-01 7.15249151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.33, Y:62.99, Z:0.71 [[ 6.88970193e-01 -7.24783631e-01 -2.96016313e-03 1.47332416e+02] [ 7.24777650e-01 6.88976542e-01 -2.94662447e-03 6.29921522e+01] [ 4.17514814e-03 -1.15323647e-04 9.99991277e-01 7.14130621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.38, Y:63.03, Z:0.72 [[ 6.91612347e-01 -7.22262836e-01 -2.95923555e-03 1.47375429e+02] [ 7.22256828e-01 6.91618671e-01 -2.94755573e-03 6.30306444e+01] [ 4.17557252e-03 -9.87621470e-05 9.99991277e-01 7.17073417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.41, Y:63.08, Z:0.71 [[ 6.88737194e-01 -7.25005052e-01 -2.95832387e-03 1.47412710e+02] [ 7.24999066e-01 6.88743538e-01 -2.94847046e-03 6.30764033e+01] [ 4.17518243e-03 -1.14060772e-04 9.99991277e-01 7.11704683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66275509599998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:147.45, Y:63.12, Z:0.71 [[ 6.88327040e-01 -7.25394471e-01 -2.95743207e-03 1.47453677e+02] [ 7.25388485e-01 6.88333384e-01 -2.94936470e-03 6.31170673e+01] [ 4.17515207e-03 -1.15159687e-04 9.99991277e-01 7.12548291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.49, Y:63.16, Z:0.72 [[ 6.87882791e-01 -7.25815763e-01 -2.95711923e-03 1.47494777e+02] [ 7.25809779e-01 6.87889137e-01 -2.94967833e-03 6.31579578e+01] [ 4.17509322e-03 -1.17273089e-04 9.99991277e-01 7.19064461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.53, Y:63.20, Z:0.71 [[ 6.84540110e-01 -7.28969203e-01 -2.95620664e-03 1.47533669e+02] [ 7.28963244e-01 6.84546480e-01 -2.95059265e-03 6.31993915e+01] [ 4.17455202e-03 -1.35166968e-04 9.99991277e-01 7.12569770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.57, Y:63.24, Z:0.72 [[ 6.85301763e-01 -7.28253225e-01 -2.95519950e-03 1.47574947e+02] [ 7.28247255e-01 6.85308123e-01 -2.95160102e-03 6.32397613e+01] [ 4.17473519e-03 -1.29378537e-04 9.99991277e-01 7.18434028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.62, Y:63.28, Z:0.72 [[ 6.86406243e-01 -7.27212309e-01 -2.95424154e-03 1.47615189e+02] [ 7.27206325e-01 6.86412589e-01 -2.95255953e-03 6.32808668e+01] [ 4.17496622e-03 -1.21687839e-04 9.99991277e-01 7.19428114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.66, Y:63.32, Z:0.72 [[ 6.87250946e-01 -7.26414079e-01 -2.95328024e-03 1.47655707e+02] [ 7.26408084e-01 6.87257282e-01 -2.95352075e-03 6.33218504e+01] [ 4.17514241e-03 -1.15476714e-04 9.99991277e-01 7.19719685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.022755096 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:147.70, Y:63.36, Z:0.72 [[ 6.87078037e-01 -7.26577632e-01 -2.95231991e-03 1.47695168e+02] [ 7.26571634e-01 6.87084370e-01 -2.95448037e-03 6.33645458e+01] [ 4.17515222e-03 -1.15113330e-04 9.99991277e-01 7.15258677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.082755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:147.74, Y:63.41, Z:0.71 [[ 6.88032608e-01 -7.25673770e-01 -2.95136197e-03 1.47736187e+02] [ 7.25667760e-01 6.88038929e-01 -2.95543699e-03 6.34065616e+01] [ 4.17533504e-03 -1.08271212e-04 9.99991277e-01 7.14931223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.142755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:147.78, Y:63.45, Z:0.71 [[ 6.86625183e-01 -7.27005607e-01 -2.95053233e-03 1.47776422e+02] [ 7.26999606e-01 6.86631512e-01 -2.95626503e-03 6.34494802e+01] [ 4.17514973e-03 -1.15189828e-04 9.99991277e-01 7.12104783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.82, Y:63.49, Z:0.72 [[ 6.87260960e-01 -7.26404620e-01 -2.94967065e-03 1.47818213e+02] [ 7.26398609e-01 6.87267281e-01 -2.95712454e-03 6.34892704e+01] [ 4.17528105e-03 -1.10320407e-04 9.99991277e-01 7.15428715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.86, Y:63.53, Z:0.72 [[ 6.88549959e-01 -7.25182911e-01 -2.94936808e-03 1.47863023e+02] [ 7.25176888e-01 6.88556268e-01 -2.95742628e-03 6.35273480e+01] [ 4.17548088e-03 -1.02477818e-04 9.99991277e-01 7.20864529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.91, Y:63.56, Z:0.72 [[ 6.89250892e-01 -7.24516745e-01 -2.94855863e-03 1.47907394e+02] [ 7.24510712e-01 6.89257192e-01 -2.95823308e-03 6.35636763e+01] [ 4.17560465e-03 -9.72975217e-05 9.99991277e-01 7.24490354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.95, Y:63.61, Z:0.72 [[ 6.86762451e-01 -7.26875949e-01 -2.94797559e-03 1.47948053e+02] [ 7.26869935e-01 6.86768769e-01 -2.95881399e-03 6.36055682e+01] [ 4.17526829e-03 -1.10792477e-04 9.99991277e-01 7.21562435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.99, Y:63.65, Z:0.72 [[ 6.85386287e-01 -7.28173710e-01 -2.94698588e-03 1.47987867e+02] [ 7.28167704e-01 6.85392613e-01 -2.95979941e-03 6.36471060e+01] [ 4.17509047e-03 -1.17294013e-04 9.99991277e-01 7.17052454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.04, Y:63.68, Z:0.72 [[ 6.85721727e-01 -7.27857836e-01 -2.94668413e-03 1.48035245e+02] [ 7.27851826e-01 6.85728049e-01 -2.96009980e-03 6.36827722e+01] [ 4.17515579e-03 -1.14944674e-04 9.99991277e-01 7.21378170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.07, Y:63.73, Z:0.72 [[ 6.81643933e-01 -7.31678119e-01 -2.94592568e-03 1.48073304e+02] [ 7.31672141e-01 6.81650285e-01 -2.96085442e-03 6.37260185e+01] [ 4.17448347e-03 -1.37203297e-04 9.99991277e-01 7.16057724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.11, Y:63.77, Z:0.72 [[ 6.78706129e-01 -7.34404054e-01 -2.94544538e-03 1.48114441e+02] [ 7.34398100e-01 6.78712503e-01 -2.96133214e-03 6.37675738e+01] [ 4.17392494e-03 -1.53255212e-04 9.99991277e-01 7.18190861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.682755096 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:148.16, Y:63.81, Z:0.72 [[ 6.80408614e-01 -7.32827025e-01 -2.94445223e-03 1.48156149e+02] [ 7.32821052e-01 6.80414970e-01 -2.96231931e-03 6.38073072e+01] [ 4.17431702e-03 -1.42169003e-04 9.99991277e-01 7.19654234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.20, Y:63.84, Z:0.73 [[ 6.86457145e-01 -7.27164304e-01 -2.94343002e-03 1.48202583e+02] [ 7.27158274e-01 6.86463447e-01 -2.96333465e-03 6.38440285e+01] [ 4.17538829e-03 -1.06137249e-04 9.99991277e-01 7.26595929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.24, Y:63.89, Z:0.72 [[ 6.88641658e-01 -7.25095862e-01 -2.94242620e-03 1.48242858e+02] [ 7.25089808e-01 6.88647938e-01 -2.96433105e-03 6.38856435e+01] [ 4.17571991e-03 -9.21614051e-05 9.99991277e-01 7.24829354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.28, Y:63.93, Z:0.72 [[ 6.88925409e-01 -7.24826272e-01 -2.94200828e-03 1.48282427e+02] [ 7.24820215e-01 6.88931685e-01 -2.96474576e-03 6.39288287e+01] [ 4.17576834e-03 -8.99383906e-05 9.99991277e-01 7.20944059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.32, Y:63.97, Z:0.72 [[ 6.89756525e-01 -7.24035417e-01 -2.94116948e-03 1.48323884e+02] [ 7.24029349e-01 6.89762791e-01 -2.96557766e-03 6.39691576e+01] [ 4.17589253e-03 -8.39664802e-05 9.99991277e-01 7.21091831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.37, Y:64.01, Z:0.73 [[ 6.91438334e-01 -7.22429502e-01 -2.94021506e-03 1.48370467e+02] [ 7.22423415e-01 6.91444581e-01 -2.96652361e-03 6.40050447e+01] [ 4.17609995e-03 -7.29120632e-05 9.99991277e-01 7.25669883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.41, Y:64.05, Z:0.73 [[ 6.91089607e-01 -7.22763112e-01 -2.93939538e-03 1.48413096e+02] [ 7.22757024e-01 6.91095854e-01 -2.96733558e-03 6.40451127e+01] [ 4.17608466e-03 -7.37738729e-05 9.99991277e-01 7.28277805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.46, Y:64.09, Z:0.73 [[ 6.87922641e-01 -7.25778068e-01 -2.93855259e-03 1.48455528e+02] [ 7.25772005e-01 6.87928911e-01 -2.96816996e-03 6.40858711e+01] [ 4.17574794e-03 -9.08478859e-05 9.99991277e-01 7.26190393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.50, Y:64.13, Z:0.72 [[ 6.83736764e-01 -7.29722829e-01 -2.93769031e-03 1.48496507e+02] [ 7.29716798e-01 6.83743066e-01 -2.96902313e-03 6.41270645e+01] [ 4.17518934e-03 -1.13651698e-04 9.99991277e-01 7.23793381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.54, Y:64.17, Z:0.72 [[ 6.81381572e-01 -7.31922486e-01 -2.93738906e-03 1.48536792e+02] [ 7.31916474e-01 6.81387891e-01 -2.96932115e-03 6.41684265e+01] [ 4.17481426e-03 -1.26682734e-04 9.99991277e-01 7.21390464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.58, Y:64.21, Z:0.72 [[ 6.80865029e-01 -7.32403024e-01 -2.93641853e-03 1.48577865e+02] [ 7.32397013e-01 6.80871349e-01 -2.97028062e-03 6.42095355e+01] [ 4.17476575e-03 -1.28263959e-04 9.99991277e-01 7.21029509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.62, Y:64.25, Z:0.72 [[ 6.82893511e-01 -7.30512037e-01 -2.93539358e-03 1.48621263e+02] [ 7.30506003e-01 6.82899810e-01 -2.97129318e-03 6.42483930e+01] [ 4.17514515e-03 -1.15245805e-04 9.99991277e-01 7.24527755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.66, Y:64.29, Z:0.73 [[ 6.83960641e-01 -7.29513007e-01 -2.93507537e-03 1.48661938e+02] [ 7.29506963e-01 6.83966930e-01 -2.97160748e-03 6.42893243e+01] [ 4.17532080e-03 -1.08695367e-04 9.99991277e-01 7.26339970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.70, Y:64.33, Z:0.73 [[ 6.85088673e-01 -7.28453774e-01 -2.93411189e-03 1.48701526e+02] [ 7.28447716e-01 6.85094949e-01 -2.97255850e-03 6.43306400e+01] [ 4.17551669e-03 -1.00880940e-04 9.99991277e-01 7.28091907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.74, Y:64.37, Z:0.73 [[ 6.85343980e-01 -7.28213584e-01 -2.93356290e-03 1.48741733e+02] [ 7.28207521e-01 6.85350251e-01 -2.97310019e-03 6.43720169e+01] [ 4.17557001e-03 -9.86462569e-05 9.99991277e-01 7.29388244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.78, Y:64.41, Z:0.73 [[ 6.85775791e-01 -7.27806955e-01 -2.93261990e-03 1.48782248e+02] [ 7.27800885e-01 6.85782055e-01 -2.97403005e-03 6.44135459e+01] [ 4.17565786e-03 -9.48455481e-05 9.99991277e-01 7.30337346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.82, Y:64.45, Z:0.73 [[ 6.86976848e-01 -7.26673390e-01 -2.93165168e-03 1.48821105e+02] [ 7.26667305e-01 6.86983098e-01 -2.97498417e-03 6.44549179e+01] [ 4.17583699e-03 -8.65901818e-05 9.99991277e-01 7.30477147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.86, Y:64.50, Z:0.73 [[ 6.88518367e-01 -7.25212981e-01 -2.93080350e-03 1.48860959e+02] [ 7.25206880e-01 6.88524601e-01 -2.97581952e-03 6.44978157e+01] [ 4.17603326e-03 -7.65324678e-05 9.99991277e-01 7.28065276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.90, Y:64.54, Z:0.73 [[ 6.89379641e-01 -7.24394317e-01 -2.92988234e-03 1.48901639e+02] [ 7.24388204e-01 6.89385864e-01 -2.97672619e-03 6.45394785e+01] [ 4.17614300e-03 -7.02777725e-05 9.99991277e-01 7.29717703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.94, Y:64.58, Z:0.73 [[ 6.89413743e-01 -7.24361864e-01 -2.92927032e-03 1.48942717e+02] [ 7.24355748e-01 6.89419963e-01 -2.97732833e-03 6.45808869e+01] [ 4.17616053e-03 -6.92227203e-05 9.99991277e-01 7.30391825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.98, Y:64.62, Z:0.73 [[ 6.86937917e-01 -7.26710206e-01 -2.92822986e-03 1.48984227e+02] [ 7.26704107e-01 6.86944154e-01 -2.97835128e-03 6.46219395e+01] [ 4.17592865e-03 -8.20142352e-05 9.99991277e-01 7.29617911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.02, Y:64.66, Z:0.73 [[ 6.83162288e-01 -7.30260721e-01 -2.92717899e-03 1.49023580e+02] [ 7.30254650e-01 6.83168551e-01 -2.97938374e-03 6.46638712e+01] [ 4.17548354e-03 -1.02183455e-04 9.99991277e-01 7.29189527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.06, Y:64.70, Z:0.73 [[ 6.80989523e-01 -7.32287310e-01 -2.92665638e-03 1.49064629e+02] [ 7.32281256e-01 6.80995802e-01 -2.97989701e-03 6.47047357e+01] [ 4.17518147e-03 -1.13856972e-04 9.99991277e-01 7.28919889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.11, Y:64.75, Z:0.73 [[ 6.80149534e-01 -7.33067563e-01 -2.92572063e-03 1.49105436e+02] [ 7.33061512e-01 6.80155817e-01 -2.98081546e-03 6.47459603e+01] [ 4.17508503e-03 -1.17332942e-04 9.99991277e-01 7.27580425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.15, Y:64.79, Z:0.73 [[ 6.80343264e-01 -7.32887774e-01 -2.92478548e-03 1.49145135e+02] [ 7.32881718e-01 6.80349541e-01 -2.98173275e-03 6.47864299e+01] [ 4.17515194e-03 -1.14920016e-04 9.99991277e-01 7.27670924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.19, Y:64.82, Z:0.73 [[ 6.84197995e-01 -7.29290446e-01 -2.92395255e-03 1.49190468e+02] [ 7.29284353e-01 6.84204236e-01 -2.98254932e-03 6.48232132e+01] [ 4.17572544e-03 -9.17385869e-05 9.99991277e-01 7.31541629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.23, Y:64.86, Z:0.74 [[ 6.86527238e-01 -7.27098210e-01 -2.92305440e-03 1.49232296e+02] [ 7.27092093e-01 6.86533457e-01 -2.98342929e-03 6.48640634e+01] [ 4.17602074e-03 -7.71242722e-05 9.99991277e-01 7.35609180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.27, Y:64.91, Z:0.73 [[ 6.82674416e-01 -7.30716842e-01 -2.92220242e-03 1.49267029e+02] [ 7.30710754e-01 6.82680663e-01 -2.98426355e-03 6.49104084e+01] [ 4.17558273e-03 -9.80043583e-05 9.99991277e-01 7.28054712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.31, Y:64.95, Z:0.73 [[ 6.85171790e-01 -7.28375646e-01 -2.92155980e-03 1.49309245e+02] [ 7.28369535e-01 6.85178014e-01 -2.98489254e-03 6.49499673e+01] [ 4.17591158e-03 -8.28109874e-05 9.99991277e-01 7.31326615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.35, Y:64.99, Z:0.73 [[ 6.84714410e-01 -7.28805631e-01 -2.92051670e-03 1.49350740e+02] [ 7.28799519e-01 6.84720633e-01 -2.98591280e-03 6.49900254e+01] [ 4.17588810e-03 -8.39736464e-05 9.99991277e-01 7.31872194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.39, Y:65.03, Z:0.73 [[ 6.83466197e-01 -7.29976325e-01 -2.91937580e-03 1.49389644e+02] [ 7.29970219e-01 6.83472426e-01 -2.98702785e-03 6.50314179e+01] [ 4.17577248e-03 -8.95248259e-05 9.99991277e-01 7.30112331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.43, Y:65.07, Z:0.73 [[ 6.82364433e-01 -7.31006335e-01 -2.91882740e-03 1.49430936e+02] [ 7.31000236e-01 6.82370669e-01 -2.98756364e-03 6.50719196e+01] [ 4.17565015e-03 -9.50563505e-05 9.99991277e-01 7.28715569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.47, Y:65.11, Z:0.73 [[ 6.79796465e-01 -7.33395018e-01 -2.91788216e-03 1.49471817e+02] [ 7.33388937e-01 6.79802719e-01 -2.98848655e-03 6.51131129e+01] [ 4.17532537e-03 -1.08379897e-04 9.99991277e-01 7.27406933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.51, Y:65.15, Z:0.73 [[ 6.80322151e-01 -7.32907404e-01 -2.91686540e-03 1.49514509e+02] [ 7.32901314e-01 6.80328396e-01 -2.98947861e-03 6.51532816e+01] [ 4.17543737e-03 -1.03965962e-04 9.99991277e-01 7.30161951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.55, Y:65.20, Z:0.73 [[ 6.77900218e-01 -7.35148143e-01 -2.91589199e-03 1.49552996e+02] [ 7.35142070e-01 6.77906479e-01 -2.99042776e-03 6.51965815e+01] [ 4.17510949e-03 -1.16383247e-04 9.99991277e-01 7.28207478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.60, Y:65.23, Z:0.73 [[ 6.80872516e-01 -7.32396150e-01 -2.91495131e-03 1.49597895e+02] [ 7.32390048e-01 6.80878748e-01 -2.99134442e-03 6.52347185e+01] [ 4.17557753e-03 -9.81571308e-05 9.99991277e-01 7.33277601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.842755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:149.64, Y:65.28, Z:0.73 [[ 6.81483636e-01 -7.31827550e-01 -2.91397022e-03 1.49636865e+02] [ 7.31821439e-01 6.81489859e-01 -2.99229982e-03 6.52787775e+01] [ 4.17568860e-03 -9.33025149e-05 9.99991277e-01 7.32079701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.68, Y:65.32, Z:0.73 [[ 6.80738333e-01 -7.32520877e-01 -2.91307272e-03 1.49675019e+02] [ 7.32514768e-01 6.80744560e-01 -2.99317331e-03 6.53221083e+01] [ 4.17562034e-03 -9.63009764e-05 9.99991277e-01 7.30719627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.71, Y:65.36, Z:0.73 [[ 6.82432231e-01 -7.30943066e-01 -2.91260424e-03 1.49712868e+02] [ 7.30936941e-01 6.82438441e-01 -2.99362911e-03 6.53649396e+01] [ 4.17584554e-03 -8.59810381e-05 9.99991277e-01 7.31281240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.75, Y:65.41, Z:0.73 [[ 6.85102226e-01 -7.28441118e-01 -2.91177399e-03 1.49750013e+02] [ 7.28434966e-01 6.85108410e-01 -2.99443643e-03 6.54096474e+01] [ 4.17615147e-03 -6.95429262e-05 9.99991277e-01 7.32751530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.79, Y:65.45, Z:0.73 [[ 6.85813296e-01 -7.27771702e-01 -2.91074041e-03 1.49788613e+02] [ 7.27765541e-01 6.85819470e-01 -2.99544079e-03 6.54524843e+01] [ 4.17623949e-03 -6.40234458e-05 9.99991277e-01 7.31514348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.83, Y:65.50, Z:0.73 [[ 6.85825689e-01 -7.27760028e-01 -2.90970679e-03 1.49825875e+02] [ 7.27753861e-01 6.85831859e-01 -2.99644449e-03 6.54951425e+01] [ 4.17626214e-03 -6.25117448e-05 9.99991277e-01 7.31029622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.87, Y:65.54, Z:0.73 [[ 6.87389327e-01 -7.26283313e-01 -2.90915571e-03 1.49866857e+02] [ 7.26277131e-01 6.87395481e-01 -2.99697942e-03 6.55368223e+01] [ 4.17639663e-03 -5.27615955e-05 9.99991277e-01 7.31839421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.90, Y:65.58, Z:0.73 [[ 6.85463895e-01 -7.28100811e-01 -2.90816970e-03 1.49903976e+02] [ 7.28094642e-01 6.85470061e-01 -2.99793590e-03 6.55804125e+01] [ 4.17626283e-03 -6.24459558e-05 9.99991277e-01 7.29767323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.95, Y:65.62, Z:0.73 [[ 6.85588801e-01 -7.27983201e-01 -2.90763846e-03 1.49946142e+02] [ 7.27977029e-01 6.85594964e-01 -2.99845106e-03 6.56197683e+01] [ 4.17628429e-03 -6.09895421e-05 9.99991277e-01 7.30653506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.98, Y:65.66, Z:0.73 [[ 6.82261739e-01 -7.31102230e-01 -2.90669663e-03 1.49983387e+02] [ 7.31096082e-01 6.82267926e-01 -2.99936379e-03 6.56649219e+01] [ 4.17598744e-03 -7.87233615e-05 9.99991277e-01 7.28781176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.02, Y:65.71, Z:0.73 [[ 6.78050905e-01 -7.35009202e-01 -2.90568276e-03 1.50021767e+02] [ 7.35003085e-01 6.78057123e-01 -3.00034567e-03 6.57075071e+01] [ 4.17550057e-03 -1.01298696e-04 9.99991277e-01 7.27480637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.06, Y:65.75, Z:0.73 [[ 6.78314841e-01 -7.34765634e-01 -2.90499805e-03 1.50063806e+02] [ 7.34759512e-01 6.78321055e-01 -3.00100847e-03 6.57478226e+01] [ 4.17555924e-03 -9.88463647e-05 9.99991277e-01 7.28139508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.10, Y:65.79, Z:0.73 [[ 6.75151989e-01 -7.37672934e-01 -2.90405990e-03 1.50104448e+02] [ 7.37666835e-01 6.75158225e-01 -3.00191605e-03 6.57897826e+01] [ 4.17513214e-03 -1.15479083e-04 9.99991277e-01 7.28642358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.14, Y:65.83, Z:0.73 [[ 6.72548940e-01 -7.40046955e-01 -2.90311749e-03 1.50143773e+02] [ 7.40040874e-01 6.72555194e-01 -3.00282716e-03 6.58307493e+01] [ 4.17473984e-03 -1.28877384e-04 9.99991277e-01 7.28552589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.18, Y:65.87, Z:0.73 [[ 6.71345972e-01 -7.41138423e-01 -2.90248339e-03 1.50182888e+02] [ 7.41132349e-01 6.71352232e-01 -3.00343995e-03 6.58717941e+01] [ 4.17455345e-03 -1.34777019e-04 9.99991277e-01 7.28253404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.742755096 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:150.22, Y:65.91, Z:0.73 [[ 6.70717990e-01 -7.41706787e-01 -2.90166418e-03 1.50222875e+02] [ 7.41700715e-01 6.70724253e-01 -3.00423119e-03 6.59129189e+01] [ 4.17447520e-03 -1.37174491e-04 9.99991277e-01 7.26527399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.802755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:150.26, Y:65.95, Z:0.73 [[ 6.73272816e-01 -7.39388464e-01 -2.90085983e-03 1.50263277e+02] [ 7.39382367e-01 6.73279055e-01 -3.00500766e-03 6.59542688e+01] [ 4.17495616e-03 -1.21654634e-04 9.99991277e-01 7.27941202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.30, Y:66.00, Z:0.73 [[ 6.75288510e-01 -7.37547977e-01 -2.89990355e-03 1.50303154e+02] [ 7.37541860e-01 6.75294728e-01 -3.00593021e-03 6.59961781e+01] [ 4.17530732e-03 -1.08930129e-04 9.99991277e-01 7.29067499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.34, Y:66.04, Z:0.73 [[ 6.78546099e-01 -7.34552100e-01 -2.89895484e-03 1.50344825e+02] [ 7.34545951e-01 6.78552286e-01 -3.00684487e-03 6.60364418e+01] [ 4.17577665e-03 -8.91326821e-05 9.99991277e-01 7.31301838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98275509599998 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:150.39, Y:66.08, Z:0.73 [[ 6.79282928e-01 -7.33870769e-01 -2.89796248e-03 1.50386815e+02] [ 7.33864610e-01 6.79289104e-01 -3.00780100e-03 6.60773086e+01] [ 4.17589157e-03 -8.35642301e-05 9.99991277e-01 7.30654676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.43, Y:66.12, Z:0.73 [[ 6.80693916e-01 -7.32562216e-01 -2.89694696e-03 1.50427905e+02] [ 7.32556041e-01 6.80700076e-01 -3.00877877e-03 6.61189041e+01] [ 4.17606966e-03 -7.41185903e-05 9.99991277e-01 7.32558614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10275509599998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:150.47, Y:66.16, Z:0.73 [[ 6.79842640e-01 -7.33352302e-01 -2.89591045e-03 1.50467663e+02] [ 7.33346130e-01 6.79848803e-01 -3.00977607e-03 6.61591869e+01] [ 4.17600746e-03 -7.75306118e-05 9.99991277e-01 7.29276930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.51, Y:66.20, Z:0.73 [[ 6.79376561e-01 -7.33784100e-01 -2.89533867e-03 1.50508987e+02] [ 7.33777930e-01 6.79382726e-01 -3.01032601e-03 6.62006923e+01] [ 4.17597244e-03 -7.93906899e-05 9.99991277e-01 7.28209410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.222755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:150.55, Y:66.24, Z:0.73 [[ 6.76528123e-01 -7.36411109e-01 -2.89437845e-03 1.50547630e+02] [ 7.36404958e-01 6.76534308e-01 -3.01124896e-03 6.62423864e+01] [ 4.17566351e-03 -9.42400290e-05 9.99991277e-01 7.27835923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.282755096 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:150.59, Y:66.28, Z:0.73 [[ 6.75564826e-01 -7.37294916e-01 -2.89352585e-03 1.50588326e+02] [ 7.37288770e-01 6.75571015e-01 -3.01206800e-03 6.62837073e+01] [ 4.17556463e-03 -9.85169224e-05 9.99991277e-01 7.26875356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.63, Y:66.32, Z:0.73 [[ 6.76114356e-01 -7.36791022e-01 -2.89258932e-03 1.50628790e+02] [ 7.36784868e-01 6.76120537e-01 -3.01296712e-03 6.63243156e+01] [ 4.17566617e-03 -9.41057161e-05 9.99991277e-01 7.29117458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.67, Y:66.36, Z:0.73 [[ 6.76767534e-01 -7.36191104e-01 -2.89175336e-03 1.50669754e+02] [ 7.36184941e-01 6.76773706e-01 -3.01376923e-03 6.63644324e+01] [ 4.17577274e-03 -8.92441080e-05 9.99991277e-01 7.29731073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.71, Y:66.41, Z:0.73 [[ 6.77257450e-01 -7.35740436e-01 -2.89093307e-03 1.50710277e+02] [ 7.35734265e-01 6.77263614e-01 -3.01455588e-03 6.64063480e+01] [ 4.17585444e-03 -8.53280900e-05 9.99991277e-01 7.29906496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.75, Y:66.45, Z:0.73 [[ 6.78018049e-01 -7.35039573e-01 -2.88998953e-03 1.50750571e+02] [ 7.35033392e-01 6.78024203e-01 -3.01546016e-03 6.64461984e+01] [ 4.17596540e-03 -7.97023922e-05 9.99991277e-01 7.31292929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.79, Y:66.49, Z:0.73 [[ 6.78286948e-01 -7.34791445e-01 -2.88935530e-03 1.50791477e+02] [ 7.34785260e-01 6.78293097e-01 -3.01606775e-03 6.64873678e+01] [ 4.17601054e-03 -7.72962914e-05 9.99991277e-01 7.32823830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.83, Y:66.53, Z:0.73 [[ 6.78222768e-01 -7.34850688e-01 -2.88844085e-03 1.50830862e+02] [ 7.34844499e-01 6.78228914e-01 -3.01694325e-03 6.65288980e+01] [ 4.17602693e-03 -7.63952680e-05 9.99991277e-01 7.33128798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.87, Y:66.57, Z:0.73 [[ 6.76904269e-01 -7.36065399e-01 -2.88762676e-03 1.50870425e+02] [ 7.36059218e-01 6.76910423e-01 -3.01772224e-03 6.65703962e+01] [ 4.17590558e-03 -8.27552297e-05 9.99991277e-01 7.33970817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.91, Y:66.61, Z:0.73 [[ 6.75113374e-01 -7.37708342e-01 -2.88683754e-03 1.50910840e+02] [ 7.37702173e-01 6.75119540e-01 -3.01847705e-03 6.66117210e+01] [ 4.17571613e-03 -9.18121029e-05 9.99991277e-01 7.33924295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.95, Y:66.65, Z:0.73 [[ 6.72383699e-01 -7.40197158e-01 -2.88597171e-03 1.50951228e+02] [ 7.40191007e-01 6.72389884e-01 -3.01930464e-03 6.66533112e+01] [ 4.17537890e-03 -1.06039083e-04 9.99991277e-01 7.32814635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.99, Y:66.70, Z:0.73 [[ 6.70984515e-01 -7.41465750e-01 -2.88501761e-03 1.50990972e+02] [ 7.41459607e-01 6.70990708e-01 -3.02021604e-03 6.66951088e+01] [ 4.17520675e-03 -1.12605829e-04 9.99991277e-01 7.31975757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.03, Y:66.74, Z:0.73 [[ 6.71016677e-01 -7.41436647e-01 -2.88407956e-03 1.51030555e+02] [ 7.41430500e-01 6.71022866e-01 -3.02111153e-03 6.67382039e+01] [ 4.17524614e-03 -1.11128332e-04 9.99991277e-01 7.31136895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.07, Y:66.78, Z:0.73 [[ 6.71388145e-01 -7.41100294e-01 -2.88315175e-03 1.51070256e+02] [ 7.41094140e-01 6.71394327e-01 -3.02199672e-03 6.67808548e+01] [ 4.17533438e-03 -1.07754092e-04 9.99991277e-01 7.29841006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.11, Y:66.82, Z:0.73 [[ 6.72442042e-01 -7.40144170e-01 -2.88223755e-03 1.51109506e+02] [ 7.40138004e-01 6.72448212e-01 -3.02286838e-03 6.68234200e+01] [ 4.17551390e-03 -1.00549762e-04 9.99991277e-01 7.28742829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.15, Y:66.87, Z:0.73 [[ 6.73578249e-01 -7.39110303e-01 -2.88132704e-03 1.51147651e+02] [ 7.39104124e-01 6.73584405e-01 -3.02373601e-03 6.68671924e+01] [ 4.17569140e-03 -9.28778942e-05 9.99991277e-01 7.28202947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.19, Y:66.91, Z:0.73 [[ 6.74331152e-01 -7.38423457e-01 -2.88031180e-03 1.51186583e+02] [ 7.38417267e-01 6.74337297e-01 -3.02470279e-03 6.69105954e+01] [ 4.17581316e-03 -8.72206510e-05 9.99991277e-01 7.28630787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.23, Y:66.95, Z:0.73 [[ 6.75120523e-01 -7.37701829e-01 -2.87927800e-03 1.51225680e+02] [ 7.37695629e-01 6.75126658e-01 -3.02568657e-03 6.69538107e+01] [ 4.17593185e-03 -8.13276939e-05 9.99991277e-01 7.29449797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.26, Y:67.00, Z:0.73 [[ 6.74352540e-01 -7.38403932e-01 -2.87826432e-03 1.51264222e+02] [ 7.38397734e-01 6.74358678e-01 -3.02665055e-03 6.69956591e+01] [ 4.17587319e-03 -8.42743641e-05 9.99991277e-01 7.30066312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.30, Y:67.04, Z:0.73 [[ 6.72647620e-01 -7.39957363e-01 -2.87760496e-03 1.51302309e+02] [ 7.39951176e-01 6.72653768e-01 -3.02727731e-03 6.70391972e+01] [ 4.17568795e-03 -9.29963034e-05 9.99991277e-01 7.30398680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.34, Y:67.08, Z:0.73 [[ 6.71639748e-01 -7.40872306e-01 -2.87662925e-03 1.51341325e+02] [ 7.40866124e-01 6.71645901e-01 -3.02820418e-03 6.70823783e+01] [ 4.17558886e-03 -9.73348655e-05 9.99991277e-01 7.30600799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.38, Y:67.13, Z:0.73 [[ 6.70498701e-01 -7.41905131e-01 -2.87555090e-03 1.51380303e+02] [ 7.41898953e-01 6.70504860e-01 -3.02922782e-03 6.71254996e+01] [ 4.17547052e-03 -1.02274880e-04 9.99991277e-01 7.30015764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.42, Y:67.17, Z:0.73 [[ 6.70213825e-01 -7.42162493e-01 -2.87456666e-03 1.51418526e+02] [ 7.42156314e-01 6.70219982e-01 -3.03016153e-03 6.71679700e+01] [ 4.17546424e-03 -1.02521650e-04 9.99991277e-01 7.29428048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.46, Y:67.21, Z:0.73 [[ 6.70280005e-01 -7.42102726e-01 -2.87369124e-03 1.51456185e+02] [ 7.42096543e-01 6.70286158e-01 -3.03099151e-03 6.72112412e+01] [ 4.17550252e-03 -1.00943327e-04 9.99991277e-01 7.28397361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.50, Y:67.25, Z:0.73 [[ 6.70899969e-01 -7.41542297e-01 -2.87304775e-03 1.51495211e+02] [ 7.41536106e-01 6.70906113e-01 -3.03160134e-03 6.72536862e+01] [ 4.17560592e-03 -9.65673979e-05 9.99991277e-01 7.28261474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.53, Y:67.30, Z:0.73 [[ 6.72355223e-01 -7.40223078e-01 -2.87206511e-03 1.51534997e+02] [ 7.40216872e-01 6.72361351e-01 -3.03253199e-03 6.72959790e+01] [ 4.17581574e-03 -8.70123230e-05 9.99991277e-01 7.29681131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.57, Y:67.34, Z:0.73 [[ 6.73671413e-01 -7.39025429e-01 -2.87109741e-03 1.51574131e+02] [ 7.39019207e-01 6.73677526e-01 -3.03344790e-03 6.73384399e+01] [ 4.17598894e-03 -7.82489981e-05 9.99991277e-01 7.30659740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.61, Y:67.38, Z:0.73 [[ 6.74926489e-01 -7.37879392e-01 -2.87011871e-03 1.51613089e+02] [ 7.37873156e-01 6.74932587e-01 -3.03437363e-03 6.73801029e+01] [ 4.17613841e-03 -6.98044129e-05 9.99991277e-01 7.30849129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.65, Y:67.42, Z:0.73 [[ 6.74422544e-01 -7.38340030e-01 -2.86924683e-03 1.51652811e+02] [ 7.38333795e-01 6.74428643e-01 -3.03519783e-03 6.74220920e+01] [ 4.17611030e-03 -7.14560656e-05 9.99991277e-01 7.31769917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.69, Y:67.46, Z:0.73 [[ 6.73056874e-01 -7.39585166e-01 -2.86828851e-03 1.51693559e+02] [ 7.39578938e-01 6.73062981e-01 -3.03610318e-03 6.74639860e+01] [ 4.17599569e-03 -7.78556528e-05 9.99991277e-01 7.32901860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.73, Y:67.50, Z:0.73 [[ 6.70259618e-01 -7.42121165e-01 -2.86730688e-03 1.51734766e+02] [ 7.42114956e-01 6.70265745e-01 -3.03702995e-03 6.75039489e+01] [ 4.17570179e-03 -9.22727875e-05 9.99991277e-01 7.34764459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.77, Y:67.55, Z:0.73 [[ 6.65176849e-01 -7.46680349e-01 -2.86643406e-03 1.51773429e+02] [ 7.46674179e-01 6.65183014e-01 -3.03785352e-03 6.75488794e+01] [ 4.17500878e-03 -1.19582466e-04 9.99991277e-01 7.31215560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.82, Y:67.59, Z:0.74 [[ 6.65599962e-01 -7.46303209e-01 -2.86558313e-03 1.51816773e+02] [ 7.46297031e-01 6.65606120e-01 -3.03865599e-03 6.75873330e+01] [ 4.17510838e-03 -1.16046872e-04 9.99991277e-01 7.36120677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.86, Y:67.63, Z:0.74 [[ 6.63936306e-01 -7.47783640e-01 -2.86511788e-03 1.51856631e+02] [ 7.47777475e-01 6.63942476e-01 -3.03909460e-03 6.76294889e+01] [ 4.17485868e-03 -1.24705374e-04 9.99991277e-01 7.36066234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.90, Y:67.67, Z:0.74 [[ 6.64202016e-01 -7.47547643e-01 -2.86417398e-03 1.51895940e+02] [ 7.47541472e-01 6.64208180e-01 -3.03998391e-03 6.76716476e+01] [ 4.17494060e-03 -1.21925388e-04 9.99991277e-01 7.35549408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.93, Y:67.72, Z:0.73 [[ 6.64608201e-01 -7.47186551e-01 -2.86318625e-03 1.51934978e+02] [ 7.47180372e-01 6.64614358e-01 -3.04091392e-03 6.77150572e+01] [ 4.17504467e-03 -1.18300238e-04 9.99991277e-01 7.33221103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.97, Y:67.76, Z:0.73 [[ 6.68654510e-01 -7.43567720e-01 -2.86215699e-03 1.51974597e+02] [ 7.43561504e-01 6.68660629e-01 -3.04188236e-03 6.77563152e+01] [ 4.17565723e-03 -9.42213907e-05 9.99991277e-01 7.32668078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.01, Y:67.80, Z:0.73 [[ 6.71905937e-01 -7.40630963e-01 -2.86157233e-03 1.52013023e+02] [ 7.40624718e-01 6.71912027e-01 -3.04243226e-03 6.77989892e+01] [ 4.17604440e-03 -7.51228981e-05 9.99991277e-01 7.33799571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.05, Y:67.84, Z:0.73 [[ 6.73493070e-01 -7.39188001e-01 -2.86073183e-03 1.52052162e+02] [ 7.39181739e-01 6.73499143e-01 -3.04322236e-03 6.78402761e+01] [ 4.17621389e-03 -6.50115599e-05 9.99991277e-01 7.34778567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.09, Y:67.88, Z:0.74 [[ 6.74021400e-01 -7.38706283e-01 -2.85991863e-03 1.52092343e+02] [ 7.38700014e-01 6.74027465e-01 -3.04398639e-03 6.78824981e+01] [ 4.17627558e-03 -6.09099620e-05 9.99991277e-01 7.35976900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.622755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:152.13, Y:67.92, Z:0.74 [[ 6.74285654e-01 -7.38465086e-01 -2.85895898e-03 1.52130534e+02] [ 7.38458811e-01 6.74291712e-01 -3.04488745e-03 6.79247517e+01] [ 4.17631541e-03 -5.80995245e-05 9.99991277e-01 7.35528461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.17, Y:67.97, Z:0.74 [[ 6.75116263e-01 -7.37705811e-01 -2.85786912e-03 1.52170037e+02] [ 7.37699525e-01 6.75122310e-01 -3.04591002e-03 6.79674681e+01] [ 4.17639672e-03 -5.19052968e-05 9.99991277e-01 7.38058320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.21, Y:68.01, Z:0.74 [[ 6.74360089e-01 -7.38397122e-01 -2.85670877e-03 1.52209851e+02] [ 7.38390837e-01 6.74366138e-01 -3.04699790e-03 6.80103297e+01] [ 4.17636214e-03 -5.45938028e-05 9.99991277e-01 7.37639833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.25, Y:68.05, Z:0.74 [[ 6.73285517e-01 -7.39377074e-01 -2.85573619e-03 1.52248736e+02] [ 7.39370794e-01 6.73291571e-01 -3.04790916e-03 6.80540206e+01] [ 4.17629726e-03 -5.93348344e-05 9.99991277e-01 7.36523375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.29, Y:68.10, Z:0.73 [[ 6.72243569e-01 -7.40324547e-01 -2.85476250e-03 1.52285683e+02] [ 7.40318271e-01 6.72249628e-01 -3.04882088e-03 6.80975925e+01] [ 4.17622996e-03 -6.38826105e-05 9.99991277e-01 7.34779304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.32, Y:68.14, Z:0.73 [[ 6.71991547e-01 -7.40553318e-01 -2.85389411e-03 1.52322168e+02] [ 7.40547041e-01 6.71997604e-01 -3.04963353e-03 6.81435301e+01] [ 4.17622623e-03 -6.41148864e-05 9.99991277e-01 7.34713943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.36, Y:68.19, Z:0.73 [[ 6.71523568e-01 -7.40977704e-01 -2.85294024e-03 1.52360515e+02] [ 7.40971428e-01 6.71529625e-01 -3.05052562e-03 6.81871281e+01] [ 4.17620536e-03 -6.54473567e-05 9.99991277e-01 7.30677474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.40, Y:68.23, Z:0.73 [[ 6.69627239e-01 -7.42691879e-01 -2.85191794e-03 1.52399894e+02] [ 7.42685614e-01 6.69633308e-01 -3.05148105e-03 6.82296558e+01] [ 4.17604945e-03 -7.47235967e-05 9.99991277e-01 7.31085035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.44, Y:68.27, Z:0.73 [[ 6.69255087e-01 -7.43027255e-01 -2.85085337e-03 1.52437395e+02] [ 7.43020988e-01 6.69261155e-01 -3.05247532e-03 6.82728988e+01] [ 4.17603777e-03 -7.53592537e-05 9.99991277e-01 7.27523889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.48, Y:68.32, Z:0.73 [[ 6.67166890e-01 -7.44902824e-01 -2.85017537e-03 1.52475280e+02] [ 7.44896572e-01 6.67172973e-01 -3.05310825e-03 6.83175536e+01] [ 4.17582893e-03 -8.61531278e-05 9.99991277e-01 7.30149464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.52, Y:68.36, Z:0.73 [[ 6.65087932e-01 -7.46759616e-01 -2.84920992e-03 1.52515333e+02] [ 7.46753377e-01 6.65094028e-01 -3.05400895e-03 6.83597020e+01] [ 4.17560306e-03 -9.64726309e-05 9.99991277e-01 7.33010952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.55, Y:68.40, Z:0.73 [[ 6.64355413e-01 -7.47411381e-01 -2.84825946e-03 1.52554843e+02] [ 7.47405145e-01 6.64361511e-01 -3.05489512e-03 6.84019060e+01] [ 4.17553734e-03 -9.92676664e-05 9.99991277e-01 7.34277520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.59, Y:68.45, Z:0.74 [[ 6.64024118e-01 -7.47705733e-01 -2.84730395e-03 1.52593083e+02] [ 7.47699495e-01 6.64030215e-01 -3.05578545e-03 6.84450153e+01] [ 4.17552415e-03 -9.98124883e-05 9.99991277e-01 7.36553982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.63, Y:68.49, Z:0.74 [[ 6.64854887e-01 -7.46967119e-01 -2.84632503e-03 1.52630146e+02] [ 7.46960871e-01 6.64860973e-01 -3.05669699e-03 6.84891298e+01] [ 4.17566258e-03 -9.38334912e-05 9.99991277e-01 7.37757361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.67, Y:68.53, Z:0.74 [[ 6.65676206e-01 -7.46235279e-01 -2.84545465e-03 1.52669221e+02] [ 7.46229021e-01 6.65682282e-01 -3.05750701e-03 6.85318527e+01] [ 4.17578834e-03 -8.80511744e-05 9.99991277e-01 7.37018526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.71, Y:68.57, Z:0.74 [[ 6.65437242e-01 -7.46448381e-01 -2.84442508e-03 1.52708307e+02] [ 7.46442121e-01 6.65443316e-01 -3.05846453e-03 6.85740316e+01] [ 4.17578955e-03 -8.79824830e-05 9.99991277e-01 7.38461530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.75, Y:68.62, Z:0.74 [[ 6.65119436e-01 -7.46731578e-01 -2.84384248e-03 1.52745829e+02] [ 7.46725317e-01 6.65125509e-01 -3.05900615e-03 6.86166236e+01] [ 4.17576866e-03 -8.89647291e-05 9.99991277e-01 7.37736498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.78, Y:68.66, Z:0.74 [[ 6.65019306e-01 -7.46820755e-01 -2.84301396e-03 1.52784622e+02] [ 7.46814492e-01 6.65025377e-01 -3.05977597e-03 6.86592969e+01] [ 4.17578063e-03 -8.83939323e-05 9.99991277e-01 7.37557073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.82, Y:68.70, Z:0.74 [[ 6.64715817e-01 -7.47090894e-01 -2.84211180e-03 1.52823862e+02] [ 7.47084630e-01 6.64721888e-01 -3.06061372e-03 6.87017127e+01] [ 4.17577057e-03 -8.88596907e-05 9.99991277e-01 7.36336538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.86, Y:68.74, Z:0.74 [[ 6.64653592e-01 -7.47146258e-01 -2.84117895e-03 1.52862293e+02] [ 7.47139991e-01 6.64659658e-01 -3.06147945e-03 6.87434300e+01] [ 4.17578994e-03 -8.79351035e-05 9.99991277e-01 7.35214683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.90, Y:68.79, Z:0.73 [[ 6.65426761e-01 -7.46457741e-01 -2.84035041e-03 1.52901456e+02] [ 7.46451464e-01 6.65432817e-01 -3.06224795e-03 6.87859578e+01] [ 4.17590106e-03 -8.24819882e-05 9.99991277e-01 7.34823525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.94, Y:68.83, Z:0.74 [[ 6.64378942e-01 -7.47390500e-01 -2.83930549e-03 1.52941454e+02] [ 7.47384228e-01 6.64385004e-01 -3.06321649e-03 6.88279575e+01] [ 4.17581089e-03 -8.69156103e-05 9.99991277e-01 7.35411964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.98, Y:68.87, Z:0.74 [[ 6.64548760e-01 -7.47239513e-01 -2.83823145e-03 1.52981286e+02] [ 7.47233235e-01 6.64554815e-01 -3.06421132e-03 6.88704697e+01] [ 4.17586015e-03 -8.45030398e-05 9.99991277e-01 7.37725601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.02, Y:68.91, Z:0.74 [[ 6.65516493e-01 -7.46377752e-01 -2.83715527e-03 1.53020478e+02] [ 7.46371462e-01 6.65522536e-01 -3.06520744e-03 6.89121008e+01] [ 4.17599340e-03 -7.76256193e-05 9.99991277e-01 7.38752569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.06, Y:68.95, Z:0.74 [[ 6.65322514e-01 -7.46550674e-01 -2.83621105e-03 1.53060130e+02] [ 7.46544381e-01 6.65328555e-01 -3.06608087e-03 6.89544229e+01] [ 4.17599693e-03 -7.74247886e-05 9.99991277e-01 7.38667959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.10, Y:69.00, Z:0.74 [[ 6.67318211e-01 -7.44767324e-01 -2.83515164e-03 1.53101198e+02] [ 7.44761012e-01 6.67324231e-01 -3.06706017e-03 6.89962111e+01] [ 4.17621158e-03 -6.48053014e-05 9.99991277e-01 7.38997921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.14, Y:69.04, Z:0.74 [[ 6.65642321e-01 -7.46265548e-01 -2.83419934e-03 1.53140144e+02] [ 7.46259245e-01 6.65648351e-01 -3.06793991e-03 6.90391614e+01] [ 4.17607798e-03 -7.28968169e-05 9.99991277e-01 7.38256142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.18, Y:69.08, Z:0.74 [[ 6.64772336e-01 -7.47040638e-01 -2.83310313e-03 1.53182257e+02] [ 7.47034338e-01 6.64778369e-01 -3.06895189e-03 6.90796538e+01] [ 4.17601745e-03 -7.62710032e-05 9.99991277e-01 7.35978191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.22, Y:69.12, Z:0.74 [[ 6.62589955e-01 -7.48976989e-01 -2.83207406e-03 1.53222099e+02] [ 7.48970703e-01 6.62596002e-01 -3.06990123e-03 6.91214213e+01] [ 4.17580633e-03 -8.70547768e-05 9.99991277e-01 7.37430166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.362755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:153.26, Y:69.16, Z:0.74 [[ 6.60334845e-01 -7.50965961e-01 -2.83153734e-03 1.53262590e+02] [ 7.50959691e-01 6.60340908e-01 -3.07039619e-03 6.91627003e+01] [ 4.17554297e-03 -9.88808166e-05 9.99991277e-01 7.36813688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.30, Y:69.20, Z:0.74 [[ 6.58943648e-01 -7.52186983e-01 -2.83055757e-03 1.53302456e+02] [ 7.52180720e-01 6.58949719e-01 -3.07129917e-03 6.92049443e+01] [ 4.17538637e-03 -1.05277756e-04 9.99991277e-01 7.37195546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.34, Y:69.25, Z:0.74 [[ 6.60275052e-01 -7.51018542e-01 -2.82958851e-03 1.53340409e+02] [ 7.51012264e-01 6.60281108e-01 -3.07219170e-03 6.92480025e+01] [ 4.17559677e-03 -9.65641387e-05 9.99991277e-01 7.37587718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.38, Y:69.29, Z:0.73 [[ 6.60907728e-01 -7.50461840e-01 -2.82872647e-03 1.53378347e+02] [ 7.50455554e-01 6.60913775e-01 -3.07298522e-03 6.92914497e+01] [ 4.17570244e-03 -9.18738130e-05 9.99991277e-01 7.32704183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.42, Y:69.33, Z:0.73 [[ 6.64716872e-01 -7.47090011e-01 -2.82778799e-03 1.53418431e+02] [ 7.47083690e-01 6.64722883e-01 -3.07384858e-03 6.93327367e+01] [ 4.17613695e-03 -6.93552729e-05 9.99991277e-01 7.33612385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.46, Y:69.38, Z:0.74 [[ 6.64540173e-01 -7.47247193e-01 -2.82694359e-03 1.53457269e+02] [ 7.47240870e-01 6.64546182e-01 -3.07462496e-03 6.93752206e+01] [ 4.17613944e-03 -6.91959883e-05 9.99991278e-01 7.35636531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.49, Y:69.42, Z:0.73 [[ 6.63573276e-01 -7.48105956e-01 -2.82603740e-03 1.53494818e+02] [ 7.48099638e-01 6.63579289e-01 -3.07545766e-03 6.94190616e+01] [ 4.17606808e-03 -7.33660420e-05 9.99991278e-01 7.34961697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.54, Y:69.46, Z:0.74 [[ 6.62699735e-01 -7.48879884e-01 -2.82500615e-03 1.53535924e+02] [ 7.48873569e-01 6.62705752e-01 -3.07640463e-03 6.94605335e+01] [ 4.17600537e-03 -7.68398992e-05 9.99991278e-01 7.39425581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.57, Y:69.50, Z:0.74 [[ 6.60371360e-01 -7.50933881e-01 -2.82382855e-03 1.53574688e+02] [ 7.50927580e-01 6.60377391e-01 -3.07748517e-03 6.95042453e+01] [ 4.17578041e-03 -8.82076773e-05 9.99991278e-01 7.40275097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.61, Y:69.55, Z:0.74 [[ 6.57650045e-01 -7.53318293e-01 -2.82278617e-03 1.53609893e+02] [ 7.53312010e-01 6.57656095e-01 -3.07844099e-03 6.95487561e+01] [ 4.17546844e-03 -1.01901867e-04 9.99991278e-01 7.39493356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.65, Y:69.59, Z:0.74 [[ 6.57132065e-01 -7.53770180e-01 -2.82221663e-03 1.53649543e+02] [ 7.53763898e-01 6.57138117e-01 -3.07896303e-03 6.95897729e+01] [ 4.17541664e-03 -1.03999669e-04 9.99991278e-01 7.39581705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.68, Y:69.64, Z:0.74 [[ 6.54525004e-01 -7.56035091e-01 -2.82135070e-03 1.53684623e+02] [ 7.56028827e-01 6.54531075e-01 -3.07975630e-03 6.96358034e+01] [ 4.17506554e-03 -1.17244955e-04 9.99991278e-01 7.38175700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.72, Y:69.68, Z:0.74 [[ 6.54661111e-01 -7.55917241e-01 -2.82042416e-03 1.53722948e+02] [ 7.55910972e-01 6.54667176e-01 -3.08060460e-03 6.96797113e+01] [ 4.17512125e-03 -1.15237539e-04 9.99991278e-01 7.38318862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.76, Y:69.72, Z:0.74 [[ 6.55295912e-01 -7.55367009e-01 -2.81946916e-03 1.53760955e+02] [ 7.55360732e-01 6.55301968e-01 -3.08147839e-03 6.97234413e+01] [ 4.17525081e-03 -1.10436102e-04 9.99991278e-01 7.38250242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.80, Y:69.77, Z:0.74 [[ 6.56219579e-01 -7.54564722e-01 -2.81852307e-03 1.53799683e+02] [ 7.54558434e-01 6.56225624e-01 -3.08234350e-03 6.97669848e+01] [ 4.17541473e-03 -1.04046200e-04 9.99991278e-01 7.39394671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.84, Y:69.81, Z:0.74 [[ 6.56415124e-01 -7.54394622e-01 -2.81755080e-03 1.53837672e+02] [ 7.54388329e-01 6.56421163e-01 -3.08323200e-03 6.98091374e+01] [ 4.17547361e-03 -1.01647324e-04 9.99991278e-01 7.38862574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.88, Y:69.85, Z:0.74 [[ 6.56877790e-01 -7.53991801e-01 -2.81651980e-03 1.53876062e+02] [ 7.53985499e-01 6.56883821e-01 -3.08417352e-03 6.98524101e+01] [ 4.17556784e-03 -9.76900060e-05 9.99991278e-01 7.40657879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.91, Y:69.90, Z:0.74 [[ 6.57705592e-01 -7.53269823e-01 -2.81546802e-03 1.53913905e+02] [ 7.53263511e-01 6.57711612e-01 -3.08513337e-03 6.98951959e+01] [ 4.17570388e-03 -9.16798580e-05 9.99991278e-01 7.40592716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.95, Y:69.94, Z:0.74 [[ 6.57210513e-01 -7.53701811e-01 -2.81461608e-03 1.53953013e+02] [ 7.53695500e-01 6.57216533e-01 -3.08591041e-03 6.99378472e+01] [ 4.17566849e-03 -9.32707060e-05 9.99991278e-01 7.40653166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.99, Y:69.98, Z:0.74 [[ 6.55063859e-01 -7.55568279e-01 -2.81369166e-03 1.53992069e+02] [ 7.55561981e-01 6.55069893e-01 -3.08675305e-03 6.99807885e+01] [ 4.17541739e-03 -1.03898083e-04 9.99991278e-01 7.39035582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.03, Y:70.02, Z:0.74 [[ 6.53068620e-01 -7.57293514e-01 -2.81271531e-03 1.54030799e+02] [ 7.57287228e-01 6.53074667e-01 -3.08764247e-03 7.00243022e+01] [ 4.17516473e-03 -1.13590981e-04 9.99991278e-01 7.40715170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.07, Y:70.07, Z:0.74 [[ 6.51350678e-01 -7.58771632e-01 -2.81161103e-03 1.54070918e+02] [ 7.58765355e-01 6.51356735e-01 -3.08864770e-03 7.00667501e+01] [ 4.17494004e-03 -1.21560266e-04 9.99991278e-01 7.40509964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.11, Y:70.11, Z:0.74 [[ 6.51835434e-01 -7.58355238e-01 -2.81060366e-03 1.54110681e+02] [ 7.58348954e-01 6.51841483e-01 -3.08956411e-03 7.01090161e+01] [ 4.17505519e-03 -1.17530987e-04 9.99991278e-01 7.42290541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.15, Y:70.15, Z:0.74 [[ 6.52909252e-01 -7.57430931e-01 -2.80953262e-03 1.54149313e+02] [ 7.57424634e-01 6.52915287e-01 -3.09053777e-03 7.01518189e+01] [ 4.17525570e-03 -1.10168514e-04 9.99991278e-01 7.39416473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.19, Y:70.20, Z:0.74 [[ 6.53939784e-01 -7.56541386e-01 -2.80897901e-03 1.54188557e+02] [ 7.56535079e-01 6.53945808e-01 -3.09104086e-03 7.01950533e+01] [ 4.17542039e-03 -1.03736564e-04 9.99991278e-01 7.39707830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.23, Y:70.24, Z:0.74 [[ 6.55573447e-01 -7.55126196e-01 -2.80798048e-03 1.54227858e+02] [ 7.55119871e-01 6.55579454e-01 -3.09194768e-03 7.02366334e+01] [ 4.17566500e-03 -9.33630588e-05 9.99991278e-01 7.39386181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.27, Y:70.28, Z:0.74 [[ 6.56122714e-01 -7.54648994e-01 -2.80709576e-03 1.54267951e+02] [ 7.54642662e-01 6.56128713e-01 -3.09275069e-03 7.02791886e+01] [ 4.17575733e-03 -8.91302445e-05 9.99991278e-01 7.40091909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.31, Y:70.32, Z:0.74 [[ 6.55316422e-01 -7.55349265e-01 -2.80611186e-03 1.54307201e+02] [ 7.55342935e-01 6.55322424e-01 -3.09364315e-03 7.03207163e+01] [ 4.17568910e-03 -9.22616110e-05 9.99991278e-01 7.40805626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.35, Y:70.36, Z:0.74 [[ 6.53865125e-01 -7.56605927e-01 -2.80523523e-03 1.54346914e+02] [ 7.56599606e-01 6.53871135e-01 -3.09443785e-03 7.03632623e+01] [ 4.17553236e-03 -9.90948796e-05 9.99991278e-01 7.41853092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.39, Y:70.40, Z:0.74 [[ 6.51522669e-01 -7.58623984e-01 -2.80423292e-03 1.54386323e+02] [ 7.58617677e-01 6.51528694e-01 -3.09534589e-03 7.04043763e+01] [ 4.17524184e-03 -1.10652655e-04 9.99991278e-01 7.42132202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.43, Y:70.45, Z:0.74 [[ 6.49153338e-01 -7.60652408e-01 -2.80334131e-03 1.54425537e+02] [ 7.60646116e-01 6.49159379e-01 -3.09615318e-03 7.04473217e+01] [ 4.17491167e-03 -1.22472509e-04 9.99991278e-01 7.39367734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.46, Y:70.49, Z:0.74 [[ 6.47726681e-01 -7.61867635e-01 -2.80229198e-03 1.54464849e+02] [ 7.61861351e-01 6.47732730e-01 -3.09710262e-03 7.04895709e+01] [ 4.17471849e-03 -1.28881948e-04 9.99991278e-01 7.38382577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.50, Y:70.53, Z:0.74 [[ 6.46911531e-01 -7.62559915e-01 -2.80122122e-03 1.54503528e+02] [ 7.62553633e-01 6.46917582e-01 -3.09807079e-03 7.05313458e+01] [ 4.17462386e-03 -1.31903702e-04 9.99991278e-01 7.38757314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.54, Y:70.57, Z:0.74 [[ 6.46628277e-01 -7.62800125e-01 -2.80019312e-03 1.54542874e+02] [ 7.62793841e-01 6.46634327e-01 -3.09899976e-03 7.05731127e+01] [ 4.17461839e-03 -1.32069190e-04 9.99991278e-01 7.39270191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.58, Y:70.62, Z:0.74 [[ 6.47527856e-01 -7.62036639e-01 -2.79946058e-03 1.54581263e+02] [ 7.62030345e-01 6.47533895e-01 -3.09966135e-03 7.06164834e+01] [ 4.17480113e-03 -1.26156839e-04 9.99991278e-01 7.40263575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.62, Y:70.66, Z:0.74 [[ 6.48745782e-01 -7.61000052e-01 -2.79840181e-03 1.54618956e+02] [ 7.60993744e-01 6.48751807e-01 -3.10061693e-03 7.06605823e+01] [ 4.17503787e-03 -1.18054114e-04 9.99991278e-01 7.41663616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.66, Y:70.70, Z:0.74 [[ 6.50521374e-01 -7.59482796e-01 -2.79727165e-03 1.54657077e+02] [ 7.59476470e-01 6.50527379e-01 -3.10163618e-03 7.07034629e+01] [ 4.17534111e-03 -1.06781372e-04 9.99991278e-01 7.41875075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.70, Y:70.75, Z:0.74 [[ 6.52223277e-01 -7.58021753e-01 -2.79636972e-03 1.54695757e+02] [ 7.58015410e-01 6.52229264e-01 -3.10244913e-03 7.07468132e+01] [ 4.17559809e-03 -9.62017998e-05 9.99991278e-01 7.43427328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.73, Y:70.79, Z:0.75 [[ 6.54368435e-01 -7.56170707e-01 -2.79537184e-03 1.54733932e+02] [ 7.56164343e-01 6.54374400e-01 -3.10334798e-03 7.07907430e+01] [ 4.17588060e-03 -8.30275537e-05 9.99991278e-01 7.45254211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.77, Y:70.83, Z:0.75 [[ 6.56342809e-01 -7.54457625e-01 -2.79436155e-03 1.54772527e+02] [ 7.54451242e-01 6.56348754e-01 -3.10425741e-03 7.08342662e+01] [ 4.17610640e-03 -7.07525101e-05 9.99991278e-01 7.45606624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.81, Y:70.88, Z:0.74 [[ 6.56857910e-01 -7.54009207e-01 -2.79336253e-03 1.54809651e+02] [ 7.54002816e-01 6.56863846e-01 -3.10515612e-03 7.08773119e+01] [ 4.17617516e-03 -6.65568547e-05 9.99991278e-01 7.44612578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.85, Y:70.92, Z:0.75 [[ 6.56210055e-01 -7.54573102e-01 -2.79237263e-03 1.54848591e+02] [ 7.54566712e-01 6.56215993e-01 -3.10604605e-03 7.09208229e+01] [ 4.17613838e-03 -6.88127814e-05 9.99991278e-01 7.46560202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.89, Y:70.96, Z:0.75 [[ 6.54773730e-01 -7.55819800e-01 -2.79139902e-03 1.54887394e+02] [ 7.55813418e-01 6.54779676e-01 -3.10692079e-03 7.09637782e+01] [ 4.17602359e-03 -7.54467170e-05 9.99991278e-01 7.47328677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.92, Y:71.01, Z:0.74 [[ 6.52113640e-01 -7.58116095e-01 -2.79040883e-03 1.54924829e+02] [ 7.58109730e-01 6.52119604e-01 -3.10780985e-03 7.10084829e+01] [ 4.17576097e-03 -8.87908887e-05 9.99991278e-01 7.42132890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.96, Y:71.05, Z:0.75 [[ 6.52792675e-01 -7.57531479e-01 -2.78941257e-03 1.54964708e+02] [ 7.57525105e-01 6.52798630e-01 -3.10870378e-03 7.10497042e+01] [ 4.17586568e-03 -8.37109889e-05 9.99991278e-01 7.47297334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.00, Y:71.10, Z:0.74 [[ 6.49040334e-01 -7.60748888e-01 -2.78835193e-03 1.55000721e+02] [ 7.60742539e-01 6.49046315e-01 -3.10965483e-03 7.10952944e+01] [ 4.17543600e-03 -1.02926517e-04 9.99991278e-01 7.42965199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.04, Y:71.14, Z:0.74 [[ 6.49708131e-01 -7.60178647e-01 -2.78719674e-03 1.55040339e+02] [ 7.60172289e-01 6.49714102e-01 -3.11068989e-03 7.11363658e+01] [ 4.17556106e-03 -9.77092083e-05 9.99991278e-01 7.44588518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.08, Y:71.18, Z:0.75 [[ 6.49665542e-01 -7.60215049e-01 -2.78619122e-03 1.55079164e+02] [ 7.60208687e-01 6.49671509e-01 -3.11159026e-03 7.11794548e+01] [ 4.17558679e-03 -9.65937961e-05 9.99991278e-01 7.46140968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.12, Y:71.22, Z:0.75 [[ 6.51044834e-01 -7.59034168e-01 -2.78508251e-03 1.55116622e+02] [ 7.59027791e-01 6.51050785e-01 -3.11258231e-03 7.12218904e+01] [ 4.17578648e-03 -8.75243866e-05 9.99991278e-01 7.45667260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.16, Y:71.27, Z:0.75 [[ 6.53226507e-01 -7.57157434e-01 -2.78418215e-03 1.55155174e+02] [ 7.57151036e-01 6.53232436e-01 -3.11338746e-03 7.12651262e+01] [ 4.17604255e-03 -7.42991849e-05 9.99991278e-01 7.45960200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.19, Y:71.31, Z:0.75 [[ 6.53710142e-01 -7.56739919e-01 -2.78319237e-03 1.55193743e+02] [ 7.56733514e-01 6.53716062e-01 -3.11427203e-03 7.13087844e+01] [ 4.17611152e-03 -7.03037315e-05 9.99991278e-01 7.45611117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.23, Y:71.35, Z:0.75 [[ 6.55144704e-01 -7.55498295e-01 -2.78251919e-03 1.55233466e+02] [ 7.55491877e-01 6.55150610e-01 -3.11487338e-03 7.13517974e+01] [ 4.17625067e-03 -6.14778466e-05 9.99991278e-01 7.47340134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.27, Y:71.39, Z:0.75 [[ 6.54920809e-01 -7.55692396e-01 -2.78143577e-03 1.55273019e+02] [ 7.55685975e-01 6.54926712e-01 -3.11584052e-03 7.13945925e+01] [ 4.17625357e-03 -6.12632129e-05 9.99991278e-01 7.48097257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.31, Y:71.44, Z:0.75 [[ 6.53404313e-01 -7.57004011e-01 -2.78043457e-03 1.55311158e+02] [ 7.56997598e-01 6.53410226e-01 -3.11673369e-03 7.14370192e+01] [ 4.17614428e-03 -6.82950508e-05 9.99991278e-01 7.48082045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.35, Y:71.48, Z:0.75 [[ 6.51951336e-01 -7.58255715e-01 -2.77954268e-03 1.55350488e+02] [ 7.58249310e-01 6.51957257e-01 -3.11752889e-03 7.14799007e+01] [ 4.17602711e-03 -7.51091962e-05 9.99991278e-01 7.47992649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.39, Y:71.52, Z:0.75 [[ 6.49531953e-01 -7.60329219e-01 -2.77857729e-03 1.55390237e+02] [ 7.60322829e-01 6.49537891e-01 -3.11838907e-03 7.15218752e+01] [ 4.17579356e-03 -8.71224039e-05 9.99991278e-01 7.48398924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.43, Y:71.56, Z:0.75 [[ 6.48911361e-01 -7.60858943e-01 -2.77754383e-03 1.55431894e+02] [ 7.60852554e-01 6.48917299e-01 -3.11930930e-03 7.15629802e+01] [ 4.17575062e-03 -8.91460733e-05 9.99991278e-01 7.49882059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.47, Y:71.61, Z:0.75 [[ 6.47865798e-01 -7.61749433e-01 -2.77635946e-03 1.55470921e+02] [ 7.61743048e-01 6.47871740e-01 -3.12036310e-03 7.16056494e+01] [ 4.17565966e-03 -9.32959866e-05 9.99991278e-01 7.46865244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.51, Y:71.65, Z:0.74 [[ 6.46659809e-01 -7.62773482e-01 -2.77603477e-03 1.55508173e+02] [ 7.62767105e-01 6.46665760e-01 -3.12065194e-03 7.16506735e+01] [ 4.17551718e-03 -9.94678117e-05 9.99991278e-01 7.44250245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.55, Y:71.69, Z:0.74 [[ 6.48028914e-01 -7.61610679e-01 -2.77496635e-03 1.55546090e+02] [ 7.61604287e-01 6.48034849e-01 -3.12160172e-03 7.16934110e+01] [ 4.17572010e-03 -9.05380985e-05 9.99991278e-01 7.43976769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.59, Y:71.74, Z:0.74 [[ 6.48184231e-01 -7.61478501e-01 -2.77415892e-03 1.55585195e+02] [ 7.61472105e-01 6.48190161e-01 -3.12231911e-03 7.17367989e+01] [ 4.17576139e-03 -8.86066181e-05 9.99991278e-01 7.42531331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.62, Y:71.78, Z:0.74 [[ 6.51136059e-01 -7.58955955e-01 -2.77316107e-03 1.55623221e+02] [ 7.58949532e-01 6.51141961e-01 -3.12320513e-03 7.17808168e+01] [ 4.17609667e-03 -7.10578157e-05 9.99991278e-01 7.44986768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.66, Y:71.82, Z:0.75 [[ 6.53677460e-01 -7.56768191e-01 -2.77206081e-03 1.55664643e+02] [ 7.56761744e-01 6.53683335e-01 -3.12418138e-03 7.18215280e+01] [ 4.17633104e-03 -5.55826206e-05 9.99991278e-01 7.48661039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.70, Y:71.87, Z:0.75 [[ 6.52166753e-01 -7.58070477e-01 -2.77094427e-03 1.55700308e+02] [ 7.58064037e-01 6.52172637e-01 -3.12517136e-03 7.18677236e+01] [ 4.17623418e-03 -6.24203442e-05 9.99991278e-01 7.47153904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.74, Y:71.91, Z:0.75 [[ 6.50132833e-01 -7.59815519e-01 -2.77049051e-03 1.55737028e+02] [ 7.59809094e-01 6.50138732e-01 -3.12557357e-03 7.19118309e+01] [ 4.17606249e-03 -7.30058855e-05 9.99991278e-01 7.47081950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.78, Y:71.96, Z:0.75 [[ 6.45986486e-01 -7.63343821e-01 -2.76962827e-03 1.55775233e+02] [ 7.63337424e-01 6.45992417e-01 -3.12633743e-03 7.19551341e+01] [ 4.17562922e-03 -9.45891764e-05 9.99991278e-01 7.48670464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.81, Y:72.00, Z:0.75 [[ 6.43459526e-01 -7.65475129e-01 -2.76866016e-03 1.55813632e+02] [ 7.65468749e-01 6.43465473e-01 -3.12719455e-03 7.19989279e+01] [ 4.17532687e-03 -1.07099706e-04 9.99991278e-01 7.49781414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.85, Y:72.04, Z:0.75 [[ 6.41248691e-01 -7.67328128e-01 -2.76770450e-03 1.55850018e+02] [ 7.67321762e-01 6.41254653e-01 -3.12804012e-03 7.20430147e+01] [ 4.17503656e-03 -1.17868261e-04 9.99991278e-01 7.48839773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.89, Y:72.09, Z:0.75 [[ 6.41660000e-01 -7.66984217e-01 -2.76685520e-03 1.55886299e+02] [ 7.66977843e-01 6.41665956e-01 -3.12879118e-03 7.20881392e+01] [ 4.17513023e-03 -1.14496485e-04 9.99991278e-01 7.46673581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.92, Y:72.13, Z:0.75 [[ 6.42973783e-01 -7.65883193e-01 -2.76588723e-03 1.55923289e+02] [ 7.65876805e-01 6.42979723e-01 -3.12964663e-03 7.21315809e+01] [ 4.17535316e-03 -1.06048145e-04 9.99991278e-01 7.45205496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.96, Y:72.18, Z:0.74 [[ 6.45666493e-01 -7.63614519e-01 -2.76502981e-03 1.55961249e+02] [ 7.63608108e-01 6.45672408e-01 -3.13040398e-03 7.21758546e+01] [ 4.17572538e-03 -9.02022277e-05 9.99991278e-01 7.44429566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.00, Y:72.22, Z:0.74 [[ 6.47473003e-01 -7.62083375e-01 -2.76407580e-03 1.55998984e+02] [ 7.62076946e-01 6.47478899e-01 -3.13124612e-03 7.22190101e+01] [ 4.17595137e-03 -7.90411098e-05 9.99991278e-01 7.44831428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.04, Y:72.26, Z:0.75 [[ 6.47975099e-01 -7.61656507e-01 -2.76342670e-03 1.56036798e+02] [ 7.61650072e-01 6.47980987e-01 -3.13181887e-03 7.22615653e+01] [ 4.17601818e-03 -7.54235067e-05 9.99991278e-01 7.46635832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.07, Y:72.30, Z:0.75 [[ 6.46869661e-01 -7.62595574e-01 -2.76250911e-03 1.56074373e+02] [ 7.62589144e-01 6.46875555e-01 -3.13262804e-03 7.23043299e+01] [ 4.17592790e-03 -8.02574211e-05 9.99991278e-01 7.47307578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.11, Y:72.35, Z:0.75 [[ 6.45559291e-01 -7.63705163e-01 -2.76160629e-03 1.56113507e+02] [ 7.63698739e-01 6.45565192e-01 -3.13342374e-03 7.23467295e+01] [ 4.17580878e-03 -8.62244365e-05 9.99991278e-01 7.48288512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.15, Y:72.39, Z:0.75 [[ 6.45406573e-01 -7.63834232e-01 -2.76076998e-03 1.56153586e+02] [ 7.63827807e-01 6.45412471e-01 -3.13416041e-03 7.23890259e+01] [ 4.17581439e-03 -8.59451457e-05 9.99991278e-01 7.48517974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.19, Y:72.43, Z:0.75 [[ 6.44144749e-01 -7.64898638e-01 -2.75974005e-03 1.56192410e+02] [ 7.64892218e-01 6.44150654e-01 -3.13506704e-03 7.24329623e+01] [ 4.17569687e-03 -9.14667219e-05 9.99991278e-01 7.50868887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.23, Y:72.48, Z:0.75 [[ 6.43025910e-01 -7.65839454e-01 -2.75860229e-03 1.56230271e+02] [ 7.65833039e-01 6.43031820e-01 -3.13606786e-03 7.24772739e+01] [ 4.17559355e-03 -9.60558845e-05 9.99991278e-01 7.50788778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.27, Y:72.52, Z:0.75 [[ 6.42983963e-01 -7.65874676e-01 -2.75757408e-03 1.56269878e+02] [ 7.65868258e-01 6.42989869e-01 -3.13697171e-03 7.25201698e+01] [ 4.17561939e-03 -9.49159541e-05 9.99991278e-01 7.51388012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.31, Y:72.56, Z:0.75 [[ 6.43868648e-01 -7.65131078e-01 -2.75656327e-03 1.56307432e+02] [ 7.65124648e-01 6.43874542e-01 -3.13785969e-03 7.25630598e+01] [ 4.17575488e-03 -8.87450257e-05 9.99991278e-01 7.51759568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.34, Y:72.61, Z:0.75 [[ 6.43306039e-01 -7.65604171e-01 -2.75566392e-03 1.56343945e+02] [ 7.65597743e-01 6.43311935e-01 -3.13864930e-03 7.26089987e+01] [ 4.17571448e-03 -9.06180299e-05 9.99991278e-01 7.48756442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.38, Y:72.65, Z:0.75 [[ 6.42993892e-01 -7.65866350e-01 -2.75470329e-03 1.56381866e+02] [ 7.65859921e-01 6.42999786e-01 -3.13949219e-03 7.26529797e+01] [ 4.17570505e-03 -9.10425397e-05 9.99991278e-01 7.50795232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.42, Y:72.70, Z:0.75 [[ 6.42431273e-01 -7.66338357e-01 -2.75362853e-03 1.56419053e+02] [ 7.66331928e-01 6.42437168e-01 -3.14043458e-03 7.26963053e+01] [ 4.17566879e-03 -9.26800761e-05 9.99991278e-01 7.47817590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.46, Y:72.74, Z:0.75 [[ 6.43284315e-01 -7.65622434e-01 -2.75302669e-03 1.56458369e+02] [ 7.65615996e-01 6.43290200e-01 -3.14096208e-03 7.27391927e+01] [ 4.17578612e-03 -8.72296304e-05 9.99991278e-01 7.52273696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.49, Y:72.78, Z:0.75 [[ 6.41413351e-01 -7.67190550e-01 -2.75208222e-03 1.56494997e+02] [ 7.67184123e-01 6.41419247e-01 -3.14178940e-03 7.27849600e+01] [ 4.17558964e-03 -9.61681218e-05 9.99991278e-01 7.49707535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.53, Y:72.83, Z:0.75 [[ 6.41642890e-01 -7.66998588e-01 -2.75097913e-03 1.56533267e+02] [ 7.66992155e-01 6.41648780e-01 -3.14275498e-03 7.28291508e+01] [ 4.17565103e-03 -9.34530251e-05 9.99991278e-01 7.52198683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.57, Y:72.87, Z:0.75 [[ 6.40066692e-01 -7.68314433e-01 -2.74986980e-03 1.56570262e+02] [ 7.68308008e-01 6.40072592e-01 -3.14372533e-03 7.28737606e+01] [ 4.17548583e-03 -1.00553109e-04 9.99991278e-01 7.54121368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.61, Y:72.92, Z:0.76 [[ 6.38844159e-01 -7.69331258e-01 -2.74881011e-03 1.56605875e+02] [ 7.69324839e-01 6.38850064e-01 -3.14465163e-03 7.29206053e+01] [ 4.17535631e-03 -1.05785574e-04 9.99991278e-01 7.56980404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.64, Y:72.96, Z:0.76 [[ 6.39815338e-01 -7.68523768e-01 -2.74780978e-03 1.56642662e+02] [ 7.68517337e-01 6.39821231e-01 -3.14552548e-03 7.29646666e+01] [ 4.17551813e-03 -9.91840105e-05 9.99991278e-01 7.56066458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.68, Y:73.01, Z:0.76 [[ 6.39957215e-01 -7.68405634e-01 -2.74682786e-03 1.56680431e+02] [ 7.68399198e-01 6.39963102e-01 -3.14638270e-03 7.30091611e+01] [ 4.17556668e-03 -9.71100126e-05 9.99991278e-01 7.55866918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.72, Y:73.05, Z:0.76 [[ 6.41072523e-01 -7.67475395e-01 -2.74572534e-03 1.56717967e+02] [ 7.67468947e-01 6.41078396e-01 -3.14734454e-03 7.30538127e+01] [ 4.17573469e-03 -8.95828339e-05 9.99991278e-01 7.55988387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.75, Y:73.10, Z:0.76 [[ 6.40621178e-01 -7.67852182e-01 -2.74463395e-03 1.56754346e+02] [ 7.67845733e-01 6.40627051e-01 -3.14829599e-03 7.30986772e+01] [ 4.17571270e-03 -9.05903762e-05 9.99991278e-01 7.55157595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.79, Y:73.14, Z:0.75 [[ 6.41476628e-01 -7.67137673e-01 -2.74351701e-03 1.56791232e+02] [ 7.67131213e-01 6.41482489e-01 -3.14926902e-03 7.31440712e+01] [ 4.17584103e-03 -8.44550615e-05 9.99991278e-01 7.54441335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.83, Y:73.19, Z:0.75 [[ 6.42348605e-01 -7.66407691e-01 -2.74239593e-03 1.56829133e+02] [ 7.66401220e-01 6.42354455e-01 -3.15024496e-03 7.31878704e+01] [ 4.17596221e-03 -7.82201329e-05 9.99991278e-01 7.54682228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.87, Y:73.23, Z:0.75 [[ 6.42539914e-01 -7.66247312e-01 -2.74137427e-03 1.56866930e+02] [ 7.66240836e-01 6.42545758e-01 -3.15113377e-03 7.32317701e+01] [ 4.17600619e-03 -7.58236952e-05 9.99991278e-01 7.54600966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.062755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:156.90, Y:73.28, Z:0.75 [[ 6.40489522e-01 -7.67962018e-01 -2.74069982e-03 1.56902296e+02] [ 7.67955555e-01 6.40495380e-01 -3.15172027e-03 7.32769586e+01] [ 4.17580703e-03 -8.60918395e-05 9.99991278e-01 7.48284592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.94, Y:73.32, Z:0.75 [[ 6.42813761e-01 -7.66017598e-01 -2.73997035e-03 1.56943335e+02] [ 7.66011115e-01 6.42819597e-01 -3.15235431e-03 7.33180615e+01] [ 4.17606551e-03 -7.24710126e-05 9.99991278e-01 7.51590406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.98, Y:73.36, Z:0.75 [[ 6.44954580e-01 -7.64215996e-01 -2.73891232e-03 1.56983429e+02] [ 7.64209493e-01 6.44960392e-01 -3.15327331e-03 7.33606009e+01] [ 4.17627187e-03 -5.93847318e-05 9.99991278e-01 7.54778671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.02, Y:73.40, Z:0.75 [[ 6.44845799e-01 -7.64307791e-01 -2.73788490e-03 1.57020602e+02] [ 7.64301285e-01 6.44851609e-01 -3.15416513e-03 7.34033024e+01] [ 4.17628247e-03 -5.86188184e-05 9.99991278e-01 7.52517197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.06, Y:73.45, Z:0.75 [[ 6.43595523e-01 -7.65360902e-01 -2.73719683e-03 1.57057305e+02] [ 7.65354403e-01 6.43601341e-01 -3.15476212e-03 7.34477422e+01] [ 4.17619514e-03 -6.45348688e-05 9.99991278e-01 7.54613071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.10, Y:73.49, Z:0.75 [[ 6.44205307e-01 -7.64847721e-01 -2.73610762e-03 1.57095307e+02] [ 7.64841213e-01 6.44211114e-01 -3.15570651e-03 7.34911334e+01] [ 4.17626587e-03 -5.97649935e-05 9.99991278e-01 7.53016190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.13, Y:73.53, Z:0.75 [[ 6.45620209e-01 -7.63653761e-01 -2.73502652e-03 1.57132718e+02] [ 7.63647238e-01 6.45626000e-01 -3.15664322e-03 7.35343427e+01] [ 4.17638669e-03 -5.06027952e-05 9.99991278e-01 7.54730363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.17, Y:73.58, Z:0.75 [[ 6.45390153e-01 -7.63848201e-01 -2.73441257e-03 1.57169443e+02] [ 7.63841678e-01 6.45395943e-01 -3.15717495e-03 7.35774505e+01] [ 4.17638119e-03 -5.10486572e-05 9.99991278e-01 7.53361711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.21, Y:73.62, Z:0.75 [[ 6.46219619e-01 -7.63146600e-01 -2.73346413e-03 1.57209094e+02] [ 7.63140067e-01 6.46225398e-01 -3.15799589e-03 7.36202609e+01] [ 4.17644777e-03 -4.52571022e-05 9.99991278e-01 7.52965474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.25, Y:73.66, Z:0.76 [[ 6.47431279e-01 -7.62118936e-01 -2.73234046e-03 1.57250164e+02] [ 7.62112390e-01 6.47437044e-01 -3.15896781e-03 7.36611575e+01] [ 4.17652762e-03 -3.71359506e-05 9.99991278e-01 7.57027837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66275509599998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:157.28, Y:73.71, Z:0.75 [[ 6.43805697e-01 -7.65184135e-01 -2.73202799e-03 1.57284645e+02] [ 7.65177615e-01 6.43811491e-01 -3.15923802e-03 7.37075877e+01] [ 4.17630983e-03 -5.65512229e-05 9.99991278e-01 7.50408472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.33, Y:73.75, Z:0.76 [[ 6.44882916e-01 -7.64276499e-01 -2.73096773e-03 1.57326256e+02] [ 7.64269967e-01 6.44888697e-01 -3.16015428e-03 7.37482681e+01] [ 4.17640187e-03 -4.92671078e-05 9.99991278e-01 7.59006409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.782755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:157.36, Y:73.79, Z:0.76 [[ 6.44569620e-01 -7.64540746e-01 -2.72987095e-03 1.57363700e+02] [ 7.64534213e-01 6.44575399e-01 -3.16110144e-03 7.37921422e+01] [ 4.17639852e-03 -4.95297850e-05 9.99991278e-01 7.59012780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.40, Y:73.84, Z:0.76 [[ 6.46170053e-01 -7.63188583e-01 -2.72944260e-03 1.57401042e+02] [ 7.63182036e-01 6.46175816e-01 -3.16147126e-03 7.38374671e+01] [ 4.17649857e-03 -4.02135092e-05 9.99991278e-01 7.61105764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.44, Y:73.88, Z:0.76 [[ 6.45272703e-01 -7.63947442e-01 -2.72851623e-03 1.57436623e+02] [ 7.63940898e-01 6.45278470e-01 -3.16227056e-03 7.38818804e+01] [ 4.17646129e-03 -4.38982669e-05 9.99991278e-01 7.58647612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.47, Y:73.93, Z:0.76 [[ 6.45209004e-01 -7.64001243e-01 -2.72790929e-03 1.57470304e+02] [ 7.63994698e-01 6.45214769e-01 -3.16279406e-03 7.39293277e+01] [ 4.17646595e-03 -4.34450279e-05 9.99991278e-01 7.55104183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.51, Y:73.98, Z:0.76 [[ 6.45385150e-01 -7.63852455e-01 -2.72691433e-03 1.57505658e+02] [ 7.63845904e-01 6.45390910e-01 -3.16365166e-03 7.39759488e+01] [ 4.17648880e-03 -4.11685427e-05 9.99991278e-01 7.58235337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.54, Y:74.02, Z:0.76 [[ 6.45449288e-01 -7.63798263e-01 -2.72577117e-03 1.57540689e+02] [ 7.63791708e-01 6.45455043e-01 -3.16463629e-03 7.40208035e+01] [ 4.17650645e-03 -3.93091733e-05 9.99991278e-01 7.56479664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.58, Y:74.07, Z:0.75 [[ 6.45704472e-01 -7.63582548e-01 -2.72509705e-03 1.57576633e+02] [ 7.63575989e-01 6.45710222e-01 -3.16521668e-03 7.40658296e+01] [ 4.17652723e-03 -3.70241081e-05 9.99991278e-01 7.54822869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.61, Y:74.11, Z:0.75 [[ 6.43802535e-01 -7.65186825e-01 -2.72395386e-03 1.57612305e+02] [ 7.65180275e-01 6.43808296e-01 -3.16620018e-03 7.41119059e+01] [ 4.17643876e-03 -4.59080606e-05 9.99991278e-01 7.52213166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.65, Y:74.16, Z:0.75 [[ 6.43221451e-01 -7.65675356e-01 -2.72286493e-03 1.57650502e+02] [ 7.65668807e-01 6.43227213e-01 -3.16713636e-03 7.41559206e+01] [ 4.17641908e-03 -4.76426988e-05 9.99991278e-01 7.54866811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.69, Y:74.20, Z:0.76 [[ 6.37824225e-01 -7.70177155e-01 -2.72178663e-03 1.57685887e+02] [ 7.70170643e-01 6.37830028e-01 -3.16806277e-03 7.42023962e+01] [ 4.17600681e-03 -7.55729826e-05 9.99991278e-01 7.56978134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.72, Y:74.25, Z:0.76 [[ 6.32682587e-01 -7.74406445e-01 -2.72065238e-03 1.57721786e+02] [ 7.74399967e-01 6.32688429e-01 -3.16903654e-03 7.42466062e+01] [ 4.17544759e-03 -1.01878877e-04 9.99991278e-01 7.59843799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.76, Y:74.29, Z:0.76 [[ 6.29410259e-01 -7.77068421e-01 -2.71944550e-03 1.57758651e+02] [ 7.77061964e-01 6.29416123e-01 -3.17007185e-03 7.42917284e+01] [ 4.17502557e-03 -1.17901916e-04 9.99991278e-01 7.61296761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.79, Y:74.34, Z:0.76 [[ 6.28221371e-01 -7.78029897e-01 -2.71829678e-03 1.57794266e+02] [ 7.78023444e-01 6.28227240e-01 -3.17105656e-03 7.43364517e+01] [ 4.17488489e-03 -1.22773126e-04 9.99991278e-01 7.61674752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.83, Y:74.38, Z:0.76 [[ 6.28846958e-01 -7.77524352e-01 -2.71759537e-03 1.57827785e+02] [ 7.77517892e-01 6.28852819e-01 -3.17165756e-03 7.43831268e+01] [ 4.17500850e-03 -1.18491816e-04 9.99991278e-01 7.63338100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.86, Y:74.43, Z:0.76 [[ 6.30153988e-01 -7.76465435e-01 -2.71646601e-03 1.57862521e+02] [ 7.76458961e-01 6.30159833e-01 -3.17262454e-03 7.44303085e+01] [ 4.17524106e-03 -1.09982369e-04 9.99991278e-01 7.59612092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.90, Y:74.47, Z:0.76 [[ 6.31784860e-01 -7.75139031e-01 -2.71532568e-03 1.57898631e+02] [ 7.75132541e-01 6.31790687e-01 -3.17360020e-03 7.44747786e+01] [ 4.17549886e-03 -9.97047376e-05 9.99991278e-01 7.61291229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.94, Y:74.52, Z:0.76 [[ 6.32406154e-01 -7.74632227e-01 -2.71465320e-03 1.57935833e+02] [ 7.74625729e-01 6.32411973e-01 -3.17417533e-03 7.45193488e+01] [ 4.17559769e-03 -9.54721979e-05 9.99991278e-01 7.62226568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.97, Y:74.56, Z:0.77 [[ 6.31456609e-01 -7.75406465e-01 -2.71365293e-03 1.57970611e+02] [ 7.75399971e-01 6.31462432e-01 -3.17503025e-03 7.45647147e+01] [ 4.17550886e-03 -9.92725677e-05 9.99991278e-01 7.65818659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.01, Y:74.61, Z:0.77 [[ 6.31945991e-01 -7.75007681e-01 -2.71275961e-03 1.58006580e+02] [ 7.75001180e-01 6.31951807e-01 -3.17579332e-03 7.46108213e+01] [ 4.17559755e-03 -9.54620398e-05 9.99991278e-01 7.66946099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.04, Y:74.66, Z:0.77 [[ 6.31633404e-01 -7.75262465e-01 -2.71176266e-03 1.58043075e+02] [ 7.75255962e-01 6.31639218e-01 -3.17664437e-03 7.46556431e+01] [ 4.17558879e-03 -9.58354668e-05 9.99991278e-01 7.69613693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.08, Y:74.70, Z:0.77 [[ 6.32462099e-01 -7.74586564e-01 -2.71077990e-03 1.58077373e+02] [ 7.74580052e-01 6.32467902e-01 -3.17748279e-03 7.47012657e+01] [ 4.17571675e-03 -9.00786008e-05 9.99991278e-01 7.71109082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.11, Y:74.75, Z:0.77 [[ 6.29366613e-01 -7.77103805e-01 -2.70974283e-03 1.58110119e+02] [ 7.77097313e-01 6.29372437e-01 -3.17836694e-03 7.47496737e+01] [ 4.17535850e-03 -1.05375838e-04 9.99991278e-01 7.65194263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.15, Y:74.79, Z:0.77 [[ 6.30304815e-01 -7.76343033e-01 -2.70858757e-03 1.58148762e+02] [ 7.76336529e-01 6.30310627e-01 -3.17935115e-03 7.47926529e+01] [ 4.17551864e-03 -9.88151325e-05 9.99991278e-01 7.72217620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.18, Y:74.84, Z:0.77 [[ 6.29849749e-01 -7.76712277e-01 -2.70804339e-03 1.58183273e+02] [ 7.76705774e-01 6.29855562e-01 -3.17981459e-03 7.48401796e+01] [ 4.17547722e-03 -1.00547517e-04 9.99991278e-01 7.67237667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.22, Y:74.89, Z:0.77 [[ 6.31216830e-01 -7.75601692e-01 -2.70703189e-03 1.58219605e+02] [ 7.75595176e-01 6.31222628e-01 -3.18067547e-03 7.48850679e+01] [ 4.17567706e-03 -9.18649835e-05 9.99991278e-01 7.66913877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.26, Y:74.93, Z:0.77 [[ 6.33495905e-01 -7.73741311e-01 -2.70595416e-03 1.58256336e+02] [ 7.73734774e-01 6.33501679e-01 -3.18159208e-03 7.49292172e+01] [ 4.17595573e-03 -7.81652805e-05 9.99991278e-01 7.69527812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.29, Y:74.97, Z:0.77 [[ 6.35106196e-01 -7.72420095e-01 -2.70491194e-03 1.58292044e+02] [ 7.72413542e-01 6.35111953e-01 -3.18247790e-03 7.49735133e+01] [ 4.17613179e-03 -6.80991740e-05 9.99991278e-01 7.71285737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.402755096 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:158.33, Y:75.02, Z:0.77 [[ 6.36584355e-01 -7.71202338e-01 -2.70401168e-03 1.58328208e+02] [ 7.71195771e-01 6.36590096e-01 -3.18324263e-03 7.50189519e+01] [ 4.17627121e-03 -5.89199141e-05 9.99991278e-01 7.71994269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.37, Y:75.06, Z:0.77 [[ 6.36346672e-01 -7.71398475e-01 -2.70299196e-03 1.58365862e+02] [ 7.71391906e-01 6.36352410e-01 -3.18410827e-03 7.50630798e+01] [ 4.17627171e-03 -5.88694170e-05 9.99991278e-01 7.73192315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.40, Y:75.11, Z:0.77 [[ 6.34774246e-01 -7.72692925e-01 -2.70199484e-03 1.58403401e+02] [ 7.72686364e-01 6.34779993e-01 -3.18495419e-03 7.51074153e+01] [ 4.17616383e-03 -6.60676725e-05 9.99991278e-01 7.73850387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.44, Y:75.15, Z:0.77 [[ 6.32898174e-01 -7.74230331e-01 -2.70099894e-03 1.58440967e+02] [ 7.74223780e-01 6.32903933e-01 -3.18579854e-03 7.51508353e+01] [ 4.17601471e-03 -7.48915367e-05 9.99991278e-01 7.74490761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.48, Y:75.19, Z:0.77 [[ 6.30360720e-01 -7.76297670e-01 -2.70011165e-03 1.58478711e+02] [ 7.76291135e-01 6.30366497e-01 -3.18655038e-03 7.51946840e+01] [ 4.17577156e-03 -8.73965463e-05 9.99991278e-01 7.72656390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.52, Y:75.24, Z:0.77 [[ 6.27851107e-01 -7.78328789e-01 -2.69903028e-03 1.58516992e+02] [ 7.78322268e-01 6.27856900e-01 -3.18746605e-03 7.52384966e+01] [ 4.17550137e-03 -9.94612820e-05 9.99991278e-01 7.73414603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.55, Y:75.28, Z:0.77 [[ 6.26757847e-01 -7.79209421e-01 -2.69789718e-03 1.58554681e+02] [ 7.79202905e-01 6.26763645e-01 -3.18842482e-03 7.52829592e+01] [ 4.17539453e-03 -1.03839047e-04 9.99991278e-01 7.73085910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.59, Y:75.33, Z:0.77 [[ 6.26587906e-01 -7.79346087e-01 -2.69679454e-03 1.58592319e+02] [ 7.79339568e-01 6.26593701e-01 -3.18935717e-03 7.53273137e+01] [ 4.17540750e-03 -1.03306059e-04 9.99991278e-01 7.73141228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.63, Y:75.37, Z:0.77 [[ 6.28789054e-01 -7.77571256e-01 -2.69578853e-03 1.58631780e+02] [ 7.77564717e-01 6.28794826e-01 -3.19020727e-03 7.53700026e+01] [ 4.17571135e-03 -9.01826336e-05 9.99991278e-01 7.70216481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.67, Y:75.42, Z:0.77 [[ 6.28545260e-01 -7.77768343e-01 -2.69468775e-03 1.58668314e+02] [ 7.77761802e-01 6.28551030e-01 -3.19113680e-03 7.54157607e+01] [ 4.17571394e-03 -9.00512937e-05 9.99991278e-01 7.68866603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.71, Y:75.46, Z:0.77 [[ 6.30419109e-01 -7.76250276e-01 -2.69358857e-03 1.58705601e+02] [ 7.76243717e-01 6.30424858e-01 -3.19206433e-03 7.54599725e+01] [ 4.17594601e-03 -7.85428597e-05 9.99991278e-01 7.69082927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.74, Y:75.50, Z:0.77 [[ 6.32544952e-01 -7.74518970e-01 -2.69238867e-03 1.58742524e+02] [ 7.74512391e-01 6.32550679e-01 -3.19307608e-03 7.55028210e+01] [ 4.17617028e-03 -6.55242326e-05 9.99991278e-01 7.68354518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.78, Y:75.55, Z:0.78 [[ 6.35440400e-01 -7.72145229e-01 -2.69158085e-03 1.58781118e+02] [ 7.72138625e-01 6.35446098e-01 -3.19375688e-03 7.55458557e+01] [ 4.17639869e-03 -4.88313909e-05 9.99991278e-01 7.75255433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.82, Y:75.59, Z:0.77 [[ 6.35397740e-01 -7.72180337e-01 -2.69059663e-03 1.58817608e+02] [ 7.72173730e-01 6.35403435e-01 -3.19458583e-03 7.55910255e+01] [ 4.17641070e-03 -4.77754215e-05 9.99991278e-01 7.71367997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.86, Y:75.63, Z:0.78 [[ 6.37055267e-01 -7.70813436e-01 -2.68949730e-03 1.58855891e+02] [ 7.70806813e-01 6.37060943e-01 -3.19551107e-03 7.56330643e+01] [ 4.17651656e-03 -3.73656854e-05 9.99991278e-01 7.75947195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.89, Y:75.68, Z:0.78 [[ 6.36318375e-01 -7.71421867e-01 -2.68848692e-03 1.58894429e+02] [ 7.71415246e-01 6.36324054e-01 -3.19636092e-03 7.56762019e+01] [ 4.17649160e-03 -4.00366094e-05 9.99991278e-01 7.77703092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.93, Y:75.72, Z:0.78 [[ 6.33143296e-01 -7.74029938e-01 -2.68737970e-03 1.58933126e+02] [ 7.74023337e-01 6.33148997e-01 -3.19729155e-03 7.57180182e+01] [ 4.17631114e-03 -5.57508902e-05 9.99991278e-01 7.76202448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.97, Y:75.76, Z:0.78 [[ 6.30734763e-01 -7.75993842e-01 -2.68622342e-03 1.58972173e+02] [ 7.75987254e-01 6.30740480e-01 -3.19826272e-03 7.57615155e+01] [ 4.17614202e-03 -6.72196591e-05 9.99991278e-01 7.77538804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.01, Y:75.80, Z:0.77 [[ 6.27745061e-01 -7.78414367e-01 -2.68523490e-03 1.59011792e+02] [ 7.78407798e-01 6.27750799e-01 -3.19909245e-03 7.58039848e+01] [ 4.17587788e-03 -8.19933002e-05 9.99991278e-01 7.74294033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.05, Y:75.85, Z:0.77 [[ 6.25512554e-01 -7.80209485e-01 -2.68426439e-03 1.59050975e+02] [ 7.80202928e-01 6.25518306e-01 -3.19990658e-03 7.58455193e+01] [ 4.17565397e-03 -9.26892001e-05 9.99991278e-01 7.72177468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.09, Y:75.89, Z:0.77 [[ 6.24404632e-01 -7.81096445e-01 -2.68316267e-03 1.59091357e+02] [ 7.81089893e-01 6.24410389e-01 -3.20083012e-03 7.58880311e+01] [ 4.17555167e-03 -9.71780912e-05 9.99991278e-01 7.73084318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66275509599998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:159.13, Y:75.93, Z:0.77 [[ 6.24584821e-01 -7.80952373e-01 -2.68199915e-03 1.59130402e+02] [ 7.80945815e-01 6.24590572e-01 -3.20180474e-03 7.59314001e+01] [ 4.17560839e-03 -9.46973750e-05 9.99991278e-01 7.72931565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.17, Y:75.97, Z:0.77 [[ 6.25282677e-01 -7.80393738e-01 -2.68096746e-03 1.59169847e+02] [ 7.80387171e-01 6.25288418e-01 -3.20266837e-03 7.59734511e+01] [ 4.17572024e-03 -8.96195665e-05 9.99991278e-01 7.73384452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.21, Y:76.02, Z:0.77 [[ 6.25796475e-01 -7.79981788e-01 -2.67994494e-03 1.59210420e+02] [ 7.79975214e-01 6.25802208e-01 -3.20352377e-03 7.60157354e+01] [ 4.17580566e-03 -8.55367439e-05 9.99991278e-01 7.73565302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.25, Y:76.06, Z:0.77 [[ 6.26577075e-01 -7.79354857e-01 -2.67893956e-03 1.59251064e+02] [ 7.79348273e-01 6.26582797e-01 -3.20436429e-03 7.60566944e+01] [ 4.17591432e-03 -8.00457172e-05 9.99991278e-01 7.74707114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.29, Y:76.10, Z:0.78 [[ 6.27675856e-01 -7.78470197e-01 -2.67826111e-03 1.59292058e+02] [ 7.78463603e-01 6.27681565e-01 -3.20493126e-03 7.60976388e+01] [ 4.17603859e-03 -7.32708211e-05 9.99991278e-01 7.75932742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.33, Y:76.14, Z:0.78 [[ 6.28417178e-01 -7.77871894e-01 -2.67728995e-03 1.59333539e+02] [ 7.77865291e-01 6.28422877e-01 -3.20574232e-03 7.61387117e+01] [ 4.17612711e-03 -6.80273820e-05 9.99991278e-01 7.76790805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.37, Y:76.18, Z:0.78 [[ 6.29591725e-01 -7.76921552e-01 -2.67630861e-03 1.59374064e+02] [ 7.76914937e-01 6.29597410e-01 -3.20656139e-03 7.61807572e+01] [ 4.17624362e-03 -6.04396180e-05 9.99991278e-01 7.77636329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.41, Y:76.22, Z:0.78 [[ 6.28701268e-01 -7.77642308e-01 -2.67525953e-03 1.59413330e+02] [ 7.77635696e-01 6.28706956e-01 -3.20743640e-03 7.62221664e+01] [ 4.17619252e-03 -6.38579738e-05 9.99991278e-01 7.78841327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.45, Y:76.27, Z:0.78 [[ 6.32380926e-01 -7.74652963e-01 -2.67414454e-03 1.59449276e+02] [ 7.74646320e-01 6.32386578e-01 -3.20836574e-03 7.62678800e+01] [ 4.17646314e-03 -4.26069336e-05 9.99991278e-01 7.78770043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.49, Y:76.31, Z:0.78 [[ 6.35400852e-01 -7.72177837e-01 -2.67312827e-03 1.59486590e+02] [ 7.72171169e-01 6.35406474e-01 -3.20921225e-03 7.63126029e+01] [ 4.17660558e-03 -2.49763802e-05 9.99991278e-01 7.76696935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.52, Y:76.36, Z:0.78 [[ 6.37075513e-01 -7.70796764e-01 -2.67201676e-03 1.59524362e+02] [ 7.70790079e-01 6.37081116e-01 -3.21013743e-03 7.63563837e+01] [ 4.17665496e-03 -1.44640657e-05 9.99991278e-01 7.76602845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.56, Y:76.40, Z:0.78 [[ 6.36527067e-01 -7.71249739e-01 -2.67091274e-03 1.59560199e+02] [ 7.71243054e-01 6.36532670e-01 -3.21105574e-03 7.64026065e+01] [ 4.17664912e-03 -1.59990052e-05 9.99991278e-01 7.75869745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.60, Y:76.45, Z:0.77 [[ 6.33757512e-01 -7.73527173e-01 -2.66989739e-03 1.59596170e+02] [ 7.73520505e-01 6.33763135e-01 -3.21189975e-03 7.64489429e+01] [ 4.17657427e-03 -2.96547839e-05 9.99991278e-01 7.73788078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.63, Y:76.49, Z:0.78 [[ 6.31852491e-01 -7.75084064e-01 -2.66896647e-03 1.59633580e+02] [ 7.75077407e-01 6.31858127e-01 -3.21267312e-03 7.64929712e+01] [ 4.17649989e-03 -3.87200980e-05 9.99991278e-01 7.75051578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.67, Y:76.54, Z:0.78 [[ 6.28288347e-01 -7.77975986e-01 -2.66802192e-03 1.59669462e+02] [ 7.77969352e-01 6.28294009e-01 -3.21345735e-03 7.65367721e+01] [ 4.17629484e-03 -5.66614811e-05 9.99991278e-01 7.78484512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.71, Y:76.58, Z:0.78 [[ 6.25594327e-01 -7.80143977e-01 -2.66709064e-03 1.59705673e+02] [ 7.80137359e-01 6.25600008e-01 -3.21423010e-03 7.65817661e+01] [ 4.17609418e-03 -6.98929300e-05 9.99991278e-01 7.79211662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.74, Y:76.63, Z:0.78 [[ 6.24023090e-01 -7.81401353e-01 -2.66612731e-03 1.59742522e+02] [ 7.81394743e-01 6.24028781e-01 -3.21502897e-03 7.66265818e+01] [ 4.17596816e-03 -7.70455517e-05 9.99991278e-01 7.79543452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.78, Y:76.67, Z:0.78 [[ 6.22330046e-01 -7.82750414e-01 -2.66512853e-03 1.59779161e+02] [ 7.82743812e-01 6.22335747e-01 -3.21585670e-03 7.66708449e+01] [ 4.17581792e-03 -8.47886115e-05 9.99991278e-01 7.79823307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.82, Y:76.72, Z:0.78 [[ 6.21318954e-01 -7.83553226e-01 -2.66445662e-03 1.59815895e+02] [ 7.83546630e-01 6.21324660e-01 -3.21641331e-03 7.67155122e+01] [ 4.17572363e-03 -8.93074550e-05 9.99991278e-01 7.80804132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.802755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:159.85, Y:76.76, Z:0.78 [[ 6.20480871e-01 -7.84217058e-01 -2.66349724e-03 1.59853684e+02] [ 7.84210465e-01 6.20486581e-01 -3.21720757e-03 7.67592220e+01] [ 4.17565335e-03 -9.25266546e-05 9.99991278e-01 7.77721280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.862755096 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:159.89, Y:76.80, Z:0.78 [[ 6.17850649e-01 -7.86290968e-01 -2.66244305e-03 1.59889780e+02] [ 7.86284390e-01 6.17856376e-01 -3.21807974e-03 7.68040078e+01] [ 4.17535445e-03 -1.05144754e-04 9.99991278e-01 7.78337834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.93, Y:76.85, Z:0.78 [[ 6.16110290e-01 -7.87655400e-01 -2.66132039e-03 1.59925896e+02] [ 7.87648830e-01 6.16116027e-01 -3.21900790e-03 7.68494048e+01] [ 4.17515110e-03 -1.12922004e-04 9.99991278e-01 7.78871773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.96, Y:76.90, Z:0.78 [[ 6.14011848e-01 -7.89292325e-01 -2.66022412e-03 1.59961035e+02] [ 7.89285766e-01 6.14017598e-01 -3.21991362e-03 7.68951756e+01] [ 4.17487753e-03 -1.22611920e-04 9.99991278e-01 7.82856614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04275509599998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:160.00, Y:76.94, Z:0.78 [[ 6.13885282e-01 -7.89390771e-01 -2.65923620e-03 1.59997352e+02] [ 7.89384210e-01 6.13891029e-01 -3.22072930e-03 7.69401990e+01] [ 4.17489524e-03 -1.22000752e-04 9.99991278e-01 7.82935538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.03, Y:76.99, Z:0.78 [[ 6.15836852e-01 -7.87869218e-01 -2.65825948e-03 1.60032544e+02] [ 7.87862640e-01 6.15842579e-01 -3.22153525e-03 7.69863907e+01] [ 4.17521783e-03 -1.10403211e-04 9.99991278e-01 7.83753016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.07, Y:77.03, Z:0.78 [[ 6.19040662e-01 -7.85354441e-01 -2.65723222e-03 1.60067373e+02] [ 7.85347836e-01 6.19046358e-01 -3.22238235e-03 7.70313060e+01] [ 4.17566221e-03 -9.20658710e-05 9.99991278e-01 7.83318765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.10, Y:77.08, Z:0.78 [[ 6.20291747e-01 -7.84366683e-01 -2.65631838e-03 1.60103908e+02] [ 7.84360065e-01 6.20297428e-01 -3.22313548e-03 7.70767093e+01] [ 4.17582754e-03 -8.42257165e-05 9.99991278e-01 7.83927359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.14, Y:77.12, Z:0.79 [[ 6.23115986e-01 -7.82124937e-01 -2.65531923e-03 1.60142834e+02] [ 7.82118296e-01 6.23121640e-01 -3.22395840e-03 7.71194430e+01] [ 4.17612513e-03 -6.78737304e-05 9.99991278e-01 7.85264518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.18, Y:77.17, Z:0.79 [[ 6.21347257e-01 -7.83530817e-01 -2.65426259e-03 1.60176893e+02] [ 7.83524185e-01 6.21352921e-01 -3.22482809e-03 7.71655065e+01] [ 4.17598600e-03 -7.59408504e-05 9.99991278e-01 7.85188816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.21, Y:77.21, Z:0.79 [[ 6.20723424e-01 -7.84025121e-01 -2.65331624e-03 1.60213943e+02] [ 7.84018490e-01 6.20729090e-01 -3.22560654e-03 7.72106647e+01] [ 4.17594713e-03 -7.80394570e-05 9.99991278e-01 7.85855089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.25, Y:77.26, Z:0.79 [[ 6.19779616e-01 -7.84771427e-01 -2.65230366e-03 1.60251180e+02] [ 7.84764799e-01 6.19785285e-01 -3.22643893e-03 7.72557079e+01] [ 4.17587587e-03 -8.17534683e-05 9.99991278e-01 7.85022953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.29, Y:77.30, Z:0.78 [[ 6.19146993e-01 -7.85270636e-01 -2.65125406e-03 1.60287895e+02] [ 7.85264008e-01 6.19152664e-01 -3.22730119e-03 7.72996645e+01] [ 4.17583587e-03 -8.37605590e-05 9.99991278e-01 7.84586537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.32, Y:77.34, Z:0.78 [[ 6.18747729e-01 -7.85585274e-01 -2.65031312e-03 1.60324463e+02] [ 7.85578647e-01 6.18753400e-01 -3.22807371e-03 7.73437460e+01] [ 4.17581743e-03 -8.46661159e-05 9.99991278e-01 7.84178554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.642755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:160.36, Y:77.39, Z:0.78 [[ 6.18105727e-01 -7.86090512e-01 -2.64919927e-03 1.60361199e+02] [ 7.86083885e-01 6.18111398e-01 -3.22898756e-03 7.73888760e+01] [ 4.17577675e-03 -8.66371512e-05 9.99991278e-01 7.83000403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.40, Y:77.43, Z:0.79 [[ 6.17419502e-01 -7.86629612e-01 -2.64807619e-03 1.60397619e+02] [ 7.86622986e-01 6.17425175e-01 -3.22990833e-03 7.74327674e+01] [ 4.17573044e-03 -8.88292070e-05 9.99991278e-01 7.85711770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.44, Y:77.48, Z:0.79 [[ 6.17501211e-01 -7.86565477e-01 -2.64688414e-03 1.60435823e+02] [ 7.86558846e-01 6.17506877e-01 -3.23088491e-03 7.74769534e+01] [ 4.17577169e-03 -8.68547893e-05 9.99991278e-01 7.86289512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.47, Y:77.52, Z:0.78 [[ 6.18511143e-01 -7.85771573e-01 -2.64589247e-03 1.60473390e+02] [ 7.85764932e-01 6.18516797e-01 -3.23169682e-03 7.75204548e+01] [ 4.17590444e-03 -8.02090227e-05 9.99991278e-01 7.84648404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88275509599998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:160.51, Y:77.56, Z:0.78 [[ 6.18941018e-01 -7.85433015e-01 -2.64485553e-03 1.60510832e+02] [ 7.85426367e-01 6.18946664e-01 -3.23254525e-03 7.75642498e+01] [ 4.17597227e-03 -7.65844231e-05 9.99991278e-01 7.81516064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94275509599998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:160.55, Y:77.61, Z:0.78 [[ 6.21801594e-01 -7.83170344e-01 -2.64391911e-03 1.60546518e+02] [ 7.83163672e-01 6.21807212e-01 -3.23331097e-03 7.76098059e+01] [ 4.17624123e-03 -6.01434776e-05 9.99991278e-01 7.84727690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.59, Y:77.65, Z:0.79 [[ 6.29016509e-01 -7.77387450e-01 -2.64295681e-03 1.60587814e+02] [ 7.77380723e-01 6.29022061e-01 -3.23409737e-03 7.76518405e+01] [ 4.17662485e-03 -2.02830370e-05 9.99991278e-01 7.91193878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.062755096 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:160.62, Y:77.70, Z:0.78 [[ 6.27557817e-01 -7.78565480e-01 -2.64200190e-03 1.60618898e+02] [ 7.78558760e-01 6.27563377e-01 -3.23487728e-03 7.77006323e+01] [ 4.17658741e-03 -2.68811995e-05 9.99991278e-01 7.82569537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.65, Y:77.75, Z:0.79 [[ 6.27599221e-01 -7.78532106e-01 -2.64138205e-03 1.60653645e+02] [ 7.78525384e-01 6.27604779e-01 -3.23538332e-03 7.77461143e+01] [ 4.17659379e-03 -2.58589216e-05 9.99991278e-01 7.85164919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.182755096 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:160.69, Y:77.79, Z:0.78 [[ 6.24236175e-01 -7.81231224e-01 -2.64071487e-03 1.60688955e+02] [ 7.81224523e-01 6.24241759e-01 -3.23592778e-03 7.77922773e+01] [ 4.17645232e-03 -4.30080322e-05 9.99991278e-01 7.82733009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.73, Y:77.84, Z:0.79 [[ 6.19976306e-01 -7.84616092e-01 -2.63975785e-03 1.60726309e+02] [ 7.84609418e-01 6.19981923e-01 -3.23670830e-03 7.78373145e+01] [ 4.17617556e-03 -6.44964145e-05 9.99991278e-01 7.86493292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.76, Y:77.88, Z:0.79 [[ 6.13662142e-01 -7.89564318e-01 -2.63866796e-03 1.60763656e+02] [ 7.89557687e-01 6.13667807e-01 -3.23759657e-03 7.78822946e+01] [ 4.17555631e-03 -9.65901217e-05 9.99991278e-01 7.87408366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.80, Y:77.93, Z:0.79 [[ 6.10890518e-01 -7.91710691e-01 -2.63757554e-03 1.60803592e+02] [ 7.91704075e-01 6.10896202e-01 -3.23848629e-03 7.79256398e+01] [ 4.17522910e-03 -1.09818738e-04 9.99991278e-01 7.94243107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.84, Y:77.97, Z:0.80 [[ 6.08979129e-01 -7.93181863e-01 -2.63669024e-03 1.60842950e+02] [ 7.93175258e-01 6.08984825e-01 -3.23920692e-03 7.79690437e+01] [ 4.17498452e-03 -1.18748054e-04 9.99991278e-01 7.95045353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.88, Y:78.01, Z:0.80 [[ 6.08714160e-01 -7.93385230e-01 -2.63581697e-03 1.60880067e+02] [ 7.93378624e-01 6.08719855e-01 -3.23991736e-03 7.80145098e+01] [ 4.17497670e-03 -1.19017267e-04 9.99991278e-01 7.97570709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.92, Y:78.06, Z:0.80 [[ 6.09885331e-01 -7.92485294e-01 -2.63483219e-03 1.60916689e+02] [ 7.92478675e-01 6.09891012e-01 -3.24071802e-03 7.80591212e+01] [ 4.17518185e-03 -1.11581945e-04 9.99991278e-01 7.97085730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.95, Y:78.10, Z:0.80 [[ 6.13459771e-01 -7.89721579e-01 -2.63371400e-03 1.60952998e+02] [ 7.89714931e-01 6.13465418e-01 -3.24162652e-03 7.81042114e+01] [ 4.17567487e-03 -9.12758095e-05 9.99991278e-01 7.96148769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.99, Y:78.15, Z:0.80 [[ 6.14573242e-01 -7.88855371e-01 -2.63313894e-03 1.60988943e+02] [ 7.88848714e-01 6.14578877e-01 -3.24209357e-03 7.81493492e+01] [ 4.17581449e-03 -8.46443105e-05 9.99991278e-01 7.96152252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.03, Y:78.20, Z:0.80 [[ 6.18523188e-01 -7.85762138e-01 -2.63209076e-03 1.61025248e+02] [ 7.85755449e-01 6.18528785e-01 -3.24294431e-03 7.81957142e+01] [ 4.17620675e-03 -6.23434028e-05 9.99991278e-01 7.96108389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.06, Y:78.24, Z:0.80 [[ 6.20223426e-01 -7.84420792e-01 -2.63113799e-03 1.61060914e+02] [ 7.84414087e-01 6.20229005e-01 -3.24371714e-03 7.82407431e+01] [ 4.17634727e-03 -5.20723391e-05 9.99991278e-01 7.95272566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.10, Y:78.29, Z:0.79 [[ 6.19054195e-01 -7.85343863e-01 -2.63065481e-03 1.61096718e+02] [ 7.85337165e-01 6.19059782e-01 -3.24410895e-03 7.82866027e+01] [ 4.17627365e-03 -5.76717363e-05 9.99991278e-01 7.93983704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.13, Y:78.33, Z:0.79 [[ 6.16380399e-01 -7.87444150e-01 -2.62953579e-03 1.61132372e+02] [ 7.87437467e-01 6.16386004e-01 -3.24501573e-03 7.83315360e+01] [ 4.17607771e-03 -7.04309098e-05 9.99991278e-01 7.93587128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.17, Y:78.38, Z:0.80 [[ 6.12460302e-01 -7.90496976e-01 -2.62853246e-03 1.61167843e+02] [ 7.90490317e-01 6.12465936e-01 -3.24582825e-03 7.83759628e+01] [ 4.17570401e-03 -8.98885060e-05 9.99991278e-01 7.96148547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.21, Y:78.42, Z:0.80 [[ 6.11473100e-01 -7.91260857e-01 -2.62750303e-03 1.61205059e+02] [ 7.91254202e-01 6.11478738e-01 -3.24666136e-03 7.84201128e+01] [ 4.17561829e-03 -9.37767307e-05 9.99991278e-01 7.96231439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.24, Y:78.46, Z:0.79 [[ 6.11328633e-01 -7.91372481e-01 -2.62633974e-03 1.61241595e+02] [ 7.91365823e-01 6.11334268e-01 -3.24760211e-03 7.84639085e+01] [ 4.17563442e-03 -9.30433516e-05 9.99991278e-01 7.94048128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.28, Y:78.51, Z:0.79 [[ 6.12346495e-01 -7.90585149e-01 -2.62540232e-03 1.61278047e+02] [ 7.90578480e-01 6.12352117e-01 -3.24835976e-03 7.85094370e+01] [ 4.17577565e-03 -8.64648657e-05 9.99991278e-01 7.92220416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.31, Y:78.55, Z:0.79 [[ 6.14526595e-01 -7.88891739e-01 -2.62441515e-03 1.61314442e+02] [ 7.88885052e-01 6.14532194e-01 -3.24915711e-03 7.85549797e+01] [ 4.17602081e-03 -7.36684289e-05 9.99991278e-01 7.88684948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.35, Y:78.60, Z:0.79 [[ 6.17307690e-01 -7.86717443e-01 -2.62330864e-03 1.61351002e+02] [ 7.86710731e-01 6.17313261e-01 -3.25005025e-03 7.85993899e+01] [ 4.17627443e-03 -5.75040449e-05 9.99991278e-01 7.90167175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.39, Y:78.64, Z:0.79 [[ 6.18318118e-01 -7.85923552e-01 -2.62213138e-03 1.61388557e+02] [ 7.85916829e-01 6.18323676e-01 -3.25099978e-03 7.86441637e+01] [ 4.17636321e-03 -5.06251100e-05 9.99991278e-01 7.90643642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.42, Y:78.69, Z:0.79 [[ 6.18474454e-01 -7.85800535e-01 -2.62107603e-03 1.61424721e+02] [ 7.85793807e-01 6.18480006e-01 -3.25185042e-03 7.86879105e+01] [ 4.17638891e-03 -4.84388991e-05 9.99991278e-01 7.89915247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.46, Y:78.73, Z:0.79 [[ 6.17056350e-01 -7.86914605e-01 -2.62013925e-03 1.61460994e+02] [ 7.86907885e-01 6.17061910e-01 -3.25260504e-03 7.87338832e+01] [ 4.17631054e-03 -5.47676397e-05 9.99991278e-01 7.91375837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.50, Y:78.78, Z:0.79 [[ 6.15453415e-01 -7.88168912e-01 -2.61911204e-03 1.61497014e+02] [ 7.88162200e-01 6.15458985e-01 -3.25343198e-03 7.87791629e+01] [ 4.17620998e-03 -6.19492843e-05 9.99991278e-01 7.92296631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.53, Y:78.82, Z:0.79 [[ 6.11803854e-01 -7.91005177e-01 -2.61806796e-03 1.61534235e+02] [ 7.90998487e-01 6.11809450e-01 -3.25427194e-03 7.88236032e+01] [ 4.17590467e-03 -7.99116804e-05 9.99991278e-01 7.92552167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.57, Y:78.87, Z:0.79 [[ 6.07685971e-01 -7.94173099e-01 -2.61702158e-03 1.61570072e+02] [ 7.94166435e-01 6.07691598e-01 -3.25511320e-03 7.88698223e+01] [ 4.17546537e-03 -1.00264069e-04 9.99991278e-01 7.89651866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.60, Y:78.92, Z:0.79 [[ 6.04986853e-01 -7.96231162e-01 -2.61596499e-03 1.61604967e+02] [ 7.96224513e-01 6.04992498e-01 -3.25596211e-03 7.89151495e+01] [ 4.17513769e-03 -1.13081180e-04 9.99991278e-01 7.92644960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.64, Y:78.96, Z:0.79 [[ 6.03202597e-01 -7.97583718e-01 -2.61524681e-03 1.61639337e+02] [ 7.97577079e-01 6.03208254e-01 -3.25653886e-03 7.89615791e+01] [ 4.17490083e-03 -1.21508215e-04 9.99991278e-01 7.92810117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.67, Y:79.01, Z:0.79 [[ 6.01697525e-01 -7.98719760e-01 -2.61420261e-03 1.61674124e+02] [ 7.98713128e-01 6.01703190e-01 -3.25737688e-03 7.90085205e+01] [ 4.17470533e-03 -1.28042340e-04 9.99991278e-01 7.92605895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.71, Y:79.06, Z:0.79 [[ 6.00924191e-01 -7.99301750e-01 -2.61317671e-03 1.61707209e+02] [ 7.99295120e-01 6.00929859e-01 -3.25819969e-03 7.90561686e+01] [ 4.17462062e-03 -1.30768378e-04 9.99991278e-01 7.87871134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.74, Y:79.10, Z:0.79 [[ 6.01282082e-01 -7.99032561e-01 -2.61214955e-03 1.61741771e+02] [ 7.99025925e-01 6.01287743e-01 -3.25902296e-03 7.91029281e+01] [ 4.17471897e-03 -1.27583100e-04 9.99991278e-01 7.88696080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.78, Y:79.15, Z:0.79 [[ 6.02759663e-01 -7.97918524e-01 -2.61103024e-03 1.61776562e+02] [ 7.97911874e-01 6.02765306e-01 -3.25991947e-03 7.91478957e+01] [ 4.17498858e-03 -1.18424071e-04 9.99991278e-01 7.91711288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.81, Y:79.19, Z:0.79 [[ 6.04753630e-01 -7.96408334e-01 -2.60985986e-03 1.61810708e+02] [ 7.96401666e-01 6.04759253e-01 -3.26085621e-03 7.91938427e+01] [ 4.17530996e-03 -1.06482108e-04 9.99991278e-01 7.92221489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10275509599998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:161.84, Y:79.24, Z:0.79 [[ 6.03963506e-01 -7.97007703e-01 -2.60867020e-03 1.61843326e+02] [ 7.97001036e-01 6.03969130e-01 -3.26180765e-03 7.92406088e+01] [ 4.17524209e-03 -1.09100072e-04 9.99991278e-01 7.92950685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.88, Y:79.29, Z:0.79 [[ 6.03773698e-01 -7.97151505e-01 -2.60749407e-03 1.61878349e+02] [ 7.97144835e-01 6.03779319e-01 -3.26274758e-03 7.92874123e+01] [ 4.17525514e-03 -1.08589256e-04 9.99991278e-01 7.94568284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.91, Y:79.33, Z:0.80 [[ 6.01096177e-01 -7.99172442e-01 -2.60648019e-03 1.61913616e+02] [ 7.99165787e-01 6.01101816e-01 -3.26355732e-03 7.93335834e+01] [ 4.17490505e-03 -1.21297965e-04 9.99991278e-01 7.95849716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.95, Y:79.38, Z:0.80 [[ 5.97011772e-01 -8.02228245e-01 -2.60543447e-03 1.61949731e+02] [ 8.02221615e-01 5.97017440e-01 -3.26439195e-03 7.93794426e+01] [ 4.17427724e-03 -1.41255424e-04 9.99991278e-01 7.96513666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.98, Y:79.42, Z:0.80 [[ 5.93517674e-01 -8.04816742e-01 -2.60439914e-03 1.61984843e+02] [ 8.04810134e-01 5.93523367e-01 -3.26521775e-03 7.94240062e+01] [ 4.17367366e-03 -1.58082379e-04 9.99991278e-01 7.96558457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.02, Y:79.47, Z:0.80 [[ 5.92379727e-01 -8.05654691e-01 -2.60348138e-03 1.62020745e+02] [ 8.05648088e-01 5.92385425e-01 -3.26594935e-03 7.94692543e+01] [ 4.17349184e-03 -1.62807615e-04 9.99991278e-01 7.95906309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.462755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:162.06, Y:79.51, Z:0.79 [[ 5.93097187e-01 -8.05126669e-01 -2.60246074e-03 1.62056957e+02] [ 8.05120057e-01 5.93102876e-01 -3.26676245e-03 7.95148160e+01] [ 4.17368452e-03 -1.57785719e-04 9.99991278e-01 7.94860977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.09, Y:79.56, Z:0.79 [[ 5.94692382e-01 -8.03949130e-01 -2.60145578e-03 1.62093638e+02] [ 8.03942503e-01 5.94698054e-01 -3.26756254e-03 7.95598253e+01] [ 4.17403475e-03 -1.48226323e-04 9.99991278e-01 7.94075840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.13, Y:79.60, Z:0.79 [[ 5.96660228e-01 -8.02489757e-01 -2.60041414e-03 1.62129071e+02] [ 8.02483113e-01 5.96665879e-01 -3.26839129e-03 7.96040017e+01] [ 4.17442892e-03 -1.36669337e-04 9.99991278e-01 7.93029013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.17, Y:79.65, Z:0.79 [[ 5.99422982e-01 -8.00428218e-01 -2.59948229e-03 1.62166062e+02] [ 8.00421551e-01 5.99428606e-01 -3.26913226e-03 7.96493267e+01] [ 4.17490976e-03 -1.21088640e-04 9.99991278e-01 7.93177520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.21, Y:79.69, Z:0.80 [[ 6.03637670e-01 -7.97254546e-01 -2.59851954e-03 1.62206695e+02] [ 7.97247846e-01 6.03643255e-01 -3.26989734e-03 7.96909750e+01] [ 4.17551931e-03 -9.78308945e-05 9.99991278e-01 7.96264784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.24, Y:79.74, Z:0.80 [[ 6.02946690e-01 -7.97777251e-01 -2.59743357e-03 1.62243486e+02] [ 7.97770553e-01 6.02952276e-01 -3.27075975e-03 7.97363745e+01] [ 4.17546621e-03 -1.00062251e-04 9.99991278e-01 7.97062796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.28, Y:79.78, Z:0.80 [[ 6.01499002e-01 -7.98869332e-01 -2.59632657e-03 1.62280436e+02] [ 7.98862640e-01 6.01504596e-01 -3.27163825e-03 7.97801164e+01] [ 4.17531383e-03 -1.06221154e-04 9.99991278e-01 7.97120515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.32, Y:79.82, Z:0.80 [[ 5.99887293e-01 -8.00080308e-01 -2.59534099e-03 1.62317809e+02] [ 8.00073624e-01 5.99892896e-01 -3.27241991e-03 7.98241696e+01] [ 4.17512535e-03 -1.13380752e-04 9.99991278e-01 7.96133807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.35, Y:79.87, Z:0.80 [[ 5.98885617e-01 -8.00830374e-01 -2.59427539e-03 1.62354107e+02] [ 8.00823693e-01 5.98891224e-01 -3.27326447e-03 7.98693863e+01] [ 4.17501837e-03 -1.17246189e-04 9.99991278e-01 7.95926569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.39, Y:79.91, Z:0.80 [[ 6.00112362e-01 -7.99911513e-01 -2.59322495e-03 1.62391908e+02] [ 7.99904820e-01 6.00117955e-01 -3.27409646e-03 7.99132390e+01] [ 4.17522831e-03 -1.09507376e-04 9.99991278e-01 7.96861231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.43, Y:79.96, Z:0.80 [[ 6.01690180e-01 -7.98725364e-01 -2.59212459e-03 1.62426789e+02] [ 7.98718657e-01 6.01695756e-01 -3.27496739e-03 7.99580218e+01] [ 4.17546989e-03 -9.98625445e-05 9.99991278e-01 7.96400040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.46, Y:80.00, Z:0.80 [[ 6.04029943e-01 -7.96957411e-01 -2.59114846e-03 1.62464254e+02] [ 7.96950683e-01 6.04035494e-01 -3.27573952e-03 8.00026765e+01] [ 4.17577053e-03 -8.63727848e-05 9.99991278e-01 7.95807986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.50, Y:80.05, Z:0.80 [[ 6.06950048e-01 -7.94735761e-01 -2.59006352e-03 1.62499693e+02] [ 7.94729010e-01 6.06955571e-01 -3.27659714e-03 8.00478893e+01] [ 4.17608240e-03 -6.96678261e-05 9.99991278e-01 7.95894760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.54, Y:80.09, Z:0.80 [[ 6.08833555e-01 -7.93293767e-01 -2.58891044e-03 1.62535216e+02] [ 7.93286998e-01 6.08839056e-01 -3.27750796e-03 8.00930497e+01] [ 4.17625642e-03 -5.82921677e-05 9.99991278e-01 7.95617711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.57, Y:80.14, Z:0.80 [[ 6.08965925e-01 -7.93192162e-01 -2.58776898e-03 1.62570885e+02] [ 7.93185389e-01 6.08971420e-01 -3.27840895e-03 8.01389568e+01] [ 4.17628564e-03 -5.61412108e-05 9.99991278e-01 7.95513402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.61, Y:80.18, Z:0.79 [[ 6.08438313e-01 -7.93596956e-01 -2.58666361e-03 1.62605927e+02] [ 7.93590183e-01 6.08443809e-01 -3.27928086e-03 8.01841256e+01] [ 4.17626677e-03 -5.75107297e-05 9.99991278e-01 7.94960433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.64, Y:80.23, Z:0.79 [[ 6.07269168e-01 -7.94491958e-01 -2.58575417e-03 1.62640425e+02] [ 7.94485190e-01 6.07274670e-01 -3.27999781e-03 8.02294616e+01] [ 4.17619489e-03 -6.25018525e-05 9.99991278e-01 7.94899020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.67, Y:80.28, Z:0.79 [[ 6.04489611e-01 -7.96608831e-01 -2.58471908e-03 1.62674872e+02] [ 7.96602078e-01 6.04495133e-01 -3.28081328e-03 8.02762212e+01] [ 4.17597493e-03 -7.57750465e-05 9.99991278e-01 7.94771708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.71, Y:80.32, Z:0.80 [[ 6.01675754e-01 -7.98736259e-01 -2.58367739e-03 1.62711284e+02] [ 7.98729523e-01 6.01681295e-01 -3.28163342e-03 8.03217782e+01] [ 4.17570996e-03 -8.91801511e-05 9.99991278e-01 7.95862185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.75, Y:80.37, Z:0.80 [[ 5.97686699e-01 -8.01725601e-01 -2.58259904e-03 1.62745324e+02] [ 8.01718889e-01 5.97692269e-01 -3.28248184e-03 8.03678485e+01] [ 4.17524921e-03 -1.08622697e-04 9.99991278e-01 7.96845581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.78, Y:80.41, Z:0.80 [[ 5.95744759e-01 -8.03169669e-01 -2.58163499e-03 1.62779323e+02] [ 8.03162967e-01 5.95750341e-01 -3.28323988e-03 8.04144351e+01] [ 4.17500862e-03 -1.17500668e-04 9.99991278e-01 7.96313968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.81, Y:80.46, Z:0.79 [[ 5.94475130e-01 -8.04109856e-01 -2.58058385e-03 1.62813105e+02] [ 8.04103159e-01 5.94480718e-01 -3.28406586e-03 8.04614104e+01] [ 4.17485707e-03 -1.22760149e-04 9.99991278e-01 7.94629829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.85, Y:80.51, Z:0.80 [[ 5.94164045e-01 -8.04339750e-01 -2.57948892e-03 1.62847330e+02] [ 8.04333051e-01 5.94169632e-01 -3.28492565e-03 8.05071781e+01] [ 4.17485026e-03 -1.22983483e-04 9.99991278e-01 7.95437082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.88, Y:80.55, Z:0.79 [[ 5.94476768e-01 -8.04108651e-01 -2.57851751e-03 1.62880713e+02] [ 8.04101948e-01 5.94482348e-01 -3.28568799e-03 8.05548786e+01] [ 4.17493328e-03 -1.20125771e-04 9.99991278e-01 7.92746270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.91, Y:80.60, Z:0.79 [[ 5.98195074e-01 -8.01346373e-01 -2.57750997e-03 1.62914650e+02] [ 8.01339640e-01 5.98200619e-01 -3.28647818e-03 8.06011174e+01] [ 4.17547543e-03 -9.95058468e-05 9.99991278e-01 7.93423838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.95, Y:80.65, Z:0.79 [[ 6.01149592e-01 -7.99132361e-01 -2.57645330e-03 1.62947860e+02] [ 7.99125604e-01 6.01155107e-01 -3.28730635e-03 8.06485247e+01] [ 4.17584095e-03 -8.27469255e-05 9.99991278e-01 7.91549530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.98, Y:80.70, Z:0.79 [[ 6.01420046e-01 -7.98928842e-01 -2.57544225e-03 1.62982275e+02] [ 7.98922080e-01 6.01425555e-01 -3.28809827e-03 8.06954980e+01] [ 4.17589333e-03 -8.00494667e-05 9.99991278e-01 7.94776425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.02, Y:80.74, Z:0.79 [[ 6.00165402e-01 -7.99871779e-01 -2.57435385e-03 1.63016783e+02] [ 7.99865022e-01 6.00170917e-01 -3.28895019e-03 8.07424044e+01] [ 4.17579075e-03 -8.52214798e-05 9.99991278e-01 7.94768209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.05, Y:80.79, Z:0.79 [[ 5.97283141e-01 -8.02026326e-01 -2.57336748e-03 1.63051613e+02] [ 8.02019585e-01 5.97288676e-01 -3.28972177e-03 8.07872403e+01] [ 4.17548672e-03 -9.89957682e-05 9.99991278e-01 7.94114446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.09, Y:80.83, Z:0.79 [[ 5.93882127e-01 -8.04547949e-01 -2.57233691e-03 1.63087525e+02] [ 8.04541229e-01 5.93887686e-01 -3.29052741e-03 8.08326811e+01] [ 4.17506630e-03 -1.15365683e-04 9.99991278e-01 7.94171493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.12, Y:80.88, Z:0.79 [[ 5.91642128e-01 -8.06196614e-01 -2.57138550e-03 1.63122928e+02] [ 8.06189905e-01 5.91647703e-01 -3.29127073e-03 8.08774344e+01] [ 4.17476564e-03 -1.25770616e-04 9.99991278e-01 7.94418403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.16, Y:80.93, Z:0.79 [[ 5.88363393e-01 -8.08592549e-01 -2.57039220e-03 1.63155547e+02] [ 8.08585860e-01 5.88368991e-01 -3.29204628e-03 8.09257082e+01] [ 4.17426316e-03 -1.41463268e-04 9.99991278e-01 7.89397664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.20, Y:80.97, Z:0.79 [[ 5.89181379e-01 -8.07996721e-01 -2.56947489e-03 1.63195630e+02] [ 8.07990023e-01 5.89186966e-01 -3.29276209e-03 8.09685540e+01] [ 4.17444209e-03 -1.36075969e-04 9.99991278e-01 7.93822179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.23, Y:81.01, Z:0.79 [[ 5.90201862e-01 -8.07251612e-01 -2.56841777e-03 1.63231086e+02] [ 8.07244903e-01 5.90207437e-01 -3.29358647e-03 8.10127595e+01] [ 4.17465225e-03 -1.29461287e-04 9.99991278e-01 7.92176373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.27, Y:81.06, Z:0.79 [[ 5.93106346e-01 -8.05120035e-01 -2.56748776e-03 1.63267815e+02] [ 8.05113303e-01 5.93111893e-01 -3.29431128e-03 8.10580670e+01] [ 4.17512354e-03 -1.13241625e-04 9.99991278e-01 7.91253208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.30, Y:81.10, Z:0.79 [[ 5.96312736e-01 -8.02748115e-01 -2.56627382e-03 1.63301934e+02] [ 8.02741357e-01 5.96318250e-01 -3.29525667e-03 8.11033670e+01] [ 4.17557700e-03 -9.50506086e-05 9.99991278e-01 7.91230035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.34, Y:81.15, Z:0.79 [[ 6.00194237e-01 -7.99850171e-01 -2.56544282e-03 1.63337431e+02] [ 7.99843384e-01 6.00199715e-01 -3.29590350e-03 8.11483638e+01] [ 4.17600703e-03 -7.37701795e-05 9.99991278e-01 7.91084995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.37, Y:81.19, Z:0.79 [[ 6.01513134e-01 -7.98858794e-01 -2.56437981e-03 1.63373162e+02] [ 7.98851995e-01 6.01518597e-01 -3.29673037e-03 8.11942284e+01] [ 4.17614420e-03 -6.55333130e-05 9.99991278e-01 7.92426013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.41, Y:81.24, Z:0.79 [[ 6.01454225e-01 -7.98903151e-01 -2.56334435e-03 1.63409441e+02] [ 7.98896348e-01 6.01459684e-01 -3.29753529e-03 8.12401592e+01] [ 4.17615961e-03 -6.45299120e-05 9.99991278e-01 7.93656406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.45, Y:81.28, Z:0.80 [[ 6.03406140e-01 -7.97429912e-01 -2.56230010e-03 1.63449850e+02] [ 7.97423092e-01 6.03411578e-01 -3.29834651e-03 8.12825921e+01] [ 4.17632171e-03 -5.29947368e-05 9.99991278e-01 7.96723970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.48, Y:81.33, Z:0.80 [[ 5.99229363e-01 -8.00573301e-01 -2.56119127e-03 1.63482222e+02] [ 8.00566506e-01 5.99234832e-01 -3.29920730e-03 8.13292440e+01] [ 4.17601230e-03 -7.34220568e-05 9.99991278e-01 7.95806024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.52, Y:81.37, Z:0.80 [[ 5.98616710e-01 -8.01031511e-01 -2.56011723e-03 1.63522361e+02] [ 8.01024716e-01 5.98622179e-01 -3.30004052e-03 8.13721501e+01] [ 4.17597940e-03 -7.52577812e-05 9.99991278e-01 7.98693596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.56, Y:81.42, Z:0.80 [[ 5.97709494e-01 -8.01708683e-01 -2.55895009e-03 1.63558546e+02] [ 8.01701891e-01 5.97714966e-01 -3.30094531e-03 8.14174135e+01] [ 4.17591928e-03 -7.85087796e-05 9.99991278e-01 7.99068239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.59, Y:81.46, Z:0.80 [[ 5.99076341e-01 -8.00687826e-01 -2.55789840e-03 1.63593944e+02] [ 8.00681022e-01 5.99081798e-01 -3.30176006e-03 8.14623443e+01] [ 4.17606946e-03 -7.00543697e-05 9.99991278e-01 7.97215609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.63, Y:81.51, Z:0.80 [[ 5.99398386e-01 -8.00446772e-01 -2.55722244e-03 1.63629682e+02] [ 8.00439963e-01 5.99403837e-01 -3.30228351e-03 8.15086738e+01] [ 4.17611112e-03 -6.75196325e-05 9.99991278e-01 7.98146951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.66, Y:81.55, Z:0.80 [[ 6.00532687e-01 -7.99596122e-01 -2.55613068e-03 1.63664210e+02] [ 7.99589301e-01 6.00538124e-01 -3.30312837e-03 8.15545381e+01] [ 4.17622256e-03 -6.02181827e-05 9.99991278e-01 7.96502946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.70, Y:81.60, Z:0.80 [[ 6.00809429e-01 -7.99388204e-01 -2.55513246e-03 1.63698302e+02] [ 7.99381379e-01 6.00814860e-01 -3.30390036e-03 8.16007037e+01] [ 4.17626053e-03 -5.75108206e-05 9.99991278e-01 7.96777701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.73, Y:81.65, Z:0.80 [[ 6.00759698e-01 -7.99425581e-01 -2.55447080e-03 1.63733231e+02] [ 7.99418754e-01 6.00765126e-01 -3.30441186e-03 8.16465696e+01] [ 4.17626834e-03 -5.69343939e-05 9.99991278e-01 7.98234432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.77, Y:81.69, Z:0.80 [[ 5.98279306e-01 -8.01283565e-01 -2.55339751e-03 1.63767115e+02] [ 8.01276751e-01 5.98284751e-01 -3.30524100e-03 8.16940611e+01] [ 4.17609409e-03 -6.85207707e-05 9.99991278e-01 7.98052263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.80, Y:81.74, Z:0.80 [[ 5.98400943e-01 -8.01192734e-01 -2.55233874e-03 1.63803797e+02] [ 8.01185915e-01 5.98406383e-01 -3.30605840e-03 8.17382824e+01] [ 4.17612576e-03 -6.65493849e-05 9.99991278e-01 8.02865366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.84, Y:81.79, Z:0.80 [[ 5.95514785e-01 -8.03340296e-01 -2.55150557e-03 1.63836409e+02] [ 8.03333494e-01 5.95520245e-01 -3.30670129e-03 8.17867315e+01] [ 4.17587961e-03 -8.05203779e-05 9.99991278e-01 8.01452865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.87, Y:81.83, Z:0.80 [[ 5.93691417e-01 -8.04688758e-01 -2.55024135e-03 1.63869784e+02] [ 8.04681965e-01 5.93696888e-01 -3.30767600e-03 8.18331583e+01] [ 4.17572005e-03 -8.83943693e-05 9.99991278e-01 8.01746243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.90, Y:81.88, Z:0.80 [[ 5.91613512e-01 -8.06217684e-01 -2.54902210e-03 1.63903946e+02] [ 8.06210901e-01 5.91618996e-01 -3.30861534e-03 8.18796750e+01] [ 4.17551409e-03 -9.76278612e-05 9.99991278e-01 8.03673188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.94, Y:81.93, Z:0.80 [[ 5.92036014e-01 -8.05907480e-01 -2.54782565e-03 1.63937350e+02] [ 8.05900690e-01 5.92041489e-01 -3.30953642e-03 8.19254620e+01] [ 4.17559865e-03 -9.39296925e-05 9.99991278e-01 8.02730175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.97, Y:81.97, Z:0.80 [[ 5.90245247e-01 -8.07219959e-01 -2.54670321e-03 1.63967630e+02] [ 8.07213178e-01 5.90250732e-01 -3.31039991e-03 8.19733288e+01] [ 4.17541432e-03 -1.01784579e-04 9.99991278e-01 7.98778494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.00, Y:82.02, Z:0.80 [[ 5.95467157e-01 -8.03375619e-01 -2.54546270e-03 1.64001205e+02] [ 8.03368798e-01 5.95472593e-01 -3.31135351e-03 8.20191525e+01] [ 4.17601395e-03 -7.31430494e-05 9.99991278e-01 8.03714598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.03, Y:82.07, Z:0.80 [[ 5.98772115e-01 -8.00915402e-01 -2.54435289e-03 1.64034857e+02] [ 8.00908555e-01 5.98777518e-01 -3.31220603e-03 8.20670109e+01] [ 4.17629814e-03 -5.45373841e-05 9.99991278e-01 8.03597448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.07, Y:82.11, Z:0.80 [[ 6.00080925e-01 -7.99935257e-01 -2.54330153e-03 1.64068695e+02] [ 7.99928398e-01 6.00086312e-01 -3.31301313e-03 8.21142801e+01] [ 4.17639645e-03 -4.63831387e-05 9.99991278e-01 8.04106855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.10, Y:82.16, Z:0.80 [[ 6.00415323e-01 -7.99684298e-01 -2.54224351e-03 1.64102069e+02] [ 7.99677433e-01 6.00420704e-01 -3.31382481e-03 8.21618998e+01] [ 4.17642930e-03 -4.33035691e-05 9.99991278e-01 8.04623109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.14, Y:82.21, Z:0.81 [[ 5.98758805e-01 -8.00925362e-01 -2.54118932e-03 1.64136782e+02] [ 8.00918505e-01 5.98764196e-01 -3.31463301e-03 8.22088366e+01] [ 4.17634682e-03 -5.06198490e-05 9.99991278e-01 8.05035501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.17, Y:82.26, Z:0.80 [[ 5.91975884e-01 -8.05951674e-01 -2.54014795e-03 1.64168213e+02] [ 8.05944859e-01 5.91981327e-01 -3.31543086e-03 8.22574741e+01] [ 4.17579721e-03 -8.45640690e-05 9.99991278e-01 7.99645351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.21, Y:82.30, Z:0.80 [[ 5.88357987e-01 -8.08596582e-01 -2.53909528e-03 1.64206115e+02] [ 8.08589788e-01 5.88363457e-01 -3.31623685e-03 8.23015527e+01] [ 4.17540866e-03 -1.01952080e-04 9.99991278e-01 8.04249220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.24, Y:82.35, Z:0.80 [[ 5.80171338e-01 -8.14490502e-01 -2.53798299e-03 1.64238039e+02] [ 8.14483759e-01 5.80176872e-01 -3.31708788e-03 8.23505861e+01] [ 4.17421561e-03 -1.42666615e-04 9.99991278e-01 7.99214825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.242755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:164.27, Y:82.40, Z:0.80 [[ 5.77530023e-01 -8.16365504e-01 -2.53677477e-03 1.64274062e+02] [ 8.16358776e-01 5.77535574e-01 -3.31801163e-03 8.23959393e+01] [ 4.17378791e-03 -1.54667014e-04 9.99991278e-01 7.99417208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.31, Y:82.44, Z:0.80 [[ 5.74833588e-01 -8.18266409e-01 -2.53569738e-03 1.64308927e+02] [ 8.18259696e-01 5.74839156e-01 -3.31883479e-03 8.24412525e+01] [ 4.17330917e-03 -1.67081256e-04 9.99991278e-01 7.98721359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.34, Y:82.49, Z:0.80 [[ 5.72011099e-01 -8.20241962e-01 -2.53490489e-03 1.64342578e+02] [ 8.20235266e-01 5.72016687e-01 -3.31943998e-03 8.24882360e+01] [ 4.17275186e-03 -1.80461873e-04 9.99991278e-01 7.96387614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.38, Y:82.53, Z:0.81 [[ 5.76706000e-01 -8.16947837e-01 -2.53382182e-03 1.64384002e+02] [ 8.16941105e-01 5.76711546e-01 -3.32026651e-03 8.25290606e+01] [ 4.17376884e-03 -1.55165583e-04 9.99991278e-01 8.05421831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.42, Y:82.57, Z:0.80 [[ 5.78961367e-01 -8.15351041e-01 -2.53294938e-03 1.64420329e+02] [ 8.15344290e-01 5.78966890e-01 -3.32093194e-03 8.25740794e+01] [ 4.17421914e-03 -1.42534526e-04 9.99991278e-01 8.04730133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.45, Y:82.62, Z:0.80 [[ 5.75361380e-01 -8.17895392e-01 -2.53182276e-03 1.64451958e+02] [ 8.17888662e-01 5.75366929e-01 -3.32179064e-03 8.26231644e+01] [ 4.17360434e-03 -1.59519081e-04 9.99991278e-01 7.96820914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.49, Y:82.67, Z:0.80 [[ 5.76740574e-01 -8.16923440e-01 -2.53057439e-03 1.64488047e+02] [ 8.16916696e-01 5.76746106e-01 -3.32274138e-03 8.26692022e+01] [ 4.17392424e-03 -1.50908697e-04 9.99991278e-01 7.97933996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.52, Y:82.71, Z:0.80 [[ 5.78800990e-01 -8.15464908e-01 -2.52950778e-03 1.64523501e+02] [ 8.15458147e-01 5.78806501e-01 -3.32355316e-03 8.27145541e+01] [ 4.17433652e-03 -1.39031864e-04 9.99991278e-01 7.98271234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.56, Y:82.76, Z:0.80 [[ 5.78800274e-01 -8.15465419e-01 -2.52841877e-03 1.64559280e+02] [ 8.15458654e-01 5.78805780e-01 -3.32438143e-03 8.27595465e+01] [ 4.17438149e-03 -1.37668081e-04 9.99991278e-01 8.00298488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.60, Y:82.80, Z:0.80 [[ 5.79023327e-01 -8.15307058e-01 -2.52743973e-03 1.64595570e+02] [ 8.15300289e-01 5.79028827e-01 -3.32512560e-03 8.28047928e+01] [ 4.17445883e-03 -1.35297055e-04 9.99991278e-01 8.02708805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.63, Y:82.85, Z:0.81 [[ 5.81473404e-01 -8.13561490e-01 -2.52639093e-03 1.64634063e+02] [ 8.13554701e-01 5.81478880e-01 -3.32592228e-03 8.28476768e+01] [ 4.17488525e-03 -1.21421865e-04 9.99991278e-01 8.07179402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.67, Y:82.90, Z:0.80 [[ 5.78629998e-01 -8.15586260e-01 -2.52546984e-03 1.64667436e+02] [ 8.15579487e-01 5.78635494e-01 -3.32662154e-03 8.28951410e+01] [ 4.17447331e-03 -1.34838379e-04 9.99991278e-01 8.03296151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.70, Y:82.94, Z:0.80 [[ 5.77973700e-01 -8.16051487e-01 -2.52445515e-03 1.64702990e+02] [ 8.16044715e-01 5.77979197e-01 -3.32739137e-03 8.29426985e+01] [ 4.17440524e-03 -1.36923580e-04 9.99991278e-01 8.02766130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.74, Y:82.99, Z:0.80 [[ 5.80162421e-01 -8.14496898e-01 -2.52351879e-03 1.64739616e+02] [ 8.14490108e-01 5.80167896e-01 -3.32810136e-03 8.29872406e+01] [ 4.17479282e-03 -1.24541746e-04 9.99991278e-01 8.03277239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.78, Y:83.03, Z:0.80 [[ 5.82101249e-01 -8.13112398e-01 -2.52291517e-03 1.64775021e+02] [ 8.13105593e-01 5.82106705e-01 -3.32855889e-03 8.30332638e+01] [ 4.17509833e-03 -1.13838150e-04 9.99991278e-01 8.04843737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.81, Y:83.08, Z:0.80 [[ 5.84869803e-01 -8.11123267e-01 -2.52179651e-03 1.64808524e+02] [ 8.11116439e-01 5.84875232e-01 -3.32940619e-03 8.30788737e+01] [ 4.17549514e-03 -9.82014643e-05 9.99991278e-01 8.03867032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.202755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.84, Y:83.12, Z:0.81 [[ 5.88738430e-01 -8.08319681e-01 -2.52081189e-03 1.64844002e+02] [ 8.08312825e-01 5.88743821e-01 -3.33015152e-03 8.31247847e+01] [ 4.17593944e-03 -7.70164016e-05 9.99991278e-01 8.06151984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.88, Y:83.17, Z:0.81 [[ 5.91668610e-01 -8.06177342e-01 -2.51975139e-03 1.64879894e+02] [ 8.06170463e-01 5.91673973e-01 -3.33095375e-03 8.31697281e+01] [ 4.17621075e-03 -6.05283667e-05 9.99991278e-01 8.07981171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.92, Y:83.21, Z:0.81 [[ 5.93185447e-01 -8.05061911e-01 -2.51877561e-03 1.64916441e+02] [ 8.05055019e-01 5.93190792e-01 -3.33169144e-03 8.32143676e+01] [ 4.17633238e-03 -5.14420721e-05 9.99991278e-01 8.12070077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.95, Y:83.26, Z:0.81 [[ 5.93145504e-01 -8.05091343e-01 -2.51794716e-03 1.64954120e+02] [ 8.05084448e-01 5.93150847e-01 -3.33231743e-03 8.32580591e+01] [ 4.17634241e-03 -5.06109922e-05 9.99991278e-01 8.14490672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.99, Y:83.30, Z:0.82 [[ 5.91814091e-01 -8.06070559e-01 -2.51689579e-03 1.64993842e+02] [ 8.06063670e-01 5.91819441e-01 -3.33311134e-03 8.32995813e+01] [ 4.17627078e-03 -5.61960033e-05 9.99991278e-01 8.20326931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.03, Y:83.35, Z:0.82 [[ 5.88112934e-01 -8.08774905e-01 -2.51594519e-03 1.65027094e+02] [ 8.08768037e-01 5.88118311e-01 -3.33382873e-03 8.33485740e+01] [ 4.17599045e-03 -7.41482572e-05 9.99991278e-01 8.24411707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.06, Y:83.40, Z:0.82 [[ 5.83917332e-01 -8.11809229e-01 -2.51500421e-03 1.65061103e+02] [ 8.11802386e-01 5.83922741e-01 -3.33453845e-03 8.33963017e+01] [ 4.17557723e-03 -9.45916239e-05 9.99991278e-01 8.23337395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.09, Y:83.44, Z:0.82 [[ 5.82291365e-01 -8.12976289e-01 -2.51398485e-03 1.65094985e+02] [ 8.12969453e-01 5.82296783e-01 -3.33530679e-03 8.34429033e+01] [ 4.17541062e-03 -1.01672548e-04 9.99991278e-01 8.22267083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.13, Y:83.49, Z:0.82 [[ 5.82045003e-01 -8.13152692e-01 -2.51289879e-03 1.65127760e+02] [ 8.13145854e-01 5.82050419e-01 -3.33612485e-03 8.34902401e+01] [ 4.17541269e-03 -1.01578431e-04 9.99991278e-01 8.21910157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.16, Y:83.54, Z:0.82 [[ 5.81135509e-01 -8.13802931e-01 -2.51192652e-03 1.65162828e+02] [ 8.13796097e-01 5.81140928e-01 -3.33685676e-03 8.35366998e+01] [ 4.17532712e-03 -1.05030046e-04 9.99991278e-01 8.24156417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.19, Y:83.59, Z:0.82 [[ 5.80368438e-01 -8.14350153e-01 -2.51089008e-03 1.65194477e+02] [ 8.14343320e-01 5.80373860e-01 -3.33763647e-03 8.35850132e+01] [ 4.17525973e-03 -1.07667703e-04 9.99991278e-01 8.17777111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.23, Y:83.63, Z:0.81 [[ 5.78097207e-01 -8.15964044e-01 -2.50982623e-03 1.65227540e+02] [ 8.15957223e-01 5.78102643e-01 -3.33843626e-03 8.36325334e+01] [ 4.17498113e-03 -1.17970161e-04 9.99991278e-01 8.13839221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.26, Y:83.68, Z:0.81 [[ 5.79042848e-01 -8.15293252e-01 -2.50875404e-03 1.65262449e+02] [ 8.15286421e-01 5.79048272e-01 -3.33924179e-03 8.36773087e+01] [ 4.17515099e-03 -1.11789028e-04 9.99991278e-01 8.11864158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.29, Y:83.73, Z:0.81 [[ 5.75609796e-01 -8.17720658e-01 -2.50778621e-03 1.65291765e+02] [ 8.17713847e-01 5.75615244e-01 -3.33996848e-03 8.37276577e+01] [ 4.17468120e-03 -1.28132933e-04 9.99991278e-01 8.05980979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.32, Y:83.77, Z:0.81 [[ 5.73809430e-01 -8.18985015e-01 -2.50668145e-03 1.65323384e+02] [ 8.18978212e-01 5.73814890e-01 -3.34079741e-03 8.37749430e+01] [ 4.17443416e-03 -1.35936434e-04 9.99991278e-01 8.07952833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.36, Y:83.82, Z:0.80 [[ 5.72137605e-01 -8.20153816e-01 -2.50568794e-03 1.65355221e+02] [ 8.20147022e-01 5.72143074e-01 -3.34154240e-03 8.38238571e+01] [ 4.17419076e-03 -1.43210434e-04 9.99991278e-01 8.03266381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.39, Y:83.87, Z:0.80 [[ 5.74455960e-01 -8.18531660e-01 -2.50455767e-03 1.65390878e+02] [ 8.18524846e-01 5.74461405e-01 -3.34238935e-03 8.38700753e+01] [ 4.17462322e-03 -1.29987199e-04 9.99991278e-01 8.03657911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.42, Y:83.92, Z:0.79 [[ 5.68906252e-01 -8.22398570e-01 -2.50358609e-03 1.65417083e+02] [ 8.22391790e-01 5.68911739e-01 -3.34311695e-03 8.39237397e+01] [ 4.17369411e-03 -1.57008513e-04 9.99991278e-01 7.93896964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.45, Y:83.97, Z:0.80 [[ 5.70947149e-01 -8.20983002e-01 -2.50260939e-03 1.65450770e+02] [ 8.20976205e-01 5.70952616e-01 -3.34384793e-03 8.39712190e+01] [ 4.17411369e-03 -1.45422320e-04 9.99991278e-01 7.96286516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.48, Y:84.02, Z:0.79 [[ 5.72286953e-01 -8.20049622e-01 -2.50226582e-03 1.65482178e+02] [ 8.20042815e-01 5.72292407e-01 -3.34410501e-03 8.40208149e+01] [ 4.17435978e-03 -1.38177434e-04 9.99991278e-01 7.94056008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.51, Y:84.07, Z:0.79 [[ 5.74832648e-01 -8.18267175e-01 -2.50125371e-03 1.65512582e+02] [ 8.18260348e-01 5.74838077e-01 -3.34486186e-03 8.40701428e+01] [ 4.17480653e-03 -1.23940931e-04 9.99991278e-01 7.88938997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.55, Y:84.12, Z:0.78 [[ 5.78114803e-01 -8.15951605e-01 -2.50059786e-03 1.65545247e+02] [ 8.15944754e-01 5.78120201e-01 -3.34535209e-03 8.41186955e+01] [ 4.17529155e-03 -1.06352140e-04 9.99991278e-01 7.84669535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.58, Y:84.17, Z:0.79 [[ 5.79161958e-01 -8.15208672e-01 -2.49960183e-03 1.65577830e+02] [ 8.15201811e-01 5.79167343e-01 -3.34609615e-03 8.41661588e+01] [ 4.17545435e-03 -9.97483433e-05 9.99991278e-01 7.90989903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.61, Y:84.21, Z:0.79 [[ 5.83007334e-01 -8.12463049e-01 -2.49846877e-03 1.65610701e+02] [ 8.12456159e-01 5.83012682e-01 -3.34694197e-03 8.42133975e+01] [ 4.17590566e-03 -7.86046202e-05 9.99991278e-01 7.92610792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.64, Y:84.26, Z:0.80 [[ 5.85288321e-01 -8.10821401e-01 -2.49736598e-03 1.65643960e+02] [ 8.10814493e-01 5.85293645e-01 -3.34776463e-03 8.42597986e+01] [ 4.17613164e-03 -6.54929929e-05 9.99991278e-01 7.99106227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.702755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.68, Y:84.31, Z:0.80 [[ 5.85607790e-01 -8.10590701e-01 -2.49626226e-03 1.65679903e+02] [ 8.10583787e-01 5.85613107e-01 -3.34858741e-03 8.43054508e+01] [ 4.17617772e-03 -6.24708451e-05 9.99991278e-01 8.02101631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.71, Y:84.35, Z:0.80 [[ 5.80529030e-01 -8.14235726e-01 -2.49533726e-03 1.65713770e+02] [ 8.14228843e-01 5.80534387e-01 -3.34927658e-03 8.43509551e+01] [ 4.17572973e-03 -8.74232835e-05 9.99991278e-01 8.00208826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.75, Y:84.40, Z:0.80 [[ 5.79102306e-01 -8.15251064e-01 -2.49431257e-03 1.65750261e+02] [ 8.15244186e-01 5.79107670e-01 -3.35003952e-03 8.43963737e+01] [ 4.17559883e-03 -9.34582108e-05 9.99991278e-01 8.02644319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.79, Y:84.44, Z:0.81 [[ 5.76729118e-01 -8.16931643e-01 -2.49327411e-03 1.65787360e+02] [ 8.16924777e-01 5.76734497e-01 -3.35081222e-03 8.44395809e+01] [ 4.17534172e-03 -1.04306421e-04 9.99991278e-01 8.07345817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.83, Y:84.48, Z:0.81 [[ 5.73817618e-01 -8.18979322e-01 -2.49219482e-03 1.65826168e+02] [ 8.18972473e-01 5.73823018e-01 -3.35161476e-03 8.44835014e+01] [ 4.17498194e-03 -1.17823354e-04 9.99991278e-01 8.08962935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.86, Y:84.53, Z:0.81 [[ 5.75239176e-01 -8.17981470e-01 -2.49104852e-03 1.65862519e+02] [ 8.17974607e-01 5.75244560e-01 -3.35246651e-03 8.45274220e+01] [ 4.17521760e-03 -1.09144358e-04 9.99991278e-01 8.07395788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.90, Y:84.57, Z:0.81 [[ 5.78158703e-01 -8.15920531e-01 -2.49001967e-03 1.65898915e+02] [ 8.15913646e-01 5.78164058e-01 -3.35323051e-03 8.45721882e+01] [ 4.17560950e-03 -9.29416251e-05 9.99991278e-01 8.07018566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.93, Y:84.62, Z:0.81 [[ 5.80142823e-01 -8.14510963e-01 -2.48899197e-03 1.65934925e+02] [ 8.14504062e-01 5.80148157e-01 -3.35399317e-03 8.46172947e+01] [ 4.17584831e-03 -8.14990013e-05 9.99991278e-01 8.08581010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.182755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:165.97, Y:84.66, Z:0.81 [[ 5.82006399e-01 -8.13180399e-01 -2.48792706e-03 1.65972984e+02] [ 8.13173482e-01 5.82011713e-01 -3.35478291e-03 8.46601016e+01] [ 4.17604639e-03 -7.06111881e-05 9.99991278e-01 8.09092610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.02, Y:84.70, Z:0.82 [[ 5.86691800e-01 -8.09806487e-01 -2.48701768e-03 1.66015971e+02] [ 8.09799536e-01 5.86697070e-01 -3.35545693e-03 8.47017268e+01] [ 4.17639677e-03 -4.53666994e-05 9.99991278e-01 8.18935043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.05, Y:84.75, Z:0.82 [[ 5.83805704e-01 -8.11889598e-01 -2.48601336e-03 1.66050313e+02] [ 8.11882663e-01 5.83810994e-01 -3.35620085e-03 8.47487070e+01] [ 4.17622649e-03 -5.89819504e-05 9.99991278e-01 8.16241038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.09, Y:84.79, Z:0.82 [[ 5.80241174e-01 -8.14440915e-01 -2.48525272e-03 1.66088061e+02] [ 8.14434001e-01 5.80246491e-01 -3.35676401e-03 8.47929228e+01] [ 4.17594512e-03 -7.63416294e-05 9.99991278e-01 8.20288905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.13, Y:84.84, Z:0.83 [[ 5.79755222e-01 -8.14786911e-01 -2.48418164e-03 1.66128424e+02] [ 8.14779997e-01 5.79760539e-01 -3.35755648e-03 8.48359278e+01] [ 4.17592356e-03 -7.75006028e-05 9.99991278e-01 8.25481946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48275509599998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:166.16, Y:84.88, Z:0.82 [[ 5.73086067e-01 -8.19491424e-01 -2.48305681e-03 1.66162134e+02] [ 8.19484550e-01 5.73091436e-01 -3.35838813e-03 8.48826605e+01] [ 4.17518886e-03 -1.10181243e-04 9.99991278e-01 8.21260630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.20, Y:84.93, Z:0.82 [[ 5.70032229e-01 -8.21618585e-01 -2.48180677e-03 1.66197263e+02] [ 8.21611727e-01 5.70037618e-01 -3.35931164e-03 8.49272644e+01] [ 4.17479609e-03 -1.24165649e-04 9.99991278e-01 8.24364043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.23, Y:84.97, Z:0.82 [[ 5.67970598e-01 -8.23045105e-01 -2.48084490e-03 1.66231306e+02] [ 8.23038257e-01 5.67976001e-01 -3.36002183e-03 8.49737691e+01] [ 4.17450988e-03 -1.33436659e-04 9.99991278e-01 8.23383496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.27, Y:85.02, Z:0.82 [[ 5.67370761e-01 -8.23458724e-01 -2.47975557e-03 1.66265675e+02] [ 8.23451877e-01 5.67376164e-01 -3.36082558e-03 8.50188415e+01] [ 4.17445535e-03 -1.35125208e-04 9.99991278e-01 8.23758664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.30, Y:85.07, Z:0.82 [[ 5.69296539e-01 -8.22128522e-01 -2.47881086e-03 1.66298106e+02] [ 8.22121659e-01 5.69301922e-01 -3.36152222e-03 8.50671201e+01] [ 4.17479508e-03 -1.24181129e-04 9.99991278e-01 8.22615731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.33, Y:85.12, Z:0.82 [[ 5.71239121e-01 -8.20779951e-01 -2.47773825e-03 1.66326414e+02] [ 8.20773072e-01 5.71244483e-01 -3.36231264e-03 8.51188917e+01] [ 4.17511311e-03 -1.12976317e-04 9.99991278e-01 8.17330827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.36, Y:85.17, Z:0.82 [[ 5.73508448e-01 -8.19195902e-01 -2.47673007e-03 1.66358014e+02] [ 8.19189005e-01 5.73513787e-01 -3.36305512e-03 8.51678458e+01] [ 4.17543981e-03 -1.00169518e-04 9.99991278e-01 8.18675614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.39, Y:85.21, Z:0.82 [[ 5.79921977e-01 -8.14668259e-01 -2.47555882e-03 1.66390948e+02] [ 8.14661316e-01 5.79927257e-01 -3.36391706e-03 8.52142222e+01] [ 4.17612049e-03 -6.59325791e-05 9.99991278e-01 8.24190974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.42, Y:85.26, Z:0.82 [[ 5.80583504e-01 -8.14196949e-01 -2.47465954e-03 1.66421711e+02] [ 8.14189999e-01 5.80588775e-01 -3.36457848e-03 8.52639393e+01] [ 4.17618908e-03 -6.14242815e-05 9.99991278e-01 8.22693688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.45, Y:85.31, Z:0.82 [[ 5.78005515e-01 -8.16029109e-01 -2.47340247e-03 1.66453354e+02] [ 8.16022173e-01 5.78010802e-01 -3.36550234e-03 8.53113304e+01] [ 4.17600122e-03 -7.30723443e-05 9.99991278e-01 8.24884759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.49, Y:85.36, Z:0.83 [[ 5.72745725e-01 -8.19729360e-01 -2.47206115e-03 1.66485092e+02] [ 8.19722453e-01 5.72751052e-01 -3.36648729e-03 8.53602585e+01] [ 4.17548409e-03 -9.82628262e-05 9.99991278e-01 8.29268226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.52, Y:85.41, Z:0.83 [[ 5.69690189e-01 -8.21855816e-01 -2.47102429e-03 1.66515929e+02] [ 8.21848926e-01 5.69695537e-01 -3.36724818e-03 8.54092521e+01] [ 4.17512401e-03 -1.12520408e-04 9.99991278e-01 8.27017925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20275509599998 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:166.55, Y:85.46, Z:0.83 [[ 5.65023720e-01 -8.25070964e-01 -2.46976944e-03 1.66549308e+02] [ 8.25064100e-01 5.65029102e-01 -3.36816832e-03 8.54558338e+01] [ 4.17446949e-03 -1.34623103e-04 9.99991278e-01 8.30452550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26275509599998 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:166.58, Y:85.51, Z:0.83 [[ 5.57855943e-01 -8.29934126e-01 -2.46843423e-03 1.66576549e+02] [ 8.29927305e-01 5.57861378e-01 -3.36914657e-03 8.55084820e+01] [ 4.17321384e-03 -1.69122534e-04 9.99991278e-01 8.25993593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32275509599998 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:166.61, Y:85.56, Z:0.82 [[ 5.57850768e-01 -8.29937609e-01 -2.46717518e-03 1.66606869e+02] [ 8.29930783e-01 5.57856198e-01 -3.37006831e-03 8.55570017e+01] [ 4.17327540e-03 -1.67589434e-04 9.99991278e-01 8.23863694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38275509599998 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:166.64, Y:85.60, Z:0.83 [[ 5.59812003e-01 -8.28615978e-01 -2.46606079e-03 1.66641704e+02] [ 8.28609136e-01 5.59817413e-01 -3.37088357e-03 8.56038426e+01] [ 4.17371176e-03 -1.56339416e-04 9.99991278e-01 8.30857095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44275509599998 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:166.67, Y:85.65, Z:0.83 [[ 5.63209420e-01 -8.26310519e-01 -2.46488680e-03 1.66670283e+02] [ 8.26303651e-01 5.63214797e-01 -3.37174180e-03 8.56530737e+01] [ 4.17436644e-03 -1.37748217e-04 9.99991278e-01 8.30482572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.502755096 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:166.70, Y:85.70, Z:0.83 [[ 5.65324353e-01 -8.24865021e-01 -2.46416227e-03 1.66700837e+02] [ 8.24858138e-01 5.65329710e-01 -3.37227123e-03 8.57031525e+01] [ 4.17473272e-03 -1.26157245e-04 9.99991278e-01 8.29927428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.562755096 meters Centerline goodness : 0.998815 with order 1 Centerline is valid? [True, True] Translation: X:166.73, Y:85.75, Z:0.83 [[ 5.65629809e-01 -8.24655596e-01 -2.46307630e-03 1.66730667e+02] [ 8.24648707e-01 5.65635158e-01 -3.37306422e-03 8.57529725e+01] [ 4.17481884e-03 -1.23267016e-04 9.99991278e-01 8.31680378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.622755096 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:166.76, Y:85.80, Z:0.83 [[ 5.65436236e-01 -8.24788338e-01 -2.46197108e-03 1.66761550e+02] [ 8.24781446e-01 5.65441582e-01 -3.37387072e-03 8.58011817e+01] [ 4.17483005e-03 -1.22879302e-04 9.99991278e-01 8.32884296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.682755096 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:166.79, Y:85.85, Z:0.84 [[ 5.65098476e-01 -8.25019791e-01 -2.46098535e-03 1.66792400e+02] [ 8.25012899e-01 5.65103821e-01 -3.37458958e-03 8.58506145e+01] [ 4.17481542e-03 -1.23369231e-04 9.99991278e-01 8.35527523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.742755096 meters Centerline goodness : 0.998652 with order 1 Centerline is valid? [True, True] Translation: X:166.82, Y:85.90, Z:0.84 [[ 5.64512304e-01 -8.25420989e-01 -2.45982134e-03 1.66822743e+02] [ 8.25414096e-01 5.64517649e-01 -3.37543785e-03 8.59002128e+01] [ 4.17476980e-03 -1.24895009e-04 9.99991278e-01 8.37525025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.802755096 meters Centerline goodness : 0.998571 with order 1 Centerline is valid? [True, True] Translation: X:166.85, Y:85.95, Z:0.84 [[ 5.61742867e-01 -8.27308229e-01 -2.45872298e-03 1.66853339e+02] [ 8.27301351e-01 5.61748231e-01 -3.37623772e-03 8.59496393e+01] [ 4.17437253e-03 -1.37527388e-04 9.99991278e-01 8.38561832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.862755096 meters Centerline goodness : 0.998451 with order 1 Centerline is valid? [True, True] Translation: X:166.88, Y:86.00, Z:0.84 [[ 5.60213502e-01 -8.28344610e-01 -2.45752393e-03 1.66884906e+02] [ 8.28337738e-01 5.60218874e-01 -3.37711027e-03 8.59966777e+01] [ 4.17416238e-03 -1.43757043e-04 9.99991278e-01 8.38248742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.922755096 meters Centerline goodness : 0.998339 with order 1 Centerline is valid? [True, True] Translation: X:166.92, Y:86.05, Z:0.83 [[ 5.59584944e-01 -8.28769362e-01 -2.45669286e-03 1.66916532e+02] [ 8.28762491e-01 5.59590318e-01 -3.37771473e-03 8.60452108e+01] [ 4.17408802e-03 -1.45896588e-04 9.99991278e-01 8.28498718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98275509599998 meters Centerline goodness : 0.998529 with order 1 Centerline is valid? [True, True] Translation: X:166.95, Y:86.09, Z:0.83 [[ 5.63082077e-01 -8.26397328e-01 -2.45561458e-03 1.66947918e+02] [ 8.26390432e-01 5.63087418e-01 -3.37849846e-03 8.60946757e+01] [ 4.17470777e-03 -1.26924468e-04 9.99991278e-01 8.33233715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04275509599998 meters Centerline goodness : 0.998508 with order 1 Centerline is valid? [True, True] Translation: X:166.98, Y:86.14, Z:0.83 [[ 5.66220100e-01 -8.24250432e-01 -2.45440822e-03 1.66976975e+02] [ 8.24243511e-01 5.66225409e-01 -3.37937463e-03 8.61446032e+01] [ 4.17519929e-03 -1.09560210e-04 9.99991278e-01 8.26083696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10275509599998 meters Centerline goodness : 0.998464 with order 1 Centerline is valid? [True, True] Translation: X:167.01, Y:86.19, Z:0.83 [[ 5.68669389e-01 -8.22562525e-01 -2.45313632e-03 1.67009453e+02] [ 8.22555585e-01 5.68674672e-01 -3.38029767e-03 8.61927125e+01] [ 4.17554268e-03 -9.55691670e-05 9.99991278e-01 8.25900816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16275509599998 meters Centerline goodness : 0.998293 with order 1 Centerline is valid? [True, True] Translation: X:167.04, Y:86.24, Z:0.82 [[ 5.71441819e-01 -8.20638919e-01 -2.45201499e-03 1.67042508e+02] [ 8.20631957e-01 5.71447074e-01 -3.38111086e-03 8.62401099e+01] [ 4.17586796e-03 -8.00937192e-05 9.99991278e-01 8.24650031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.222755096 meters Centerline goodness : 0.998521 with order 1 Centerline is valid? [True, True] Translation: X:167.08, Y:86.29, Z:0.83 [[ 5.72092203e-01 -8.20185653e-01 -2.45073678e-03 1.67075401e+02] [ 8.20178683e-01 5.72097447e-01 -3.38203710e-03 8.62864115e+01] [ 4.17595856e-03 -7.52050122e-05 9.99991278e-01 8.29309197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.282755096 meters Centerline goodness : 0.998654 with order 1 Centerline is valid? [True, True] Translation: X:167.11, Y:86.33, Z:0.84 [[ 5.72073097e-01 -8.20198983e-01 -2.44946655e-03 1.67110399e+02] [ 8.20192010e-01 5.72078336e-01 -3.38295682e-03 8.63315767e+01] [ 4.17598449e-03 -7.37343099e-05 9.99991278e-01 8.35225644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.342755096 meters Centerline goodness : 0.998672 with order 1 Centerline is valid? [True, True] Translation: X:167.15, Y:86.38, Z:0.84 [[ 5.69970029e-01 -8.21661835e-01 -2.44854312e-03 1.67146407e+02] [ 8.21654872e-01 5.69975282e-01 -3.38362506e-03 8.63772511e+01] [ 4.17580463e-03 -8.32925126e-05 9.99991278e-01 8.36030063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.402755096 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:167.18, Y:86.42, Z:0.84 [[ 5.68789881e-01 -8.22479229e-01 -2.44737599e-03 1.67181789e+02] [ 8.22472270e-01 5.68795139e-01 -3.38446903e-03 8.64227247e+01] [ 4.17571105e-03 -8.78471468e-05 9.99991278e-01 8.37098660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.462755096 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:167.22, Y:86.47, Z:0.84 [[ 5.68103645e-01 -8.22953379e-01 -2.44615674e-03 1.67216767e+02] [ 8.22946421e-01 5.68108905e-01 -3.38535003e-03 8.64692257e+01] [ 4.17566867e-03 -8.98262422e-05 9.99991278e-01 8.35663765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.522755096 meters Centerline goodness : 0.998881 with order 1 Centerline is valid? [True, True] Translation: X:167.25, Y:86.51, Z:0.83 [[ 5.66356420e-01 -8.24156798e-01 -2.44499735e-03 1.67253046e+02] [ 8.24149847e-01 5.66361690e-01 -3.38618717e-03 8.65144498e+01] [ 4.17550200e-03 -9.72553478e-05 9.99991278e-01 8.33358137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.582755096 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:167.29, Y:86.56, Z:0.83 [[ 5.65267078e-01 -8.24904333e-01 -2.44380414e-03 1.67290590e+02] [ 8.24897385e-01 5.65272352e-01 -3.38704808e-03 8.65593315e+01] [ 4.17540555e-03 -1.01300876e-04 9.99991278e-01 8.31416716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.642755096 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:167.33, Y:86.60, Z:0.83 [[ 5.62986512e-01 -8.26462474e-01 -2.44264161e-03 1.67329384e+02] [ 8.26455538e-01 5.62991800e-01 -3.38788626e-03 8.66033077e+01] [ 4.17514805e-03 -1.11400422e-04 9.99991278e-01 8.30666926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70275509599998 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:167.37, Y:86.65, Z:0.83 [[ 5.60225147e-01 -8.28336782e-01 -2.44135789e-03 1.67365354e+02] [ 8.28329859e-01 5.60230453e-01 -3.38881108e-03 8.66475415e+01] [ 4.17479989e-03 -1.23752451e-04 9.99991278e-01 8.27993332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76275509599998 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:167.40, Y:86.69, Z:0.83 [[ 5.59276722e-01 -8.28977439e-01 -2.44018086e-03 1.67401273e+02] [ 8.28970518e-01 5.59282031e-01 -3.38965841e-03 8.66930436e+01] [ 4.17469965e-03 -1.27080948e-04 9.99991278e-01 8.30634601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82275509599998 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:167.44, Y:86.74, Z:0.83 [[ 5.58281336e-01 -8.29648119e-01 -2.43898277e-03 1.67438126e+02] [ 8.29641201e-01 5.58286648e-01 -3.39052026e-03 8.67383781e+01] [ 4.17459027e-03 -1.30616414e-04 9.99991278e-01 8.31427484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88275509599998 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:167.47, Y:86.78, Z:0.83 [[ 5.58164264e-01 -8.29726890e-01 -2.43780745e-03 1.67473718e+02] [ 8.29719969e-01 5.58169573e-01 -3.39136511e-03 8.67841796e+01] [ 4.17461676e-03 -1.29758713e-04 9.99991278e-01 8.32152467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94275509599998 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:167.51, Y:86.83, Z:0.83 [[ 5.60388214e-01 -8.28226486e-01 -2.43664219e-03 1.67510252e+02] [ 8.28219548e-01 5.60393499e-01 -3.39220212e-03 8.68295421e+01] [ 4.17499009e-03 -1.17124604e-04 9.99991278e-01 8.32647912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.002755096 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:167.55, Y:86.88, Z:0.83 [[ 5.64238724e-01 -8.25608097e-01 -2.43559398e-03 1.67545125e+02] [ 8.25601131e-01 5.64243972e-01 -3.39295457e-03 8.68755311e+01] [ 4.17551999e-03 -9.63927852e-05 9.99991278e-01 8.33747311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.062755096 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:167.58, Y:86.92, Z:0.83 [[ 5.65137229e-01 -8.24993325e-01 -2.43446846e-03 1.67579645e+02] [ 8.24986349e-01 5.65142465e-01 -3.39376195e-03 8.69226737e+01] [ 4.17565246e-03 -9.04620225e-05 9.99991278e-01 8.33179298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.122755096 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:167.62, Y:86.97, Z:0.83 [[ 5.67543935e-01 -8.23339517e-01 -2.43334767e-03 1.67615088e+02] [ 8.23332523e-01 5.67549146e-01 -3.39456537e-03 8.69682530e+01] [ 4.17592420e-03 -7.68892907e-05 9.99991278e-01 8.34823650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.182755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:167.65, Y:87.02, Z:0.83 [[ 5.66684237e-01 -8.23931465e-01 -2.43225161e-03 1.67649377e+02] [ 8.23924473e-01 5.66689451e-01 -3.39535053e-03 8.70155073e+01] [ 4.17586746e-03 -7.99000062e-05 9.99991278e-01 8.34447992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.242755096 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:167.69, Y:87.06, Z:0.84 [[ 5.67004800e-01 -8.23710900e-01 -2.43107975e-03 1.67686164e+02] [ 8.23703902e-01 5.67010006e-01 -3.39618938e-03 8.70593637e+01] [ 4.17592475e-03 -7.68341990e-05 9.99991278e-01 8.38198239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.302755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:167.72, Y:87.11, Z:0.84 [[ 5.65845802e-01 -8.24507504e-01 -2.43002665e-03 1.67721700e+02] [ 8.24500510e-01 5.65851014e-01 -3.39694272e-03 8.71056858e+01] [ 4.17583780e-03 -8.14124401e-05 9.99991278e-01 8.36526793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.362755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:167.76, Y:87.15, Z:0.84 [[ 5.65399690e-01 -8.24813489e-01 -2.42894224e-03 1.67759008e+02] [ 8.24806495e-01 5.65404901e-01 -3.39771793e-03 8.71501197e+01] [ 4.17581943e-03 -8.23386724e-05 9.99991278e-01 8.37770763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.79, Y:87.20, Z:0.84 [[ 5.65017569e-01 -8.25075302e-01 -2.42768356e-03 1.67793181e+02] [ 8.25068306e-01 5.65022778e-01 -3.39861703e-03 8.71957072e+01] [ 4.17581148e-03 -8.27264373e-05 9.99991278e-01 8.36974650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.83, Y:87.24, Z:0.84 [[ 5.63640687e-01 -8.26016518e-01 -2.42669588e-03 1.67829438e+02] [ 8.26009528e-01 5.63645904e-01 -3.39932211e-03 8.72415742e+01] [ 4.17569340e-03 -8.84776683e-05 9.99991278e-01 8.36465191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.87, Y:87.29, Z:0.84 [[ 5.61449803e-01 -8.27507242e-01 -2.42565378e-03 1.67866316e+02] [ 8.27500263e-01 5.61455034e-01 -3.40006556e-03 8.72870972e+01] [ 4.17547440e-03 -9.82630016e-05 9.99991278e-01 8.37269779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.90, Y:87.33, Z:0.83 [[ 5.57808417e-01 -8.29966199e-01 -2.42458807e-03 1.67899859e+02] [ 8.29959239e-01 5.57813675e-01 -3.40082535e-03 8.73348521e+01] [ 4.17503847e-03 -1.15300262e-04 9.99991278e-01 8.33788466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.94, Y:87.38, Z:0.84 [[ 5.56950274e-01 -8.30542304e-01 -2.42347723e-03 1.67936889e+02] [ 8.30535347e-01 5.56955534e-01 -3.40161676e-03 8.73802931e+01] [ 4.17495568e-03 -1.18252112e-04 9.99991278e-01 8.35300151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.97, Y:87.43, Z:0.83 [[ 5.53376895e-01 -8.32927454e-01 -2.42238593e-03 1.67973762e+02] [ 8.32920516e-01 5.53382180e-01 -3.40239373e-03 8.74256680e+01] [ 4.17445236e-03 -1.34848863e-04 9.99991278e-01 8.34707090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.01, Y:87.47, Z:0.84 [[ 5.51986864e-01 -8.33849291e-01 -2.42122124e-03 1.68009868e+02] [ 8.33842358e-01 5.51992156e-01 -3.40322235e-03 8.74705220e+01] [ 4.17426968e-03 -1.40382792e-04 9.99991278e-01 8.35763921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.05, Y:87.52, Z:0.84 [[ 5.51240226e-01 -8.34343068e-01 -2.42017300e-03 1.68046606e+02] [ 8.34336137e-01 5.51245520e-01 -3.40396763e-03 8.75150882e+01] [ 4.17418632e-03 -1.42833904e-04 9.99991278e-01 8.35346692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.08, Y:87.56, Z:0.83 [[ 5.51717515e-01 -8.34027537e-01 -2.41903665e-03 1.68081148e+02] [ 8.34020599e-01 5.51722801e-01 -3.40477499e-03 8.75611152e+01] [ 4.17431377e-03 -1.39052395e-04 9.99991278e-01 8.34868719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.12, Y:87.61, Z:0.84 [[ 5.55173772e-01 -8.31730868e-01 -2.41802516e-03 1.68117893e+02] [ 8.31723905e-01 5.55179025e-01 -3.40549318e-03 8.76066384e+01] [ 4.17489065e-03 -1.20488832e-04 9.99991278e-01 8.36569619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.15, Y:87.66, Z:0.83 [[ 5.53453642e-01 -8.32876476e-01 -2.41694478e-03 1.68149117e+02] [ 8.32869521e-01 5.53458905e-01 -3.40625978e-03 8.76554930e+01] [ 4.17467325e-03 -1.27792760e-04 9.99991278e-01 8.31747204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.18, Y:87.70, Z:0.83 [[ 5.54933850e-01 -8.31890970e-01 -2.41580573e-03 1.68184565e+02] [ 8.31884001e-01 5.54939096e-01 -3.40706743e-03 8.77002889e+01] [ 4.17493368e-03 -1.18973084e-04 9.99991278e-01 8.30573128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.22, Y:87.74, Z:0.84 [[ 5.56082763e-01 -8.31123415e-01 -2.41449168e-03 1.68220004e+02] [ 8.31116435e-01 5.56087994e-01 -3.40799841e-03 8.77445974e+01] [ 4.17513711e-03 -1.11594546e-04 9.99991278e-01 8.36010625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20275509599998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:168.26, Y:87.79, Z:0.84 [[ 5.61969818e-01 -8.27154217e-01 -2.41329933e-03 1.68257508e+02] [ 8.27147197e-01 5.61974994e-01 -3.40884253e-03 8.77884390e+01] [ 4.17585236e-03 -8.04871585e-05 9.99991278e-01 8.39732812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.29, Y:87.84, Z:0.84 [[ 5.58874755e-01 -8.29248569e-01 -2.41208474e-03 1.68291447e+02] [ 8.29241565e-01 5.58879953e-01 -3.40970175e-03 8.78357942e+01] [ 4.17555611e-03 -9.46046939e-05 9.99991278e-01 8.36974308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.32, Y:87.88, Z:0.84 [[ 5.61657278e-01 -8.27366478e-01 -2.41080455e-03 1.68324950e+02] [ 8.27359452e-01 5.61662447e-01 -3.41060666e-03 8.78830470e+01] [ 4.17588001e-03 -7.90098800e-05 9.99991278e-01 8.38014366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.36, Y:87.93, Z:0.84 [[ 5.63563797e-01 -8.26069029e-01 -2.40965128e-03 1.68357286e+02] [ 8.26061987e-01 5.63568944e-01 -3.41142128e-03 8.79301115e+01] [ 4.17607409e-03 -6.79677986e-05 9.99991278e-01 8.38100549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.39, Y:87.98, Z:0.84 [[ 5.64907884e-01 -8.25150460e-01 -2.40862986e-03 1.68391102e+02] [ 8.25143407e-01 5.64913016e-01 -3.41214230e-03 8.79774474e+01] [ 4.17619714e-03 -5.99189636e-05 9.99991278e-01 8.39297362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.42, Y:88.02, Z:0.84 [[ 5.65107732e-01 -8.25013609e-01 -2.40757016e-03 1.68424250e+02] [ 8.25006552e-01 5.65112857e-01 -3.41288985e-03 8.80248364e+01] [ 4.17622942e-03 -5.76107116e-05 9.99991278e-01 8.39481973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.46, Y:88.07, Z:0.84 [[ 5.61995596e-01 -8.27136723e-01 -2.40650418e-03 1.68456728e+02] [ 8.27129682e-01 5.62000744e-01 -3.41364132e-03 8.80725051e+01] [ 4.17600524e-03 -7.20396512e-05 9.99991278e-01 8.38550328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.622755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:168.49, Y:88.12, Z:0.84 [[ 5.56963545e-01 -8.30533457e-01 -2.40539779e-03 1.68488744e+02] [ 8.30526444e-01 5.56968731e-01 -3.41442076e-03 8.81191435e+01] [ 4.17552203e-03 -9.60385845e-05 9.99991278e-01 8.36738026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.682755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:168.52, Y:88.17, Z:0.84 [[ 5.53502549e-01 -8.32844011e-01 -2.40465400e-03 1.68521891e+02] [ 8.32837017e-01 5.53507761e-01 -3.41494450e-03 8.81673938e+01] [ 4.17511073e-03 -1.12504377e-04 9.99991278e-01 8.37751313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.55, Y:88.21, Z:0.84 [[ 5.48713290e-01 -8.36007146e-01 -2.40359243e-03 1.68554615e+02] [ 8.36000179e-01 5.48718538e-01 -3.41569152e-03 8.82148987e+01] [ 4.17443824e-03 -1.35168363e-04 9.99991278e-01 8.39789514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.59, Y:88.26, Z:0.84 [[ 5.45435324e-01 -8.38149471e-01 -2.40251285e-03 1.68586505e+02] [ 8.38142521e-01 5.45440594e-01 -3.41645070e-03 8.82618068e+01] [ 4.17392438e-03 -1.50195286e-04 9.99991278e-01 8.39108310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.62, Y:88.31, Z:0.84 [[ 5.45322389e-01 -8.38222957e-01 -2.40138484e-03 1.68618979e+02] [ 8.38216004e-01 5.45327656e-01 -3.41724339e-03 8.83097188e+01] [ 4.17395342e-03 -1.49379873e-04 9.99991278e-01 8.38536053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.65, Y:88.36, Z:0.84 [[ 5.49414115e-01 -8.35546749e-01 -2.40034030e-03 1.68651332e+02] [ 8.35539767e-01 5.49419343e-01 -3.41797693e-03 8.83578869e+01] [ 4.17467290e-03 -1.27695009e-04 9.99991278e-01 8.38917704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.68, Y:88.41, Z:0.84 [[ 5.50420424e-01 -8.34884182e-01 -2.39965889e-03 1.68683423e+02] [ 8.34877193e-01 5.50425642e-01 -3.41845526e-03 8.84058050e+01] [ 4.17484801e-03 -1.21832888e-04 9.99991278e-01 8.39244757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.72, Y:88.45, Z:0.84 [[ 5.52608324e-01 -8.33437632e-01 -2.39855912e-03 1.68715904e+02] [ 8.33430626e-01 5.52613519e-01 -3.41922674e-03 8.84533488e+01] [ 4.17518843e-03 -1.09539474e-04 9.99991278e-01 8.39984614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.75, Y:88.50, Z:0.84 [[ 5.54436102e-01 -8.32222843e-01 -2.39747991e-03 1.68748337e+02] [ 8.32215822e-01 5.54441277e-01 -3.41998329e-03 8.85020151e+01] [ 4.17545004e-03 -9.90585067e-05 9.99991278e-01 8.42449163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.78, Y:88.55, Z:0.84 [[ 5.54168733e-01 -8.32400909e-01 -2.39637596e-03 1.68779937e+02] [ 8.32393886e-01 5.54173905e-01 -3.42075665e-03 8.85496954e+01] [ 4.17544997e-03 -9.90523181e-05 9.99991278e-01 8.43971066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.81, Y:88.60, Z:0.84 [[ 5.52653368e-01 -8.33407774e-01 -2.39538468e-03 1.68812832e+02] [ 8.33400757e-01 5.52658549e-01 -3.42145065e-03 8.85978363e+01] [ 4.17529339e-03 -1.05439177e-04 9.99991278e-01 8.44415767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.85, Y:88.64, Z:0.84 [[ 5.50560124e-01 -8.34792080e-01 -2.39428119e-03 1.68845198e+02] [ 8.34785073e-01 5.50565319e-01 -3.42222268e-03 8.86444147e+01] [ 4.17505258e-03 -1.14570853e-04 9.99991278e-01 8.43941906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.88, Y:88.69, Z:0.84 [[ 5.49506217e-01 -8.35486199e-01 -2.39348381e-03 1.68877705e+02] [ 8.35479196e-01 5.49511417e-01 -3.42278028e-03 8.86924672e+01] [ 4.17493236e-03 -1.18866892e-04 9.99991278e-01 8.44734562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.91, Y:88.74, Z:0.84 [[ 5.49547993e-01 -8.35458724e-01 -2.39242366e-03 1.68910199e+02] [ 8.35451718e-01 5.49553189e-01 -3.42352113e-03 8.87398444e+01] [ 4.17497465e-03 -1.17365291e-04 9.99991278e-01 8.44296770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.462755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:168.94, Y:88.79, Z:0.84 [[ 5.50107230e-01 -8.35090604e-01 -2.39131632e-03 1.68942913e+02] [ 8.35083591e-01 5.50112416e-01 -3.42429443e-03 8.87873678e+01] [ 4.17508890e-03 -1.13219893e-04 9.99991278e-01 8.42683106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.98, Y:88.84, Z:0.84 [[ 5.52725171e-01 -8.33360170e-01 -2.39028293e-03 1.68975676e+02] [ 8.33353137e-01 5.52730330e-01 -3.42501562e-03 8.88353593e+01] [ 4.17545347e-03 -9.88574315e-05 9.99991278e-01 8.44148915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.01, Y:88.88, Z:0.84 [[ 5.54395176e-01 -8.32250131e-01 -2.38920807e-03 1.69010229e+02] [ 8.32243085e-01 5.54400317e-01 -3.42576525e-03 8.88822379e+01] [ 4.17567129e-03 -8.91741629e-05 9.99991278e-01 8.44634329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.04, Y:88.93, Z:0.84 [[ 5.54952840e-01 -8.31878382e-01 -2.38809775e-03 1.69044322e+02] [ 8.31871329e-01 5.54957972e-01 -3.42653908e-03 8.89290013e+01] [ 4.17575767e-03 -8.50224506e-05 9.99991278e-01 8.44726263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.08, Y:88.98, Z:0.85 [[ 5.55130206e-01 -8.31760035e-01 -2.38698623e-03 1.69078221e+02] [ 8.31752978e-01 5.55135332e-01 -3.42731321e-03 8.89756911e+01] [ 4.17580255e-03 -8.27778178e-05 9.99991278e-01 8.45177959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.11, Y:89.02, Z:0.85 [[ 5.54570530e-01 -8.32133304e-01 -2.38589339e-03 1.69113240e+02] [ 8.32126247e-01 5.54575656e-01 -3.42807381e-03 8.90225277e+01] [ 4.17577278e-03 -8.42558066e-05 9.99991278e-01 8.46140037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.15, Y:89.07, Z:0.85 [[ 5.53741398e-01 -8.32685281e-01 -2.38480975e-03 1.69148306e+02] [ 8.32678226e-01 5.53746526e-01 -3.42882750e-03 8.90676600e+01] [ 4.17571431e-03 -8.70954231e-05 9.99991278e-01 8.47233491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.18, Y:89.11, Z:0.85 [[ 5.53339087e-01 -8.32952684e-01 -2.38367829e-03 1.69182374e+02] [ 8.32945628e-01 5.53344214e-01 -3.42961390e-03 8.91132464e+01] [ 4.17570069e-03 -8.77349894e-05 9.99991278e-01 8.47889346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.22, Y:89.16, Z:0.85 [[ 5.53026484e-01 -8.33160266e-01 -2.38291199e-03 1.69215661e+02] [ 8.33153210e-01 5.53031611e-01 -3.43014624e-03 8.91602702e+01] [ 4.17568722e-03 -8.83690575e-05 9.99991278e-01 8.48204394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.25, Y:89.21, Z:0.85 [[ 5.54020199e-01 -8.32499818e-01 -2.38188184e-03 1.69249388e+02] [ 8.32492752e-01 5.54025313e-01 -3.43086143e-03 8.92076485e+01] [ 4.17581435e-03 -8.21328318e-05 9.99991278e-01 8.49414565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.28, Y:89.25, Z:0.85 [[ 5.55938815e-01 -8.31219806e-01 -2.38077671e-03 1.69281732e+02] [ 8.31212725e-01 5.55943908e-01 -3.43162814e-03 8.92546278e+01] [ 4.17601559e-03 -7.11566087e-05 9.99991278e-01 8.48615330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.31, Y:89.30, Z:0.85 [[ 5.57449343e-01 -8.30207545e-01 -2.37962206e-03 1.69314313e+02] [ 8.30200451e-01 5.57454419e-01 -3.43242863e-03 8.93031661e+01] [ 4.17615898e-03 -6.21582221e-05 9.99991278e-01 8.49399309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.35, Y:89.35, Z:0.85 [[ 5.59532673e-01 -8.28804881e-01 -2.37852895e-03 1.69345710e+02] [ 8.28797772e-01 5.59537726e-01 -3.43318594e-03 8.93521323e+01] [ 4.17631795e-03 -5.03397877e-05 9.99991278e-01 8.48557210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.38, Y:89.40, Z:0.85 [[ 5.61435476e-01 -8.27517102e-01 -2.37735441e-03 1.69377843e+02] [ 8.27509978e-01 5.61440508e-01 -3.43399908e-03 8.94006310e+01] [ 4.17643603e-03 -3.93155890e-05 9.99991278e-01 8.50916948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.41, Y:89.45, Z:0.85 [[ 5.62449407e-01 -8.26828288e-01 -2.37616117e-03 1.69409343e+02] [ 8.26821154e-01 5.62454426e-01 -3.43482455e-03 8.94498996e+01] [ 4.17649246e-03 -3.27452872e-05 9.99991278e-01 8.50372775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.362755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:169.44, Y:89.50, Z:0.85 [[ 5.61500389e-01 -8.27473064e-01 -2.37509024e-03 1.69441171e+02] [ 8.27465933e-01 5.61505411e-01 -3.43556491e-03 8.94985280e+01] [ 4.17646344e-03 -3.62352284e-05 9.99991278e-01 8.49146410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.47, Y:89.55, Z:0.85 [[ 5.59227871e-01 -8.29010586e-01 -2.37399597e-03 1.69474365e+02] [ 8.29003466e-01 5.59232908e-01 -3.43632088e-03 8.95467381e+01] [ 4.17636306e-03 -4.63644793e-05 9.99991278e-01 8.51893770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.51, Y:89.59, Z:0.85 [[ 5.55747690e-01 -8.31347625e-01 -2.37288878e-03 1.69507067e+02] [ 8.31340523e-01 5.55752753e-01 -3.43708527e-03 8.95941232e+01] [ 4.17615214e-03 -6.25263945e-05 9.99991278e-01 8.53243022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.54, Y:89.64, Z:0.85 [[ 5.52706979e-01 -8.33372287e-01 -2.37179343e-03 1.69539594e+02] [ 8.33365200e-01 5.52712063e-01 -3.43784095e-03 8.96420425e+01] [ 4.17592022e-03 -7.64514210e-05 9.99991278e-01 8.52371294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.57, Y:89.69, Z:0.86 [[ 5.52204576e-01 -8.33705276e-01 -2.37061697e-03 1.69571808e+02] [ 8.33698188e-01 5.52209659e-01 -3.43865201e-03 8.96890102e+01] [ 4.17589991e-03 -7.75396922e-05 9.99991278e-01 8.55403326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.60, Y:89.74, Z:0.85 [[ 5.53122456e-01 -8.33096592e-01 -2.36982544e-03 1.69602832e+02] [ 8.33089497e-01 5.53127528e-01 -3.43919742e-03 8.97383804e+01] [ 4.17599934e-03 -7.19793554e-05 9.99991278e-01 8.52116739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.64, Y:89.79, Z:0.85 [[ 5.54725643e-01 -8.32029957e-01 -2.36866296e-03 1.69635386e+02] [ 8.32022849e-01 5.54730697e-01 -3.43999787e-03 8.97858224e+01] [ 4.17615133e-03 -6.25266705e-05 9.99991278e-01 8.54644941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.67, Y:89.83, Z:0.85 [[ 5.56874184e-01 -8.30593486e-01 -2.36734308e-03 1.69666401e+02] [ 8.30586360e-01 5.56879214e-01 -3.44090594e-03 8.98333532e+01] [ 4.17631822e-03 -5.01311827e-05 9.99991278e-01 8.53038646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.842755096 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:169.70, Y:89.88, Z:0.85 [[ 5.56949030e-01 -8.30543304e-01 -2.36619368e-03 1.69697336e+02] [ 8.30536174e-01 5.56954054e-01 -3.44169617e-03 8.98821149e+01] [ 4.17633887e-03 -4.83601005e-05 9.99991278e-01 8.49165652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.902755096 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:169.73, Y:89.93, Z:0.85 [[ 5.56575466e-01 -8.30793691e-01 -2.36513366e-03 1.69729798e+02] [ 8.30786560e-01 5.56580489e-01 -3.44242446e-03 8.99301442e+01] [ 4.17633177e-03 -4.89522552e-05 9.99991278e-01 8.50316307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.76, Y:89.98, Z:0.85 [[ 5.55072893e-01 -8.31798350e-01 -2.36403234e-03 1.69762349e+02] [ 8.31791225e-01 5.55077924e-01 -3.44318061e-03 8.99785118e+01] [ 4.17625411e-03 -5.51651393e-05 9.99991278e-01 8.52273416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.79, Y:90.03, Z:0.85 [[ 5.52883077e-01 -8.33255495e-01 -2.36291607e-03 1.69794365e+02] [ 8.33248380e-01 5.52888123e-01 -3.44394649e-03 9.00262190e+01] [ 4.17611557e-03 -6.47962484e-05 9.99991278e-01 8.51843877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.082755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:169.83, Y:90.07, Z:0.85 [[ 5.48364485e-01 -8.36236099e-01 -2.36192109e-03 1.69826900e+02] [ 8.36229008e-01 5.48369565e-01 -3.44462873e-03 9.00744428e+01] [ 4.17572853e-03 -8.61948668e-05 9.99991278e-01 8.49836371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.86, Y:90.12, Z:0.85 [[ 5.46123918e-01 -8.37701076e-01 -2.36079387e-03 1.69857889e+02] [ 8.37693997e-01 5.46129012e-01 -3.44540110e-03 9.01225461e+01] [ 4.17551423e-03 -9.60069043e-05 9.99991278e-01 8.51658809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20275509599998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:169.89, Y:90.17, Z:0.85 [[ 5.43331504e-01 -8.39514924e-01 -2.36003814e-03 1.69889670e+02] [ 8.39507859e-01 5.43336618e-01 -3.44591869e-03 9.01700016e+01] [ 4.17519530e-03 -1.08994379e-04 9.99991278e-01 8.49802007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.92, Y:90.22, Z:0.85 [[ 5.42717137e-01 -8.39912224e-01 -2.35889116e-03 1.69921493e+02] [ 8.39905160e-01 5.42722252e-01 -3.44670367e-03 9.02182350e+01] [ 4.17515127e-03 -1.10659705e-04 9.99991278e-01 8.51612953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.95, Y:90.27, Z:0.85 [[ 5.42166741e-01 -8.40267616e-01 -2.35779607e-03 1.69953321e+02] [ 8.40260551e-01 5.42171856e-01 -3.44745263e-03 9.02671239e+01] [ 4.17511347e-03 -1.12068868e-04 9.99991278e-01 8.52116092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.99, Y:90.32, Z:0.85 [[ 5.42633678e-01 -8.39966153e-01 -2.35669908e-03 1.69985886e+02] [ 8.39959082e-01 5.42638785e-01 -3.44820237e-03 9.03157357e+01] [ 4.17520960e-03 -1.08420061e-04 9.99991278e-01 8.53590823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.02, Y:90.37, Z:0.85 [[ 5.43277848e-01 -8.39549660e-01 -2.35562441e-03 1.70015909e+02] [ 8.39542582e-01 5.43282945e-01 -3.44893637e-03 9.03654205e+01] [ 4.17532392e-03 -1.03916273e-04 9.99991278e-01 8.49953830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.05, Y:90.41, Z:0.85 [[ 5.43745117e-01 -8.39247106e-01 -2.35441091e-03 1.70046262e+02] [ 8.39240022e-01 5.43750205e-01 -3.44976457e-03 9.04137399e+01] [ 4.17541634e-03 -1.00123222e-04 9.99991278e-01 8.49154226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.08, Y:90.46, Z:0.85 [[ 5.45976542e-01 -8.37797157e-01 -2.35350543e-03 1.70079780e+02] [ 8.37790057e-01 5.45981607e-01 -3.45038219e-03 9.04602052e+01] [ 4.17569107e-03 -8.79157125e-05 9.99991278e-01 8.54705988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.11, Y:90.51, Z:0.85 [[ 5.45127884e-01 -8.38349603e-01 -2.35251572e-03 1.70112972e+02] [ 8.38342504e-01 5.45132952e-01 -3.45105686e-03 9.05084076e+01] [ 4.17562599e-03 -9.09465987e-05 9.99991278e-01 8.54101589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.682755096 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:170.15, Y:90.56, Z:0.85 [[ 5.43414048e-01 -8.39461520e-01 -2.35141058e-03 1.70145204e+02] [ 8.39454429e-01 5.43419127e-01 -3.45180969e-03 9.05557463e+01] [ 4.17546289e-03 -9.81401434e-05 9.99991278e-01 8.51635385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.18, Y:90.60, Z:0.85 [[ 5.43362288e-01 -8.39495027e-01 -2.35026066e-03 1.70179207e+02] [ 8.39487933e-01 5.43367363e-01 -3.45259247e-03 9.06025000e+01] [ 4.17548914e-03 -9.70069132e-05 9.99991278e-01 8.53585933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.802755096 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:170.21, Y:90.65, Z:0.85 [[ 5.40511572e-01 -8.41333301e-01 -2.34910707e-03 1.70211159e+02] [ 8.41326220e-01 5.40516665e-01 -3.45337718e-03 9.06495451e+01] [ 4.17517274e-03 -1.09775048e-04 9.99991278e-01 8.53977749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.24, Y:90.70, Z:0.86 [[ 5.39406472e-01 -8.42042247e-01 -2.34787780e-03 1.70243169e+02] [ 8.42035170e-01 5.39411570e-01 -3.45421273e-03 9.06962834e+01] [ 4.17506550e-03 -1.13770978e-04 9.99991278e-01 8.56947808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.27, Y:90.74, Z:0.86 [[ 5.38673780e-01 -8.42511157e-01 -2.34698439e-03 1.70274074e+02] [ 8.42504082e-01 5.38678880e-01 -3.45481966e-03 9.07443462e+01] [ 4.17499503e-03 -1.16323158e-04 9.99991278e-01 8.57459388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.31, Y:90.79, Z:0.86 [[ 5.39539152e-01 -8.41957244e-01 -2.34571230e-03 1.70306269e+02] [ 8.41950160e-01 5.39544240e-01 -3.45568315e-03 9.07910357e+01] [ 4.17515302e-03 -1.10496490e-04 9.99991278e-01 8.57030893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.34, Y:90.84, Z:0.86 [[ 5.40892713e-01 -8.41088328e-01 -2.34458210e-03 1.70338632e+02] [ 8.41081232e-01 5.40897785e-01 -3.45644979e-03 9.08394821e+01] [ 4.17535884e-03 -1.02415498e-04 9.99991278e-01 8.55781502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.37, Y:90.89, Z:0.86 [[ 5.44235261e-01 -8.38929371e-01 -2.34343424e-03 1.70370614e+02] [ 8.38922252e-01 5.44240299e-01 -3.45722785e-03 9.08878248e+01] [ 4.17576134e-03 -8.44138321e-05 9.99991278e-01 8.55005563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.40, Y:90.94, Z:0.85 [[ 5.44179645e-01 -8.38965451e-01 -2.34218193e-03 1.70402423e+02] [ 8.38958329e-01 5.44184679e-01 -3.45807605e-03 9.09360731e+01] [ 4.17578586e-03 -8.31784387e-05 9.99991278e-01 8.50271397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.44, Y:90.98, Z:0.86 [[ 5.45419162e-01 -8.38160162e-01 -2.34087700e-03 1.70436047e+02] [ 8.38153028e-01 5.45424180e-01 -3.45895917e-03 9.09826818e+01] [ 4.17593270e-03 -7.54305334e-05 9.99991278e-01 8.56403140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.282755096 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:170.47, Y:91.03, Z:0.85 [[ 5.44338448e-01 -8.38862431e-01 -2.33982721e-03 1.70470065e+02] [ 8.38855301e-01 5.44343471e-01 -3.45966917e-03 9.10300160e+01] [ 4.17585615e-03 -7.95455084e-05 9.99991278e-01 8.54618930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.50, Y:91.08, Z:0.86 [[ 5.41421620e-01 -8.40747976e-01 -2.33873058e-03 1.70503528e+02] [ 8.40740860e-01 5.41426663e-01 -3.46041033e-03 9.10770556e+01] [ 4.17558407e-03 -9.27253928e-05 9.99991278e-01 8.58095725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.54, Y:91.13, Z:0.85 [[ 5.37559147e-01 -8.43222805e-01 -2.33764269e-03 1.70536676e+02] [ 8.43215709e-01 5.37564218e-01 -3.46114508e-03 9.11251769e+01] [ 4.17514953e-03 -1.10566844e-04 9.99991278e-01 8.52988864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.57, Y:91.17, Z:0.86 [[ 5.34772366e-01 -8.44992933e-01 -2.33648687e-03 1.70571553e+02] [ 8.44985850e-01 5.34777456e-01 -3.46192515e-03 9.11710816e+01] [ 4.17480280e-03 -1.22956441e-04 9.99991278e-01 8.58473534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.61, Y:91.22, Z:0.86 [[ 5.32191125e-01 -8.46621019e-01 -2.33596189e-03 1.70605557e+02] [ 8.46613950e-01 5.32196235e-01 -3.46227935e-03 9.12181852e+01] [ 4.17442860e-03 -1.35063578e-04 9.99991278e-01 8.58800860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.64, Y:91.27, Z:0.85 [[ 5.27753750e-01 -8.49394212e-01 -2.33482535e-03 1.70639808e+02] [ 8.49387167e-01 5.27758892e-01 -3.46304562e-03 9.12658399e+01] [ 4.17371575e-03 -1.55535374e-04 9.99991278e-01 8.51876274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.642755096 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:170.67, Y:91.31, Z:0.86 [[ 5.30773274e-01 -8.47510640e-01 -2.33372305e-03 1.70671755e+02] [ 8.47503574e-01 5.30778386e-01 -3.46378829e-03 9.13133031e+01] [ 4.17428719e-03 -1.39352371e-04 9.99991278e-01 8.55224066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.70, Y:91.36, Z:0.86 [[ 5.34260999e-01 -8.45316358e-01 -2.33255406e-03 1.70704465e+02] [ 8.45309266e-01 5.34266077e-01 -3.46457533e-03 9.13618643e+01] [ 4.17486670e-03 -1.20742083e-04 9.99991278e-01 8.57031622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.74, Y:91.41, Z:0.85 [[ 5.35420105e-01 -8.44582664e-01 -2.33147225e-03 1.70736765e+02] [ 8.44575562e-01 5.35425169e-01 -3.46530317e-03 9.14099747e+01] [ 4.17506391e-03 -1.13711496e-04 9.99991278e-01 8.51691411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82275509599998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:170.77, Y:91.46, Z:0.86 [[ 5.39572029e-01 -8.41936218e-01 -2.33040425e-03 1.70767184e+02] [ 8.41929088e-01 5.39577054e-01 -3.46602125e-03 9.14590200e+01] [ 4.17560148e-03 -9.18670103e-05 9.99991278e-01 8.57014560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.80, Y:91.51, Z:0.86 [[ 5.42642626e-01 -8.39960448e-01 -2.32933732e-03 1.70797841e+02] [ 8.39953298e-01 5.42647620e-01 -3.46673813e-03 9.15081242e+01] [ 4.17593227e-03 -7.53346784e-05 9.99991278e-01 8.58819904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94275509599998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:170.83, Y:91.56, Z:0.85 [[ 5.42607689e-01 -8.39983021e-01 -2.32826673e-03 1.70828860e+02] [ 8.39975867e-01 5.42612679e-01 -3.46745699e-03 9.15574943e+01] [ 4.17595205e-03 -7.42190389e-05 9.99991278e-01 8.51705763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.002755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:170.86, Y:91.60, Z:0.86 [[ 5.45291374e-01 -8.38243343e-01 -2.32714369e-03 1.70862070e+02] [ 8.38236170e-01 5.45296336e-01 -3.46821055e-03 9.16037476e+01] [ 4.17618733e-03 -5.95107211e-05 9.99991278e-01 8.61221890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.062755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:170.89, Y:91.65, Z:0.85 [[ 5.43057759e-01 -8.39692122e-01 -2.32596964e-03 1.70889684e+02] [ 8.39684959e-01 5.43062736e-01 -3.46899775e-03 9.16549467e+01] [ 4.17603752e-03 -6.92155820e-05 9.99991278e-01 8.54724093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.122755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:170.93, Y:91.70, Z:0.86 [[ 5.42611307e-01 -8.39980693e-01 -2.32490437e-03 1.70926483e+02] [ 8.39973529e-01 5.42616283e-01 -3.46971154e-03 9.17002928e+01] [ 4.17602167e-03 -7.01534118e-05 9.99991278e-01 8.58373440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.182755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:170.96, Y:91.75, Z:0.86 [[ 5.40870933e-01 -8.41102392e-01 -2.32381432e-03 1.70960876e+02] [ 8.41095236e-01 5.40875919e-01 -3.47044144e-03 9.17471039e+01] [ 4.17589180e-03 -7.74882512e-05 9.99991278e-01 8.63145606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.242755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:170.99, Y:91.80, Z:0.86 [[ 5.35270703e-01 -8.44677382e-01 -2.32269950e-03 1.70991869e+02] [ 8.44670256e-01 5.35275733e-01 -3.47118741e-03 9.17967700e+01] [ 4.17531817e-03 -1.03890254e-04 9.99991278e-01 8.61759716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.302755096 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:171.02, Y:91.85, Z:0.85 [[ 5.30498766e-01 -8.47682529e-01 -2.32154446e-03 1.71021077e+02] [ 8.47675428e-01 5.30503831e-01 -3.47195973e-03 9.18471333e+01] [ 4.17470783e-03 -1.26045835e-04 9.99991278e-01 8.54902918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.362755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:171.06, Y:91.89, Z:0.86 [[ 5.27667806e-01 -8.49447646e-01 -2.32028105e-03 1.71055131e+02] [ 8.49440558e-01 5.27672890e-01 -3.47280385e-03 9.18946299e+01] [ 4.17431446e-03 -1.38454041e-04 9.99991278e-01 8.56824540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.09, Y:91.94, Z:0.86 [[ 5.25206858e-01 -8.50971432e-01 -2.31909492e-03 1.71085248e+02] [ 8.50964356e-01 5.25211957e-01 -3.47359575e-03 9.19445893e+01] [ 4.17394713e-03 -1.49110804e-04 9.99991278e-01 8.55776701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48275509599998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:171.12, Y:91.99, Z:0.85 [[ 5.24203919e-01 -8.51589619e-01 -2.31790852e-03 1.71116789e+02] [ 8.51582545e-01 5.24209021e-01 -3.47438725e-03 9.19936746e+01] [ 4.17382067e-03 -1.52603023e-04 9.99991278e-01 8.53170802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54275509599998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:171.15, Y:92.04, Z:0.86 [[ 5.26674174e-01 -8.50064084e-01 -2.31672413e-03 1.71149857e+02] [ 8.50056992e-01 5.26679251e-01 -3.47517682e-03 9.20404549e+01] [ 4.17429353e-03 -1.39061664e-04 9.99991278e-01 8.56475484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.18, Y:92.09, Z:0.86 [[ 5.29004375e-01 -8.48615937e-01 -2.31567323e-03 1.71179507e+02] [ 8.48608828e-01 5.29009428e-01 -3.47587694e-03 9.20904287e+01] [ 4.17469754e-03 -1.26346638e-04 9.99991278e-01 8.60946506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66275509599998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:171.21, Y:92.14, Z:0.86 [[ 5.31280861e-01 -8.47192593e-01 -2.31446674e-03 1.71211478e+02] [ 8.47185467e-01 5.31285891e-01 -3.47668012e-03 9.21374872e+01] [ 4.17506117e-03 -1.13688972e-04 9.99991278e-01 8.60803331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.722755096 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:171.24, Y:92.19, Z:0.86 [[ 5.34186088e-01 -8.45363751e-01 -2.31365705e-03 1.71242661e+02] [ 8.45356605e-01 5.34191089e-01 -3.47721887e-03 9.21853763e+01] [ 4.17544976e-03 -9.83833216e-05 9.99991278e-01 8.59033850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.27, Y:92.23, Z:0.86 [[ 5.36790534e-01 -8.43712377e-01 -2.31247850e-03 1.71274713e+02] [ 8.43705212e-01 5.36795509e-01 -3.47800247e-03 9.22336116e+01] [ 4.17576180e-03 -8.40913627e-05 9.99991278e-01 8.63581180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.31, Y:92.28, Z:0.86 [[ 5.41466075e-01 -8.40719423e-01 -2.31138836e-03 1.71307060e+02] [ 8.40712228e-01 5.41471005e-01 -3.47872680e-03 9.22812903e+01] [ 4.17618296e-03 -5.95999147e-05 9.99991278e-01 8.64999699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.902755096 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:171.34, Y:92.33, Z:0.86 [[ 5.40609802e-01 -8.41270292e-01 -2.31030095e-03 1.71337265e+02] [ 8.41263099e-01 5.40614735e-01 -3.47944882e-03 9.23301661e+01] [ 4.17613966e-03 -6.25468007e-05 9.99991278e-01 8.63406327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.962755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:171.37, Y:92.38, Z:0.87 [[ 5.40369649e-01 -8.41424572e-01 -2.30911054e-03 1.71370093e+02] [ 8.41417377e-01 5.40374579e-01 -3.48023865e-03 9.23787151e+01] [ 4.17614295e-03 -6.23103985e-05 9.99991278e-01 8.67945419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.40, Y:92.43, Z:0.87 [[ 5.38067790e-01 -8.42898408e-01 -2.30794126e-03 1.71402631e+02] [ 8.42891224e-01 5.38072735e-01 -3.48101389e-03 9.24259395e+01] [ 4.17598133e-03 -7.23219778e-05 9.99991278e-01 8.68169646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.082755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:171.44, Y:92.47, Z:0.86 [[ 5.34873932e-01 -8.44928728e-01 -2.30669183e-03 1.71436646e+02] [ 8.44921558e-01 5.34878899e-01 -3.48184163e-03 9.24728581e+01] [ 4.17570881e-03 -8.66273320e-05 9.99991278e-01 8.64977386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.47, Y:92.52, Z:0.86 [[ 5.30026600e-01 -8.47977882e-01 -2.30534029e-03 1.71469877e+02] [ 8.47970737e-01 5.30031603e-01 -3.48273626e-03 9.25205928e+01] [ 4.17518652e-03 -1.08918251e-04 9.99991278e-01 8.63894609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.50, Y:92.57, Z:0.86 [[ 5.25313052e-01 -8.50905922e-01 -2.30413232e-03 1.71502273e+02] [ 8.50898802e-01 5.25318089e-01 -3.48353525e-03 9.25671682e+01] [ 4.17456316e-03 -1.30636897e-04 9.99991278e-01 8.63048895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.53, Y:92.62, Z:0.86 [[ 5.18313201e-01 -8.55187770e-01 -2.30307339e-03 1.71532203e+02] [ 8.55180688e-01 5.18318291e-01 -3.48423520e-03 9.26167170e+01] [ 4.17340040e-03 -1.63618789e-04 9.99991278e-01 8.64976443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.57, Y:92.66, Z:0.87 [[ 5.17051543e-01 -8.55951169e-01 -2.30194160e-03 1.71565289e+02] [ 8.55944091e-01 5.17056640e-01 -3.48498279e-03 9.26632755e+01] [ 4.17320928e-03 -1.68417579e-04 9.99991278e-01 8.67869934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38275509599998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:171.60, Y:92.71, Z:0.87 [[ 5.15236365e-01 -8.57045036e-01 -2.30099669e-03 1.71596607e+02] [ 8.57037966e-01 5.15241473e-01 -3.48560656e-03 9.27113606e+01] [ 4.17289072e-03 -1.76130266e-04 9.99991278e-01 8.68016921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.63, Y:92.76, Z:0.87 [[ 5.16556294e-01 -8.56250142e-01 -2.29982777e-03 1.71627797e+02] [ 8.56243061e-01 5.16561387e-01 -3.48637766e-03 9.27599852e+01] [ 4.17321358e-03 -1.68301242e-04 9.99991278e-01 8.72048003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.66, Y:92.81, Z:0.87 [[ 5.21036594e-01 -8.53531244e-01 -2.29874633e-03 1.71659306e+02] [ 8.53524133e-01 5.21041645e-01 -3.48709055e-03 9.28087268e+01] [ 4.17408331e-03 -1.45133683e-04 9.99991278e-01 8.74105680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.69, Y:92.86, Z:0.87 [[ 5.27624231e-01 -8.49474775e-01 -2.29755691e-03 1.71688851e+02] [ 8.49467621e-01 5.27629221e-01 -3.48787406e-03 9.28571193e+01] [ 4.17511919e-03 -1.11413335e-04 9.99991278e-01 8.73522655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.622755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:171.72, Y:92.91, Z:0.87 [[ 5.33516766e-01 -8.45786372e-01 -2.29649313e-03 1.71719668e+02] [ 8.45779181e-01 5.33521702e-01 -3.48857433e-03 9.29069393e+01] [ 4.17581755e-03 -8.11131863e-05 9.99991278e-01 8.73180223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.75, Y:92.95, Z:0.88 [[ 5.36704598e-01 -8.43767092e-01 -2.29535928e-03 1.71754204e+02] [ 8.43759879e-01 5.36709503e-01 -3.48932021e-03 9.29545182e+01] [ 4.17611470e-03 -6.39978685e-05 9.99991278e-01 8.78731001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.78, Y:93.00, Z:0.88 [[ 5.36995576e-01 -8.43581938e-01 -2.29470195e-03 1.71782832e+02] [ 8.43574722e-01 5.37000475e-01 -3.48975244e-03 9.30045584e+01] [ 4.17614816e-03 -6.17709372e-05 9.99991278e-01 8.75097723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.81, Y:93.05, Z:0.88 [[ 5.36737347e-01 -8.43746264e-01 -2.29401137e-03 1.71814617e+02] [ 8.43739048e-01 5.36742245e-01 -3.49020634e-03 9.30526378e+01] [ 4.17614137e-03 -6.22228816e-05 9.99991278e-01 8.75879021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.85, Y:93.10, Z:0.88 [[ 5.36910136e-01 -8.43636325e-01 -2.29287954e-03 1.71848136e+02] [ 8.43629104e-01 5.36915028e-01 -3.49094973e-03 9.31009024e+01] [ 4.17617348e-03 -6.00136159e-05 9.99991278e-01 8.77933863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.88, Y:93.15, Z:0.88 [[ 5.34649015e-01 -8.45071109e-01 -2.29184143e-03 1.71877695e+02] [ 8.45063898e-01 5.34653922e-01 -3.49163113e-03 9.31497950e+01] [ 4.17601860e-03 -6.99553109e-05 9.99991278e-01 8.75493928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98275509599998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:171.91, Y:93.20, Z:0.87 [[ 5.33319351e-01 -8.45910883e-01 -2.29083418e-03 1.71909897e+02] [ 8.45903677e-01 5.33324266e-01 -3.49229185e-03 9.31977260e+01] [ 4.17592514e-03 -7.53182286e-05 9.99991278e-01 8.72698023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.94, Y:93.25, Z:0.88 [[ 5.32349764e-01 -8.46521403e-01 -2.28971446e-03 1.71941860e+02] [ 8.46514200e-01 5.32354682e-01 -3.49302584e-03 9.32456611e+01] [ 4.17586135e-03 -7.87643230e-05 9.99991278e-01 8.75726288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10275509599998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:171.97, Y:93.29, Z:0.87 [[ 5.29847971e-01 -8.48089553e-01 -2.28857916e-03 1.71972369e+02] [ 8.48082362e-01 5.29852906e-01 -3.49376951e-03 9.32935868e+01] [ 4.17563974e-03 -8.97369346e-05 9.99991278e-01 8.72492900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16275509599998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:172.00, Y:93.34, Z:0.88 [[ 5.26778031e-01 -8.49999808e-01 -2.28732451e-03 1.72002797e+02] [ 8.49992631e-01 5.26782987e-01 -3.49459072e-03 9.33424957e+01] [ 4.17532508e-03 -1.03335352e-04 9.99991278e-01 8.75883493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.03, Y:93.39, Z:0.88 [[ 5.25605732e-01 -8.50725214e-01 -2.28600950e-03 1.72034116e+02] [ 8.50718039e-01 5.25610692e-01 -3.49545073e-03 9.33917857e+01] [ 4.17521911e-03 -1.07520586e-04 9.99991278e-01 8.76289907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.282755096 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:172.06, Y:93.44, Z:0.88 [[ 5.24246419e-01 -8.51563544e-01 -2.28526734e-03 1.72063628e+02] [ 8.51556375e-01 5.24251388e-01 -3.49593588e-03 9.34402507e+01] [ 4.17506612e-03 -1.13302103e-04 9.99991278e-01 8.78237012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.342755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:172.09, Y:93.49, Z:0.88 [[ 5.24009988e-01 -8.51709055e-01 -2.28431474e-03 1.72092973e+02] [ 8.51701885e-01 5.24014955e-01 -3.49655822e-03 9.34898727e+01] [ 4.17506538e-03 -1.13323738e-04 9.99991278e-01 8.79350158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.402755096 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:172.12, Y:93.54, Z:0.88 [[ 5.23344986e-01 -8.52117839e-01 -2.28319936e-03 1.72121626e+02] [ 8.52110670e-01 5.23349954e-01 -3.49728639e-03 9.35392453e+01] [ 4.17501240e-03 -1.15251246e-04 9.99991278e-01 8.77963016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.15, Y:93.59, Z:0.88 [[ 5.22308648e-01 -8.52753463e-01 -2.28203256e-03 1.72152086e+02] [ 8.52746297e-01 5.22313620e-01 -3.49804758e-03 9.35882189e+01] [ 4.17490887e-03 -1.18934312e-04 9.99991278e-01 8.78795378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.18, Y:93.64, Z:0.88 [[ 5.18983988e-01 -8.54780918e-01 -2.28093704e-03 1.72181318e+02] [ 8.54773768e-01 5.18988983e-01 -3.49876178e-03 9.36380562e+01] [ 4.17445600e-03 -1.33883809e-04 9.99991278e-01 8.78798030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.21, Y:93.69, Z:0.88 [[ 5.14173091e-01 -8.57683412e-01 -2.27984781e-03 1.72209801e+02] [ 8.57676287e-01 5.14178121e-01 -3.49947139e-03 9.36889034e+01] [ 4.17368643e-03 -1.56037386e-04 9.99991278e-01 8.78729951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.24, Y:93.74, Z:0.88 [[ 5.10933602e-01 -8.59617160e-01 -2.27877816e-03 1.72239572e+02] [ 8.59610051e-01 5.10938655e-01 -3.50016778e-03 9.37384367e+01] [ 4.17312014e-03 -1.70507277e-04 9.99991278e-01 8.78807876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.27, Y:93.79, Z:0.88 [[ 5.07643881e-01 -8.61563986e-01 -2.27763246e-03 1.72267334e+02] [ 8.61556893e-01 5.07648957e-01 -3.50091316e-03 9.37878950e+01] [ 4.17249844e-03 -1.85092798e-04 9.99991278e-01 8.79121564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.30, Y:93.84, Z:0.88 [[ 5.06222171e-01 -8.62400100e-01 -2.27643636e-03 1.72296174e+02] [ 8.62393011e-01 5.06227253e-01 -3.50169074e-03 9.38386523e+01] [ 4.17225257e-03 -1.90549316e-04 9.99991278e-01 8.79009908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.32, Y:93.89, Z:0.88 [[ 5.05915291e-01 -8.62580165e-01 -2.27520662e-03 1.72323062e+02] [ 8.62573075e-01 5.05920371e-01 -3.50248957e-03 9.38887139e+01] [ 4.17225141e-03 -1.90568940e-04 9.99991278e-01 8.78242780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.35, Y:93.94, Z:0.88 [[ 5.06215552e-01 -8.62403991e-01 -2.27392718e-03 1.72351435e+02] [ 8.62396896e-01 5.06220625e-01 -3.50332003e-03 9.39397228e+01] [ 4.17238601e-03 -1.87592661e-04 9.99991278e-01 8.78068458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.38, Y:93.99, Z:0.88 [[ 5.07038514e-01 -8.61920402e-01 -2.27272634e-03 1.72381369e+02] [ 8.61913299e-01 5.07043575e-01 -3.50409888e-03 9.39894452e+01] [ 4.17262561e-03 -1.82179970e-04 9.99991278e-01 8.79190313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.41, Y:94.04, Z:0.88 [[ 5.09417901e-01 -8.60516265e-01 -2.27146913e-03 1.72411131e+02] [ 8.60509144e-01 5.09422937e-01 -3.50491366e-03 9.40397644e+01] [ 4.17317369e-03 -1.69154197e-04 9.99991278e-01 8.79748519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.44, Y:94.09, Z:0.88 [[ 5.10784002e-01 -8.59706083e-01 -2.27022153e-03 1.72441811e+02] [ 8.59698950e-01 5.10789022e-01 -3.50572158e-03 9.40888202e+01] [ 4.17349440e-03 -1.61040566e-04 9.99991278e-01 8.80930745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.47, Y:94.14, Z:0.88 [[ 5.11139734e-01 -8.59494632e-01 -2.26908081e-03 1.72473221e+02] [ 8.59487494e-01 5.11144747e-01 -3.50645975e-03 9.41382212e+01] [ 4.17361207e-03 -1.57955672e-04 9.99991278e-01 8.80861519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.50, Y:94.19, Z:0.88 [[ 5.10371553e-01 -8.59951007e-01 -2.26785723e-03 1.72504482e+02] [ 8.59943870e-01 5.10376566e-01 -3.50725094e-03 9.41876095e+01] [ 4.17352517e-03 -1.60228817e-04 9.99991278e-01 8.81403670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.54, Y:94.24, Z:0.88 [[ 5.09578233e-01 -8.60421343e-01 -2.26672656e-03 1.72535499e+02] [ 8.60414207e-01 5.09583248e-01 -3.50798154e-03 9.42351199e+01] [ 4.17342807e-03 -1.62732698e-04 9.99991278e-01 8.81542475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.302755096 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:172.57, Y:94.28, Z:0.88 [[ 5.09191908e-01 -8.60650027e-01 -2.26554001e-03 1.72567921e+02] [ 8.60642890e-01 5.09196922e-01 -3.50874767e-03 9.42836372e+01] [ 4.17340978e-03 -1.63194981e-04 9.99991278e-01 8.78811252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.362755096 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:172.60, Y:94.33, Z:0.88 [[ 5.08125521e-01 -8.61280052e-01 -2.26425837e-03 1.72598864e+02] [ 8.61272918e-01 5.08130538e-01 -3.50957454e-03 9.43312013e+01] [ 4.17326537e-03 -1.66840020e-04 9.99991278e-01 8.82126647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.63, Y:94.38, Z:0.88 [[ 5.07647675e-01 -8.61561789e-01 -2.26333567e-03 1.72630904e+02] [ 8.61554655e-01 5.07652692e-01 -3.51016950e-03 9.43793565e+01] [ 4.17321636e-03 -1.68057994e-04 9.99991278e-01 8.80593362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.66, Y:94.43, Z:0.88 [[ 5.07415991e-01 -8.61698262e-01 -2.26214171e-03 1.72661608e+02] [ 8.61691126e-01 5.07421006e-01 -3.51093878e-03 9.44278332e+01] [ 4.17322807e-03 -1.67760956e-04 9.99991278e-01 8.82946723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.69, Y:94.48, Z:0.88 [[ 5.07156531e-01 -8.61850998e-01 -2.26078618e-03 1.72693288e+02] [ 8.61843859e-01 5.07161542e-01 -3.51181143e-03 9.44768111e+01] [ 4.17324198e-03 -1.67406583e-04 9.99991278e-01 8.83166100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.72, Y:94.53, Z:0.88 [[ 5.07269007e-01 -8.61784804e-01 -2.25966563e-03 1.72724899e+02] [ 8.61777662e-01 5.07274013e-01 -3.51253229e-03 9.45254459e+01] [ 4.17331660e-03 -1.65530596e-04 9.99991278e-01 8.82501111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.76, Y:94.57, Z:0.88 [[ 5.08555242e-01 -8.61026401e-01 -2.25891508e-03 1.72756955e+02] [ 8.61019249e-01 5.08560234e-01 -3.51301490e-03 9.45732819e+01] [ 4.17359296e-03 -1.58407224e-04 9.99991278e-01 8.82709257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.79, Y:94.62, Z:0.88 [[ 5.09948250e-01 -8.60202119e-01 -2.25770208e-03 1.72788366e+02] [ 8.60194955e-01 5.09953225e-01 -3.51379428e-03 9.46204928e+01] [ 4.17389575e-03 -1.50210698e-04 9.99991278e-01 8.81446792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.82, Y:94.67, Z:0.88 [[ 5.12706464e-01 -8.58561000e-01 -2.25646485e-03 1.72821777e+02] [ 8.58553817e-01 5.12711412e-01 -3.51458862e-03 9.46684640e+01] [ 4.17440400e-03 -1.35344200e-04 9.99991278e-01 8.83971232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.86, Y:94.71, Z:0.89 [[ 5.15838573e-01 -8.56682835e-01 -2.25525890e-03 1.72855339e+02] [ 8.56675631e-01 5.15843489e-01 -3.51536229e-03 9.47147479e+01] [ 4.17491116e-03 -1.18665869e-04 9.99991278e-01 8.85314703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.89, Y:94.76, Z:0.89 [[ 5.17716760e-01 -8.55549107e-01 -2.25446212e-03 1.72887757e+02] [ 8.55541889e-01 5.17721657e-01 -3.51587321e-03 9.47626260e+01] [ 4.17518605e-03 -1.08560292e-04 9.99991278e-01 8.87244208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.92, Y:94.81, Z:0.89 [[ 5.19807715e-01 -8.54280318e-01 -2.25337535e-03 1.72920945e+02] [ 8.54273086e-01 5.19812590e-01 -3.51656960e-03 9.48102685e+01] [ 4.17546907e-03 -9.70579038e-05 9.99991278e-01 8.88103157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.96, Y:94.86, Z:0.89 [[ 5.20819542e-01 -8.53663828e-01 -2.25228161e-03 1.72955623e+02] [ 8.53656587e-01 5.20824404e-01 -3.51726997e-03 9.48568633e+01] [ 4.17560938e-03 -9.08120946e-05 9.99991278e-01 8.87388066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.99, Y:94.90, Z:0.89 [[ 5.20707279e-01 -8.53732313e-01 -2.25116335e-03 1.72989899e+02] [ 8.53725069e-01 5.20712138e-01 -3.51798555e-03 9.49033393e+01] [ 4.17562602e-03 -9.00339053e-05 9.99991278e-01 8.86631062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.02, Y:94.95, Z:0.89 [[ 5.19912863e-01 -8.54216338e-01 -2.25005435e-03 1.73023152e+02] [ 8.54209096e-01 5.19917723e-01 -3.51869470e-03 9.49515572e+01] [ 4.17556964e-03 -9.26022579e-05 9.99991278e-01 8.86824815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.06, Y:95.00, Z:0.89 [[ 5.16935664e-01 -8.56021297e-01 -2.24895342e-03 1.73057892e+02] [ 8.56014069e-01 5.16940545e-01 -3.51939822e-03 9.49978155e+01] [ 4.17525504e-03 -1.05833308e-04 9.99991278e-01 8.87438849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.09, Y:95.04, Z:0.89 [[ 5.14074766e-01 -8.57742433e-01 -2.24784062e-03 1.73091552e+02] [ 8.57735218e-01 5.14079667e-01 -3.52010882e-03 9.50447553e+01] [ 4.17491586e-03 -1.18452947e-04 9.99991278e-01 8.88057057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.13, Y:95.09, Z:0.89 [[ 5.12968813e-01 -8.58404304e-01 -2.24672530e-03 1.73130158e+02] [ 8.58397092e-01 5.12973719e-01 -3.52082053e-03 9.50894070e+01] [ 4.17479853e-03 -1.22511336e-04 9.99991278e-01 8.91108343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.16, Y:95.14, Z:0.89 [[ 5.10515234e-01 -8.59865776e-01 -2.24565616e-03 1.73162361e+02] [ 8.59858576e-01 5.10520155e-01 -3.52150233e-03 9.51385125e+01] [ 4.17447206e-03 -1.33166121e-04 9.99991278e-01 8.90034822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44275509599998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:173.19, Y:95.19, Z:0.89 [[ 5.11119873e-01 -8.59506508e-01 -2.24461352e-03 1.73193594e+02] [ 8.59499301e-01 5.11124785e-01 -3.52216678e-03 9.51864050e+01] [ 4.17460287e-03 -1.28994313e-04 9.99991278e-01 8.87155566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.22, Y:95.24, Z:0.89 [[ 5.14201213e-01 -8.57666648e-01 -2.24355786e-03 1.73223547e+02] [ 8.57659420e-01 5.14206096e-01 -3.52283909e-03 9.52371565e+01] [ 4.17507272e-03 -1.12760403e-04 9.99991278e-01 8.85380191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.26, Y:95.28, Z:0.89 [[ 5.18104922e-01 -8.55314130e-01 -2.24254903e-03 1.73256344e+02] [ 8.55306877e-01 5.18109767e-01 -3.52348117e-03 9.52844547e+01] [ 4.17556978e-03 -9.25346690e-05 9.99991278e-01 8.85329014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.29, Y:95.33, Z:0.89 [[ 5.18603897e-01 -8.55011681e-01 -2.24132348e-03 1.73290116e+02] [ 8.55004422e-01 5.18608733e-01 -3.52426058e-03 9.53291605e+01] [ 4.17565389e-03 -8.86462153e-05 9.99991278e-01 8.87227917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.32, Y:95.38, Z:0.89 [[ 5.16004802e-01 -8.56582761e-01 -2.23995291e-03 1.73322514e+02] [ 8.56575514e-01 5.16009654e-01 -3.52513147e-03 9.53767870e+01] [ 4.17540418e-03 -9.97040461e-05 9.99991278e-01 8.87363969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.36, Y:95.42, Z:0.89 [[ 5.16470392e-01 -8.56302121e-01 -2.23868008e-03 1.73355035e+02] [ 8.56294867e-01 5.16475235e-01 -3.52593961e-03 9.54238961e+01] [ 4.17549239e-03 -9.59268536e-05 9.99991278e-01 8.92443637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.39, Y:95.47, Z:0.89 [[ 5.16378224e-01 -8.56357708e-01 -2.23747736e-03 1.73387478e+02] [ 8.56350451e-01 5.16383063e-01 -3.52670266e-03 9.54716517e+01] [ 4.17551442e-03 -9.49522901e-05 9.99991278e-01 8.91616477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.42, Y:95.52, Z:0.89 [[ 5.15595172e-01 -8.56829398e-01 -2.23640622e-03 1.73419785e+02] [ 8.56822143e-01 5.15600013e-01 -3.52738178e-03 9.55202814e+01] [ 4.17545549e-03 -9.75013519e-05 9.99991278e-01 8.90936979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.922755096 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:173.45, Y:95.57, Z:0.89 [[ 5.14591480e-01 -8.57432570e-01 -2.23533797e-03 1.73451704e+02] [ 8.57425317e-01 5.14596325e-01 -3.52805861e-03 9.55682969e+01] [ 4.17536907e-03 -1.01126464e-04 9.99991278e-01 8.89277343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98275509599998 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:173.48, Y:95.62, Z:0.89 [[ 5.14414687e-01 -8.57538651e-01 -2.23422106e-03 1.73482822e+02] [ 8.57531396e-01 5.14419529e-01 -3.52876578e-03 9.56163917e+01] [ 4.17537999e-03 -1.00665762e-04 9.99991278e-01 8.88834103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04275509599998 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:173.51, Y:95.67, Z:0.89 [[ 5.15331855e-01 -8.56987801e-01 -2.23341325e-03 1.73514703e+02] [ 8.56980539e-01 5.15336686e-01 -3.52927698e-03 9.56650542e+01] [ 4.17550710e-03 -9.52428333e-05 9.99991278e-01 8.88566084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.54, Y:95.71, Z:0.89 [[ 5.20181752e-01 -8.54052669e-01 -2.23228133e-03 1.73544730e+02] [ 8.54045377e-01 5.20186537e-01 -3.52999278e-03 9.57139558e+01] [ 4.17600245e-03 -7.02317136e-05 9.99991278e-01 8.89680103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.58, Y:95.76, Z:0.89 [[ 5.24639940e-01 -8.51321299e-01 -2.23146370e-03 1.73575943e+02] [ 8.51313979e-01 5.24644684e-01 -3.53050957e-03 9.57630476e+01] [ 4.17632356e-03 -4.74299137e-05 9.99991278e-01 8.90276028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.61, Y:95.81, Z:0.89 [[ 5.27176517e-01 -8.49752873e-01 -2.23036726e-03 1.73605696e+02] [ 8.49745537e-01 5.27181234e-01 -3.53120210e-03 9.58117987e+01] [ 4.17645689e-03 -3.36778030e-05 9.99991278e-01 8.91435989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.64, Y:95.86, Z:0.89 [[ 5.29293772e-01 -8.48435698e-01 -2.22922106e-03 1.73635180e+02] [ 8.48428347e-01 5.29298466e-01 -3.53192553e-03 9.58613271e+01] [ 4.17653499e-03 -2.19081513e-05 9.99991278e-01 8.91557480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.67, Y:95.91, Z:0.89 [[ 5.29714040e-01 -8.48173374e-01 -2.22815827e-03 1.73665696e+02] [ 8.48166017e-01 5.29718725e-01 -3.53259588e-03 9.59102873e+01] [ 4.17655092e-03 -1.85824962e-05 9.99991278e-01 8.91904763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.70, Y:95.96, Z:0.90 [[ 5.30007380e-01 -8.47990105e-01 -2.22709917e-03 1.73699822e+02] [ 8.47982744e-01 5.30012059e-01 -3.53326346e-03 9.59575574e+01] [ 4.17656186e-03 -1.58859532e-05 9.99991278e-01 8.95434791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.73, Y:96.01, Z:0.89 [[ 5.26454737e-01 -8.50200244e-01 -2.22605603e-03 1.73727509e+02] [ 8.50192900e-01 5.26459442e-01 -3.53392054e-03 9.60086769e+01] [ 4.17646832e-03 -3.21278174e-05 9.99991278e-01 8.92600270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.522755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:173.76, Y:96.06, Z:0.89 [[ 5.24317743e-01 -8.51519791e-01 -2.22494033e-03 1.73758220e+02] [ 8.51512456e-01 5.24322462e-01 -3.53462284e-03 9.60578547e+01] [ 4.17638750e-03 -4.12989335e-05 9.99991278e-01 8.93724778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.79, Y:96.11, Z:0.89 [[ 5.18532136e-01 -8.55055249e-01 -2.22378499e-03 1.73787241e+02] [ 8.55047943e-01 5.18536900e-01 -3.53534957e-03 9.61082527e+01] [ 4.17603378e-03 -6.82504145e-05 9.99991278e-01 8.91637091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.82, Y:96.15, Z:0.89 [[ 5.15304154e-01 -8.57004486e-01 -2.22262415e-03 1.73820348e+02] [ 8.56997195e-01 5.15308941e-01 -3.53607922e-03 9.61544519e+01] [ 4.17577385e-03 -8.26263438e-05 9.99991278e-01 8.92464282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.85, Y:96.21, Z:0.89 [[ 5.08385334e-01 -8.61126830e-01 -2.22141275e-03 1.73845538e+02] [ 8.61119574e-01 5.08390175e-01 -3.53684008e-03 9.62068697e+01] [ 4.17501230e-03 -1.14824377e-04 9.99991278e-01 8.88409195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.88, Y:96.25, Z:0.89 [[ 5.11069316e-01 -8.59536634e-01 -2.22028734e-03 1.73880326e+02] [ 8.59529360e-01 5.11074129e-01 -3.53754642e-03 9.62531936e+01] [ 4.17538216e-03 -1.00470722e-04 9.99991278e-01 8.92766951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.90, Y:96.31, Z:0.89 [[ 5.09519104e-01 -8.60456482e-01 -2.21918081e-03 1.73904865e+02] [ 8.60449214e-01 5.09523926e-01 -3.53824044e-03 9.63064442e+01] [ 4.17522764e-03 -1.06691284e-04 9.99991278e-01 8.91796916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.94, Y:96.35, Z:0.89 [[ 5.12656021e-01 -8.58591221e-01 -2.21808786e-03 1.73937858e+02] [ 8.58583932e-01 5.12660812e-01 -3.53892546e-03 9.63534659e+01] [ 4.17561706e-03 -9.01631474e-05 9.99991278e-01 8.93591959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.97, Y:96.40, Z:0.89 [[ 5.13408314e-01 -8.58141590e-01 -2.21695045e-03 1.73968006e+02] [ 8.58134294e-01 5.13413093e-01 -3.53963785e-03 9.64030514e+01] [ 4.17572184e-03 -8.51617153e-05 9.99991278e-01 8.93834610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.00, Y:96.45, Z:0.89 [[ 5.14029171e-01 -8.57769842e-01 -2.21586982e-03 1.73998743e+02] [ 8.57762540e-01 5.14033940e-01 -3.54031421e-03 9.64529032e+01] [ 4.17580705e-03 -8.08653490e-05 9.99991278e-01 8.94767195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.03, Y:96.50, Z:0.90 [[ 5.13737106e-01 -8.57944800e-01 -2.21484343e-03 1.74028874e+02] [ 8.57937497e-01 5.13741874e-01 -3.54095621e-03 9.65030696e+01] [ 4.17580278e-03 -8.10766342e-05 9.99991278e-01 8.95968126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.06, Y:96.55, Z:0.90 [[ 5.12913941e-01 -8.58437178e-01 -2.21371218e-03 1.74059839e+02] [ 8.58429876e-01 5.12918711e-01 -3.54166329e-03 9.65506363e+01] [ 4.17574984e-03 -8.37481979e-05 9.99991278e-01 8.95678203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.09, Y:96.60, Z:0.90 [[ 5.11892465e-01 -8.59046686e-01 -2.21289547e-03 1.74091135e+02] [ 8.59039387e-01 5.11897240e-01 -3.54217352e-03 9.65996340e+01] [ 4.17566750e-03 -8.77524333e-05 9.99991278e-01 8.95700005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.12, Y:96.65, Z:0.90 [[ 5.13825970e-01 -8.57891590e-01 -2.21182457e-03 1.74118703e+02] [ 8.57884278e-01 5.13830725e-01 -3.54284209e-03 9.66507444e+01] [ 4.17587785e-03 -7.70852534e-05 9.99991278e-01 8.97633604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.302755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:174.15, Y:96.70, Z:0.90 [[ 5.14372660e-01 -8.57563922e-01 -2.21060696e-03 1.74146566e+02] [ 8.57556604e-01 5.14377405e-01 -3.54360167e-03 9.67008596e+01] [ 4.17595122e-03 -7.29887773e-05 9.99991278e-01 8.97942973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.18, Y:96.75, Z:0.89 [[ 5.11317892e-01 -8.59388813e-01 -2.20951172e-03 1.74177045e+02] [ 8.59381508e-01 5.11322659e-01 -3.54428445e-03 9.67492958e+01] [ 4.17569181e-03 -8.65574620e-05 9.99991278e-01 8.94982428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.21, Y:96.80, Z:0.89 [[ 5.09809587e-01 -8.60284434e-01 -2.20849642e-03 1.74205295e+02] [ 8.60277136e-01 5.09814362e-01 -3.54491698e-03 9.67999670e+01] [ 4.17556009e-03 -9.26863123e-05 9.99991278e-01 8.93647244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.23, Y:96.85, Z:0.89 [[ 5.10479660e-01 -8.59886995e-01 -2.20739119e-03 1.74234409e+02] [ 8.59879690e-01 5.10484425e-01 -3.54560506e-03 9.68496752e+01] [ 4.17565851e-03 -8.81315833e-05 9.99991278e-01 8.92030937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.26, Y:96.90, Z:0.89 [[ 5.10608711e-01 -8.59810373e-01 -2.20630688e-03 1.74264919e+02] [ 8.59803064e-01 5.10613470e-01 -3.54627966e-03 9.68973872e+01] [ 4.17569805e-03 -8.62281325e-05 9.99991278e-01 8.93064772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.29, Y:96.95, Z:0.89 [[ 5.11949010e-01 -8.59013008e-01 -2.20517883e-03 1.74294269e+02] [ 8.59005689e-01 5.11953754e-01 -3.54698098e-03 9.69472479e+01] [ 4.17585238e-03 -7.83877593e-05 9.99991278e-01 8.93951292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.32, Y:97.00, Z:0.89 [[ 5.12223414e-01 -8.58849414e-01 -2.20410338e-03 1.74323110e+02] [ 8.58842090e-01 5.12228151e-01 -3.54764914e-03 9.69966511e+01] [ 4.17590019e-03 -7.57877965e-05 9.99991278e-01 8.94233994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.35, Y:97.04, Z:0.90 [[ 5.11412348e-01 -8.59332624e-01 -2.20284061e-03 1.74353253e+02] [ 8.59325301e-01 5.11417086e-01 -3.54843306e-03 9.70440713e+01] [ 4.17585462e-03 -7.82441878e-05 9.99991278e-01 8.98658278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.38, Y:97.09, Z:0.90 [[ 5.10281874e-01 -8.60004396e-01 -2.20185721e-03 1.74384532e+02] [ 8.59997077e-01 5.10286618e-01 -3.54904317e-03 9.70933089e+01] [ 4.17577100e-03 -8.25783609e-05 9.99991278e-01 9.01075906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.41, Y:97.14, Z:0.90 [[ 5.09586777e-01 -8.60416454e-01 -2.20070140e-03 1.74414702e+02] [ 8.60409136e-01 5.09591521e-01 -3.54975972e-03 9.71416770e+01] [ 4.17573045e-03 -8.45929727e-05 9.99991278e-01 9.01893516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.45, Y:97.19, Z:0.90 [[ 5.08338642e-01 -8.61154451e-01 -2.19930684e-03 1.74445819e+02] [ 8.61147135e-01 5.08343392e-01 -3.55062353e-03 9.71904964e+01] [ 4.17563836e-03 -8.90076389e-05 9.99991278e-01 9.02126291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.48, Y:97.24, Z:0.90 [[ 5.05492773e-01 -8.62828039e-01 -2.19817329e-03 1.74476778e+02] [ 8.62820736e-01 5.05497542e-01 -3.55132517e-03 9.72392276e+01] [ 4.17535413e-03 -1.01460284e-04 9.99991278e-01 9.01000318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.51, Y:97.29, Z:0.90 [[ 5.03933230e-01 -8.63739817e-01 -2.19705745e-03 1.74508226e+02] [ 8.63732521e-01 5.03938008e-01 -3.55201536e-03 9.72884702e+01] [ 4.17519785e-03 -1.07691394e-04 9.99991278e-01 9.03090264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.54, Y:97.34, Z:0.90 [[ 5.02532043e-01 -8.64555795e-01 -2.19590687e-03 1.74538556e+02] [ 8.64548503e-01 5.02536828e-01 -3.55272652e-03 9.73369967e+01] [ 4.17505438e-03 -1.13109084e-04 9.99991278e-01 9.03463137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.57, Y:97.39, Z:0.90 [[ 4.99837011e-01 -8.66116704e-01 -2.19508881e-03 1.74568950e+02] [ 8.66109424e-01 4.99841815e-01 -3.55323190e-03 9.73861754e+01] [ 4.17471067e-03 -1.25150293e-04 9.99991278e-01 9.02849537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.60, Y:97.43, Z:0.90 [[ 4.97386685e-01 -8.67526179e-01 -2.19396902e-03 1.74598386e+02] [ 8.67518910e-01 4.97391506e-01 -3.55392319e-03 9.74347425e+01] [ 4.17438296e-03 -1.35635534e-04 9.99991278e-01 9.02610003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.63, Y:97.48, Z:0.90 [[ 4.96831746e-01 -8.67844115e-01 -2.19280010e-03 1.74628508e+02] [ 8.67836846e-01 4.96836566e-01 -3.55464427e-03 9.74835565e+01] [ 4.17434038e-03 -1.36932602e-04 9.99991278e-01 9.01397731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.66, Y:97.53, Z:0.90 [[ 4.97246377e-01 -8.67606614e-01 -2.19165599e-03 1.74658717e+02] [ 8.67599340e-01 4.97251189e-01 -3.55534954e-03 9.75336666e+01] [ 4.17444833e-03 -1.33594616e-04 9.99991278e-01 9.01203596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.69, Y:97.58, Z:0.90 [[ 4.98828983e-01 -8.66697668e-01 -2.19053354e-03 1.74687639e+02] [ 8.66690382e-01 4.98833777e-01 -3.55604098e-03 9.75826530e+01] [ 4.17472454e-03 -1.24658040e-04 9.99991278e-01 9.01964263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.72, Y:97.63, Z:0.90 [[ 5.00688587e-01 -8.65624713e-01 -2.18972302e-03 1.74716637e+02] [ 8.65617415e-01 5.00693362e-01 -3.55654001e-03 9.76326482e+01] [ 4.17500871e-03 -1.14743393e-04 9.99991278e-01 9.02136849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.75, Y:97.68, Z:0.90 [[ 5.04433784e-01 -8.63447605e-01 -2.18859849e-03 1.74745332e+02] [ 8.63440283e-01 5.04438523e-01 -3.55723188e-03 9.76830283e+01] [ 4.17549674e-03 -9.53361655e-05 9.99991278e-01 9.02522922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.77, Y:97.73, Z:0.90 [[ 5.06908348e-01 -8.61997182e-01 -2.18748777e-03 1.74774717e+02] [ 8.61989843e-01 5.06913062e-01 -3.55791477e-03 9.77331987e+01] [ 4.17577863e-03 -8.20555420e-05 9.99991278e-01 9.03282890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.80, Y:97.78, Z:0.90 [[ 5.07178284e-01 -8.61838388e-01 -2.18638994e-03 1.74804025e+02] [ 8.61831045e-01 5.07182991e-01 -3.55858928e-03 9.77819432e+01] [ 4.17582864e-03 -7.94595160e-05 9.99991278e-01 9.02853034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.83, Y:97.83, Z:0.90 [[ 5.06634711e-01 -8.62158045e-01 -2.18524290e-03 1.74834002e+02] [ 8.62150702e-01 5.06639417e-01 -3.55929351e-03 9.78311655e+01] [ 4.17580372e-03 -8.07470640e-05 9.99991278e-01 9.01848705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.86, Y:97.88, Z:0.90 [[ 5.04377142e-01 -8.63480705e-01 -2.18411378e-03 1.74863924e+02] [ 8.63473372e-01 5.04381863e-01 -3.55998624e-03 9.78806653e+01] [ 4.17560681e-03 -9.03484032e-05 9.99991278e-01 9.00874989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.89, Y:97.93, Z:0.90 [[ 5.02397149e-01 -8.64634223e-01 -2.18300430e-03 1.74893892e+02] [ 8.64626897e-01 5.02401882e-01 -3.56066646e-03 9.79290242e+01] [ 4.17541954e-03 -9.86155550e-05 9.99991278e-01 8.98890762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.92, Y:97.98, Z:0.89 [[ 4.97254215e-01 -8.67602146e-01 -2.18219037e-03 1.74921348e+02] [ 8.67594846e-01 4.97258988e-01 -3.56116521e-03 9.79802915e+01] [ 4.17478835e-03 -1.22452709e-04 9.99991278e-01 8.89937148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.95, Y:98.03, Z:0.90 [[ 4.96161106e-01 -8.68227735e-01 -2.18103051e-03 1.74953562e+02] [ 8.68220438e-01 4.96165884e-01 -3.56187542e-03 9.80270737e+01] [ 4.17467196e-03 -1.26351213e-04 9.99991278e-01 8.95160247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.98, Y:98.08, Z:0.90 [[ 4.94474228e-01 -8.69189557e-01 -2.17975357e-03 1.74982648e+02] [ 8.69182266e-01 4.94479015e-01 -3.56265670e-03 9.80752644e+01] [ 4.17446640e-03 -1.32961226e-04 9.99991278e-01 8.95296851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.01, Y:98.13, Z:0.90 [[ 4.94366321e-01 -8.69250940e-01 -2.17827614e-03 1.75012627e+02] [ 8.69243645e-01 4.94371102e-01 -3.56355980e-03 9.81252533e+01] [ 4.17450448e-03 -1.31748742e-04 9.99991278e-01 8.96386331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.04, Y:98.18, Z:0.90 [[ 4.93742244e-01 -8.69605575e-01 -2.17713941e-03 1.75042093e+02] [ 8.69598281e-01 4.93747026e-01 -3.56425414e-03 9.81753644e+01] [ 4.17445138e-03 -1.33413846e-04 9.99991278e-01 8.97983269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.07, Y:98.23, Z:0.90 [[ 4.95066694e-01 -8.68852250e-01 -2.17606812e-03 1.75071933e+02] [ 8.68844946e-01 4.95071461e-01 -3.56490807e-03 9.82255916e+01] [ 4.17468762e-03 -1.25798527e-04 9.99991278e-01 8.99057141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.10, Y:98.28, Z:0.90 [[ 4.97066668e-01 -8.67709626e-01 -2.17530137e-03 1.75101874e+02] [ 8.67702309e-01 4.97071414e-01 -3.56537588e-03 9.82754326e+01] [ 4.17499110e-03 -1.15284517e-04 9.99991278e-01 8.99826070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.282755096 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:175.13, Y:98.33, Z:0.90 [[ 5.00906525e-01 -8.65498658e-01 -2.17405801e-03 1.75130596e+02] [ 8.65491316e-01 5.00911234e-01 -3.56613388e-03 9.83260914e+01] [ 4.17549417e-03 -9.53286005e-05 9.99991278e-01 8.97785620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.342755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:175.16, Y:98.38, Z:0.90 [[ 5.06624729e-01 -8.62163942e-01 -2.17293921e-03 1.75160063e+02] [ 8.62156566e-01 5.06629384e-01 -3.56681547e-03 9.83753236e+01] [ 4.17605454e-03 -6.63768856e-05 9.99991278e-01 8.98364978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.402755096 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:175.19, Y:98.43, Z:0.90 [[ 5.11744753e-01 -8.59134792e-01 -2.17182925e-03 1.75190402e+02] [ 8.59127386e-01 5.11749360e-01 -3.56749119e-03 9.84252667e+01] [ 4.17638803e-03 -4.02330848e-05 9.99991278e-01 8.98249406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.22, Y:98.47, Z:0.90 [[ 5.14759585e-01 -8.57331825e-01 -2.17069550e-03 1.75221120e+02] [ 8.57324400e-01 5.14764161e-01 -3.56818091e-03 9.84748585e+01] [ 4.17651130e-03 -2.42348924e-05 9.99991278e-01 8.96447709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.25, Y:98.52, Z:0.90 [[ 5.15896396e-01 -8.56648237e-01 -2.16946274e-03 1.75252797e+02] [ 8.56640803e-01 5.15900957e-01 -3.56893027e-03 9.85235858e+01] [ 4.17654573e-03 -1.72520434e-05 9.99991278e-01 8.99589420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.29, Y:98.57, Z:0.90 [[ 5.13213650e-01 -8.58258148e-01 -2.16824777e-03 1.75285148e+02] [ 8.58250725e-01 5.13218229e-01 -3.56966825e-03 9.85709825e+01] [ 4.17648114e-03 -2.88977452e-05 9.99991278e-01 9.01769326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.31, Y:98.62, Z:0.90 [[ 5.07565736e-01 -8.61610310e-01 -2.16717247e-03 1.75314816e+02] [ 8.61602915e-01 5.07570360e-01 -3.57032096e-03 9.86198390e+01] [ 4.17621786e-03 -5.50695282e-05 9.99991278e-01 9.02264908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.35, Y:98.67, Z:0.90 [[ 5.04199588e-01 -8.63584440e-01 -2.16594105e-03 1.75346318e+02] [ 8.63577059e-01 5.04204235e-01 -3.57106785e-03 9.86688925e+01] [ 4.17599527e-03 -6.99260618e-05 9.99991278e-01 9.01585970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.38, Y:98.72, Z:0.90 [[ 5.00260147e-01 -8.65872450e-01 -2.16477215e-03 1.75379543e+02] [ 8.65865087e-01 5.00264823e-01 -3.57177629e-03 9.87163367e+01] [ 4.17566204e-03 -8.75832967e-05 9.99991278e-01 8.98365238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.41, Y:98.76, Z:0.90 [[ 4.97380013e-01 -8.67530081e-01 -2.16352165e-03 1.75411301e+02] [ 8.67522731e-01 4.97384708e-01 -3.57253359e-03 9.87631982e+01] [ 4.17538294e-03 -9.99974087e-05 9.99991278e-01 9.01832740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88275509599998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:175.44, Y:98.81, Z:0.90 [[ 4.95102763e-01 -8.68831731e-01 -2.16290933e-03 1.75442912e+02] [ 8.68824391e-01 4.95107475e-01 -3.57290427e-03 9.88123025e+01] [ 4.17512517e-03 -1.10233609e-04 9.99991278e-01 8.99770980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.47, Y:98.86, Z:0.90 [[ 4.94657902e-01 -8.69085086e-01 -2.16175669e-03 1.75474098e+02] [ 8.69077746e-01 4.94662614e-01 -3.57360153e-03 9.88607637e+01] [ 4.17510400e-03 -1.11024394e-04 9.99991278e-01 9.02067776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.50, Y:98.91, Z:0.90 [[ 4.98238895e-01 -8.67037101e-01 -2.16061534e-03 1.75502981e+02] [ 8.67029739e-01 4.98243572e-01 -3.57429146e-03 9.89115994e+01] [ 4.17555601e-03 -9.24667218e-05 9.99991278e-01 9.02921032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.062755096 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:175.53, Y:98.96, Z:0.90 [[ 5.02041085e-01 -8.64841075e-01 -2.15948659e-03 1.75531884e+02] [ 8.64833689e-01 5.02045725e-01 -3.57497329e-03 9.89618883e+01] [ 4.17594475e-03 -7.28132853e-05 9.99991278e-01 8.99042432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.122755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:175.56, Y:99.01, Z:0.90 [[ 5.04703122e-01 -8.63290276e-01 -2.15834099e-03 1.75561184e+02] [ 8.63282873e-01 5.04707734e-01 -3.57566479e-03 9.90118544e+01] [ 4.17616803e-03 -5.86096218e-05 9.99991278e-01 9.02169891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.182755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:175.59, Y:99.06, Z:0.90 [[ 5.05747564e-01 -8.62678821e-01 -2.15720902e-03 1.75589824e+02] [ 8.62671409e-01 5.05752162e-01 -3.57634758e-03 9.90608600e+01] [ 4.17625244e-03 -5.22334649e-05 9.99991278e-01 9.00325801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.62, Y:99.11, Z:0.90 [[ 5.04811757e-01 -8.63226762e-01 -2.15602649e-03 1.75618361e+02] [ 8.63219352e-01 5.04816358e-01 -3.57706034e-03 9.91101201e+01] [ 4.17621165e-03 -5.53816780e-05 9.99991278e-01 9.01401084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.65, Y:99.16, Z:0.90 [[ 5.02746099e-01 -8.64431442e-01 -2.15470536e-03 1.75647628e+02] [ 8.64424040e-01 5.02750712e-01 -3.57785597e-03 9.91591550e+01] [ 4.17609084e-03 -6.38259831e-05 9.99991278e-01 9.01892457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.362755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:175.68, Y:99.21, Z:0.90 [[ 5.00569068e-01 -8.65693925e-01 -2.15337477e-03 1.75677692e+02] [ 8.65686531e-01 5.00573694e-01 -3.57865662e-03 9.92083382e+01] [ 4.17594406e-03 -7.27827293e-05 9.99991278e-01 9.02939225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.71, Y:99.26, Z:0.91 [[ 4.97673526e-01 -8.67361764e-01 -2.15212292e-03 1.75706512e+02] [ 8.67354383e-01 4.97678172e-01 -3.57940929e-03 9.92571188e+01] [ 4.17570736e-03 -8.52760075e-05 9.99991278e-01 9.05177352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48275509599998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:175.74, Y:99.31, Z:0.90 [[ 4.95619288e-01 -8.68537215e-01 -2.15133769e-03 1.75736054e+02] [ 8.68529842e-01 4.95623948e-01 -3.57988118e-03 9.93059596e+01] [ 4.17551451e-03 -9.42428191e-05 9.99991278e-01 9.02792440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54275509599998 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:175.77, Y:99.36, Z:0.90 [[ 4.94289097e-01 -8.69294924e-01 -2.15017293e-03 1.75765255e+02] [ 8.69287556e-01 4.94293764e-01 -3.58058063e-03 9.93562840e+01] [ 4.17539764e-03 -9.92765989e-05 9.99991278e-01 9.00345173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.80, Y:99.41, Z:0.90 [[ 4.94511361e-01 -8.69168508e-01 -2.14908829e-03 1.75795187e+02] [ 8.69161136e-01 4.94516021e-01 -3.58123152e-03 9.94064883e+01] [ 4.17545225e-03 -9.69443457e-05 9.99991278e-01 9.01526432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.82, Y:99.46, Z:0.90 [[ 4.93497885e-01 -8.69744344e-01 -2.14788949e-03 1.75822148e+02] [ 8.69736974e-01 4.93502549e-01 -3.58195037e-03 9.94563341e+01] [ 4.17537001e-03 -1.00413976e-04 9.99991278e-01 9.03336982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.85, Y:99.51, Z:0.90 [[ 4.93028075e-01 -8.70010753e-01 -2.14661409e-03 1.75849308e+02] [ 8.70003382e-01 4.93032737e-01 -3.58271453e-03 9.95072000e+01] [ 4.17535119e-03 -1.01182672e-04 9.99991278e-01 9.04254688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.88, Y:99.56, Z:0.90 [[ 4.93666922e-01 -8.69648416e-01 -2.14536715e-03 1.75877273e+02] [ 8.69641038e-01 4.93671575e-01 -3.58346106e-03 9.95587267e+01] [ 4.17545801e-03 -9.66631172e-05 9.99991278e-01 8.99290265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.91, Y:99.61, Z:0.90 [[ 4.94426680e-01 -8.69216694e-01 -2.14420899e-03 1.75906215e+02] [ 8.69209309e-01 4.94431321e-01 -3.58415393e-03 9.96095305e+01] [ 4.17557051e-03 -9.16650905e-05 9.99991278e-01 8.98744377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.902755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:175.94, Y:99.66, Z:0.90 [[ 4.95033002e-01 -8.68871529e-01 -2.14297405e-03 1.75935045e+02] [ 8.68864138e-01 4.95037633e-01 -3.58489215e-03 9.96591107e+01] [ 4.17566353e-03 -8.73133778e-05 9.99991278e-01 8.97280516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.96, Y:99.71, Z:0.90 [[ 4.95788388e-01 -8.68440721e-01 -2.14186195e-03 1.75964357e+02] [ 8.68433323e-01 4.95793008e-01 -3.58555647e-03 9.97084969e+01] [ 4.17576343e-03 -8.23870268e-05 9.99991278e-01 9.00156710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.99, Y:99.76, Z:0.91 [[ 4.95080917e-01 -8.68844234e-01 -2.14062180e-03 1.75994145e+02] [ 8.68836837e-01 4.95085538e-01 -3.58629670e-03 9.97586500e+01] [ 4.17572411e-03 -8.43440118e-05 9.99991278e-01 9.06816076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.02, Y:99.81, Z:0.91 [[ 4.93206769e-01 -8.69909481e-01 -2.13944958e-03 1.76023102e+02] [ 8.69902091e-01 4.93211401e-01 -3.58699587e-03 9.98074807e+01] [ 4.17556264e-03 -9.19810185e-05 9.99991278e-01 9.07473151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.05, Y:99.86, Z:0.91 [[ 4.90888665e-01 -8.71219689e-01 -2.13823280e-03 1.76052338e+02] [ 8.71212308e-01 4.90893311e-01 -3.58772105e-03 9.98575364e+01] [ 4.17533740e-03 -1.01683132e-04 9.99991278e-01 9.08442163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.08, Y:99.91, Z:0.91 [[ 4.88443633e-01 -8.72592832e-01 -2.13709530e-03 1.76080326e+02] [ 8.72585461e-01 4.88448296e-01 -3.58839850e-03 9.99058824e+01] [ 4.17507137e-03 -1.12067882e-04 9.99991278e-01 9.06513847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.11, Y:99.95, Z:0.91 [[ 4.84438399e-01 -8.74822769e-01 -2.13566675e-03 1.76109192e+02] [ 8.74815415e-01 4.84443089e-01 -3.58924851e-03 9.99549797e+01] [ 4.17456532e-03 -1.29544392e-04 9.99991278e-01 9.09529344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.14, Y:100.00, Z:0.90 [[ 4.80811189e-01 -8.76821558e-01 -2.13430440e-03 1.76138623e+02] [ 8.76814221e-01 4.80815904e-01 -3.59005844e-03 1.00004722e+02] [ 4.17404813e-03 -1.45248180e-04 9.99991278e-01 9.03584289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.17, Y:100.05, Z:0.90 [[ 4.77368755e-01 -8.78700473e-01 -2.13307788e-03 1.76165996e+02] [ 8.78693151e-01 4.77373494e-01 -3.59078704e-03 1.00054406e+02] [ 4.17350111e-03 -1.60191385e-04 9.99991278e-01 8.99455824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.19, Y:100.11, Z:0.90 [[ 4.75359690e-01 -8.79788963e-01 -2.13197225e-03 1.76194772e+02] [ 8.79781649e-01 4.75364441e-01 -3.59144337e-03 1.00105127e+02] [ 4.17317604e-03 -1.68442656e-04 9.99991278e-01 8.99411550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.23, Y:100.15, Z:0.91 [[ 4.77443913e-01 -8.78659644e-01 -2.13081429e-03 1.76225807e+02] [ 8.78652315e-01 4.77448642e-01 -3.59213026e-03 1.00153749e+02] [ 4.17361428e-03 -1.57204178e-04 9.99991278e-01 9.06823629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.25, Y:100.20, Z:0.91 [[ 4.79760468e-01 -8.77396922e-01 -2.12963396e-03 1.76254514e+02] [ 8.77389577e-01 4.79765173e-01 -3.59282989e-03 1.00203481e+02] [ 4.17406209e-03 -1.44820890e-04 9.99991278e-01 9.05520462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.28, Y:100.25, Z:0.91 [[ 4.83261076e-01 -8.75473702e-01 -2.12831350e-03 1.76282591e+02] [ 8.75466335e-01 4.83265746e-01 -3.59361193e-03 1.00254463e+02] [ 4.17465376e-03 -1.26614052e-04 9.99991278e-01 9.07936479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.31, Y:100.30, Z:0.91 [[ 4.86049722e-01 -8.73928569e-01 -2.12702298e-03 1.76311728e+02] [ 8.73921184e-01 4.86054364e-01 -3.59437562e-03 1.00305000e+02] [ 4.17507634e-03 -1.11805174e-04 9.99991278e-01 9.11076035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.34, Y:100.36, Z:0.91 [[ 4.89714779e-01 -8.71880104e-01 -2.12573440e-03 1.76339853e+02] [ 8.71872697e-01 4.89719384e-01 -3.59513753e-03 1.00355673e+02] [ 4.17554223e-03 -9.27778040e-05 9.99991278e-01 9.12001082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.37, Y:100.41, Z:0.91 [[ 4.92123581e-01 -8.70522755e-01 -2.12458090e-03 1.76367962e+02] [ 8.70515332e-01 4.92128161e-01 -3.59581907e-03 1.00406884e+02] [ 4.17580842e-03 -7.98928859e-05 9.99991278e-01 9.07676623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.40, Y:100.46, Z:0.91 [[ 4.91764139e-01 -8.70725860e-01 -2.12330977e-03 1.76397880e+02] [ 8.70718436e-01 4.91768716e-01 -3.59656951e-03 1.00455813e+02] [ 4.17580340e-03 -8.01410526e-05 9.99991278e-01 9.11375828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.922755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:176.43, Y:100.51, Z:0.91 [[ 4.90445653e-01 -8.71469196e-01 -2.12186660e-03 1.76428479e+02] [ 8.71461775e-01 4.90450236e-01 -3.59742074e-03 1.00505288e+02] [ 4.17571133e-03 -8.47862670e-05 9.99991278e-01 9.09567491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.46, Y:100.56, Z:0.91 [[ 4.86971613e-01 -8.73415222e-01 -2.12069671e-03 1.76458445e+02] [ 8.73407817e-01 4.86976221e-01 -3.59811026e-03 1.00555202e+02] [ 4.17537314e-03 -1.00055528e-04 9.99991278e-01 9.08076668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.49, Y:100.60, Z:0.91 [[ 4.83601567e-01 -8.75285686e-01 -2.11959126e-03 1.76488730e+02] [ 8.75278295e-01 4.83606198e-01 -3.59876134e-03 1.00603901e+02] [ 4.17499176e-03 -1.14865604e-04 9.99991278e-01 9.05669776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.52, Y:100.65, Z:0.90 [[ 4.80977362e-01 -8.76730455e-01 -2.11834720e-03 1.76518176e+02] [ 8.76723075e-01 4.80982010e-01 -3.59949349e-03 1.00652323e+02] [ 4.17467246e-03 -1.25928988e-04 9.99991278e-01 9.03818174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.55, Y:100.70, Z:0.91 [[ 4.77092925e-01 -8.78850305e-01 -2.11707174e-03 1.76548878e+02] [ 8.78842942e-01 4.77097601e-01 -3.60024351e-03 1.00701802e+02] [ 4.17412495e-03 -1.42922852e-04 9.99991278e-01 9.05292352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.58, Y:100.75, Z:0.91 [[ 4.75516950e-01 -8.79704015e-01 -2.11582473e-03 1.76579440e+02] [ 8.79696657e-01 4.75521634e-01 -3.60097621e-03 1.00751185e+02] [ 4.17391366e-03 -1.48958718e-04 9.99991278e-01 9.06400439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.282755096 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:176.61, Y:100.80, Z:0.90 [[ 4.71807758e-01 -8.81698910e-01 -2.11458028e-03 1.76608928e+02] [ 8.81691569e-01 4.71812468e-01 -3.60170684e-03 1.00799893e+02] [ 4.17330633e-03 -1.65094374e-04 9.99991278e-01 9.02490094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.64, Y:100.85, Z:0.91 [[ 4.76471846e-01 -8.79187190e-01 -2.11323497e-03 1.76640900e+02] [ 8.79179820e-01 4.76476511e-01 -3.60249600e-03 1.00848392e+02] [ 4.17417516e-03 -1.41425617e-04 9.99991278e-01 9.10184120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.67, Y:100.90, Z:0.91 [[ 4.80229651e-01 -8.77140252e-01 -2.11193315e-03 1.76671912e+02] [ 8.77132860e-01 4.80234279e-01 -3.60325902e-03 1.00898226e+02] [ 4.17478622e-03 -1.22054142e-04 9.99991278e-01 9.12369341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.70, Y:100.95, Z:0.91 [[ 4.82007570e-01 -8.76164509e-01 -2.11081835e-03 1.76699972e+02] [ 8.76157104e-01 4.82012179e-01 -3.60391196e-03 1.00948243e+02] [ 4.17505990e-03 -1.12295645e-04 9.99991278e-01 9.13225433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.73, Y:101.00, Z:0.92 [[ 4.83626799e-01 -8.75271768e-01 -2.10976869e-03 1.76730227e+02] [ 8.75264352e-01 4.83631390e-01 -3.60452633e-03 1.00997579e+02] [ 4.17529050e-03 -1.03359795e-04 9.99991278e-01 9.15166527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.582755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:176.76, Y:101.05, Z:0.91 [[ 4.83517328e-01 -8.75332250e-01 -2.10858868e-03 1.76759201e+02] [ 8.75324831e-01 4.83521915e-01 -3.60521649e-03 1.01046709e+02] [ 4.17531110e-03 -1.02515386e-04 9.99991278e-01 9.12901273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.642755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:176.79, Y:101.10, Z:0.92 [[ 4.84082646e-01 -8.75019744e-01 -2.10726234e-03 1.76788290e+02] [ 8.75012319e-01 4.84087222e-01 -3.60599157e-03 1.01097190e+02] [ 4.17541260e-03 -9.82825643e-05 9.99991278e-01 9.15251612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.82, Y:101.15, Z:0.92 [[ 4.84902003e-01 -8.74565956e-01 -2.10597041e-03 1.76818851e+02] [ 8.74558524e-01 4.84906568e-01 -3.60674593e-03 1.01146666e+02] [ 4.17553609e-03 -9.28760410e-05 9.99991278e-01 9.18844388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.85, Y:101.20, Z:0.92 [[ 4.80299838e-01 -8.77101838e-01 -2.10485477e-03 1.76846390e+02] [ 8.77094427e-01 4.80304437e-01 -3.60739689e-03 1.01198048e+02] [ 4.17502553e-03 -1.13524245e-04 9.99991278e-01 9.16062514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82275509599998 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:176.88, Y:101.25, Z:0.92 [[ 4.76356937e-01 -8.79249478e-01 -2.10362977e-03 1.76875599e+02] [ 8.79242084e-01 4.76361564e-01 -3.60811109e-03 1.01247865e+02] [ 4.17451816e-03 -1.30851077e-04 9.99991278e-01 9.15709556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.90, Y:101.30, Z:0.92 [[ 4.72798326e-01 -8.81168158e-01 -2.10238434e-03 1.76904767e+02] [ 8.81160780e-01 4.72802977e-01 -3.60883664e-03 1.01296944e+02] [ 4.17400551e-03 -1.46286706e-04 9.99991278e-01 9.19837430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.93, Y:101.35, Z:0.92 [[ 4.70568644e-01 -8.82360888e-01 -2.10118998e-03 1.76933356e+02] [ 8.82353518e-01 4.70573310e-01 -3.60953190e-03 1.01347621e+02] [ 4.17367370e-03 -1.55459839e-04 9.99991278e-01 9.20186834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.002755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:176.96, Y:101.40, Z:0.92 [[ 4.70314640e-01 -8.82496305e-01 -2.10005354e-03 1.76962540e+02] [ 8.82488935e-01 4.70319303e-01 -3.61019297e-03 1.01398361e+02] [ 4.17367768e-03 -1.55347405e-04 9.99991278e-01 9.18909866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.062755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:176.99, Y:101.45, Z:0.92 [[ 4.74339499e-01 -8.80339500e-01 -2.09890655e-03 1.76991109e+02] [ 8.80332105e-01 4.74344123e-01 -3.61085969e-03 1.01449159e+02] [ 4.17438640e-03 -1.34961443e-04 9.99991278e-01 9.19286819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.02, Y:101.50, Z:0.92 [[ 4.79008506e-01 -8.77807753e-01 -2.09775553e-03 1.77018216e+02] [ 8.77800331e-01 4.79013086e-01 -3.61152826e-03 1.01499751e+02] [ 4.17507986e-03 -1.11457744e-04 9.99991278e-01 9.20072031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.04, Y:101.55, Z:0.92 [[ 4.86007595e-01 -8.73952071e-01 -2.09655313e-03 1.77044490e+02] [ 8.73944609e-01 4.86012111e-01 -3.61222614e-03 1.01551182e+02] [ 4.17586273e-03 -7.67019643e-05 9.99991278e-01 9.21033053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.07, Y:101.60, Z:0.92 [[ 4.89387938e-01 -8.72063676e-01 -2.09543660e-03 1.77071683e+02] [ 8.72056194e-01 4.89392420e-01 -3.61287372e-03 1.01602523e+02] [ 4.17614673e-03 -5.92416449e-05 9.99991278e-01 9.21320467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.10, Y:101.65, Z:0.92 [[ 4.89510288e-01 -8.71995007e-01 -2.09431262e-03 1.77099651e+02] [ 8.71987522e-01 4.89514764e-01 -3.61352515e-03 1.01653210e+02] [ 4.17617284e-03 -5.73567392e-05 9.99991278e-01 9.21937074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.362755096 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:177.13, Y:101.70, Z:0.92 [[ 4.86575564e-01 -8.73635988e-01 -2.09320135e-03 1.77126485e+02] [ 8.73628515e-01 4.86580061e-01 -3.61416876e-03 1.01704698e+02] [ 4.17597793e-03 -7.01141875e-05 9.99991278e-01 9.19465149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.422755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:177.15, Y:101.75, Z:0.92 [[ 4.81518607e-01 -8.76433371e-01 -2.09206780e-03 1.77154950e+02] [ 8.76425921e-01 4.81523143e-01 -3.61482480e-03 1.01754045e+02] [ 4.17553215e-03 -9.29370427e-05 9.99991278e-01 9.21184323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48275509599998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:177.18, Y:101.80, Z:0.92 [[ 4.75429414e-01 -8.79751386e-01 -2.09088486e-03 1.77183423e+02] [ 8.79743965e-01 4.75433996e-01 -3.61550890e-03 1.01804723e+02] [ 4.17482671e-03 -1.20524059e-04 9.99991278e-01 9.21377493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54275509599998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:177.21, Y:101.86, Z:0.92 [[ 4.71431443e-01 -8.81900237e-01 -2.08970276e-03 1.77211447e+02] [ 8.81892834e-01 4.71436054e-01 -3.61619200e-03 1.01855157e+02] [ 4.17428181e-03 -1.38107278e-04 9.99991278e-01 9.21075487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.24, Y:101.91, Z:0.92 [[ 4.68972726e-01 -8.83210179e-01 -2.08851149e-03 1.77239536e+02] [ 8.83202786e-01 4.68977353e-01 -3.61687989e-03 1.01905697e+02] [ 4.17392972e-03 -1.48361139e-04 9.99991278e-01 9.22002523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66275509599998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:177.27, Y:101.96, Z:0.92 [[ 4.69464662e-01 -8.82948795e-01 -2.08733892e-03 1.77267339e+02] [ 8.82941396e-01 4.69469280e-01 -3.61755646e-03 1.01957237e+02] [ 4.17405862e-03 -1.44683016e-04 9.99991278e-01 9.18266672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.722755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:177.30, Y:102.01, Z:0.92 [[ 4.72354889e-01 -8.81405983e-01 -2.08616680e-03 1.77295359e+02] [ 8.81398566e-01 4.72359478e-01 -3.61823228e-03 1.02007787e+02] [ 4.17455223e-03 -1.29654718e-04 9.99991278e-01 9.16584599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.32, Y:102.06, Z:0.91 [[ 4.75121546e-01 -8.79917706e-01 -2.08489578e-03 1.77321589e+02] [ 8.79910272e-01 4.75126106e-01 -3.61896451e-03 1.02058911e+02] [ 4.17497937e-03 -1.15073196e-04 9.99991278e-01 9.12266549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.35, Y:102.11, Z:0.92 [[ 4.76982158e-01 -8.78910507e-01 -2.08345388e-03 1.77349966e+02] [ 8.78903059e-01 4.76986697e-01 -3.61979443e-03 1.02107374e+02] [ 4.17525514e-03 -1.04576625e-04 9.99991278e-01 9.18581905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.38, Y:102.16, Z:0.92 [[ 4.76935766e-01 -8.78935685e-01 -2.08235789e-03 1.77377410e+02] [ 8.78928235e-01 4.76940301e-01 -3.62042481e-03 1.02158181e+02] [ 4.17528096e-03 -1.03533067e-04 9.99991278e-01 9.20491110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.41, Y:102.21, Z:0.92 [[ 4.76944459e-01 -8.78930972e-01 -2.08097572e-03 1.77405010e+02] [ 8.78923518e-01 4.76948988e-01 -3.62121909e-03 1.02208885e+02] [ 4.17532088e-03 -1.01898121e-04 9.99991278e-01 9.16367480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.43, Y:102.26, Z:0.92 [[ 4.77094626e-01 -8.78849471e-01 -2.07979295e-03 1.77433056e+02] [ 8.78842013e-01 4.77099149e-01 -3.62189827e-03 1.02258144e+02] [ 4.17537082e-03 -9.98212174e-05 9.99991278e-01 9.16445643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.46, Y:102.31, Z:0.92 [[ 4.76907526e-01 -8.78951017e-01 -2.07893893e-03 1.77461533e+02] [ 8.78943558e-01 4.76912046e-01 -3.62238840e-03 1.02308490e+02] [ 4.17537299e-03 -9.97256954e-05 9.99991278e-01 9.18983289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.49, Y:102.36, Z:0.92 [[ 4.75734084e-01 -8.79586701e-01 -2.07778981e-03 1.77489168e+02] [ 8.79579245e-01 4.75738610e-01 -3.62304741e-03 1.02359515e+02] [ 4.17526916e-03 -1.03973653e-04 9.99991278e-01 9.19192727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.52, Y:102.41, Z:0.92 [[ 4.74550424e-01 -8.80225870e-01 -2.07662607e-03 1.77517627e+02] [ 8.80218418e-01 4.74554955e-01 -3.62371431e-03 1.02410656e+02] [ 4.17516028e-03 -1.08249355e-04 9.99991278e-01 9.19572818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.55, Y:102.46, Z:0.92 [[ 4.72308090e-01 -8.81431087e-01 -2.07547368e-03 1.77547537e+02] [ 8.81423643e-01 4.72312635e-01 -3.62437422e-03 1.02460336e+02] [ 4.17490855e-03 -1.17550304e-04 9.99991278e-01 9.20353162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.57, Y:102.51, Z:0.92 [[ 4.69414018e-01 -8.82975751e-01 -2.07432314e-03 1.77574894e+02] [ 8.82968319e-01 4.69418583e-01 -3.62503259e-03 1.02510305e+02] [ 4.17454170e-03 -1.29920506e-04 9.99991278e-01 9.21130168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.60, Y:102.56, Z:0.92 [[ 4.67801676e-01 -8.83831033e-01 -2.07312164e-03 1.77602120e+02] [ 8.83823606e-01 4.67806250e-01 -3.62571958e-03 1.02560888e+02] [ 4.17434274e-03 -1.36156144e-04 9.99991278e-01 9.18122670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.63, Y:102.61, Z:0.92 [[ 4.67915875e-01 -8.83770581e-01 -2.07231154e-03 1.77631207e+02] [ 8.83763152e-01 4.67920445e-01 -3.62618254e-03 1.02610930e+02] [ 4.17439039e-03 -1.34684202e-04 9.99991278e-01 9.19348210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.66, Y:102.66, Z:0.92 [[ 4.67918738e-01 -8.83769068e-01 -2.07112192e-03 1.77657893e+02] [ 8.83761636e-01 4.67923302e-01 -3.62686188e-03 1.02661343e+02] [ 4.17443455e-03 -1.33301467e-04 9.99991278e-01 9.18484600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.69, Y:102.71, Z:0.92 [[ 4.69252200e-01 -8.83061769e-01 -2.07026158e-03 1.77686064e+02] [ 8.83054328e-01 4.69256749e-01 -3.62735291e-03 1.02712890e+02] [ 4.17466089e-03 -1.26010114e-04 9.99991278e-01 9.20905045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.72, Y:102.76, Z:0.92 [[ 4.69076951e-01 -8.83154875e-01 -2.06913660e-03 1.77715060e+02] [ 8.83147432e-01 4.69081498e-01 -3.62799451e-03 1.02763658e+02] [ 4.17467473e-03 -1.25544070e-04 9.99991278e-01 9.21495099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.74, Y:102.81, Z:0.92 [[ 4.68212934e-01 -8.83613248e-01 -2.06791113e-03 1.77743848e+02] [ 8.83605806e-01 4.68217483e-01 -3.62869288e-03 1.02813525e+02] [ 4.17459324e-03 -1.28217338e-04 9.99991278e-01 9.22061063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.77, Y:102.86, Z:0.92 [[ 4.66880170e-01 -8.84318176e-01 -2.06670139e-03 1.77771085e+02] [ 8.84310738e-01 4.66884725e-01 -3.62938175e-03 1.02864459e+02] [ 4.17443955e-03 -1.33119859e-04 9.99991278e-01 9.22789932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.80, Y:102.92, Z:0.92 [[ 4.65444581e-01 -8.85074616e-01 -2.06551308e-03 1.77797917e+02] [ 8.85067183e-01 4.65449143e-01 -3.63005790e-03 1.02915524e+02] [ 4.17426339e-03 -1.38527061e-04 9.99991278e-01 9.20847484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.83, Y:102.96, Z:0.93 [[ 4.66442730e-01 -8.84548991e-01 -2.06432640e-03 1.77829047e+02] [ 8.84541550e-01 4.66447279e-01 -3.63073261e-03 1.02963745e+02] [ 4.17446030e-03 -1.32453642e-04 9.99991278e-01 9.26184953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.86, Y:103.01, Z:0.92 [[ 4.64840501e-01 -8.85392032e-01 -2.06360245e-03 1.77858493e+02] [ 8.85384597e-01 4.64845061e-01 -3.63114403e-03 1.03014133e+02] [ 4.17424140e-03 -1.39179013e-04 9.99991278e-01 9.22387342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.89, Y:103.06, Z:0.93 [[ 4.63786481e-01 -8.85944607e-01 -2.06231355e-03 1.77888160e+02] [ 8.85937174e-01 4.63791045e-01 -3.63187592e-03 1.03063297e+02] [ 4.17412344e-03 -1.42665287e-04 9.99991278e-01 9.25183194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.92, Y:103.11, Z:0.93 [[ 4.66515478e-01 -8.84510634e-01 -2.06094230e-03 1.77922711e+02] [ 8.84503184e-01 4.66520013e-01 -3.63265388e-03 1.03110984e+02] [ 4.17459181e-03 -1.28220762e-04 9.99991278e-01 9.27187499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.95, Y:103.16, Z:0.92 [[ 4.65737268e-01 -8.84920649e-01 -2.05975913e-03 1.77947581e+02] [ 8.84913199e-01 4.65741805e-01 -3.63332463e-03 1.03162083e+02] [ 4.17451992e-03 -1.30533351e-04 9.99991278e-01 9.24085844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.98, Y:103.21, Z:0.92 [[ 4.68673605e-01 -8.83369013e-01 -2.05856632e-03 1.77977223e+02] [ 8.83361546e-01 4.68678112e-01 -3.63400032e-03 1.03212332e+02] [ 4.17496826e-03 -1.15298292e-04 9.99991278e-01 9.22575675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.01, Y:103.26, Z:0.92 [[ 4.70149849e-01 -8.82584209e-01 -2.05743303e-03 1.78006589e+02] [ 8.82576731e-01 4.70154339e-01 -3.63464184e-03 1.03262547e+02] [ 4.17518856e-03 -1.07016204e-04 9.99991278e-01 9.21099844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.03, Y:103.31, Z:0.92 [[ 4.70473060e-01 -8.82411962e-01 -2.05631392e-03 1.78033984e+02] [ 8.82404480e-01 4.70477542e-01 -3.63527487e-03 1.03313028e+02] [ 4.17525955e-03 -1.04201729e-04 9.99991278e-01 9.20022340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.06, Y:103.36, Z:0.92 [[ 4.70449019e-01 -8.82424783e-01 -2.05516529e-03 1.78062663e+02] [ 8.82417298e-01 4.70453496e-01 -3.63592412e-03 1.03361271e+02] [ 4.17528925e-03 -1.02996472e-04 9.99991278e-01 9.23866944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.09, Y:103.41, Z:0.92 [[ 4.69232942e-01 -8.83072040e-01 -2.05388398e-03 1.78090767e+02] [ 8.83064558e-01 4.69237425e-01 -3.63664777e-03 1.03411262e+02] [ 4.17518119e-03 -1.07277215e-04 9.99991278e-01 9.24524760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.12, Y:103.46, Z:0.93 [[ 4.68589377e-01 -8.83413709e-01 -2.05268653e-03 1.78118892e+02] [ 8.83406228e-01 4.68593861e-01 -3.63732354e-03 1.03460913e+02] [ 4.17513778e-03 -1.08944895e-04 9.99991278e-01 9.25481870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.15, Y:103.51, Z:0.93 [[ 4.69915898e-01 -8.82708808e-01 -2.05150309e-03 1.78146279e+02] [ 8.82701317e-01 4.69920365e-01 -3.63799089e-03 1.03509920e+02] [ 4.17532969e-03 -1.01314728e-04 9.99991278e-01 9.25398959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.17, Y:103.56, Z:0.92 [[ 4.73947908e-01 -8.80550496e-01 -2.05027333e-03 1.78173777e+02] [ 8.80542982e-01 4.73952336e-01 -3.63868382e-03 1.03560186e+02] [ 4.17577668e-03 -8.08072076e-05 9.99991278e-01 9.23221998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.20, Y:103.61, Z:0.92 [[ 4.77000318e-01 -8.78900732e-01 -2.04919742e-03 1.78202162e+02] [ 8.78893200e-01 4.77004715e-01 -3.63928964e-03 1.03610965e+02] [ 4.17605116e-03 -6.50833641e-05 9.99991278e-01 9.19845501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.23, Y:103.66, Z:0.92 [[ 4.80261562e-01 -8.77122932e-01 -2.04805334e-03 1.78230322e+02] [ 8.77115381e-01 4.80265927e-01 -3.63993337e-03 1.03660915e+02] [ 4.17627926e-03 -4.82589968e-05 9.99991278e-01 9.18505868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.26, Y:103.71, Z:0.92 [[ 4.80335230e-01 -8.77082594e-01 -2.04685759e-03 1.78258745e+02] [ 8.77075040e-01 4.80339589e-01 -3.64060566e-03 1.03711378e+02] [ 4.17629859e-03 -4.65365455e-05 9.99991278e-01 9.17705590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.29, Y:103.76, Z:0.92 [[ 4.78174003e-01 -8.78262738e-01 -2.04572759e-03 1.78288479e+02] [ 8.78255192e-01 4.78178376e-01 -3.64124051e-03 1.03761518e+02] [ 4.17618856e-03 -5.55243264e-05 9.99991278e-01 9.18918144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.32, Y:103.81, Z:0.92 [[ 4.76045736e-01 -8.79418147e-01 -2.04459420e-03 1.78317228e+02] [ 8.79410608e-01 4.76050122e-01 -3.64187681e-03 1.03811116e+02] [ 4.17606188e-03 -6.43379011e-05 9.99991278e-01 9.20569947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.35, Y:103.86, Z:0.92 [[ 4.72575547e-01 -8.81287795e-01 -2.04341171e-03 1.78345539e+02] [ 8.81280271e-01 4.72579958e-01 -3.64254017e-03 1.03861785e+02] [ 4.17580162e-03 -7.94430091e-05 9.99991278e-01 9.20698813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.37, Y:103.91, Z:0.92 [[ 4.71414791e-01 -8.81909250e-01 -2.04225478e-03 1.78373318e+02] [ 8.81901728e-01 4.71419207e-01 -3.64318871e-03 1.03912758e+02] [ 4.17571995e-03 -8.36149820e-05 9.99991278e-01 9.21175446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.40, Y:103.96, Z:0.92 [[ 4.68864333e-01 -8.83267836e-01 -2.04110493e-03 1.78400179e+02] [ 8.83260325e-01 4.68868767e-01 -3.64383280e-03 1.03963910e+02] [ 4.17549067e-03 -9.43637679e-05 9.99991278e-01 9.20507274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.43, Y:104.01, Z:0.92 [[ 4.66777660e-01 -8.84372351e-01 -2.03992909e-03 1.78428777e+02] [ 8.84364847e-01 4.66782106e-01 -3.64449095e-03 1.04013374e+02] [ 4.17528943e-03 -1.02874621e-04 9.99991278e-01 9.20519069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.46, Y:104.06, Z:0.92 [[ 4.65449611e-01 -8.85072033e-01 -2.03870253e-03 1.78457556e+02] [ 8.85064533e-01 4.65454063e-01 -3.64517696e-03 1.04063851e+02] [ 4.17516655e-03 -1.07737107e-04 9.99991278e-01 9.19645147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.49, Y:104.11, Z:0.92 [[ 4.63848189e-01 -8.85912358e-01 -2.03755141e-03 1.78485539e+02] [ 8.85904863e-01 4.63852650e-01 -3.64582028e-03 1.04114772e+02] [ 4.17500087e-03 -1.13969571e-04 9.99991278e-01 9.18050176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.51, Y:104.17, Z:0.92 [[ 4.63522037e-01 -8.86083052e-01 -2.03638636e-03 1.78513839e+02] [ 8.86075556e-01 4.63526496e-01 -3.64647091e-03 1.04165843e+02] [ 4.17499511e-03 -1.14172554e-04 9.99991278e-01 9.17530574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.54, Y:104.22, Z:0.92 [[ 4.64153602e-01 -8.85752387e-01 -2.03524206e-03 1.78541727e+02] [ 8.85744885e-01 4.64158051e-01 -3.64710948e-03 1.04215354e+02] [ 4.17510992e-03 -1.09886239e-04 9.99991278e-01 9.18138530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.57, Y:104.27, Z:0.92 [[ 4.65298257e-01 -8.85151622e-01 -2.03441559e-03 1.78569186e+02] [ 8.85144112e-01 4.65302693e-01 -3.64757044e-03 1.04266722e+02] [ 4.17527194e-03 -1.03542820e-04 9.99991278e-01 9.16824149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.60, Y:104.32, Z:0.92 [[ 4.67900357e-01 -8.83778888e-01 -2.03326262e-03 1.78595307e+02] [ 8.83771362e-01 4.67904766e-01 -3.64821303e-03 1.04318523e+02] [ 4.17558692e-03 -8.99391009e-05 9.99991278e-01 9.15102255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.62, Y:104.37, Z:0.91 [[ 4.70280799e-01 -8.82514499e-01 -2.03208307e-03 1.78620992e+02] [ 8.82506959e-01 4.70285183e-01 -3.64886993e-03 1.04369021e+02] [ 4.17583917e-03 -7.73339839e-05 9.99991278e-01 9.14593720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.65, Y:104.42, Z:0.91 [[ 4.71283036e-01 -8.81979691e-01 -2.03085095e-03 1.78646757e+02] [ 8.81972143e-01 4.71287406e-01 -3.64955556e-03 1.04421627e+02] [ 4.17594836e-03 -7.11803387e-05 9.99991278e-01 9.13316833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.67, Y:104.47, Z:0.91 [[ 4.70972855e-01 -8.82145368e-01 -2.02973797e-03 1.78672379e+02] [ 8.82137819e-01 4.70977224e-01 -3.65017445e-03 1.04471742e+02] [ 4.17594484e-03 -7.13755436e-05 9.99991278e-01 9.13107878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.70, Y:104.52, Z:0.91 [[ 4.68503388e-01 -8.83459372e-01 -2.02843875e-03 1.78699049e+02] [ 8.83451832e-01 4.68507772e-01 -3.65089630e-03 1.04523467e+02] [ 4.17575787e-03 -8.15706488e-05 9.99991278e-01 9.11472353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.73, Y:104.57, Z:0.91 [[ 4.65370577e-01 -8.85113618e-01 -2.02726492e-03 1.78725835e+02] [ 8.85106091e-01 4.65374982e-01 -3.65154798e-03 1.04573923e+02] [ 4.17547322e-03 -9.50215342e-05 9.99991278e-01 9.10470983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.75, Y:104.62, Z:0.91 [[ 4.64277194e-01 -8.85687632e-01 -2.02604118e-03 1.78753575e+02] [ 8.85680108e-01 4.64281605e-01 -3.65222684e-03 1.04624941e+02] [ 4.17538579e-03 -9.87787375e-05 9.99991278e-01 9.10112355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.78, Y:104.68, Z:0.90 [[ 4.61049401e-01 -8.87372160e-01 -2.02485566e-03 1.78776600e+02] [ 8.87364648e-01 4.61053834e-01 -3.65288399e-03 1.04678305e+02] [ 4.17503503e-03 -1.12625354e-04 9.99991278e-01 9.04062746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.81, Y:104.73, Z:0.91 [[ 4.65430134e-01 -8.85082310e-01 -2.02367626e-03 1.78808064e+02] [ 8.85074774e-01 4.65434524e-01 -3.65353726e-03 1.04727597e+02] [ 4.17556999e-03 -9.06384706e-05 9.99991278e-01 9.07415649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.84, Y:104.78, Z:0.91 [[ 4.66102149e-01 -8.84728600e-01 -2.02257965e-03 1.78835835e+02] [ 8.84721058e-01 4.66106530e-01 -3.65414424e-03 1.04779121e+02] [ 4.17566350e-03 -8.62143258e-05 9.99991278e-01 9.06831304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.86, Y:104.83, Z:0.90 [[ 4.65531816e-01 -8.85028837e-01 -2.02140411e-03 1.78862207e+02] [ 8.85021295e-01 4.65536196e-01 -3.65479441e-03 1.04830563e+02] [ 4.17563522e-03 -8.75626063e-05 9.99991278e-01 9.04480027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.89, Y:104.88, Z:0.91 [[ 4.65789537e-01 -8.84893229e-01 -2.02018338e-03 1.78891203e+02] [ 8.84885683e-01 4.65793910e-01 -3.65546904e-03 1.04879613e+02] [ 4.17568892e-03 -8.49521142e-05 9.99991278e-01 9.06469425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.92, Y:104.93, Z:0.91 [[ 4.62990658e-01 -8.86360860e-01 -2.01891815e-03 1.78920156e+02] [ 8.86353325e-01 4.62995049e-01 -3.65616770e-03 1.04929356e+02] [ 4.17543305e-03 -9.67033273e-05 9.99991278e-01 9.07993232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.95, Y:104.98, Z:0.91 [[ 4.59554226e-01 -8.88147422e-01 -2.01746587e-03 1.78949843e+02] [ 8.88139900e-01 4.59558640e-01 -3.65696889e-03 1.04978082e+02] [ 4.17507136e-03 -1.11216429e-04 9.99991278e-01 9.09282073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.98, Y:105.03, Z:0.91 [[ 4.60237562e-01 -8.87793514e-01 -2.01599891e-03 1.78977470e+02] [ 8.87785985e-01 4.60241965e-01 -3.65777740e-03 1.05029508e+02] [ 4.17519835e-03 -1.06329029e-04 9.99991278e-01 9.09197268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.00, Y:105.08, Z:0.91 [[ 4.63250842e-01 -8.86224914e-01 -2.01471146e-03 1.79003116e+02] [ 8.86217367e-01 4.63255215e-01 -3.65848640e-03 1.05079193e+02] [ 4.17556738e-03 -9.06753794e-05 9.99991278e-01 9.11671684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.03, Y:105.13, Z:0.91 [[ 4.66233343e-01 -8.84659492e-01 -2.01318258e-03 1.79030449e+02] [ 8.84651927e-01 4.66237684e-01 -3.65932751e-03 1.05130008e+02] [ 4.17588040e-03 -7.48653455e-05 9.99991278e-01 9.13023806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.06, Y:105.18, Z:0.91 [[ 4.66611825e-01 -8.84459924e-01 -2.01200174e-03 1.79058215e+02] [ 8.84452354e-01 4.66616158e-01 -3.65997665e-03 1.05180828e+02] [ 4.17593519e-03 -7.17312918e-05 9.99991278e-01 9.13056250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.08, Y:105.23, Z:0.91 [[ 4.63723914e-01 -8.85977476e-01 -2.01079821e-03 1.79084465e+02] [ 8.85969917e-01 4.63728266e-01 -3.66063776e-03 1.05230176e+02] [ 4.17570657e-03 -8.39814496e-05 9.99991278e-01 9.12802112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.11, Y:105.28, Z:0.91 [[ 4.60236818e-01 -8.87793914e-01 -2.00927151e-03 1.79113336e+02] [ 8.87786370e-01 4.60241193e-01 -3.66147555e-03 1.05281039e+02] [ 4.17538523e-03 -9.86580065e-05 9.99991278e-01 9.12027367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.14, Y:105.33, Z:0.92 [[ 4.56665789e-01 -8.89636063e-01 -2.00798434e-03 1.79140995e+02] [ 8.89628533e-01 4.56670189e-01 -3.66218131e-03 1.05332270e+02] [ 4.17499515e-03 -1.13967245e-04 9.99991278e-01 9.15323483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.742755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:179.17, Y:105.38, Z:0.91 [[ 4.51069512e-01 -8.92486565e-01 -2.00682404e-03 1.79169525e+02] [ 8.92479059e-01 4.51073954e-01 -3.66281703e-03 1.05381626e+02] [ 4.17424104e-03 -1.38863343e-04 9.99991278e-01 9.14364632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.20, Y:105.43, Z:0.92 [[ 4.48429026e-01 -8.93816192e-01 -2.00598677e-03 1.79195959e+02] [ 8.93808697e-01 4.48433488e-01 -3.66327551e-03 1.05431782e+02] [ 4.17384661e-03 -1.50249357e-04 9.99991278e-01 9.17235750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.22, Y:105.48, Z:0.92 [[ 4.50284371e-01 -8.92882952e-01 -2.00480120e-03 1.79222056e+02] [ 8.92875446e-01 4.50288812e-01 -3.66392423e-03 1.05482333e+02] [ 4.17419503e-03 -1.40229946e-04 9.99991278e-01 9.16531695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.25, Y:105.53, Z:0.92 [[ 4.51077558e-01 -8.92482506e-01 -2.00341791e-03 1.79248998e+02] [ 8.92474992e-01 4.51081987e-01 -3.66468045e-03 1.05532957e+02] [ 4.17436892e-03 -1.34945275e-04 9.99991278e-01 9.17935921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.28, Y:105.58, Z:0.92 [[ 4.57041134e-01 -8.89443306e-01 -2.00192757e-03 1.79276267e+02] [ 8.89435759e-01 4.57045506e-01 -3.66549440e-03 1.05582456e+02] [ 4.17522146e-03 -1.05304245e-04 9.99991278e-01 9.16293374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.30, Y:105.63, Z:0.92 [[ 4.60887653e-01 -8.87456235e-01 -2.00081223e-03 1.79301114e+02] [ 8.87448666e-01 4.60891987e-01 -3.66610311e-03 1.05633851e+02] [ 4.17566439e-03 -8.59564848e-05 9.99991278e-01 9.16375591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.33, Y:105.68, Z:0.91 [[ 4.61532442e-01 -8.87121077e-01 -1.99988375e-03 1.79327522e+02] [ 8.87113503e-01 4.61536768e-01 -3.66660953e-03 1.05684667e+02] [ 4.17574648e-03 -8.18646342e-05 9.99991278e-01 9.13839411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.36, Y:105.73, Z:0.92 [[ 4.62160629e-01 -8.86793978e-01 -1.99855542e-03 1.79359360e+02] [ 8.86786398e-01 4.62164944e-01 -3.66733342e-03 1.05732603e+02] [ 4.17583144e-03 -7.73946389e-05 9.99991278e-01 9.15316728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.222755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:179.39, Y:105.78, Z:0.92 [[ 4.59155949e-01 -8.88353435e-01 -1.99726876e-03 1.79388086e+02] [ 8.88345867e-01 4.59160285e-01 -3.66803402e-03 1.05783608e+02] [ 4.17557711e-03 -9.00658020e-05 9.99991278e-01 9.17209851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.41, Y:105.84, Z:0.92 [[ 4.55903143e-01 -8.90027157e-01 -1.99600751e-03 1.79412779e+02] [ 8.90019602e-01 4.55907500e-01 -3.66872021e-03 1.05835373e+02] [ 4.17525541e-03 -1.03904740e-04 9.99991278e-01 9.18302911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.44, Y:105.89, Z:0.92 [[ 4.55612191e-01 -8.90176136e-01 -1.99459799e-03 1.79440255e+02] [ 8.90168579e-01 4.55616545e-01 -3.66948637e-03 1.05886872e+02] [ 4.17526105e-03 -1.03665735e-04 9.99991278e-01 9.17758557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.47, Y:105.94, Z:0.92 [[ 4.54429000e-01 -8.90780731e-01 -1.99340925e-03 1.79467428e+02] [ 8.90773177e-01 4.54433359e-01 -3.67013203e-03 1.05937259e+02] [ 4.17515455e-03 -1.07861059e-04 9.99991278e-01 9.19135053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.49, Y:105.99, Z:0.92 [[ 4.53755222e-01 -8.91124139e-01 -1.99197746e-03 1.79493246e+02] [ 8.91116585e-01 4.53759581e-01 -3.67090897e-03 1.05989344e+02] [ 4.17511446e-03 -1.09390039e-04 9.99991278e-01 9.18228377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.52, Y:106.04, Z:0.92 [[ 4.53165276e-01 -8.91424292e-01 -1.99080506e-03 1.79518549e+02] [ 8.91416738e-01 4.53169636e-01 -3.67154468e-03 1.06042029e+02] [ 4.17507652e-03 -1.10820388e-04 9.99991278e-01 9.16444347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.55, Y:106.09, Z:0.92 [[ 4.52724536e-01 -8.91648213e-01 -1.98964037e-03 1.79545712e+02] [ 8.91640658e-01 4.52728894e-01 -3.67217573e-03 1.06092933e+02] [ 4.17505661e-03 -1.11560195e-04 9.99991278e-01 9.16466384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.57, Y:106.14, Z:0.92 [[ 4.51930034e-01 -8.92051170e-01 -1.98846690e-03 1.79572720e+02] [ 8.92043616e-01 4.51934395e-01 -3.67281105e-03 1.06144672e+02] [ 4.17499198e-03 -1.13945585e-04 9.99991278e-01 9.17008476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.60, Y:106.20, Z:0.92 [[ 4.51110454e-01 -8.92465915e-01 -1.98731197e-03 1.79598091e+02] [ 8.92458362e-01 4.51114816e-01 -3.67343586e-03 1.06197092e+02] [ 4.17492217e-03 -1.16467872e-04 9.99991278e-01 9.18634324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.62, Y:106.25, Z:0.92 [[ 4.50195991e-01 -8.92927558e-01 -1.98614987e-03 1.79623796e+02] [ 8.92920008e-01 4.50200357e-01 -3.67406408e-03 1.06248005e+02] [ 4.17483844e-03 -1.19424036e-04 9.99991278e-01 9.19160424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.65, Y:106.30, Z:0.92 [[ 4.49683654e-01 -8.93185687e-01 -1.98493720e-03 1.79651103e+02] [ 8.93178136e-01 4.49688019e-01 -3.67471911e-03 1.06299158e+02] [ 4.17480899e-03 -1.20441393e-04 9.99991278e-01 9.19332871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.68, Y:106.35, Z:0.92 [[ 4.49641127e-01 -8.93207099e-01 -1.98379028e-03 1.79678589e+02] [ 8.93199545e-01 4.49645487e-01 -3.67533817e-03 1.06350410e+02] [ 4.17484049e-03 -1.19337384e-04 9.99991278e-01 9.19929018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.70, Y:106.40, Z:0.92 [[ 4.50293409e-01 -8.92878443e-01 -1.98263456e-03 1.79704679e+02] [ 8.92870884e-01 4.50297759e-01 -3.67596151e-03 1.06402389e+02] [ 4.17496269e-03 -1.14975430e-04 9.99991278e-01 9.20135641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.73, Y:106.45, Z:0.92 [[ 4.51227450e-01 -8.92406781e-01 -1.98148273e-03 1.79730566e+02] [ 8.92399214e-01 4.51231787e-01 -3.67658228e-03 1.06454582e+02] [ 4.17511495e-03 -1.09298783e-04 9.99991278e-01 9.20067265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.76, Y:106.51, Z:0.92 [[ 4.51310301e-01 -8.92364886e-01 -1.98034034e-03 1.79757410e+02] [ 8.92357316e-01 4.51314633e-01 -3.67719751e-03 1.06505571e+02] [ 4.17515851e-03 -1.07614072e-04 9.99991278e-01 9.21089525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.78, Y:106.56, Z:0.92 [[ 4.51160102e-01 -8.92440836e-01 -1.97915475e-03 1.79784517e+02] [ 8.92433264e-01 4.51164431e-01 -3.67783552e-03 1.06556555e+02] [ 4.17517483e-03 -1.06970881e-04 9.99991278e-01 9.20936794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.81, Y:106.61, Z:0.92 [[ 4.50052538e-01 -8.92999888e-01 -1.97798013e-03 1.79810790e+02] [ 8.92992319e-01 4.50056871e-01 -3.67846713e-03 1.06606992e+02] [ 4.17507428e-03 -1.10817592e-04 9.99991278e-01 9.20978008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.83, Y:106.66, Z:0.92 [[ 4.45180067e-01 -8.95438887e-01 -1.97675397e-03 1.79833626e+02] [ 8.95431339e-01 4.45184436e-01 -3.67912593e-03 1.06660821e+02] [ 4.17445253e-03 -1.32173926e-04 9.99991278e-01 9.15033966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.86, Y:106.71, Z:0.92 [[ 4.46314657e-01 -8.94873915e-01 -1.97548176e-03 1.79864395e+02] [ 8.94866358e-01 4.46319011e-01 -3.67980891e-03 1.06708824e+02] [ 4.17466007e-03 -1.25439522e-04 9.99991278e-01 9.22253476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.89, Y:106.76, Z:0.92 [[ 4.45447489e-01 -8.95305890e-01 -1.97435361e-03 1.79890497e+02] [ 8.95298334e-01 4.45451846e-01 -3.68041410e-03 1.06758750e+02] [ 4.17457589e-03 -1.28204276e-04 9.99991278e-01 9.21860412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.92, Y:106.81, Z:0.92 [[ 4.45599521e-01 -8.95230235e-01 -1.97304848e-03 1.79915407e+02] [ 8.95222676e-01 4.45603872e-01 -3.68111364e-03 1.06810189e+02] [ 4.17464227e-03 -1.26015264e-04 9.99991278e-01 9.20663017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.94, Y:106.86, Z:0.92 [[ 4.46736534e-01 -8.94663390e-01 -1.97183471e-03 1.79940342e+02] [ 8.94655822e-01 4.46740870e-01 -3.68176370e-03 1.06860584e+02] [ 4.17483835e-03 -1.19335049e-04 9.99991278e-01 9.20105449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.97, Y:106.91, Z:0.92 [[ 4.47037290e-01 -8.94513151e-01 -1.97057266e-03 1.79965687e+02] [ 8.94505579e-01 4.47041618e-01 -3.68243906e-03 1.06911895e+02] [ 4.17491816e-03 -1.16500659e-04 9.99991278e-01 9.20490790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.99, Y:106.96, Z:0.92 [[ 4.47158377e-01 -8.94452630e-01 -1.96939022e-03 1.79990387e+02] [ 8.94445055e-01 4.47162699e-01 -3.68307133e-03 1.06963943e+02] [ 4.17497068e-03 -1.14595141e-04 9.99991278e-01 9.23147401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.02, Y:107.01, Z:0.92 [[ 4.47710571e-01 -8.94176365e-01 -1.96813933e-03 1.80015770e+02] [ 8.94168783e-01 4.47714883e-01 -3.68373965e-03 1.07014711e+02] [ 4.17507820e-03 -1.10599564e-04 9.99991278e-01 9.22994299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.04, Y:107.07, Z:0.92 [[ 4.49272560e-01 -8.93392578e-01 -1.96691106e-03 1.80041366e+02] [ 8.93384986e-01 4.49276854e-01 -3.68439536e-03 1.07066688e+02] [ 4.17529908e-03 -1.01911077e-04 9.99991278e-01 9.24511176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.07, Y:107.12, Z:0.92 [[ 4.51766709e-01 -8.92133945e-01 -1.96576548e-03 1.80066909e+02] [ 8.92126339e-01 4.51770977e-01 -3.68500647e-03 1.07118357e+02] [ 4.17559515e-03 -8.89479142e-05 9.99991278e-01 9.23772437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.09, Y:107.17, Z:0.92 [[ 4.52467495e-01 -8.91778732e-01 -1.96458938e-03 1.80093572e+02] [ 8.91771120e-01 4.52471752e-01 -3.68563338e-03 1.07169907e+02] [ 4.17569066e-03 -8.43347694e-05 9.99991278e-01 9.23609445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.12, Y:107.22, Z:0.92 [[ 4.54912746e-01 -8.90533850e-01 -1.96342406e-03 1.80120545e+02] [ 8.90526224e-01 4.54916977e-01 -3.68625406e-03 1.07221381e+02] [ 4.17592896e-03 -7.15566586e-05 9.99991278e-01 9.23550100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.15, Y:107.27, Z:0.92 [[ 4.55795071e-01 -8.90082582e-01 -1.96224724e-03 1.80148133e+02] [ 8.90074949e-01 4.55799290e-01 -3.68688040e-03 1.07272693e+02] [ 4.17601892e-03 -6.60851994e-05 9.99991278e-01 9.23813068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.18, Y:107.32, Z:0.92 [[ 4.55664625e-01 -8.90149372e-01 -1.96107977e-03 1.80176844e+02] [ 8.90141736e-01 4.55668840e-01 -3.68750128e-03 1.07323595e+02] [ 4.17602989e-03 -6.53750608e-05 9.99991278e-01 9.22514911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.20, Y:107.37, Z:0.93 [[ 4.54781151e-01 -8.90601069e-01 -1.95978483e-03 1.80203575e+02] [ 8.90593435e-01 4.54785369e-01 -3.68818937e-03 1.07373468e+02] [ 4.17598686e-03 -6.80524969e-05 9.99991278e-01 9.25853615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.23, Y:107.42, Z:0.93 [[ 4.53047028e-01 -8.91484467e-01 -1.95840868e-03 1.80232143e+02] [ 8.91476838e-01 4.53051255e-01 -3.68891995e-03 1.07423879e+02] [ 4.17587435e-03 -7.46217540e-05 9.99991278e-01 9.26460392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.26, Y:107.47, Z:0.93 [[ 4.51364610e-01 -8.92337469e-01 -1.95721496e-03 1.80259387e+02] [ 8.92329845e-01 4.51368846e-01 -3.68955319e-03 1.07473998e+02] [ 4.17575241e-03 -8.11475860e-05 9.99991278e-01 9.25954500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26275509599998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:180.29, Y:107.53, Z:0.93 [[ 4.51005086e-01 -8.92519236e-01 -1.95596912e-03 1.80287841e+02] [ 8.92511611e-01 4.51009320e-01 -3.69021354e-03 1.07525037e+02] [ 4.17574687e-03 -8.14200723e-05 9.99991278e-01 9.26122119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.32, Y:107.58, Z:0.93 [[ 4.51145918e-01 -8.92448060e-01 -1.95480347e-03 1.80315684e+02] [ 8.92440431e-01 4.51150146e-01 -3.69083091e-03 1.07575713e+02] [ 4.17578476e-03 -7.94423503e-05 9.99991278e-01 9.26644552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.34, Y:107.63, Z:0.93 [[ 4.50703238e-01 -8.92671706e-01 -1.95363859e-03 1.80344490e+02] [ 8.92664077e-01 4.50707465e-01 -3.69144740e-03 1.07625527e+02] [ 4.17577015e-03 -8.01956924e-05 9.99991278e-01 9.26036392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.37, Y:107.68, Z:0.92 [[ 4.47095367e-01 -8.94484165e-01 -1.95241985e-03 1.80373587e+02] [ 8.94476550e-01 4.47099620e-01 -3.69209189e-03 1.07675192e+02] [ 4.17544390e-03 -9.56765896e-05 9.99991278e-01 9.22230083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.41, Y:107.72, Z:0.92 [[ 4.45996217e-01 -8.95032719e-01 -1.95107816e-03 1.80405258e+02] [ 8.95025106e-01 4.46000474e-01 -3.69280076e-03 1.07723499e+02] [ 4.17535929e-03 -9.92887644e-05 9.99991278e-01 9.23240093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.43, Y:107.77, Z:0.92 [[ 4.43054353e-01 -8.96492632e-01 -1.94959734e-03 1.80434606e+02] [ 8.96485030e-01 4.43058629e-01 -3.69358239e-03 1.07773124e+02] [ 4.17505532e-03 -1.11327077e-04 9.99991278e-01 9.24528153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.46, Y:107.82, Z:0.93 [[ 4.40592813e-01 -8.97704950e-01 -1.94809734e-03 1.80464139e+02] [ 8.97697357e-01 4.40597103e-01 -3.69437336e-03 1.07822170e+02] [ 4.17478330e-03 -1.21087479e-04 9.99991278e-01 9.26628408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.49, Y:107.87, Z:0.93 [[ 4.39643958e-01 -8.98170028e-01 -1.94688372e-03 1.80491957e+02] [ 8.98162436e-01 4.39648251e-01 -3.69501281e-03 1.07871810e+02] [ 4.17469379e-03 -1.24127766e-04 9.99991278e-01 9.27326671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.52, Y:107.92, Z:0.93 [[ 4.41356891e-01 -8.97329543e-01 -1.94567886e-03 1.80520844e+02] [ 8.97321940e-01 4.41361165e-01 -3.69564715e-03 1.07922343e+02] [ 4.17496045e-03 -1.14800989e-04 9.99991278e-01 9.27496077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.55, Y:107.97, Z:0.93 [[ 4.42924160e-01 -8.96556974e-01 -1.94450684e-03 1.80547929e+02] [ 8.96549361e-01 4.42928416e-01 -3.69626372e-03 1.07973887e+02] [ 4.17518834e-03 -1.06181858e-04 9.99991278e-01 9.27160307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.58, Y:108.02, Z:0.93 [[ 4.45674056e-01 -8.95193197e-01 -1.94331776e-03 1.80575643e+02] [ 8.95185568e-01 4.45678283e-01 -3.69688877e-03 1.08024489e+02] [ 4.17552420e-03 -9.20225957e-05 9.99991278e-01 9.26396771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.60, Y:108.07, Z:0.93 [[ 4.47198418e-01 -8.94432671e-01 -1.94233858e-03 1.80601316e+02] [ 8.94425032e-01 4.47202628e-01 -3.69740316e-03 1.08074462e+02] [ 4.17569710e-03 -8.38034090e-05 9.99991278e-01 9.25610456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.63, Y:108.13, Z:0.92 [[ 4.49911672e-01 -8.93070948e-01 -1.94124970e-03 1.80628782e+02] [ 8.93063295e-01 4.49915855e-01 -3.69797476e-03 1.08126089e+02] [ 4.17595285e-03 -6.98968451e-05 9.99991278e-01 9.24857437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.66, Y:108.18, Z:0.93 [[ 4.50796477e-01 -8.92624653e-01 -1.94045696e-03 1.80656186e+02] [ 8.92616993e-01 4.50800649e-01 -3.69839070e-03 1.08176689e+02] [ 4.17603397e-03 -6.48633615e-05 9.99991278e-01 9.26755594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.68, Y:108.23, Z:0.92 [[ 4.50637045e-01 -8.92705155e-01 -1.93900747e-03 1.80684437e+02] [ 8.92697493e-01 4.50641212e-01 -3.69915048e-03 1.08225274e+02] [ 4.17604738e-03 -6.39728682e-05 9.99991278e-01 9.24595159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.71, Y:108.28, Z:0.93 [[ 4.48211854e-01 -8.93925265e-01 -1.93751770e-03 1.80711293e+02] [ 8.93917611e-01 4.48216035e-01 -3.69993062e-03 1.08275790e+02] [ 4.17588797e-03 -7.36284340e-05 9.99991278e-01 9.27789015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.74, Y:108.33, Z:0.93 [[ 4.48923741e-01 -8.93567975e-01 -1.93609134e-03 1.80736178e+02] [ 8.93560315e-01 4.48927911e-01 -3.70067686e-03 1.08327290e+02] [ 4.17597176e-03 -6.86926868e-05 9.99991278e-01 9.28408101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.76, Y:108.38, Z:0.93 [[ 4.49722138e-01 -8.93166421e-01 -1.93478247e-03 1.80761349e+02] [ 8.93158754e-01 4.49726296e-01 -3.70136103e-03 1.08378772e+02] [ 4.17605394e-03 -6.34839081e-05 9.99991278e-01 9.27690708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.78, Y:108.43, Z:0.93 [[ 4.49865735e-01 -8.93094106e-01 -1.93352543e-03 1.80784864e+02] [ 8.93086435e-01 4.49869886e-01 -3.70201757e-03 1.08430393e+02] [ 4.17608494e-03 -6.13944845e-05 9.99991278e-01 9.27048793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.81, Y:108.48, Z:0.93 [[ 4.47496651e-01 -8.94283520e-01 -1.93222047e-03 1.80810957e+02] [ 8.94275857e-01 4.47500817e-01 -3.70269855e-03 1.08481795e+02] [ 4.17593253e-03 -7.09929169e-05 9.99991278e-01 9.26086931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.84, Y:108.53, Z:0.92 [[ 4.42624301e-01 -8.96705079e-01 -1.93104622e-03 1.80835841e+02] [ 8.96697437e-01 4.42628503e-01 -3.70331085e-03 1.08532252e+02] [ 4.17551375e-03 -9.23888191e-05 9.99991278e-01 9.23926301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.86, Y:108.58, Z:0.92 [[ 4.38431762e-01 -8.98762408e-01 -1.92994139e-03 1.80862232e+02] [ 8.98754782e-01 4.38435996e-01 -3.70388653e-03 1.08583177e+02] [ 4.17506975e-03 -1.10642561e-04 9.99991278e-01 9.24404720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.89, Y:108.64, Z:0.92 [[ 4.36445294e-01 -8.99728729e-01 -1.92846520e-03 1.80888615e+02] [ 8.99721110e-01 4.36449539e-01 -3.70465496e-03 1.08635064e+02] [ 4.17486225e-03 -1.18201623e-04 9.99991278e-01 9.24338170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.92, Y:108.69, Z:0.92 [[ 4.36587804e-01 -8.99659588e-01 -1.92730580e-03 1.80915402e+02] [ 8.99651966e-01 4.36592043e-01 -3.70525803e-03 1.08687118e+02] [ 4.17491729e-03 -1.16233989e-04 9.99991278e-01 9.23842524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.94, Y:108.74, Z:0.92 [[ 4.39232451e-01 -8.98371384e-01 -1.92611600e-03 1.80941517e+02] [ 8.98363746e-01 4.39236663e-01 -3.70587643e-03 1.08738602e+02] [ 4.17527410e-03 -1.02611594e-04 9.99991278e-01 9.22525400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.97, Y:108.79, Z:0.92 [[ 4.38001021e-01 -8.98972414e-01 -1.92466306e-03 1.80967353e+02] [ 8.98964779e-01 4.38005236e-01 -3.70663086e-03 1.08788908e+02] [ 4.17517139e-03 -1.06696203e-04 9.99991278e-01 9.23615485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.99, Y:108.84, Z:0.92 [[ 4.38221307e-01 -8.98865055e-01 -1.92353146e-03 1.80994120e+02] [ 8.98857416e-01 4.38225516e-01 -3.70721801e-03 1.08840892e+02] [ 4.17522928e-03 -1.04398594e-04 9.99991278e-01 9.24993560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.02, Y:108.89, Z:0.93 [[ 4.37529903e-01 -8.99201806e-01 -1.92235041e-03 1.81020017e+02] [ 8.99194168e-01 4.37534113e-01 -3.70783033e-03 1.08892718e+02] [ 4.17518161e-03 -1.06279629e-04 9.99991278e-01 9.26316096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.05, Y:108.94, Z:0.93 [[ 4.35960448e-01 -8.99963775e-01 -1.92117565e-03 1.81046201e+02] [ 8.99956142e-01 4.35964666e-01 -3.70843892e-03 1.08944610e+02] [ 4.17502539e-03 -1.12241137e-04 9.99991278e-01 9.27316701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.07, Y:109.00, Z:0.93 [[ 4.35004710e-01 -9.00426130e-01 -1.91998698e-03 1.81072525e+02] [ 9.00418498e-01 4.35008932e-01 -3.70905423e-03 1.08996467e+02] [ 4.17494083e-03 -1.15335731e-04 9.99991278e-01 9.27753565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.10, Y:109.05, Z:0.93 [[ 4.34018446e-01 -9.00901941e-01 -1.91880779e-03 1.81097564e+02] [ 9.00894311e-01 4.34022671e-01 -3.70966416e-03 1.09048566e+02] [ 4.17484973e-03 -1.18580352e-04 9.99991278e-01 9.27683529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.12, Y:109.10, Z:0.93 [[ 4.33566983e-01 -9.01119301e-01 -1.91763488e-03 1.81123653e+02] [ 9.01111670e-01 4.33571208e-01 -3.71027037e-03 1.09100426e+02] [ 4.17482752e-03 -1.19352441e-04 9.99991278e-01 9.27312242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.15, Y:109.15, Z:0.93 [[ 4.33267840e-01 -9.01263172e-01 -1.91646564e-03 1.81150561e+02] [ 9.01255541e-01 4.33272062e-01 -3.71087423e-03 1.09152076e+02] [ 4.17482530e-03 -1.19422813e-04 9.99991278e-01 9.27545814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.18, Y:109.20, Z:0.93 [[ 4.34825288e-01 -9.00512799e-01 -1.91527220e-03 1.81176614e+02] [ 9.00505157e-01 4.34829492e-01 -3.71149009e-03 1.09203709e+02] [ 4.17506116e-03 -1.10862745e-04 9.99991278e-01 9.28967872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.20, Y:109.25, Z:0.93 [[ 4.36186062e-01 -8.99854464e-01 -1.91408005e-03 1.81202139e+02] [ 8.99846813e-01 4.36190249e-01 -3.71210479e-03 1.09254614e+02] [ 4.17525713e-03 -1.03210465e-04 9.99991278e-01 9.30271780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.23, Y:109.31, Z:0.93 [[ 4.37457822e-01 -8.99236895e-01 -1.91321773e-03 1.81228252e+02] [ 8.99229237e-01 4.37461995e-01 -3.71254918e-03 1.09305975e+02] [ 4.17542125e-03 -9.63376382e-05 9.99991278e-01 9.31563033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42275509599997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.25, Y:109.36, Z:0.93 [[ 4.39050856e-01 -8.98460177e-01 -1.91207221e-03 1.81253733e+02] [ 8.98452509e-01 4.39055011e-01 -3.71313907e-03 1.09357873e+02] [ 4.17561247e-03 -8.76491892e-05 9.99991278e-01 9.33770688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.28, Y:109.41, Z:0.93 [[ 4.41609792e-01 -8.97205183e-01 -1.91091909e-03 1.81277931e+02] [ 8.97197500e-01 4.41613920e-01 -3.71373241e-03 1.09409762e+02] [ 4.17586844e-03 -7.44512364e-05 9.99991278e-01 9.34555933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.30, Y:109.46, Z:0.93 [[ 4.41271065e-01 -8.97371830e-01 -1.90949623e-03 1.81302273e+02] [ 8.97364145e-01 4.41275191e-01 -3.71446386e-03 1.09462128e+02] [ 4.17586854e-03 -7.44280282e-05 9.99991278e-01 9.34018663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.33, Y:109.51, Z:0.93 [[ 4.41633978e-01 -8.97193284e-01 -1.90801026e-03 1.81325829e+02] [ 8.97185595e-01 4.41638094e-01 -3.71522700e-03 1.09513434e+02] [ 4.17592673e-03 -7.10688404e-05 9.99991278e-01 9.33970293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.35, Y:109.57, Z:0.93 [[ 4.41723116e-01 -8.97149404e-01 -1.90658963e-03 1.81350142e+02] [ 8.97141711e-01 4.41727226e-01 -3.71595590e-03 1.09566373e+02] [ 4.17596017e-03 -6.90574595e-05 9.99991278e-01 9.33189382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.38, Y:109.62, Z:0.93 [[ 4.40749931e-01 -8.97627912e-01 -1.90526921e-03 1.81375867e+02] [ 8.97620221e-01 4.40754043e-01 -3.71663279e-03 1.09618681e+02] [ 4.17590844e-03 -7.21025227e-05 9.99991278e-01 9.33033237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.40, Y:109.67, Z:0.93 [[ 4.39060039e-01 -8.98455707e-01 -1.90408582e-03 1.81402212e+02] [ 8.98448020e-01 4.39064161e-01 -3.71723896e-03 1.09670849e+02] [ 4.17579040e-03 -7.86310527e-05 9.99991278e-01 9.33034148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.43, Y:109.72, Z:0.93 [[ 4.36709462e-01 -8.99600592e-01 -1.90291470e-03 1.81428347e+02] [ 8.99592914e-01 4.36713599e-01 -3.71783838e-03 1.09722897e+02] [ 4.17559833e-03 -8.82333826e-05 9.99991278e-01 9.32219840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.45, Y:109.77, Z:0.93 [[ 4.34883657e-01 -9.00484641e-01 -1.90175904e-03 1.81454974e+02] [ 9.00476968e-01 4.34887805e-01 -3.71842943e-03 1.09774033e+02] [ 4.17544041e-03 -9.54060238e-05 9.99991278e-01 9.31854817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.48, Y:109.83, Z:0.93 [[ 4.34917197e-01 -9.00468444e-01 -1.90057080e-03 1.81482022e+02] [ 9.00460769e-01 4.34921340e-01 -3.71903667e-03 1.09825790e+02] [ 4.17547396e-03 -9.39164451e-05 9.99991278e-01 9.31888267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.51, Y:109.88, Z:0.93 [[ 4.35786290e-01 -9.00048166e-01 -1.89939735e-03 1.81507925e+02] [ 9.00040485e-01 4.35790420e-01 -3.71963588e-03 1.09877974e+02] [ 4.17559062e-03 -8.85681950e-05 9.99991278e-01 9.32543099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.53, Y:109.93, Z:0.93 [[ 4.37170419e-01 -8.99376685e-01 -1.89821121e-03 1.81533380e+02] [ 8.99368994e-01 4.37174533e-01 -3.72024110e-03 1.09928942e+02] [ 4.17574770e-03 -8.08129422e-05 9.99991278e-01 9.32444702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.56, Y:109.98, Z:0.93 [[ 4.38134094e-01 -8.98907624e-01 -1.89697299e-03 1.81560628e+02] [ 8.98899926e-01 4.38138195e-01 -3.72087236e-03 1.09980114e+02] [ 4.17585686e-03 -7.49478380e-05 9.99991278e-01 9.32064244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.59, Y:110.03, Z:0.93 [[ 4.37182759e-01 -8.99370692e-01 -1.89577600e-03 1.81588192e+02] [ 8.99362996e-01 4.37186863e-01 -3.72148213e-03 1.10031522e+02] [ 4.17580032e-03 -7.80229582e-05 9.99991278e-01 9.31703667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.62, Y:110.08, Z:0.93 [[ 4.35340797e-01 -9.00263740e-01 -1.89459758e-03 1.81615683e+02] [ 9.00256049e-01 4.35344912e-01 -3.72208196e-03 1.10083155e+02] [ 4.17565884e-03 -8.52488016e-05 9.99991278e-01 9.32465525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.64, Y:110.13, Z:0.93 [[ 4.32007762e-01 -9.01867900e-01 -1.89341751e-03 1.81643554e+02] [ 9.01860222e-01 4.32011900e-01 -3.72268217e-03 1.10133107e+02] [ 4.17534644e-03 -9.93703433e-05 9.99991278e-01 9.33322769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.67, Y:110.18, Z:0.93 [[ 4.28517096e-01 -9.03531691e-01 -1.89256533e-03 1.81670504e+02] [ 9.03524027e-01 4.28521260e-01 -3.72311535e-03 1.10184092e+02] [ 4.17495719e-03 -1.14559667e-04 9.99991278e-01 9.34292202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.70, Y:110.23, Z:0.93 [[ 4.28102118e-01 -9.03728388e-01 -1.89132609e-03 1.81697595e+02] [ 9.03720724e-01 4.28106281e-01 -3.72374478e-03 1.10233897e+02] [ 4.17494244e-03 -1.15087553e-04 9.99991278e-01 9.33529788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.73, Y:110.28, Z:0.93 [[ 4.27637076e-01 -9.03948537e-01 -1.89043080e-03 1.81725683e+02] [ 9.03940873e-01 4.27641238e-01 -3.72419923e-03 1.10284406e+02] [ 4.17491061e-03 -1.16231995e-04 9.99991278e-01 9.33058427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.75, Y:110.34, Z:0.93 [[ 4.29165869e-01 -9.03223719e-01 -1.88926418e-03 1.81753468e+02] [ 9.03216046e-01 4.29170014e-01 -3.72479095e-03 1.10335417e+02] [ 4.17513508e-03 -1.07860579e-04 9.99991278e-01 9.32550718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.78, Y:110.39, Z:0.93 [[ 4.30101310e-01 -9.02778654e-01 -1.88809324e-03 1.81779408e+02] [ 9.02770974e-01 4.30105442e-01 -3.72538441e-03 1.10386140e+02] [ 4.17527670e-03 -1.02223064e-04 9.99991278e-01 9.32264526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.81, Y:110.44, Z:0.94 [[ 4.36416793e-01 -8.99742642e-01 -1.88724661e-03 1.81809482e+02] [ 8.99734930e-01 4.36420867e-01 -3.72581325e-03 1.10436127e+02] [ 4.17590686e-03 -7.20142288e-05 9.99991278e-01 9.36020816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.84, Y:110.49, Z:0.93 [[ 4.37387741e-01 -8.99271042e-01 -1.88609732e-03 1.81835066e+02] [ 8.99263324e-01 4.37391802e-01 -3.72639496e-03 1.10487495e+02] [ 4.17600259e-03 -6.62186712e-05 9.99991278e-01 9.34188088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.86, Y:110.54, Z:0.93 [[ 4.38380974e-01 -8.98787276e-01 -1.88537200e-03 1.81862300e+02] [ 8.98779551e-01 4.38385024e-01 -3.72676190e-03 1.10538328e+02] [ 4.17608503e-03 -6.07922819e-05 9.99991278e-01 9.34983363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.89, Y:110.59, Z:0.94 [[ 4.39712359e-01 -8.98136678e-01 -1.88412255e-03 1.81889887e+02] [ 8.98128945e-01 4.39716392e-01 -3.72739348e-03 1.10588241e+02] [ 4.17618836e-03 -5.32040158e-05 9.99991278e-01 9.36012933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92275509599997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.92, Y:110.64, Z:0.94 [[ 4.39904599e-01 -8.98042537e-01 -1.88288695e-03 1.81917756e+02] [ 8.98034800e-01 4.39908626e-01 -3.72801753e-03 1.10638011e+02] [ 4.17621653e-03 -5.09259460e-05 9.99991278e-01 9.37550331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.94, Y:110.69, Z:0.94 [[ 4.39508413e-01 -8.98236502e-01 -1.88162812e-03 1.81944201e+02] [ 8.98228765e-01 4.39512438e-01 -3.72865279e-03 1.10687207e+02] [ 4.17621100e-03 -5.13582306e-05 9.99991278e-01 9.38180202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.97, Y:110.74, Z:0.94 [[ 4.37864924e-01 -8.99038805e-01 -1.88032156e-03 1.81972152e+02] [ 8.99031072e-01 4.37868958e-01 -3.72931156e-03 1.10738251e+02] [ 4.17613025e-03 -5.75327849e-05 9.99991278e-01 9.38761551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.00, Y:110.79, Z:0.94 [[ 4.36252178e-01 -8.99822486e-01 -1.87912918e-03 1.81999766e+02] [ 8.99814757e-01 4.36256221e-01 -3.72991228e-03 1.10788259e+02] [ 4.17604073e-03 -6.36858156e-05 9.99991278e-01 9.37783472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.03, Y:110.84, Z:0.94 [[ 4.35550256e-01 -9.00162456e-01 -1.87826655e-03 1.82026099e+02] [ 9.00154729e-01 4.35554301e-01 -3.73034662e-03 1.10840467e+02] [ 4.17600505e-03 -6.59770909e-05 9.99991278e-01 9.37769744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.05, Y:110.89, Z:0.94 [[ 4.35866612e-01 -9.00009318e-01 -1.87707780e-03 1.82052812e+02] [ 9.00001587e-01 4.35870649e-01 -3.73094469e-03 1.10892067e+02] [ 4.17604811e-03 -6.31787806e-05 9.99991278e-01 9.36959832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.08, Y:110.94, Z:0.94 [[ 4.35196844e-01 -9.00333376e-01 -1.87589817e-03 1.82079109e+02] [ 9.00325645e-01 4.35200882e-01 -3.73153771e-03 1.10943448e+02] [ 4.17602048e-03 -6.49657976e-05 9.99991278e-01 9.36018766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.342755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:182.11, Y:111.00, Z:0.94 [[ 4.33983094e-01 -9.00919064e-01 -1.87472479e-03 1.82105204e+02] [ 9.00911336e-01 4.33987138e-01 -3.73212712e-03 1.10995860e+02] [ 4.17595092e-03 -6.92807384e-05 9.99991278e-01 9.37396971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.13, Y:111.05, Z:0.94 [[ 4.33133102e-01 -9.01328024e-01 -1.87351592e-03 1.82129369e+02] [ 9.01320297e-01 4.33137148e-01 -3.73273387e-03 1.11046890e+02] [ 4.17590699e-03 -7.18673218e-05 9.99991278e-01 9.35249185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.15, Y:111.10, Z:0.94 [[ 4.33439008e-01 -9.01180959e-01 -1.87242714e-03 1.82154349e+02] [ 9.01173229e-01 4.33443047e-01 -3.73327995e-03 1.11098500e+02] [ 4.17595133e-03 -6.92320491e-05 9.99991278e-01 9.35314633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.18, Y:111.15, Z:0.94 [[ 4.32578812e-01 -9.01594183e-01 -1.87101337e-03 1.82178129e+02] [ 9.01586453e-01 4.32582852e-01 -3.73398836e-03 1.11149477e+02] [ 4.17591048e-03 -7.16360648e-05 9.99991278e-01 9.36308622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.20, Y:111.20, Z:0.94 [[ 4.33402381e-01 -9.01198580e-01 -1.86967178e-03 1.82200648e+02] [ 9.01190844e-01 4.33406408e-01 -3.73466000e-03 1.11200732e+02] [ 4.17599801e-03 -6.63205529e-05 9.99991278e-01 9.39042244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.23, Y:111.25, Z:0.94 [[ 4.32730533e-01 -9.01521378e-01 -1.86825750e-03 1.82225189e+02] [ 9.01513642e-01 4.32734561e-01 -3.73536735e-03 1.11253283e+02] [ 4.17597311e-03 -6.78521189e-05 9.99991278e-01 9.40071576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.25, Y:111.31, Z:0.94 [[ 4.29935356e-01 -9.02857743e-01 -1.86706170e-03 1.82250654e+02] [ 9.02850017e-01 4.29939403e-01 -3.73596496e-03 1.11305979e+02] [ 4.17576828e-03 -7.94532613e-05 9.99991278e-01 9.40693766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.28, Y:111.36, Z:0.94 [[ 4.26414700e-01 -9.04525855e-01 -1.86586820e-03 1.82276323e+02] [ 9.04518142e-01 4.26418772e-01 -3.73656094e-03 1.11357329e+02] [ 4.17545720e-03 -9.43871233e-05 9.99991278e-01 9.41497530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.30, Y:111.41, Z:0.94 [[ 4.20456071e-01 -9.07310981e-01 -1.86445906e-03 1.82300492e+02] [ 9.07303292e-01 4.20460187e-01 -3.73726393e-03 1.11407844e+02] [ 4.17479141e-03 -1.20274535e-04 9.99991278e-01 9.40118162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.33, Y:111.46, Z:0.94 [[ 4.16430896e-01 -9.09165463e-01 -1.86293068e-03 1.82325703e+02] [ 9.09157789e-01 4.16435040e-01 -3.73802564e-03 1.11457795e+02] [ 4.17427342e-03 -1.37068569e-04 9.99991278e-01 9.42776556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.35, Y:111.51, Z:0.94 [[ 4.13594994e-01 -9.10459068e-01 -1.86181912e-03 1.82350782e+02] [ 9.10451405e-01 4.13599157e-01 -3.73857919e-03 1.11510543e+02] [ 4.17387015e-03 -1.48838198e-04 9.99991278e-01 9.40332049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.38, Y:111.56, Z:0.94 [[ 4.13534771e-01 -9.10486426e-01 -1.86049280e-03 1.82375615e+02] [ 9.10478760e-01 4.13538930e-01 -3.73923912e-03 1.11560747e+02] [ 4.17391266e-03 -1.47633780e-04 9.99991278e-01 9.42714719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.40, Y:111.61, Z:0.94 [[ 4.15949024e-01 -9.09386031e-01 -1.85881036e-03 1.82400236e+02] [ 9.09378350e-01 4.15953156e-01 -3.74007529e-03 1.11612813e+02] [ 4.17435026e-03 -1.34681231e-04 9.99991278e-01 9.41119606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.42, Y:111.66, Z:0.94 [[ 4.19539958e-01 -9.07734968e-01 -1.85763140e-03 1.82424622e+02] [ 9.07727268e-01 4.19544054e-01 -3.74066076e-03 1.11663582e+02] [ 4.17488679e-03 -1.16866018e-04 9.99991278e-01 9.39386950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.182755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:182.45, Y:111.72, Z:0.94 [[ 4.23524501e-01 -9.05882747e-01 -1.85618317e-03 1.82448160e+02] [ 9.05875026e-01 4.23528558e-01 -3.74137926e-03 1.11717260e+02] [ 4.17539751e-03 -9.69041948e-05 9.99991278e-01 9.40515081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.47, Y:111.77, Z:0.94 [[ 4.27918079e-01 -9.03815622e-01 -1.85469359e-03 1.82472599e+02] [ 9.03807878e-01 4.27922091e-01 -3.74211754e-03 1.11768905e+02] [ 4.17584865e-03 -7.49669254e-05 9.99991278e-01 9.40812258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.50, Y:111.82, Z:0.94 [[ 4.29290515e-01 -9.03164558e-01 -1.85354983e-03 1.82497872e+02] [ 9.03156805e-01 4.29294511e-01 -3.74268398e-03 1.11820639e+02] [ 4.17597829e-03 -6.73474104e-05 9.99991278e-01 9.41999920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.52, Y:111.87, Z:0.94 [[ 4.27479370e-01 -9.04023206e-01 -1.85238346e-03 1.82523707e+02] [ 9.04015459e-01 4.27483377e-01 -3.74326117e-03 1.11872798e+02] [ 4.17585810e-03 -7.44163510e-05 9.99991278e-01 9.41565041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42275509599997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.55, Y:111.92, Z:0.94 [[ 4.24913452e-01 -9.05232087e-01 -1.85122955e-03 1.82549931e+02] [ 9.05224349e-01 4.24917476e-01 -3.74383175e-03 1.11924855e+02] [ 4.17565642e-03 -8.49735875e-05 9.99991278e-01 9.42186918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.58, Y:111.98, Z:0.94 [[ 4.20192377e-01 -9.07433162e-01 -1.84998216e-03 1.82575070e+02] [ 9.07425443e-01 4.20196436e-01 -3.74444804e-03 1.11976837e+02] [ 4.17519223e-03 -1.05332359e-04 9.99991278e-01 9.41228283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.60, Y:112.03, Z:0.94 [[ 4.18832707e-01 -9.08061532e-01 -1.84871497e-03 1.82600559e+02] [ 9.08053816e-01 4.18836772e-01 -3.74507357e-03 1.12028833e+02] [ 4.17506705e-03 -1.10173380e-04 9.99991278e-01 9.41411269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.63, Y:112.08, Z:0.94 [[ 4.15888351e-01 -9.09413804e-01 -1.84744624e-03 1.82626723e+02] [ 9.09406098e-01 4.15892436e-01 -3.74569933e-03 1.12079091e+02] [ 4.17472959e-03 -1.22286166e-04 9.99991278e-01 9.41223761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.65, Y:112.13, Z:0.94 [[ 4.13301475e-01 -9.10592380e-01 -1.84612446e-03 1.82651808e+02] [ 9.10584683e-01 4.13305577e-01 -3.74635068e-03 1.12130039e+02] [ 4.17441191e-03 -1.32680395e-04 9.99991278e-01 9.41128883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.68, Y:112.18, Z:0.94 [[ 4.13096457e-01 -9.10685409e-01 -1.84483620e-03 1.82675933e+02] [ 9.10677710e-01 4.13100556e-01 -3.74698495e-03 1.12183219e+02] [ 4.17442738e-03 -1.32184995e-04 9.99991278e-01 9.39842161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.70, Y:112.23, Z:0.94 [[ 4.13664353e-01 -9.10427594e-01 -1.84363603e-03 1.82699619e+02] [ 9.10419890e-01 4.13668441e-01 -3.74757538e-03 1.12234797e+02] [ 4.17455008e-03 -1.28244565e-04 9.99991278e-01 9.38422235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.72, Y:112.29, Z:0.94 [[ 4.15545846e-01 -9.09570369e-01 -1.84239264e-03 1.82724536e+02] [ 9.09562653e-01 4.15549914e-01 -3.74818656e-03 1.12286073e+02] [ 4.17484553e-03 -1.18228178e-04 9.99991278e-01 9.37477030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.75, Y:112.34, Z:0.94 [[ 4.16931455e-01 -9.08936066e-01 -1.84117658e-03 1.82749766e+02] [ 9.08928342e-01 4.16935505e-01 -3.74878382e-03 1.12338830e+02] [ 4.17505670e-03 -1.10511687e-04 9.99991278e-01 9.39305683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.77, Y:112.39, Z:0.94 [[ 4.17352598e-01 -9.08742771e-01 -1.83998014e-03 1.82774514e+02] [ 9.08735043e-01 4.17356640e-01 -3.74937096e-03 1.12391050e+02] [ 4.17514169e-03 -1.07244725e-04 9.99991278e-01 9.40197813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.80, Y:112.44, Z:0.94 [[ 4.18451952e-01 -9.08237074e-01 -1.83879793e-03 1.82799385e+02] [ 9.08229338e-01 4.18455980e-01 -3.74995066e-03 1.12442863e+02] [ 4.17530021e-03 -1.00876058e-04 9.99991278e-01 9.39762703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.82, Y:112.49, Z:0.94 [[ 4.17402737e-01 -9.08719747e-01 -1.83741319e-03 1.82823462e+02] [ 9.08712013e-01 4.17406769e-01 -3.75062904e-03 1.12494323e+02] [ 4.17521937e-03 -1.04156605e-04 9.99991278e-01 9.43452898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.85, Y:112.55, Z:0.94 [[ 4.15080985e-01 -9.09782614e-01 -1.83592288e-03 1.82846740e+02] [ 9.09774887e-01 4.15085030e-01 -3.75135840e-03 1.12548138e+02] [ 4.17498476e-03 -1.13158996e-04 9.99991278e-01 9.42087465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.87, Y:112.60, Z:0.94 [[ 4.14953814e-01 -9.09840627e-01 -1.83470500e-03 1.82872747e+02] [ 9.09832898e-01 4.14957854e-01 -3.75195394e-03 1.12598927e+02] [ 4.17500538e-03 -1.12387374e-04 9.99991278e-01 9.44473041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.90, Y:112.65, Z:0.95 [[ 4.12117452e-01 -9.11128884e-01 -1.83377613e-03 1.82897788e+02] [ 9.11121165e-01 4.12121513e-01 -3.75240788e-03 1.12650768e+02] [ 4.17466579e-03 -1.24359469e-04 9.99991278e-01 9.46470602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.92, Y:112.70, Z:0.95 [[ 4.09748561e-01 -9.12196667e-01 -1.83257588e-03 1.82921985e+02] [ 9.12188956e-01 4.09752637e-01 -3.75299395e-03 1.12703948e+02] [ 4.17437137e-03 -1.33871609e-04 9.99991278e-01 9.47706493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.95, Y:112.76, Z:0.95 [[ 4.09227935e-01 -9.12430350e-01 -1.83139140e-03 1.82945981e+02] [ 9.12422639e-01 4.09232010e-01 -3.75357187e-03 1.12757381e+02] [ 4.17433688e-03 -1.34936510e-04 9.99991278e-01 9.48150964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.97, Y:112.81, Z:0.95 [[ 4.10114163e-01 -9.12032359e-01 -1.83020641e-03 1.82969676e+02] [ 9.12024642e-01 4.10118226e-01 -3.75414957e-03 1.12810397e+02] [ 4.17450690e-03 -1.29563434e-04 9.99991278e-01 9.48839213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.99, Y:112.86, Z:0.95 [[ 4.12053642e-01 -9.11157753e-01 -1.82900610e-03 1.82992344e+02] [ 9.11150025e-01 4.12057684e-01 -3.75473427e-03 1.12864257e+02] [ 4.17481125e-03 -1.19347020e-04 9.99991278e-01 9.50072541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.01, Y:112.92, Z:0.95 [[ 4.14340847e-01 -9.10119949e-01 -1.82779075e-03 1.83014814e+02] [ 9.10112208e-01 4.14344865e-01 -3.75532580e-03 1.12917106e+02] [ 4.17513264e-03 -1.07509806e-04 9.99991278e-01 9.50559918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.04, Y:112.97, Z:0.95 [[ 4.15650174e-01 -9.09522730e-01 -1.82652501e-03 1.83036398e+02] [ 9.09514980e-01 4.15654175e-01 -3.75594134e-03 1.12971523e+02] [ 4.17531676e-03 -1.00094185e-04 9.99991278e-01 9.48894522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.06, Y:113.02, Z:0.95 [[ 4.15652068e-01 -9.09521867e-01 -1.82521110e-03 1.83059501e+02] [ 9.09514115e-01 4.15656064e-01 -3.75657972e-03 1.13024158e+02] [ 4.17535147e-03 -9.86251293e-05 9.99991278e-01 9.53387220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.08, Y:113.08, Z:0.96 [[ 4.14040429e-01 -9.10256666e-01 -1.82373183e-03 1.83081966e+02] [ 9.10248917e-01 4.14044432e-01 -3.75729774e-03 1.13077764e+02] [ 4.17521132e-03 -1.04376752e-04 9.99991278e-01 9.56057173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.10, Y:113.13, Z:0.96 [[ 4.10625680e-01 -9.11802188e-01 -1.82252127e-03 1.83104653e+02] [ 9.11794452e-01 4.10629707e-01 -3.75788484e-03 1.13130466e+02] [ 4.17482900e-03 -1.18680763e-04 9.99991278e-01 9.58204462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.13, Y:113.18, Z:0.96 [[ 4.06007565e-01 -9.13867901e-01 -1.82125812e-03 1.83126161e+02] [ 9.13860183e-01 4.06011626e-01 -3.75849693e-03 1.13184436e+02] [ 4.17422167e-03 -1.38397094e-04 9.99991278e-01 9.58633344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92275509599997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.15, Y:113.24, Z:0.96 [[ 4.02332708e-01 -9.15491715e-01 -1.81994408e-03 1.83148681e+02] [ 9.15484010e-01 4.02336795e-01 -3.75913311e-03 1.13236306e+02] [ 4.17368568e-03 -1.53707500e-04 9.99991278e-01 9.59329006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.17, Y:113.29, Z:0.96 [[ 3.98345325e-01 -9.17233719e-01 -1.81838367e-03 1.83171791e+02] [ 9.17226029e-01 3.98349439e-01 -3.75988776e-03 1.13288597e+02] [ 4.17304795e-03 -1.70135118e-04 9.99991278e-01 9.58550111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.19, Y:113.34, Z:0.96 [[ 3.98430642e-01 -9.17196665e-01 -1.81693184e-03 1.83194770e+02] [ 9.17188971e-01 3.98434749e-01 -3.76058922e-03 1.13342511e+02] [ 4.17312867e-03 -1.68135867e-04 9.99991278e-01 9.58691792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.21, Y:113.40, Z:0.96 [[ 3.99101430e-01 -9.16904985e-01 -1.81560251e-03 1.83214819e+02] [ 9.16897285e-01 3.99105527e-01 -3.76123090e-03 1.13396307e+02] [ 4.17330836e-03 -1.63608383e-04 9.99991278e-01 9.58691993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.24, Y:113.45, Z:0.96 [[ 4.00451724e-01 -9.16316062e-01 -1.81412219e-03 1.83239599e+02] [ 9.16308353e-01 4.00455803e-01 -3.76194476e-03 1.13448922e+02] [ 4.17360616e-03 -1.55818048e-04 9.99991278e-01 9.60770771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.26, Y:113.50, Z:0.96 [[ 4.01164424e-01 -9.16004268e-01 -1.81281864e-03 1.83258760e+02] [ 9.15996553e-01 4.01168491e-01 -3.76257281e-03 1.13503481e+02] [ 4.17377847e-03 -1.51125267e-04 9.99991278e-01 9.59662167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.282755096 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:183.28, Y:113.56, Z:0.96 [[ 4.03435156e-01 -9.15006444e-01 -1.81144307e-03 1.83279755e+02] [ 9.14998716e-01 4.03439199e-01 -3.76323495e-03 1.13556556e+02] [ 4.17419137e-03 -1.39246801e-04 9.99991278e-01 9.62468886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.342755096 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:183.30, Y:113.61, Z:0.96 [[ 4.04582561e-01 -9.14499686e-01 -1.80997842e-03 1.83302634e+02] [ 9.14491950e-01 4.04586588e-01 -3.76393926e-03 1.13609522e+02] [ 4.17441426e-03 -1.32386505e-04 9.99991278e-01 9.64832646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.402755096 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:183.32, Y:113.66, Z:0.97 [[ 4.05516651e-01 -9.14085868e-01 -1.80848786e-03 1.83322914e+02] [ 9.14078125e-01 4.05520664e-01 -3.76465530e-03 1.13661700e+02] [ 4.17459741e-03 -1.26468778e-04 9.99991278e-01 9.65376155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.462755096 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:183.35, Y:113.71, Z:0.97 [[ 4.05026446e-01 -9.14303184e-01 -1.80694575e-03 1.83346263e+02] [ 9.14295440e-01 4.05030457e-01 -3.76539533e-03 1.13713746e+02] [ 4.17458101e-03 -1.26997569e-04 9.99991278e-01 9.66493052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.522755096 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:183.37, Y:113.77, Z:0.97 [[ 4.03927019e-01 -9.14789431e-01 -1.80549464e-03 1.83369294e+02] [ 9.14781688e-01 4.03931034e-01 -3.76609101e-03 1.13765339e+02] [ 4.17447556e-03 -1.30407518e-04 9.99991278e-01 9.67787702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.582755096 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:183.39, Y:113.82, Z:0.97 [[ 4.02246495e-01 -9.15529629e-01 -1.80438554e-03 1.83393031e+02] [ 9.15521891e-01 4.02250519e-01 -3.76662231e-03 1.13817563e+02] [ 4.17426935e-03 -1.36843839e-04 9.99991278e-01 9.69239287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.642755096 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:183.42, Y:113.87, Z:0.97 [[ 4.01535876e-01 -9.15841520e-01 -1.80298569e-03 1.83415847e+02] [ 9.15833782e-01 4.01539900e-01 -3.76729227e-03 1.13870035e+02] [ 4.17421337e-03 -1.38532201e-04 9.99991278e-01 9.69220227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70275509599998 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:183.44, Y:113.92, Z:0.97 [[ 4.01919066e-01 -9.15673424e-01 -1.80158337e-03 1.83439667e+02] [ 9.15665681e-01 4.01923081e-01 -3.76796276e-03 1.13921607e+02] [ 4.17432130e-03 -1.35231988e-04 9.99991278e-01 9.69811022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76275509599998 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:183.46, Y:113.97, Z:0.97 [[ 4.03978885e-01 -9.14766539e-01 -1.80010809e-03 1.83464087e+02] [ 9.14758784e-01 4.03982876e-01 -3.76866743e-03 1.13972725e+02] [ 4.17466371e-03 -1.24202622e-04 9.99991278e-01 9.68699471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82275509599998 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:183.49, Y:114.03, Z:0.97 [[ 4.07726296e-01 -9.13102422e-01 -1.79858492e-03 1.83487499e+02] [ 9.13094648e-01 4.07730249e-01 -3.76939422e-03 1.14025094e+02] [ 4.17518047e-03 -1.05397118e-04 9.99991278e-01 9.66173370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88275509599998 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:183.51, Y:114.08, Z:0.97 [[ 4.11068733e-01 -9.11602582e-01 -1.79714639e-03 1.83511905e+02] [ 9.11594790e-01 4.11072652e-01 -3.77007995e-03 1.14077101e+02] [ 4.17557235e-03 -8.85072965e-05 9.99991278e-01 9.66958740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94275509599998 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:183.54, Y:114.13, Z:0.97 [[ 4.15038980e-01 -9.09801858e-01 -1.79568965e-03 1.83536270e+02] [ 9.09794046e-01 4.15042859e-01 -3.77077367e-03 1.14128699e+02] [ 4.17594505e-03 -6.86896900e-05 9.99991278e-01 9.67980880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.002755096 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:183.56, Y:114.18, Z:0.97 [[ 4.16755161e-01 -9.09017006e-01 -1.79427983e-03 1.83560603e+02] [ 9.09009184e-01 4.16759019e-01 -3.77144440e-03 1.14180919e+02] [ 4.17608939e-03 -5.92479247e-05 9.99991278e-01 9.68868757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.062755096 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:183.59, Y:114.23, Z:0.97 [[ 4.15657285e-01 -9.09519547e-01 -1.79288392e-03 1.83586428e+02] [ 9.09511727e-01 4.15661147e-01 -3.77210787e-03 1.14231684e+02] [ 4.17603803e-03 -6.27448318e-05 9.99991278e-01 9.70977331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.122755096 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:183.61, Y:114.28, Z:0.97 [[ 4.14334270e-01 -9.10123016e-01 -1.79149907e-03 1.83613095e+02] [ 9.10115198e-01 4.14338137e-01 -3.77276547e-03 1.14282760e+02] [ 4.17596707e-03 -6.72845060e-05 9.99991278e-01 9.70289889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.182755096 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:183.64, Y:114.33, Z:0.97 [[ 4.09492744e-01 -9.12311618e-01 -1.79041010e-03 1.83638105e+02] [ 9.12303819e-01 4.09496648e-01 -3.77328218e-03 1.14334464e+02] [ 4.17557610e-03 -8.82662963e-05 9.99991278e-01 9.71982292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.242755096 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:183.66, Y:114.39, Z:0.97 [[ 4.06006706e-01 -9.13868347e-01 -1.78878593e-03 1.83663278e+02] [ 9.13860559e-01 4.06010633e-01 -3.77405199e-03 1.14385599e+02] [ 4.17525276e-03 -1.02410494e-04 9.99991278e-01 9.69940341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.302755096 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:183.69, Y:114.44, Z:0.97 [[ 4.03955910e-01 -9.14776709e-01 -1.78732044e-03 1.83690109e+02] [ 9.14768928e-01 4.03959849e-01 -3.77474589e-03 1.14436628e+02] [ 4.17505532e-03 -1.10154296e-04 9.99991278e-01 9.69773798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.362755096 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:183.72, Y:114.49, Z:0.97 [[ 4.04083911e-01 -9.14720178e-01 -1.78599449e-03 1.83715718e+02] [ 9.14712393e-01 4.04087843e-01 -3.77537315e-03 1.14487764e+02] [ 4.17510866e-03 -1.08103749e-04 9.99991278e-01 9.68652226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42275509599997 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:183.74, Y:114.54, Z:0.97 [[ 4.05565638e-01 -9.14064182e-01 -1.78452754e-03 1.83741918e+02] [ 9.14056388e-01 4.05569552e-01 -3.77606641e-03 1.14539041e+02] [ 4.17531709e-03 -9.97160178e-05 9.99991278e-01 9.67924500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48275509599998 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:183.77, Y:114.59, Z:0.97 [[ 4.07338014e-01 -9.13275732e-01 -1.78306994e-03 1.83768916e+02] [ 9.13267927e-01 4.07341907e-01 -3.77675457e-03 1.14589062e+02] [ 4.17553740e-03 -9.00048839e-05 9.99991278e-01 9.68804982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54275509599998 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:183.80, Y:114.64, Z:0.97 [[ 4.09563125e-01 -9.12280040e-01 -1.78161967e-03 1.83795948e+02] [ 9.12272223e-01 4.09566993e-01 -3.77743859e-03 1.14639809e+02] [ 4.17577444e-03 -7.82225829e-05 9.99991278e-01 9.68189073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60275509599998 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:183.82, Y:114.69, Z:0.97 [[ 4.11317913e-01 -9.11490211e-01 -1.78019644e-03 1.83823128e+02] [ 9.11482384e-01 4.11321760e-01 -3.77810919e-03 1.14689364e+02] [ 4.17594308e-03 -6.86137007e-05 9.99991278e-01 9.68404860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66275509599998 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:183.85, Y:114.74, Z:0.97 [[ 4.08865314e-01 -9.12593004e-01 -1.77860479e-03 1.83851145e+02] [ 9.12585184e-01 4.08869175e-01 -3.77885834e-03 1.14739882e+02] [ 4.17577636e-03 -7.80842734e-05 9.99991278e-01 9.73287610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.722755096 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:183.88, Y:114.79, Z:0.97 [[ 4.07231173e-01 -9.13323390e-01 -1.77706697e-03 1.83879320e+02] [ 9.13315573e-01 4.07235041e-01 -3.77958138e-03 1.14790278e+02] [ 4.17566402e-03 -8.38595796e-05 9.99991278e-01 9.74446356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.782755096 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:183.91, Y:114.84, Z:0.98 [[ 4.04487227e-01 -9.14541923e-01 -1.77587769e-03 1.83908308e+02] [ 9.14534116e-01 4.04491115e-01 -3.78014010e-03 1.14840484e+02] [ 4.17542334e-03 -9.50823437e-05 9.99991278e-01 9.75656026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.842755096 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:183.94, Y:114.89, Z:0.97 [[ 4.03929622e-01 -9.14788342e-01 -1.77465138e-03 1.83936870e+02] [ 9.14780535e-01 4.03933508e-01 -3.78071572e-03 1.14890006e+02] [ 4.17539583e-03 -9.62734682e-05 9.99991278e-01 9.74183120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.902755096 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:183.96, Y:114.94, Z:0.98 [[ 4.02979595e-01 -9.15207245e-01 -1.77319151e-03 1.83964558e+02] [ 9.15199439e-01 4.02983484e-01 -3.78140029e-03 1.14939166e+02] [ 4.17533184e-03 -9.89967235e-05 9.99991278e-01 9.75958932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.962755096 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:183.99, Y:114.99, Z:0.98 [[ 4.04229693e-01 -9.14655791e-01 -1.77165017e-03 1.83991894e+02] [ 9.14647976e-01 4.04233565e-01 -3.78212230e-03 1.14990917e+02] [ 4.17550053e-03 -9.15901071e-05 9.99991278e-01 9.75210828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.022755096 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:184.02, Y:115.04, Z:0.97 [[ 4.06510414e-01 -9.13644432e-01 -1.77044744e-03 1.84019223e+02] [ 9.13636605e-01 4.06514261e-01 -3.78268522e-03 1.15040252e+02] [ 4.17574143e-03 -7.98446520e-05 9.99991278e-01 9.71828280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.082755096 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:184.05, Y:115.09, Z:0.97 [[ 4.06715704e-01 -9.13553067e-01 -1.76891561e-03 1.84045826e+02] [ 9.13545236e-01 4.06719543e-01 -3.78340142e-03 1.15090708e+02] [ 4.17579053e-03 -7.72156586e-05 9.99991278e-01 9.73033691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.142755096 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:184.07, Y:115.14, Z:0.97 [[ 4.09368844e-01 -9.12367265e-01 -1.76743724e-03 1.84074215e+02] [ 9.12359419e-01 4.09372655e-01 -3.78409193e-03 1.15140961e+02] [ 4.17602208e-03 -6.34486703e-05 9.99991278e-01 9.73713281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.10, Y:115.19, Z:0.97 [[ 4.11592556e-01 -9.11366254e-01 -1.76612796e-03 1.84101545e+02] [ 9.11358397e-01 4.11596342e-01 -3.78470290e-03 1.15190946e+02] [ 4.17618231e-03 -5.18200056e-05 9.99991278e-01 9.72730014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26275509599998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:184.13, Y:115.24, Z:0.98 [[ 4.10658069e-01 -9.11787715e-01 -1.76467082e-03 1.84129297e+02] [ 9.11779859e-01 4.10661856e-01 -3.78538219e-03 1.15241435e+02] [ 4.17614797e-03 -5.44935745e-05 9.99991278e-01 9.75342264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32275509599998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:184.16, Y:115.29, Z:0.98 [[ 4.09440708e-01 -9.12335025e-01 -1.76315033e-03 1.84155476e+02] [ 9.12327171e-01 4.09444500e-01 -3.78609027e-03 1.15292291e+02] [ 4.17609497e-03 -5.83904727e-05 9.99991278e-01 9.75739157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38275509599998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:184.18, Y:115.34, Z:0.98 [[ 4.07430315e-01 -9.13234600e-01 -1.76186719e-03 1.84180979e+02] [ 9.13226751e-01 4.07434119e-01 -3.78668729e-03 1.15342785e+02] [ 4.17597866e-03 -6.61730522e-05 9.99991278e-01 9.75736726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.21, Y:115.39, Z:0.98 [[ 4.04667816e-01 -9.14462059e-01 -1.76083651e-03 1.84206698e+02] [ 9.14454220e-01 4.04671640e-01 -3.78716651e-03 1.15393891e+02] [ 4.17578068e-03 -7.76599737e-05 9.99991278e-01 9.75043424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.23, Y:115.44, Z:0.98 [[ 4.01284273e-01 -9.15951875e-01 -1.75949455e-03 1.84234536e+02] [ 9.15944047e-01 4.01288120e-01 -3.78778987e-03 1.15444394e+02] [ 4.17549749e-03 -9.16180539e-05 9.99991278e-01 9.76957807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.26, Y:115.50, Z:0.98 [[ 3.97991977e-01 -9.17387211e-01 -1.75801397e-03 1.84260233e+02] [ 9.17379395e-01 3.97995846e-01 -3.78847692e-03 1.15495907e+02] [ 4.17518253e-03 -1.04982377e-04 9.99991278e-01 9.76009552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.28, Y:115.55, Z:0.98 [[ 3.99473471e-01 -9.16743073e-01 -1.75651272e-03 1.84284419e+02] [ 9.16735247e-01 3.99477321e-01 -3.78917284e-03 1.15547923e+02] [ 4.17538495e-03 -9.65830934e-05 9.99991278e-01 9.76724267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.31, Y:115.60, Z:0.98 [[ 3.98444838e-01 -9.17190619e-01 -1.75497232e-03 1.84307239e+02] [ 9.17182794e-01 3.98448690e-01 -3.78988615e-03 1.15599855e+02] [ 4.17531444e-03 -9.95698463e-05 9.99991278e-01 9.76428904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.742755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:184.33, Y:115.65, Z:0.98 [[ 4.00588305e-01 -9.16256479e-01 -1.75338165e-03 1.84330070e+02] [ 9.16248642e-01 4.00592133e-01 -3.79062193e-03 1.15652943e+02] [ 4.17557279e-03 -8.80547433e-05 9.99991278e-01 9.76125008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.35, Y:115.70, Z:0.97 [[ 4.01903635e-01 -9.15680293e-01 -1.75218250e-03 1.84351565e+02] [ 9.15672448e-01 4.01907446e-01 -3.79117614e-03 1.15704570e+02] [ 4.17572047e-03 -8.07377721e-05 9.99991278e-01 9.74386987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.37, Y:115.76, Z:0.97 [[ 4.03022777e-01 -9.15188274e-01 -1.75067089e-03 1.84374244e+02] [ 9.15180422e-01 4.03026572e-01 -3.79187404e-03 1.15757536e+02] [ 4.17584554e-03 -7.39681219e-05 9.99991278e-01 9.74138304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92275509599997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.40, Y:115.81, Z:0.98 [[ 4.03828113e-01 -9.14833207e-01 -1.74921100e-03 1.84396343e+02] [ 9.14825348e-01 4.03831895e-01 -3.79254737e-03 1.15809349e+02] [ 4.17593547e-03 -6.86853110e-05 9.99991278e-01 9.76331269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98275509599998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:184.42, Y:115.86, Z:0.98 [[ 4.03096443e-01 -9.15155835e-01 -1.74783515e-03 1.84418968e+02] [ 9.15147977e-01 4.03100226e-01 -3.79318134e-03 1.15862024e+02] [ 4.17590478e-03 -7.05098969e-05 9.99991278e-01 9.77858988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.44, Y:115.92, Z:0.98 [[ 4.02557042e-01 -9.15393237e-01 -1.74650278e-03 1.84441307e+02] [ 9.15385378e-01 4.02560824e-01 -3.79379471e-03 1.15915120e+02] [ 4.17588762e-03 -7.15043332e-05 9.99991278e-01 9.79100026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.47, Y:115.97, Z:0.98 [[ 4.03650208e-01 -9.14911725e-01 -1.74519324e-03 1.84466636e+02] [ 9.14903859e-01 4.03653975e-01 -3.79439702e-03 1.15966719e+02] [ 4.17599251e-03 -6.50748868e-05 9.99991278e-01 9.79003485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.49, Y:116.02, Z:0.98 [[ 4.00515703e-01 -9.16288235e-01 -1.74390277e-03 1.84486223e+02] [ 9.16280380e-01 4.00519492e-01 -3.79499002e-03 1.16020242e+02] [ 4.17577176e-03 -7.79507950e-05 9.99991278e-01 9.79728901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.51, Y:116.07, Z:0.98 [[ 3.98150951e-01 -9.17318256e-01 -1.74251294e-03 1.84509197e+02] [ 9.17310408e-01 3.98154755e-01 -3.79562807e-03 1.16071745e+02] [ 4.17558874e-03 -8.71923244e-05 9.99991278e-01 9.79884913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.53, Y:116.12, Z:0.98 [[ 3.95727628e-01 -9.18366274e-01 -1.74095867e-03 1.84533167e+02] [ 9.18358433e-01 3.95731446e-01 -3.79634084e-03 1.16123910e+02] [ 4.17538349e-03 -9.65071222e-05 9.99991278e-01 9.82203060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.56, Y:116.18, Z:0.98 [[ 3.94086885e-01 -9.19071543e-01 -1.73949037e-03 1.84556178e+02] [ 9.19063705e-01 3.94090711e-01 -3.79701350e-03 1.16177072e+02] [ 4.17524405e-03 -1.02349245e-04 9.99991278e-01 9.82197306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.58, Y:116.23, Z:0.98 [[ 3.93945416e-01 -9.19132193e-01 -1.73826960e-03 1.84578563e+02] [ 9.19124353e-01 3.93949238e-01 -3.79757229e-03 1.16229174e+02] [ 4.17526093e-03 -1.01649723e-04 9.99991278e-01 9.81025440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.61, Y:116.28, Z:0.98 [[ 3.95926524e-01 -9.18280551e-01 -1.73699578e-03 1.84605034e+02] [ 9.18272701e-01 3.95930324e-01 -3.79815484e-03 1.16281417e+02] [ 4.17550102e-03 -9.12455565e-05 9.99991278e-01 9.78546784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.63, Y:116.33, Z:0.98 [[ 3.94284770e-01 -9.18986674e-01 -1.73577582e-03 1.84625348e+02] [ 9.18978828e-01 3.94288578e-01 -3.79871228e-03 1.16334445e+02] [ 4.17536255e-03 -9.73668303e-05 9.99991278e-01 9.80748723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.65, Y:116.39, Z:0.98 [[ 3.93889275e-01 -9.19156260e-01 -1.73450088e-03 1.84648536e+02] [ 9.19148413e-01 3.93893082e-01 -3.79929433e-03 1.16386430e+02] [ 4.17535307e-03 -9.77624439e-05 9.99991278e-01 9.82220467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.67, Y:116.44, Z:0.98 [[ 3.92244761e-01 -9.19859252e-01 -1.73317624e-03 1.84671422e+02] [ 9.19851409e-01 3.92248577e-01 -3.79989852e-03 1.16437840e+02] [ 4.17520772e-03 -1.03774323e-04 9.99991278e-01 9.84776812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.69, Y:116.49, Z:0.98 [[ 3.89632738e-01 -9.20968691e-01 -1.73216008e-03 1.84694588e+02] [ 9.20960857e-01 3.89636571e-01 -3.80036167e-03 1.16488579e+02] [ 4.17492703e-03 -1.14506307e-04 9.99991278e-01 9.84308449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.72, Y:116.54, Z:0.99 [[ 3.86878652e-01 -9.22129011e-01 -1.73078586e-03 1.84722182e+02] [ 9.22121186e-01 3.86882503e-01 -3.80098743e-03 1.16538895e+02] [ 4.17461154e-03 -1.25473420e-04 9.99991278e-01 9.89833081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.74, Y:116.59, Z:0.99 [[ 3.81971791e-01 -9.24172365e-01 -1.72936609e-03 1.84741511e+02] [ 9.24164557e-01 3.81975678e-01 -3.80163328e-03 1.16594208e+02] [ 4.17394020e-03 -1.46102169e-04 9.99991278e-01 9.85056576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.76, Y:116.65, Z:0.98 [[ 3.78927315e-01 -9.25424824e-01 -1.72805135e-03 1.84764347e+02] [ 9.25417026e-01 3.78931222e-01 -3.80223081e-03 1.16646184e+02] [ 4.17349138e-03 -1.58399032e-04 9.99991278e-01 9.84813444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.79, Y:116.70, Z:0.98 [[ 3.76835822e-01 -9.26278458e-01 -1.72656019e-03 1.84786632e+02] [ 9.26270666e-01 3.76839741e-01 -3.80290781e-03 1.16699469e+02] [ 4.17318808e-03 -1.66190166e-04 9.99991278e-01 9.81967711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.81, Y:116.75, Z:0.98 [[ 3.75803347e-01 -9.26697830e-01 -1.72510207e-03 1.84810064e+02] [ 9.26690040e-01 3.75807268e-01 -3.80356914e-03 1.16753038e+02] [ 4.17306516e-03 -1.69240898e-04 9.99991278e-01 9.82297256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.83, Y:116.80, Z:0.98 [[ 3.74127090e-01 -9.27375840e-01 -1.72372908e-03 1.84833274e+02] [ 9.27368054e-01 3.74131020e-01 -3.80419126e-03 1.16804347e+02] [ 4.17281558e-03 -1.75280282e-04 9.99991278e-01 9.82931613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.86, Y:116.86, Z:0.98 [[ 3.73383324e-01 -9.27675551e-01 -1.72198718e-03 1.84856113e+02] [ 9.27667764e-01 3.73387253e-01 -3.80497957e-03 1.16855245e+02] [ 4.17275459e-03 -1.76716075e-04 9.99991278e-01 9.83879973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.88, Y:116.91, Z:0.98 [[ 3.73770535e-01 -9.27519610e-01 -1.72045433e-03 1.84878143e+02] [ 9.27511819e-01 3.73774454e-01 -3.80567254e-03 1.16907580e+02] [ 4.17289779e-03 -1.73293464e-04 9.99991278e-01 9.84157725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.90, Y:116.96, Z:0.98 [[ 3.73866073e-01 -9.27481107e-01 -1.71911479e-03 1.84899737e+02] [ 9.27473313e-01 3.73869986e-01 -3.80627755e-03 1.16960606e+02] [ 4.17297594e-03 -1.71395054e-04 9.99991278e-01 9.83198901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.92, Y:117.01, Z:0.98 [[ 3.76830994e-01 -9.26280439e-01 -1.71759060e-03 1.84922864e+02] [ 9.26272629e-01 3.76834876e-01 -3.80696521e-03 1.17013324e+02] [ 4.17356545e-03 -1.56374679e-04 9.99991278e-01 9.83386383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.94, Y:117.06, Z:0.99 [[ 3.78729468e-01 -9.25505832e-01 -1.71605725e-03 1.84944522e+02] [ 9.25498011e-01 3.78733328e-01 -3.80765627e-03 1.17064991e+02] [ 4.17393616e-03 -1.46135938e-04 9.99991278e-01 9.85711125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42275509599997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.97, Y:117.12, Z:0.99 [[ 3.81420459e-01 -9.24400073e-01 -1.71451583e-03 1.84966534e+02] [ 9.24392237e-01 3.81424289e-01 -3.80835022e-03 1.17118921e+02] [ 4.17439720e-03 -1.32302441e-04 9.99991278e-01 9.86614582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.99, Y:117.17, Z:0.99 [[ 3.82504078e-01 -9.23952214e-01 -1.71329482e-03 1.84988050e+02] [ 9.23944372e-01 3.82507895e-01 -3.80889945e-03 1.17170895e+02] [ 4.17458987e-03 -1.26069535e-04 9.99991278e-01 9.85438222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.01, Y:117.22, Z:0.99 [[ 3.82387862e-01 -9.24000321e-01 -1.71180154e-03 1.85010055e+02] [ 9.23992476e-01 3.82391673e-01 -3.80957044e-03 1.17223368e+02] [ 4.17462297e-03 -1.24958245e-04 9.99991278e-01 9.86214327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.03, Y:117.28, Z:0.99 [[ 3.80590143e-01 -9.24742244e-01 -1.71026296e-03 1.85031231e+02] [ 9.24734404e-01 3.80593963e-01 -3.81026105e-03 1.17277119e+02] [ 4.17442511e-03 -1.31391197e-04 9.99991278e-01 9.88392612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.05, Y:117.33, Z:0.99 [[ 3.78053453e-01 -9.25782192e-01 -1.70903105e-03 1.85053412e+02] [ 9.25774359e-01 3.78057289e-01 -3.81081352e-03 1.17329523e+02] [ 4.17409494e-03 -1.41485918e-04 9.99991278e-01 9.88063870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.07, Y:117.38, Z:0.98 [[ 3.75959207e-01 -9.26634641e-01 -1.70774113e-03 1.85074585e+02] [ 9.26626815e-01 3.75963056e-01 -3.81139149e-03 1.17383305e+02] [ 4.17381495e-03 -1.49510999e-04 9.99991278e-01 9.84338916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.09, Y:117.44, Z:0.98 [[ 3.72212068e-01 -9.28146144e-01 -1.70643267e-03 1.85093762e+02] [ 9.28138330e-01 3.72215943e-01 -3.81197721e-03 1.17437961e+02] [ 4.17323340e-03 -1.64941647e-04 9.99991278e-01 9.80867651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.12, Y:117.49, Z:0.99 [[ 3.74995398e-01 -9.27025105e-01 -1.70497957e-03 1.85120291e+02] [ 9.27017277e-01 3.74999244e-01 -3.81262703e-03 1.17489223e+02] [ 4.17376702e-03 -1.50827929e-04 9.99991278e-01 9.88164563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.14, Y:117.54, Z:0.99 [[ 3.76149368e-01 -9.26557473e-01 -1.70379340e-03 1.85141735e+02] [ 9.26549638e-01 3.76153199e-01 -3.81315704e-03 1.17542677e+02] [ 4.17399648e-03 -1.44332550e-04 9.99991278e-01 9.88981722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.16, Y:117.60, Z:0.98 [[ 3.76020543e-01 -9.26609763e-01 -1.70247137e-03 1.85158553e+02] [ 9.26601926e-01 3.76024370e-01 -3.81374719e-03 1.17598766e+02] [ 4.17402611e-03 -1.43465960e-04 9.99991278e-01 9.84279440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.18, Y:117.65, Z:0.99 [[ 3.80007954e-01 -9.24981654e-01 -1.70123739e-03 1.85184247e+02] [ 9.24973798e-01 3.80011742e-01 -3.81429757e-03 1.17649833e+02] [ 4.17464546e-03 -1.24136594e-04 9.99991278e-01 9.91035668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.21, Y:117.70, Z:0.99 [[ 3.81347676e-01 -9.24430127e-01 -1.70008025e-03 1.85205379e+02] [ 9.24422263e-01 3.81351448e-01 -3.81481325e-03 1.17704372e+02] [ 4.17485636e-03 -1.16821864e-04 9.99991278e-01 9.91767605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.22, Y:117.76, Z:0.99 [[ 3.81466921e-01 -9.24380929e-01 -1.69888429e-03 1.85224789e+02] [ 9.24373062e-01 3.81470687e-01 -3.81534578e-03 1.17757772e+02] [ 4.17490744e-03 -1.14974669e-04 9.99991278e-01 9.89984265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.25, Y:117.81, Z:0.99 [[ 3.83442111e-01 -9.23563353e-01 -1.69731733e-03 1.85247337e+02] [ 9.23555475e-01 3.83445853e-01 -3.81604275e-03 1.17810896e+02] [ 4.17518652e-03 -1.04335227e-04 9.99991278e-01 9.92255427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.27, Y:117.86, Z:0.99 [[ 3.84342703e-01 -9.23188936e-01 -1.69571574e-03 1.85270208e+02] [ 9.23181051e-01 3.84346431e-01 -3.81675430e-03 1.17864812e+02] [ 4.17532764e-03 -9.85109721e-05 9.99991278e-01 9.92078270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.29, Y:117.92, Z:0.99 [[ 3.84578389e-01 -9.23090782e-01 -1.69446754e-03 1.85291136e+02] [ 9.23082894e-01 3.84582110e-01 -3.81730837e-03 1.17917452e+02] [ 4.17538407e-03 -9.60796982e-05 9.99991278e-01 9.91588880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.31, Y:117.97, Z:0.99 [[ 3.83585608e-01 -9.23503771e-01 -1.69315671e-03 1.85314813e+02] [ 9.23495884e-01 3.83589332e-01 -3.81788969e-03 1.17970310e+02] [ 4.17531238e-03 -9.91357163e-05 9.99991278e-01 9.92089017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.34, Y:118.02, Z:0.99 [[ 3.81008352e-01 -9.24570048e-01 -1.69189435e-03 1.85336870e+02] [ 9.24562169e-01 3.81012093e-01 -3.81844903e-03 1.18024541e+02] [ 4.17505580e-03 -1.09400536e-04 9.99991278e-01 9.88513776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.36, Y:118.08, Z:0.99 [[ 3.79576746e-01 -9.25158708e-01 -1.69057777e-03 1.85362502e+02] [ 9.25150833e-01 3.79580494e-01 -3.81903184e-03 1.18075467e+02] [ 4.17492091e-03 -1.14423757e-04 9.99991278e-01 9.92214783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.39, Y:118.13, Z:0.99 [[ 3.76352474e-01 -9.26475019e-01 -1.68941944e-03 1.85386470e+02] [ 9.26467155e-01 3.76356244e-01 -3.81954418e-03 1.18126607e+02] [ 4.17453582e-03 -1.27696720e-04 9.99991278e-01 9.92418387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.41, Y:118.18, Z:0.99 [[ 3.74745956e-01 -9.27126000e-01 -1.68799261e-03 1.85410129e+02] [ 9.27118139e-01 3.74749734e-01 -3.82017464e-03 1.18178461e+02] [ 4.17435801e-03 -1.33373565e-04 9.99991278e-01 9.92249518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.43, Y:118.23, Z:0.99 [[ 3.73759913e-01 -9.27523953e-01 -1.68667048e-03 1.85434526e+02] [ 9.27516093e-01 3.73763693e-01 -3.82075830e-03 1.18231566e+02] [ 4.17426102e-03 -1.36367723e-04 9.99991278e-01 9.92687248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.46, Y:118.28, Z:0.99 [[ 3.77399277e-01 -9.26049105e-01 -1.68545915e-03 1.85459083e+02] [ 9.26041228e-01 3.77403022e-01 -3.82129258e-03 1.18283391e+02] [ 4.17480195e-03 -1.18651603e-04 9.99991278e-01 9.91569751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.48, Y:118.34, Z:0.99 [[ 3.77142941e-01 -9.26153532e-01 -1.68443412e-03 1.85481933e+02] [ 9.26145654e-01 3.77146684e-01 -3.82174436e-03 1.18336468e+02] [ 4.17480078e-03 -1.18687437e-04 9.99991278e-01 9.91769247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.51, Y:118.39, Z:0.99 [[ 3.79483534e-01 -9.25196960e-01 -1.68298257e-03 1.85506209e+02] [ 9.25189070e-01 3.79487251e-01 -3.82238347e-03 1.18387640e+02] [ 4.17512800e-03 -1.06545488e-04 9.99991278e-01 9.93101218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92275509599997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:185.53, Y:118.44, Z:0.99 [[ 3.81973619e-01 -9.24171697e-01 -1.68161733e-03 1.85530829e+02] [ 9.24163795e-01 3.81977310e-01 -3.82298400e-03 1.18439226e+02] [ 4.17543327e-03 -9.38108167e-05 9.99991278e-01 9.93643031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.55, Y:118.49, Z:0.99 [[ 3.83568921e-01 -9.23510725e-01 -1.68031858e-03 1.85554854e+02] [ 9.23502814e-01 3.83572592e-01 -3.82355475e-03 1.18492130e+02] [ 4.17561798e-03 -8.51821686e-05 9.99991278e-01 9.94102735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.58, Y:118.54, Z:0.99 [[ 3.84844016e-01 -9.22980099e-01 -1.67907083e-03 1.85578894e+02] [ 9.22972181e-01 3.84847671e-01 -3.82410261e-03 1.18542493e+02] [ 4.17575711e-03 -7.80526556e-05 9.99991278e-01 9.92621598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.60, Y:118.59, Z:0.99 [[ 3.84944375e-01 -9.22938251e-01 -1.67743992e-03 1.85604388e+02] [ 9.22930328e-01 3.84948022e-01 -3.82481787e-03 1.18594304e+02] [ 4.17579790e-03 -7.58180549e-05 9.99991278e-01 9.94839919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.63, Y:118.65, Z:1.00 [[ 3.84550602e-01 -9.23102392e-01 -1.67588020e-03 1.85628615e+02] [ 9.23094468e-01 3.84554246e-01 -3.82550116e-03 1.18647472e+02] [ 4.17579612e-03 -7.58969717e-05 9.99991278e-01 9.95014042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.222755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:185.65, Y:118.70, Z:0.99 [[ 3.82630091e-01 -9.23900108e-01 -1.67467730e-03 1.85653851e+02] [ 9.23892189e-01 3.82633747e-01 -3.82602768e-03 1.18698673e+02] [ 4.17565543e-03 -8.32679573e-05 9.99991278e-01 9.93785577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.68, Y:118.75, Z:0.99 [[ 3.78655173e-01 -9.25536309e-01 -1.67332494e-03 1.85679750e+02] [ 9.25528404e-01 3.78658857e-01 -3.82661904e-03 1.18748931e+02] [ 4.17529418e-03 -9.97406647e-05 9.99991278e-01 9.94521408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.71, Y:118.80, Z:0.99 [[ 3.73013620e-01 -9.27824360e-01 -1.67192078e-03 1.85706704e+02] [ 9.27816475e-01 3.73017347e-01 -3.82723245e-03 1.18800029e+02] [ 4.17465495e-03 -1.23625808e-04 9.99991278e-01 9.94593187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.73, Y:118.85, Z:0.99 [[ 3.68948065e-01 -9.29448511e-01 -1.67068805e-03 1.85732344e+02] [ 9.29440639e-01 3.68951821e-01 -3.82777049e-03 1.18851467e+02] [ 4.17411898e-03 -1.40556856e-04 9.99991278e-01 9.94714770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.76, Y:118.90, Z:0.99 [[ 3.63646977e-01 -9.31535340e-01 -1.66940337e-03 1.85759413e+02] [ 9.31527487e-01 3.63650773e-01 -3.82833069e-03 1.18902633e+02] [ 4.17330516e-03 -1.62934245e-04 9.99991278e-01 9.94891511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.522755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:185.78, Y:118.95, Z:0.99 [[ 3.59377541e-01 -9.33190763e-01 -1.66806348e-03 1.85784400e+02] [ 9.33182926e-01 3.59381367e-01 -3.82891442e-03 1.18954699e+02] [ 4.17257850e-03 -1.80582514e-04 9.99991278e-01 9.89381927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.81, Y:119.01, Z:1.00 [[ 3.58221118e-01 -9.33635289e-01 -1.66656242e-03 1.85808377e+02] [ 9.33627453e-01 3.58224947e-01 -3.82956765e-03 1.19005079e+02] [ 4.17242374e-03 -1.84116421e-04 9.99991278e-01 9.95129318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.642755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:185.83, Y:119.06, Z:0.99 [[ 3.57395034e-01 -9.33951829e-01 -1.66488371e-03 1.85832776e+02] [ 9.33943993e-01 3.57398863e-01 -3.83029732e-03 1.19056444e+02] [ 4.17234074e-03 -1.85978901e-04 9.99991278e-01 9.94453877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.86, Y:119.11, Z:1.00 [[ 3.60065571e-01 -9.32925515e-01 -1.66352537e-03 1.85858241e+02] [ 9.32917666e-01 3.60069372e-01 -3.83088717e-03 1.19108294e+02] [ 4.17291692e-03 -1.72561629e-04 9.99991278e-01 9.95116295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.88, Y:119.16, Z:1.00 [[ 3.61314201e-01 -9.32442645e-01 -1.66222722e-03 1.85880526e+02] [ 9.32434787e-01 3.61317986e-01 -3.83145036e-03 1.19161028e+02] [ 4.17320030e-03 -1.65561060e-04 9.99991278e-01 9.96851601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.91, Y:119.21, Z:0.99 [[ 3.67242386e-01 -9.30123794e-01 -1.66087598e-03 1.85906263e+02] [ 9.30115910e-01 3.67246116e-01 -3.83203601e-03 1.19213266e+02] [ 4.17421812e-03 -1.37521123e-04 9.99991278e-01 9.94516279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.93, Y:119.26, Z:1.00 [[ 3.74813511e-01 -9.27098742e-01 -1.65966839e-03 1.85934712e+02] [ 9.27090826e-01 3.74817172e-01 -3.83255895e-03 1.19263996e+02] [ 4.17523279e-03 -1.02168459e-04 9.99991278e-01 1.00005842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.95, Y:119.32, Z:1.00 [[ 3.75286499e-01 -9.26907381e-01 -1.65842476e-03 1.85952468e+02] [ 9.26899461e-01 3.75290150e-01 -3.83309702e-03 1.19317458e+02] [ 4.17531640e-03 -9.86834537e-05 9.99991278e-01 9.98661349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.002755096 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:185.98, Y:119.37, Z:1.00 [[ 3.76905144e-01 -9.26250381e-01 -1.65694030e-03 1.85975887e+02] [ 9.26242451e-01 3.76908775e-01 -3.83373860e-03 1.19369716e+02] [ 4.17551718e-03 -8.97726459e-05 9.99991278e-01 9.98029361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.00, Y:119.42, Z:1.00 [[ 3.77811765e-01 -9.25880948e-01 -1.65539778e-03 1.85999464e+02] [ 9.25873012e-01 3.77815382e-01 -3.83440454e-03 1.19421961e+02] [ 4.17563686e-03 -8.40049757e-05 9.99991278e-01 1.00025386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.02, Y:119.47, Z:1.00 [[ 3.76974246e-01 -9.26222264e-01 -1.65410418e-03 1.86023248e+02] [ 9.26214329e-01 3.76977865e-01 -3.83496250e-03 1.19474116e+02] [ 4.17558831e-03 -8.63729004e-05 9.99991278e-01 9.99825932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.182755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:186.05, Y:119.53, Z:1.00 [[ 3.74378642e-01 -9.27274447e-01 -1.65307198e-03 1.86047203e+02] [ 9.27266520e-01 3.74382279e-01 -3.83540738e-03 1.19525159e+02] [ 4.17535611e-03 -9.69436948e-05 9.99991278e-01 9.95952225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.07, Y:119.58, Z:1.00 [[ 3.72516765e-01 -9.28023993e-01 -1.65192778e-03 1.86070488e+02] [ 9.28016071e-01 3.72520413e-01 -3.83590013e-03 1.19577030e+02] [ 4.17518417e-03 -1.04078418e-04 9.99991278e-01 9.97973862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.10, Y:119.63, Z:1.00 [[ 3.70169933e-01 -9.28962592e-01 -1.65043685e-03 1.86098590e+02] [ 9.28954676e-01 3.70173595e-01 -3.83654151e-03 1.19627308e+02] [ 4.17495169e-03 -1.13008718e-04 9.99991278e-01 1.00314482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.362755096 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:186.12, Y:119.68, Z:1.00 [[ 3.64980378e-01 -9.31013751e-01 -1.64886037e-03 1.86115489e+02] [ 9.31005853e-01 3.64984077e-01 -3.83721893e-03 1.19681998e+02] [ 4.17431137e-03 -1.34589039e-04 9.99991278e-01 9.99114083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42275509599997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.14, Y:119.73, Z:1.00 [[ 3.64682661e-01 -9.31130411e-01 -1.64745305e-03 1.86138910e+02] [ 9.31122512e-01 3.64686357e-01 -3.83782304e-03 1.19734059e+02] [ 4.17431740e-03 -1.34393103e-04 9.99991278e-01 1.00100619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.16, Y:119.79, Z:1.00 [[ 3.65939789e-01 -9.30637073e-01 -1.64587712e-03 1.86159919e+02] [ 9.30629166e-01 3.65943469e-01 -3.83849877e-03 1.19787647e+02] [ 4.17454725e-03 -1.27041817e-04 9.99991278e-01 9.97210082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.18, Y:119.84, Z:1.00 [[ 3.68962490e-01 -9.29442832e-01 -1.64441554e-03 1.86181248e+02] [ 9.29434909e-01 3.68966137e-01 -3.83912481e-03 1.19841083e+02] [ 4.17498069e-03 -1.11884161e-04 9.99991278e-01 9.96049791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.20, Y:119.89, Z:1.00 [[ 3.68044753e-01 -9.29806625e-01 -1.64294852e-03 1.86202064e+02] [ 9.29798704e-01 3.68048402e-01 -3.83975252e-03 1.19894758e+02] [ 4.17491191e-03 -1.14410633e-04 9.99991278e-01 9.96210685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66275509599998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:186.22, Y:119.95, Z:1.00 [[ 3.67517751e-01 -9.30015058e-01 -1.64152600e-03 1.86221961e+02] [ 9.30007136e-01 3.67521399e-01 -3.84036057e-03 1.19946881e+02] [ 4.17488908e-03 -1.15230212e-04 9.99991278e-01 9.99170492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.24, Y:120.00, Z:1.00 [[ 3.67758672e-01 -9.29919819e-01 -1.63989128e-03 1.86243525e+02] [ 9.29911893e-01 3.67762311e-01 -3.84105849e-03 1.19998601e+02] [ 4.17496662e-03 -1.12371835e-04 9.99991278e-01 1.00090070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.27, Y:120.05, Z:1.00 [[ 3.67294388e-01 -9.30103300e-01 -1.63857212e-03 1.86265343e+02] [ 9.30095373e-01 3.67298025e-01 -3.84162115e-03 1.20052347e+02] [ 4.17494881e-03 -1.13022457e-04 9.99991278e-01 1.00000793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.29, Y:120.10, Z:1.00 [[ 3.66758251e-01 -9.30314842e-01 -1.63730428e-03 1.86286499e+02] [ 9.30306915e-01 3.66761888e-01 -3.84216143e-03 1.20104253e+02] [ 4.17492061e-03 -1.14051089e-04 9.99991278e-01 1.00138519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.31, Y:120.16, Z:1.00 [[ 3.66907483e-01 -9.30255999e-01 -1.63576049e-03 1.86308829e+02] [ 9.30248068e-01 3.66911112e-01 -3.84281857e-03 1.20157090e+02] [ 4.17498373e-03 -1.11704147e-04 9.99991278e-01 1.00049016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.33, Y:120.21, Z:1.00 [[ 3.65486598e-01 -9.30815167e-01 -1.63430808e-03 1.86331243e+02] [ 9.30807240e-01 3.65490233e-01 -3.84343616e-03 1.20209450e+02] [ 4.17485232e-03 -1.16501385e-04 9.99991278e-01 1.00087995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.022755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:186.35, Y:120.26, Z:1.00 [[ 3.64946994e-01 -9.31026866e-01 -1.63276114e-03 1.86353242e+02] [ 9.31018938e-01 3.64950627e-01 -3.84409322e-03 1.20261561e+02] [ 4.17483127e-03 -1.17241278e-04 9.99991278e-01 9.99920531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.38, Y:120.31, Z:1.00 [[ 3.64207317e-01 -9.31316470e-01 -1.63169263e-03 1.86375969e+02] [ 9.31308543e-01 3.64210952e-01 -3.84454672e-03 1.20313929e+02] [ 4.17477000e-03 -1.19397238e-04 9.99991278e-01 1.00055775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.40, Y:120.37, Z:1.00 [[ 3.62878912e-01 -9.31834877e-01 -1.63033386e-03 1.86397239e+02] [ 9.31826952e-01 3.62882553e-01 -3.84512283e-03 1.20366227e+02] [ 4.17463927e-03 -1.23875043e-04 9.99991278e-01 1.00039364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.42, Y:120.42, Z:1.00 [[ 3.60592424e-01 -9.32722065e-01 -1.62881439e-03 1.86417877e+02] [ 9.32714146e-01 3.60596078e-01 -3.84576638e-03 1.20418569e+02] [ 4.17437524e-03 -1.32464003e-04 9.99991278e-01 9.95841008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.44, Y:120.47, Z:1.00 [[ 3.62723031e-01 -9.31895571e-01 -1.62735673e-03 1.86440742e+02] [ 9.31887641e-01 3.62726661e-01 -3.84638310e-03 1.20471514e+02] [ 4.17471305e-03 -1.21341892e-04 9.99991278e-01 9.97460858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.46, Y:120.52, Z:1.00 [[ 3.64911732e-01 -9.31040700e-01 -1.62594157e-03 1.86462653e+02] [ 9.31032758e-01 3.64915338e-01 -3.84698122e-03 1.20524318e+02] [ 4.17502710e-03 -1.09996287e-04 9.99991278e-01 1.00024527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.49, Y:120.58, Z:1.00 [[ 3.66570615e-01 -9.30388814e-01 -1.62457853e-03 1.86485663e+02] [ 9.30380864e-01 3.66574201e-01 -3.84755675e-03 1.20577755e+02] [ 4.17525233e-03 -1.01075535e-04 9.99991278e-01 9.98859868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.51, Y:120.63, Z:1.00 [[ 3.69744714e-01 -9.29131967e-01 -1.62326274e-03 1.86509166e+02] [ 9.29124002e-01 3.69748268e-01 -3.84811179e-03 1.20630572e+02] [ 4.17560226e-03 -8.53933782e-05 9.99991278e-01 1.00041106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.53, Y:120.68, Z:1.00 [[ 3.71971990e-01 -9.28242537e-01 -1.62194108e-03 1.86533110e+02] [ 9.28234562e-01 3.71975518e-01 -3.84866878e-03 1.20682217e+02] [ 4.17582045e-03 -7.39447805e-05 9.99991278e-01 1.00093067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.55, Y:120.74, Z:1.00 [[ 3.71884531e-01 -9.28277582e-01 -1.62056065e-03 1.86553847e+02] [ 9.28269604e-01 3.71888055e-01 -3.84924995e-03 1.20736313e+02] [ 4.17583958e-03 -7.28406849e-05 9.99991278e-01 1.00285080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.58, Y:120.79, Z:1.00 [[ 3.71979908e-01 -9.28239369e-01 -1.61930059e-03 1.86576503e+02] [ 9.28231388e-01 3.71983426e-01 -3.84977995e-03 1.20789110e+02] [ 4.17587030e-03 -7.10448445e-05 9.99991278e-01 1.00354048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.60, Y:120.84, Z:1.00 [[ 3.71222380e-01 -9.28542582e-01 -1.61800304e-03 1.86598233e+02] [ 9.28534602e-01 3.71225899e-01 -3.85032522e-03 1.20841587e+02] [ 4.17583555e-03 -7.30449132e-05 9.99991278e-01 1.00291650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.62, Y:120.89, Z:1.00 [[ 3.69305735e-01 -9.29306548e-01 -1.61663015e-03 1.86620541e+02] [ 9.29298573e-01 3.69309265e-01 -3.85090157e-03 1.20893118e+02] [ 4.17570453e-03 -8.01720522e-05 9.99991278e-01 1.00066745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.64, Y:120.95, Z:1.00 [[ 3.67244731e-01 -9.30122948e-01 -1.61527144e-03 1.86643244e+02] [ 9.30114978e-01 3.67248272e-01 -3.85147139e-03 1.20945419e+02] [ 4.17554758e-03 -8.79555895e-05 9.99991278e-01 1.00021716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.66, Y:121.00, Z:1.00 [[ 3.61943641e-01 -9.32198582e-01 -1.61388515e-03 1.86664594e+02] [ 9.32190630e-01 3.61947222e-01 -3.85205221e-03 1.20998519e+02] [ 4.17501885e-03 -1.10222808e-04 9.99991279e-01 9.98218717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92275509599997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.69, Y:121.05, Z:1.00 [[ 3.58090355e-01 -9.33685545e-01 -1.61248927e-03 1.86686911e+02] [ 9.33677605e-01 3.58093963e-01 -3.85263644e-03 1.21052632e+02] [ 4.17457363e-03 -1.25953169e-04 9.99991279e-01 9.98021148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.71, Y:121.10, Z:1.00 [[ 3.56300000e-01 -9.34370223e-01 -1.61121267e-03 1.86708613e+02] [ 9.34362288e-01 3.56303619e-01 -3.85317025e-03 1.21104971e+02] [ 4.17436846e-03 -1.32571795e-04 9.99991279e-01 1.00067724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.73, Y:121.16, Z:1.00 [[ 3.55861625e-01 -9.34537272e-01 -1.60988172e-03 1.86729734e+02] [ 9.34529335e-01 3.55865242e-01 -3.85372626e-03 1.21159369e+02] [ 4.17435177e-03 -1.33088402e-04 9.99991279e-01 1.00045025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.75, Y:121.21, Z:1.00 [[ 3.56064128e-01 -9.34460138e-01 -1.60864462e-03 1.86750147e+02] [ 9.34452198e-01 3.56067738e-01 -3.85424258e-03 1.21213753e+02] [ 4.17442251e-03 -1.30843980e-04 9.99991279e-01 9.99531794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.77, Y:121.27, Z:1.00 [[ 3.58027063e-01 -9.33709826e-01 -1.60741609e-03 1.86768334e+02] [ 9.33701876e-01 3.58030651e-01 -3.85475488e-03 1.21268250e+02] [ 4.17472673e-03 -1.20740850e-04 9.99991279e-01 9.99307307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.79, Y:121.32, Z:1.00 [[ 3.59690190e-01 -9.33070409e-01 -1.60604162e-03 1.86788054e+02] [ 9.33062451e-01 3.59693758e-01 -3.85532745e-03 1.21322309e+02] [ 4.17497510e-03 -1.11813668e-04 9.99991279e-01 1.00091155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.282755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:186.81, Y:121.38, Z:1.00 [[ 3.62700999e-01 -9.31904185e-01 -1.60467932e-03 1.86807260e+02] [ 9.31896213e-01 3.62704536e-01 -3.85589439e-03 1.21376819e+02] [ 4.17534858e-03 -9.68578332e-05 9.99991279e-01 1.00247084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.83, Y:121.43, Z:1.00 [[ 3.64057697e-01 -9.31375017e-01 -1.60331846e-03 1.86826191e+02] [ 9.31367038e-01 3.64061216e-01 -3.85646016e-03 1.21430995e+02] [ 4.17551672e-03 -8.93039551e-05 9.99991279e-01 1.00289829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.85, Y:121.48, Z:1.00 [[ 3.64145252e-01 -9.31340791e-01 -1.60198065e-03 1.86846277e+02] [ 9.31332809e-01 3.64148765e-01 -3.85701581e-03 1.21484506e+02] [ 4.17555543e-03 -8.74631473e-05 9.99991279e-01 1.00278107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.87, Y:121.54, Z:1.00 [[ 3.62562889e-01 -9.31957933e-01 -1.60061119e-03 1.86867484e+02] [ 9.31949954e-01 3.62566411e-01 -3.85758404e-03 1.21538645e+02] [ 4.17543390e-03 -9.30727095e-05 9.99991279e-01 1.00247592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.89, Y:121.59, Z:1.00 [[ 3.60493387e-01 -9.32760398e-01 -1.59938600e-03 1.86889102e+02] [ 9.32752424e-01 3.60496921e-01 -3.85809194e-03 1.21592100e+02] [ 4.17524910e-03 -1.01014537e-04 9.99991279e-01 1.00300755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.91, Y:121.64, Z:1.00 [[ 3.57733806e-01 -9.33822237e-01 -1.59815540e-03 1.86910231e+02] [ 9.33814272e-01 3.57737358e-01 -3.85860163e-03 1.21644108e+02] [ 4.17496790e-03 -1.12028068e-04 9.99991279e-01 1.00392029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.93, Y:121.70, Z:1.00 [[ 3.52848031e-01 -9.35679282e-01 -1.59671571e-03 1.86931628e+02] [ 9.35671332e-01 3.52851618e-01 -3.85919729e-03 1.21697349e+02] [ 4.17437467e-03 -1.32290951e-04 9.99991279e-01 1.00386824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.95, Y:121.75, Z:1.00 [[ 3.50128146e-01 -9.36700452e-01 -1.59531767e-03 1.86952662e+02] [ 9.36692510e-01 3.50131751e-01 -3.85977513e-03 1.21751555e+02] [ 4.17402448e-03 -1.42906202e-04 9.99991279e-01 1.00341878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.97, Y:121.81, Z:1.00 [[ 3.47932593e-01 -9.37518197e-01 -1.59408584e-03 1.86971975e+02] [ 9.37510262e-01 3.47936212e-01 -3.86028381e-03 1.21806033e+02] [ 4.17372650e-03 -1.51353277e-04 9.99991279e-01 1.00319694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.99, Y:121.86, Z:1.00 [[ 3.47135607e-01 -9.37813592e-01 -1.59284353e-03 1.86992774e+02] [ 9.37805657e-01 3.47139228e-01 -3.86079635e-03 1.21860535e+02] [ 4.17364576e-03 -1.53557790e-04 9.99991279e-01 1.00280234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.01, Y:121.91, Z:1.00 [[ 3.47167619e-01 -9.37801744e-01 -1.59160071e-03 1.87012305e+02] [ 9.37793807e-01 3.47171234e-01 -3.86130863e-03 1.21914976e+02] [ 4.17369995e-03 -1.52071960e-04 9.99991279e-01 1.00284951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.03, Y:121.97, Z:1.00 [[ 3.47067680e-01 -9.37838737e-01 -1.59035893e-03 1.87030825e+02] [ 9.37830798e-01 3.47071291e-01 -3.86182001e-03 1.21968240e+02] [ 4.17373233e-03 -1.51174666e-04 9.99991279e-01 1.00360270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.05, Y:122.02, Z:1.00 [[ 3.47126625e-01 -9.37816923e-01 -1.58891848e-03 1.87052039e+02] [ 9.37808981e-01 3.47130229e-01 -3.86241258e-03 1.22021581e+02] [ 4.17379752e-03 -1.49355775e-04 9.99991279e-01 1.00425181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.07, Y:122.07, Z:1.01 [[ 3.48584520e-01 -9.37276007e-01 -1.58754998e-03 1.87071635e+02] [ 9.37268057e-01 3.48588106e-01 -3.86297499e-03 1.22073847e+02] [ 4.17407481e-03 -1.41386599e-04 9.99991279e-01 1.00667921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.09, Y:122.13, Z:1.01 [[ 3.51704325e-01 -9.36109796e-01 -1.58650166e-03 1.87091881e+02] [ 9.36101833e-01 3.51707881e-01 -3.86340548e-03 1.22127716e+02] [ 4.17455685e-03 -1.26350693e-04 9.99991279e-01 1.00829841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.11, Y:122.18, Z:1.01 [[ 3.51137472e-01 -9.36322574e-01 -1.58501038e-03 1.87111673e+02] [ 9.36314610e-01 3.51141027e-01 -3.86401720e-03 1.22181748e+02] [ 4.17452870e-03 -1.27267140e-04 9.99991279e-01 1.00882379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.13, Y:122.23, Z:1.01 [[ 3.52860247e-01 -9.35674697e-01 -1.58345407e-03 1.87131273e+02] [ 9.35666723e-01 3.52863780e-01 -3.86465486e-03 1.22234264e+02] [ 4.17480336e-03 -1.17902218e-04 9.99991279e-01 1.01015251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.302755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:187.15, Y:122.29, Z:1.01 [[ 3.53913105e-01 -9.35276970e-01 -1.58200387e-03 1.87150800e+02] [ 9.35268990e-01 3.53916623e-01 -3.86524841e-03 1.22287355e+02] [ 4.17497529e-03 -1.11637094e-04 9.99991279e-01 1.00954830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.362755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:187.17, Y:122.34, Z:1.01 [[ 3.56168596e-01 -9.34420372e-01 -1.58065670e-03 1.87172524e+02] [ 9.34412381e-01 3.56172090e-01 -3.86579925e-03 1.22340295e+02] [ 4.17526737e-03 -1.00108898e-04 9.99991279e-01 1.00959660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42275509599997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.19, Y:122.39, Z:1.01 [[ 3.55565505e-01 -9.34650030e-01 -1.57919045e-03 1.87194416e+02] [ 9.34642038e-01 3.55568997e-01 -3.86639812e-03 1.22394449e+02] [ 4.17524028e-03 -1.01219978e-04 9.99991279e-01 1.00716681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.21, Y:122.45, Z:1.01 [[ 3.54405016e-01 -9.35090687e-01 -1.57835201e-03 1.87214678e+02] [ 9.35082699e-01 3.54408515e-01 -3.86674036e-03 1.22448289e+02] [ 4.17513429e-03 -1.05497478e-04 9.99991279e-01 1.00557286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.24, Y:122.50, Z:1.01 [[ 3.56794090e-01 -9.34181723e-01 -1.57682847e-03 1.87235195e+02] [ 9.34173722e-01 3.56797562e-01 -3.86736155e-03 1.22500859e+02] [ 4.17542703e-03 -9.31799739e-05 9.99991279e-01 1.00583761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.26, Y:122.55, Z:1.01 [[ 3.58276426e-01 -9.33614225e-01 -1.57527000e-03 1.87256627e+02] [ 9.33606216e-01 3.58279879e-01 -3.86799625e-03 1.22553993e+02] [ 4.17560387e-03 -8.48699939e-05 9.99991279e-01 1.00526502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.28, Y:122.61, Z:1.00 [[ 3.60561736e-01 -9.32734023e-01 -1.57398532e-03 1.87277513e+02] [ 9.32726003e-01 3.60565164e-01 -3.86851895e-03 1.22607159e+02] [ 4.17582351e-03 -7.32571300e-05 9.99991279e-01 1.00349504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.30, Y:122.66, Z:1.00 [[ 3.60385394e-01 -9.32802174e-01 -1.57251279e-03 1.87297666e+02] [ 9.32794152e-01 3.60388817e-01 -3.86911742e-03 1.22659744e+02] [ 4.17583717e-03 -7.24573316e-05 9.99991279e-01 1.00385924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.32, Y:122.71, Z:1.00 [[ 3.58728917e-01 -9.33440462e-01 -1.57098781e-03 1.87319979e+02] [ 9.33432444e-01 3.58732349e-01 -3.86973651e-03 1.22712997e+02] [ 4.17573279e-03 -7.82246029e-05 9.99991279e-01 1.00446956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.34, Y:122.77, Z:1.01 [[ 3.52304749e-01 -9.35884021e-01 -1.56940652e-03 1.87343154e+02] [ 9.35876024e-01 3.52308229e-01 -3.87037772e-03 1.22765165e+02] [ 4.17513949e-03 -1.05217483e-04 9.99991279e-01 1.00532181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.37, Y:122.82, Z:1.01 [[ 3.47671353e-01 -9.37615151e-01 -1.56793853e-03 1.87366181e+02] [ 9.37607169e-01 3.47674866e-01 -3.87097232e-03 1.22817380e+02] [ 4.17461512e-03 -1.24284222e-04 9.99991279e-01 1.00570616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.39, Y:122.87, Z:1.01 [[ 3.41300523e-01 -9.39952924e-01 -1.56640770e-03 1.87387814e+02] [ 9.39944963e-01 3.41304084e-01 -3.87159168e-03 1.22870067e+02] [ 4.17373527e-03 -1.50960761e-04 9.99991279e-01 1.00649104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.41, Y:122.92, Z:1.01 [[ 3.39296391e-01 -9.40678218e-01 -1.56484410e-03 1.87409936e+02] [ 9.40670262e-01 3.39299962e-01 -3.87222357e-03 1.22922548e+02] [ 4.17346791e-03 -1.58170829e-04 9.99991279e-01 1.00586721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.43, Y:122.98, Z:1.01 [[ 3.38290484e-01 -9.41040437e-01 -1.56328981e-03 1.87432170e+02] [ 9.41032482e-01 3.38294058e-01 -3.87285096e-03 1.22975702e+02] [ 4.17336102e-03 -1.60957861e-04 9.99991279e-01 1.00577502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.45, Y:123.03, Z:1.00 [[ 3.40600902e-01 -9.40206672e-01 -1.56172570e-03 1.87452973e+02] [ 9.40198705e-01 3.40604450e-01 -3.87348159e-03 1.23027708e+02] [ 4.17380395e-03 -1.49021155e-04 9.99991279e-01 1.00329801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.47, Y:123.08, Z:1.00 [[ 3.42777815e-01 -9.39415209e-01 -1.56009227e-03 1.87474632e+02] [ 9.39407231e-01 3.42781337e-01 -3.87413936e-03 1.23080664e+02] [ 4.17419595e-03 -1.37592937e-04 9.99991279e-01 1.00411437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.50, Y:123.13, Z:1.01 [[ 3.46923078e-01 -9.37892291e-01 -1.55852922e-03 1.87496850e+02] [ 9.37884294e-01 3.46926559e-01 -3.87476805e-03 1.23132026e+02] [ 4.17481027e-03 -1.17473621e-04 9.99991279e-01 1.00527221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.52, Y:123.19, Z:1.01 [[ 3.50499942e-01 -9.36561459e-01 -1.55707258e-03 1.87518811e+02] [ 9.36553446e-01 3.50503386e-01 -3.87535332e-03 1.23185163e+02] [ 4.17526577e-03 -9.99705829e-05 9.99991279e-01 1.00548647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.54, Y:123.24, Z:1.01 [[ 3.53238909e-01 -9.35531856e-01 -1.55555328e-03 1.87540644e+02] [ 9.35523831e-01 3.53242323e-01 -3.87596306e-03 1.23237580e+02] [ 4.17557417e-03 -8.61161967e-05 9.99991279e-01 1.00692187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.56, Y:123.29, Z:1.01 [[ 3.55117796e-01 -9.34820270e-01 -1.55395279e-03 1.87562763e+02] [ 9.34812235e-01 3.55121188e-01 -3.87660463e-03 1.23290734e+02] [ 4.17577014e-03 -7.60027850e-05 9.99991279e-01 1.00773946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.58, Y:123.34, Z:1.01 [[ 3.56496898e-01 -9.34295216e-01 -1.55271628e-03 1.87584633e+02] [ 9.34287174e-01 3.56500273e-01 -3.87709983e-03 1.23344261e+02] [ 4.17589960e-03 -6.85088434e-05 9.99991279e-01 1.00722157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.61, Y:123.40, Z:1.01 [[ 3.54883790e-01 -9.34909134e-01 -1.55143638e-03 1.87607300e+02] [ 9.34901096e-01 3.54887173e-01 -3.87761192e-03 1.23397553e+02] [ 4.17579967e-03 -7.43379547e-05 9.99991279e-01 1.00638342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.63, Y:123.45, Z:1.01 [[ 3.52783095e-01 -9.35703845e-01 -1.55018042e-03 1.87630406e+02] [ 9.35695812e-01 3.52786491e-01 -3.87811396e-03 1.23448500e+02] [ 4.17564885e-03 -8.23642834e-05 9.99991279e-01 1.00740748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.682755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:187.65, Y:123.50, Z:1.01 [[ 3.52037895e-01 -9.35984467e-01 -1.54858824e-03 1.87653220e+02] [ 9.35976434e-01 3.52041291e-01 -3.87874963e-03 1.23500676e+02] [ 4.17561641e-03 -8.39752383e-05 9.99991279e-01 1.00785801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.68, Y:123.55, Z:1.01 [[ 3.49080771e-01 -9.37091363e-01 -1.54708660e-03 1.87675199e+02] [ 9.37083338e-01 3.49084186e-01 -3.87934849e-03 1.23553370e+02] [ 4.17536743e-03 -9.55431179e-05 9.99991279e-01 1.00851976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.70, Y:123.60, Z:1.01 [[ 3.52539398e-01 -9.35795696e-01 -1.54561206e-03 1.87699776e+02] [ 9.35787655e-01 3.52542778e-01 -3.87993589e-03 1.23604610e+02] [ 4.17572167e-03 -7.85344216e-05 9.99991279e-01 1.00729234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.72, Y:123.66, Z:1.01 [[ 3.53085541e-01 -9.35589769e-01 -1.54396303e-03 1.87721497e+02] [ 9.35581725e-01 3.53088909e-01 -3.88059198e-03 1.23657801e+02] [ 4.17579838e-03 -7.43226715e-05 9.99991279e-01 1.00686974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92275509599997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.74, Y:123.71, Z:1.00 [[ 3.54564614e-01 -9.35030243e-01 -1.54235388e-03 1.87743112e+02] [ 9.35022190e-01 3.54567963e-01 -3.88123144e-03 1.23711261e+02] [ 4.17593805e-03 -6.59877730e-05 9.99991279e-01 1.00371453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.77, Y:123.76, Z:1.00 [[ 3.55816487e-01 -9.34554574e-01 -1.54106318e-03 1.87765610e+02] [ 9.34546515e-01 3.55819820e-01 -3.88174385e-03 1.23764220e+02] [ 4.17604229e-03 -5.90067650e-05 9.99991279e-01 1.00306886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.79, Y:123.82, Z:1.00 [[ 3.55184661e-01 -9.34794890e-01 -1.53971148e-03 1.87787876e+02] [ 9.34786830e-01 3.55187993e-01 -3.88227994e-03 1.23817455e+02] [ 4.17602247e-03 -6.03757302e-05 9.99991279e-01 1.00445627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.81, Y:123.87, Z:1.01 [[ 3.58676372e-01 -9.33460708e-01 -1.53845912e-03 1.87811560e+02] [ 9.33452634e-01 3.58679669e-01 -3.88277615e-03 1.23870420e+02] [ 4.17623298e-03 -4.34186466e-05 9.99991279e-01 1.00963452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.83, Y:123.93, Z:1.01 [[ 3.59681830e-01 -9.33073747e-01 -1.53722064e-03 1.87832079e+02] [ 9.33065667e-01 3.59685113e-01 -3.88326641e-03 1.23925232e+02] [ 4.17628933e-03 -3.75874356e-05 9.99991279e-01 1.01120090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.222755096 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:187.85, Y:123.98, Z:1.01 [[ 3.58266219e-01 -9.33618207e-01 -1.53595824e-03 1.87854592e+02] [ 9.33610130e-01 3.58269509e-01 -3.88376567e-03 1.23979147e+02] [ 4.17624135e-03 -4.25641284e-05 9.99991279e-01 1.00801653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.282755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:187.87, Y:124.03, Z:1.01 [[ 3.58678611e-01 -9.33459854e-01 -1.53467448e-03 1.87873869e+02] [ 9.33451773e-01 3.58681892e-01 -3.88427288e-03 1.24031575e+02] [ 4.17627274e-03 -3.93390133e-05 9.99991279e-01 1.00964155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.342755096 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:187.89, Y:124.09, Z:1.01 [[ 3.56009041e-01 -9.34481253e-01 -1.53315168e-03 1.87893805e+02] [ 9.34473179e-01 3.56012339e-01 -3.88487385e-03 1.24085054e+02] [ 4.17616270e-03 -4.96389121e-05 9.99991279e-01 1.00812555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.402755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:187.92, Y:124.14, Z:1.01 [[ 3.54399403e-01 -9.35092892e-01 -1.53164023e-03 1.87916604e+02] [ 9.35084822e-01 3.54402708e-01 -3.88546966e-03 1.24138820e+02] [ 4.17609251e-03 -5.52054024e-05 9.99991279e-01 1.00997653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.462755096 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:187.93, Y:124.19, Z:1.01 [[ 3.50850074e-01 -9.36430394e-01 -1.53031151e-03 1.87933391e+02] [ 9.36422334e-01 3.50853405e-01 -3.88599291e-03 1.24193629e+02] [ 4.17587688e-03 -6.96169698e-05 9.99991279e-01 1.00961907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.96, Y:124.25, Z:1.01 [[ 3.48650500e-01 -9.37251562e-01 -1.52935657e-03 1.87955480e+02] [ 9.37243507e-01 3.48653845e-01 -3.88636870e-03 1.24246109e+02] [ 4.17572118e-03 -7.83951268e-05 9.99991279e-01 1.00956581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.582755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:187.98, Y:124.30, Z:1.01 [[ 3.44928357e-01 -9.38627772e-01 -1.52796580e-03 1.87975364e+02] [ 9.38619728e-01 3.44931728e-01 -3.88691542e-03 1.24300227e+02] [ 4.17541064e-03 -9.34715007e-05 9.99991279e-01 1.00985035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.99, Y:124.35, Z:1.01 [[ 3.40221171e-01 -9.40344205e-01 -1.52664129e-03 1.87994143e+02] [ 9.40336176e-01 3.40224578e-01 -3.88743557e-03 1.24353676e+02] [ 4.17492840e-03 -1.12968149e-04 9.99991279e-01 1.00655208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.01, Y:124.41, Z:1.01 [[ 3.40895091e-01 -9.40100107e-01 -1.52526253e-03 1.88012048e+02] [ 9.40092073e-01 3.40898485e-01 -3.88797646e-03 1.24409402e+02] [ 4.17504677e-03 -1.08495131e-04 9.99991279e-01 1.01278940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.03, Y:124.46, Z:1.02 [[ 3.39172324e-01 -9.40723026e-01 -1.52398472e-03 1.88032512e+02] [ 9.40714997e-01 3.39175728e-01 -3.88847726e-03 1.24464129e+02] [ 4.17487873e-03 -1.14771407e-04 9.99991279e-01 1.01557436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.05, Y:124.52, Z:1.02 [[ 3.38260645e-01 -9.41051230e-01 -1.52272913e-03 1.88052050e+02] [ 9.41043202e-01 3.38264052e-01 -3.88896889e-03 1.24516487e+02] [ 4.17480348e-03 -1.17468770e-04 9.99991279e-01 1.01704501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88275509599998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:188.07, Y:124.57, Z:1.01 [[ 3.38028572e-01 -9.41134619e-01 -1.52126495e-03 1.88071721e+02] [ 9.41126588e-01 3.38031975e-01 -3.88954156e-03 1.24571524e+02] [ 4.17481840e-03 -1.16926711e-04 9.99991279e-01 1.01198561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.09, Y:124.63, Z:1.02 [[ 3.38724639e-01 -9.40884323e-01 -1.51993738e-03 1.88091048e+02] [ 9.40876288e-01 3.38728031e-01 -3.89006027e-03 1.24625195e+02] [ 4.17494212e-03 -1.12413773e-04 9.99991279e-01 1.01715793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.11, Y:124.68, Z:1.02 [[ 3.39919143e-01 -9.40453439e-01 -1.51854437e-03 1.88112517e+02] [ 9.40445397e-01 3.39922519e-01 -3.89060397e-03 1.24678860e+02] [ 4.17511931e-03 -1.05617293e-04 9.99991279e-01 1.01699492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.13, Y:124.73, Z:1.02 [[ 3.41035679e-01 -9.40049128e-01 -1.51728421e-03 1.88133922e+02] [ 9.40041080e-01 3.41039039e-01 -3.89109536e-03 1.24732484e+02] [ 4.17527395e-03 -9.93071425e-05 9.99991279e-01 1.01717474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.16, Y:124.79, Z:1.01 [[ 3.42858528e-01 -9.39385827e-01 -1.51603548e-03 1.88155834e+02] [ 9.39377770e-01 3.42861868e-01 -3.89158182e-03 1.24785307e+02] [ 4.17548757e-03 -8.98680128e-05 9.99991279e-01 1.01385754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.18, Y:124.84, Z:1.02 [[ 3.44366233e-01 -9.38834173e-01 -1.51452840e-03 1.88177785e+02] [ 9.38826108e-01 3.44369553e-01 -3.89216826e-03 1.24837226e+02] [ 4.17565804e-03 -8.15474797e-05 9.99991279e-01 1.01575255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.20, Y:124.89, Z:1.02 [[ 3.44986185e-01 -9.38606543e-01 -1.51297668e-03 1.88199356e+02] [ 9.38598474e-01 3.44989494e-01 -3.89277136e-03 1.24889271e+02] [ 4.17574173e-03 -7.71252665e-05 9.99991279e-01 1.01674177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.22, Y:124.94, Z:1.02 [[ 3.44436714e-01 -9.38808322e-01 -1.51134452e-03 1.88222460e+02] [ 9.38800252e-01 3.44440021e-01 -3.89340493e-03 1.24942690e+02] [ 4.17572849e-03 -7.78190147e-05 9.99991279e-01 1.01724845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.25, Y:124.99, Z:1.02 [[ 3.43449815e-01 -9.39169817e-01 -1.51009887e-03 1.88245425e+02] [ 9.39161748e-01 3.43453125e-01 -3.89388801e-03 1.24994332e+02] [ 4.17567026e-03 -8.08719749e-05 9.99991279e-01 1.01804698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42275509599997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.27, Y:125.05, Z:1.02 [[ 3.43704936e-01 -9.39076483e-01 -1.50864603e-03 1.88265370e+02] [ 9.39068411e-01 3.43708238e-01 -3.89445082e-03 1.25048317e+02] [ 4.17572124e-03 -7.81798621e-05 9.99991279e-01 1.01782822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.29, Y:125.10, Z:1.02 [[ 3.45962713e-01 -9.38247052e-01 -1.50714128e-03 1.88285675e+02] [ 9.38238969e-01 3.45965989e-01 -3.89503306e-03 1.25101043e+02] [ 4.17592291e-03 -6.65224814e-05 9.99991279e-01 1.02040414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.31, Y:125.15, Z:1.02 [[ 3.47126865e-01 -9.37816972e-01 -1.50555265e-03 1.88306398e+02] [ 9.37808883e-01 3.47130125e-01 -3.89564702e-03 1.25154661e+02] [ 4.17602657e-03 -5.96369124e-05 9.99991279e-01 1.01813158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.33, Y:125.21, Z:1.02 [[ 3.46713308e-01 -9.37969946e-01 -1.50408312e-03 1.88326101e+02] [ 9.37961856e-01 3.46716565e-01 -3.89621431e-03 1.25209486e+02] [ 4.17602246e-03 -5.99032411e-05 9.99991279e-01 1.01809334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.35, Y:125.26, Z:1.02 [[ 3.46530490e-01 -9.38037505e-01 -1.50281022e-03 1.88346001e+02] [ 9.38029413e-01 3.46533744e-01 -3.89670522e-03 1.25262730e+02] [ 4.17603010e-03 -5.93530208e-05 9.99991279e-01 1.01723249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.36, Y:125.32, Z:1.01 [[ 3.44451656e-01 -9.38802856e-01 -1.50140259e-03 1.88364617e+02] [ 9.38794769e-01 3.44454922e-01 -3.89724751e-03 1.25316342e+02] [ 4.17591260e-03 -6.70955425e-05 9.99991279e-01 1.01317869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.38, Y:125.37, Z:1.02 [[ 3.41234124e-01 -9.39977140e-01 -1.49977788e-03 1.88384842e+02] [ 9.39969061e-01 3.41237411e-01 -3.89787264e-03 1.25369701e+02] [ 4.17569150e-03 -7.96576487e-05 9.99991279e-01 1.01730482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.40, Y:125.42, Z:1.02 [[ 3.36826653e-01 -9.41565484e-01 -1.49823693e-03 1.88403512e+02] [ 9.41557419e-01 3.36829971e-01 -3.89846485e-03 1.25423013e+02] [ 4.17531105e-03 -9.75692329e-05 9.99991279e-01 1.01544413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.43, Y:125.48, Z:1.02 [[ 3.36645473e-01 -9.41630281e-01 -1.49670663e-03 1.88425004e+02] [ 9.41622213e-01 3.36648786e-01 -3.89905228e-03 1.25475791e+02] [ 4.17533017e-03 -9.67339068e-05 9.99991279e-01 1.01637056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.44, Y:125.53, Z:1.02 [[ 3.35887036e-01 -9.41901090e-01 -1.49515849e-03 1.88443656e+02] [ 9.41893023e-01 3.35890349e-01 -3.89964585e-03 1.25529228e+02] [ 4.17528999e-03 -9.84388604e-05 9.99991279e-01 1.01752429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.022755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:188.46, Y:125.58, Z:1.02 [[ 3.36095748e-01 -9.41826638e-01 -1.49370043e-03 1.88463109e+02] [ 9.41818568e-01 3.36099054e-01 -3.90020426e-03 1.25582544e+02] [ 4.17534757e-03 -9.59527285e-05 9.99991279e-01 1.01811302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.48, Y:125.64, Z:1.02 [[ 3.35503194e-01 -9.42037887e-01 -1.49234747e-03 1.88480955e+02] [ 9.42029816e-01 3.35506499e-01 -3.90072188e-03 1.25637527e+02] [ 4.17532007e-03 -9.71311585e-05 9.99991279e-01 1.01596864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.50, Y:125.69, Z:1.02 [[ 3.34294885e-01 -9.42467351e-01 -1.49094857e-03 1.88500791e+02] [ 9.42459282e-01 3.34298194e-01 -3.90125650e-03 1.25692076e+02] [ 4.17522829e-03 -1.00988231e-04 9.99991279e-01 1.01531624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20275509599998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:188.52, Y:125.74, Z:1.02 [[ 3.34826264e-01 -9.42278703e-01 -1.48961226e-03 1.88521979e+02] [ 9.42270630e-01 3.34829564e-01 -3.90176668e-03 1.25744127e+02] [ 4.17531786e-03 -9.72039183e-05 9.99991279e-01 1.01817273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.54, Y:125.80, Z:1.02 [[ 3.35378068e-01 -9.42082447e-01 -1.48789904e-03 1.88538773e+02] [ 9.42074369e-01 3.35381355e-01 -3.90241988e-03 1.25799529e+02] [ 4.17541487e-03 -9.29255066e-05 9.99991279e-01 1.01621619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.56, Y:125.85, Z:1.02 [[ 3.37613470e-01 -9.41283664e-01 -1.48616288e-03 1.88556794e+02] [ 9.41275575e-01 3.37616731e-01 -3.90308095e-03 1.25853374e+02] [ 4.17565980e-03 -8.11561184e-05 9.99991279e-01 1.01548019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.58, Y:125.91, Z:1.02 [[ 3.39215542e-01 -9.40707506e-01 -1.48480588e-03 1.88579513e+02] [ 9.40699409e-01 3.39218784e-01 -3.90359712e-03 1.25905588e+02] [ 4.17581715e-03 -7.25952004e-05 9.99991279e-01 1.01603897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.60, Y:125.96, Z:1.01 [[ 3.38064067e-01 -9.41121929e-01 -1.48339738e-03 1.88597282e+02] [ 9.41113835e-01 3.38067313e-01 -3.90413228e-03 1.25959301e+02] [ 4.17575267e-03 -7.61989600e-05 9.99991279e-01 1.01458023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.62, Y:126.01, Z:1.02 [[ 3.38546074e-01 -9.40948649e-01 -1.48193898e-03 1.88619530e+02] [ 9.40940550e-01 3.38549309e-01 -3.90468579e-03 1.26012262e+02] [ 4.17581823e-03 -7.25004397e-05 9.99991279e-01 1.01707456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.64, Y:126.07, Z:1.02 [[ 3.34617248e-01 -9.42352962e-01 -1.48057885e-03 1.88638034e+02] [ 9.42344875e-01 3.34620511e-01 -3.90520145e-03 1.26065447e+02] [ 4.17551021e-03 -8.84681329e-05 9.99991279e-01 1.01561912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.66, Y:126.12, Z:1.02 [[ 3.33876168e-01 -9.42615784e-01 -1.47910192e-03 1.88659273e+02] [ 9.42607697e-01 3.33879432e-01 -3.90576076e-03 1.26117980e+02] [ 4.17547345e-03 -9.01724211e-05 9.99991279e-01 1.01612290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.68, Y:126.17, Z:1.02 [[ 3.35366867e-01 -9.42086451e-01 -1.47745596e-03 1.88684135e+02] [ 9.42078356e-01 3.35370111e-01 -3.90638329e-03 1.26170242e+02] [ 4.17564534e-03 -8.18077582e-05 9.99991279e-01 1.02236895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.71, Y:126.22, Z:1.02 [[ 3.34766756e-01 -9.42299868e-01 -1.47596448e-03 1.88705426e+02] [ 9.42291772e-01 3.34770000e-01 -3.90694674e-03 1.26223154e+02] [ 4.17562403e-03 -8.28732939e-05 9.99991279e-01 1.02359482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.73, Y:126.28, Z:1.02 [[ 3.34968147e-01 -9.42228298e-01 -1.47508154e-03 1.88728844e+02] [ 9.42220200e-01 3.34971385e-01 -3.90728007e-03 1.26276477e+02] [ 4.17565996e-03 -8.10372583e-05 9.99991279e-01 1.02418667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.75, Y:126.33, Z:1.02 [[ 3.32610376e-01 -9.43063182e-01 -1.47378352e-03 1.88745520e+02] [ 9.43055090e-01 3.32613629e-01 -3.90776961e-03 1.26331018e+02] [ 4.17547413e-03 -9.00943270e-05 9.99991279e-01 1.02109815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92275509599997 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:188.76, Y:126.39, Z:1.02 [[ 3.32822283e-01 -9.42988420e-01 -1.47239265e-03 1.88763841e+02] [ 9.42980325e-01 3.32825528e-01 -3.90829360e-03 1.26385813e+02] [ 4.17552547e-03 -8.76701008e-05 9.99991279e-01 1.01880054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.79, Y:126.44, Z:1.02 [[ 3.39548696e-01 -9.40587327e-01 -1.47084741e-03 1.88786681e+02] [ 9.40579207e-01 3.39551877e-01 -3.90887505e-03 1.26437927e+02] [ 4.17606733e-03 -5.61950638e-05 9.99991279e-01 1.02123451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04275509599998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:188.81, Y:126.49, Z:1.02 [[ 3.38796363e-01 -9.40858579e-01 -1.46918619e-03 1.88806831e+02] [ 9.40850458e-01 3.38799544e-01 -3.90949933e-03 1.26490111e+02] [ 4.17604560e-03 -5.77603435e-05 9.99991279e-01 1.01753903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.82, Y:126.54, Z:1.02 [[ 3.37611361e-01 -9.41284449e-01 -1.46772753e-03 1.88824257e+02] [ 9.41276330e-01 3.37614546e-01 -3.91004687e-03 1.26543588e+02] [ 4.17599248e-03 -6.14609405e-05 9.99991279e-01 1.01826235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.84, Y:126.60, Z:1.02 [[ 3.35247526e-01 -9.42128944e-01 -1.46630287e-03 1.88841785e+02] [ 9.42120830e-01 3.35250725e-01 -3.91058106e-03 1.26598449e+02] [ 4.17585071e-03 -7.04218540e-05 9.99991279e-01 1.02235908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.86, Y:126.65, Z:1.02 [[ 3.30306324e-01 -9.43872654e-01 -1.46493785e-03 1.88856573e+02] [ 9.43864555e-01 3.30309560e-01 -3.91109234e-03 1.26654511e+02] [ 4.17545609e-03 -9.08443720e-05 9.99991279e-01 1.01626828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.282755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:188.88, Y:126.71, Z:1.02 [[ 3.26885916e-01 -9.45062673e-01 -1.46360824e-03 1.88876378e+02] [ 9.45054584e-01 3.26889176e-01 -3.91158985e-03 1.26706765e+02] [ 4.17513525e-03 -1.04546045e-04 9.99991279e-01 1.02111376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.89, Y:126.76, Z:1.02 [[ 3.21040921e-01 -9.47064195e-01 -1.46188145e-03 1.88894511e+02] [ 9.47056124e-01 3.21044223e-01 -3.91223509e-03 1.26760986e+02] [ 4.17446638e-03 -1.28496223e-04 9.99991279e-01 1.02405540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.91, Y:126.81, Z:1.03 [[ 3.15583361e-01 -9.48896733e-01 -1.46024011e-03 1.88911943e+02] [ 9.48888677e-01 3.15586704e-01 -3.91284763e-03 1.26814127e+02] [ 4.17372069e-03 -1.50775702e-04 9.99991279e-01 1.02553596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.94, Y:126.87, Z:1.03 [[ 3.17305020e-01 -9.48322412e-01 -1.45874430e-03 1.88936422e+02] [ 9.48314348e-01 3.17308342e-01 -3.91340520e-03 1.26865471e+02] [ 4.17404159e-03 -1.41605038e-04 9.99991279e-01 1.02755946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.95, Y:126.92, Z:1.03 [[ 3.13783519e-01 -9.49493433e-01 -1.45750810e-03 1.88951908e+02] [ 9.49485379e-01 3.13786865e-01 -3.91386556e-03 1.26920644e+02] [ 4.17353654e-03 -1.55776123e-04 9.99991279e-01 1.02579497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.97, Y:126.98, Z:1.03 [[ 3.10908228e-01 -9.50438822e-01 -1.45613543e-03 1.88965395e+02] [ 9.50430776e-01 3.10911593e-01 -3.91437619e-03 1.26975649e+02] [ 4.17310447e-03 -1.66944161e-04 9.99991279e-01 1.02593514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.98, Y:127.03, Z:1.02 [[ 3.13586826e-01 -9.49558417e-01 -1.45467289e-03 1.88984795e+02] [ 9.49550359e-01 3.13590162e-01 -3.91491962e-03 1.27028991e+02] [ 4.17361599e-03 -1.53617944e-04 9.99991279e-01 1.02495383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.01, Y:127.08, Z:1.03 [[ 3.16487164e-01 -9.48595680e-01 -1.45304517e-03 1.89005226e+02] [ 9.48587609e-01 3.16490469e-01 -3.91552367e-03 1.27082561e+02] [ 4.17412378e-03 -1.39127663e-04 9.99991279e-01 1.02743357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.02, Y:127.14, Z:1.03 [[ 3.17827619e-01 -9.48147403e-01 -1.45164185e-03 1.89021260e+02] [ 9.48139325e-01 3.17830907e-01 -3.91604387e-03 1.27137895e+02] [ 4.17436347e-03 -1.31731825e-04 9.99991279e-01 1.02705795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.04, Y:127.19, Z:1.03 [[ 3.21379440e-01 -9.46949393e-01 -1.45005376e-03 1.89037645e+02] [ 9.46941300e-01 3.21382691e-01 -3.91663182e-03 1.27192132e+02] [ 4.17487431e-03 -1.14390847e-04 9.99991279e-01 1.02636106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.06, Y:127.25, Z:1.03 [[ 3.23520345e-01 -9.46220105e-01 -1.44881689e-03 1.89055262e+02] [ 9.46212003e-01 3.23523573e-01 -3.91708931e-03 1.27246435e+02] [ 4.17515507e-03 -1.03629842e-04 9.99991279e-01 1.02593756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.07, Y:127.30, Z:1.03 [[ 3.23704302e-01 -9.46157191e-01 -1.44727817e-03 1.89073760e+02] [ 9.46149086e-01 3.23707522e-01 -3.91765775e-03 1.27300649e+02] [ 4.17521488e-03 -1.01178250e-04 9.99991279e-01 1.02644181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.09, Y:127.35, Z:1.03 [[ 3.21799930e-01 -9.46806588e-01 -1.44569434e-03 1.89092832e+02] [ 9.46798486e-01 3.21803160e-01 -3.91824212e-03 1.27354572e+02] [ 4.17504646e-03 -1.07891169e-04 9.99991279e-01 1.02716498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.11, Y:127.41, Z:1.03 [[ 3.19347766e-01 -9.47636491e-01 -1.44416690e-03 1.89111314e+02] [ 9.47628395e-01 3.19351010e-01 -3.91880502e-03 1.27408963e+02] [ 4.17479880e-03 -1.17071935e-04 9.99991279e-01 1.02831187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.12, Y:127.46, Z:1.02 [[ 3.13245682e-01 -9.49671028e-01 -1.44258532e-03 1.89124163e+02] [ 9.49662951e-01 3.13248971e-01 -3.91938714e-03 1.27463760e+02] [ 4.17401679e-03 -1.42238736e-04 9.99991279e-01 1.02388723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.14, Y:127.52, Z:1.02 [[ 3.10001150e-01 -9.50735090e-01 -1.44093086e-03 1.89142800e+02] [ 9.50727021e-01 3.10004460e-01 -3.91999530e-03 1.27517671e+02] [ 4.17357207e-03 -1.54728850e-04 9.99991279e-01 1.02291944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.16, Y:127.57, Z:1.02 [[ 3.06670552e-01 -9.51814636e-01 -1.43952249e-03 1.89161711e+02] [ 9.51806576e-01 3.06673884e-01 -3.92051242e-03 1.27572643e+02] [ 4.17306505e-03 -1.67841270e-04 9.99991279e-01 1.02304754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.302755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:189.18, Y:127.63, Z:1.02 [[ 3.08457214e-01 -9.51237131e-01 -1.43815952e-03 1.89180501e+02] [ 9.51229063e-01 3.08460526e-01 -3.92101233e-03 1.27626958e+02] [ 4.17342796e-03 -1.58554596e-04 9.99991279e-01 1.02163483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.20, Y:127.68, Z:1.02 [[ 3.10356850e-01 -9.50619041e-01 -1.43674176e-03 1.89201150e+02] [ 9.50610964e-01 3.10360140e-01 -3.92153176e-03 1.27679281e+02] [ 4.17379014e-03 -1.48708219e-04 9.99991279e-01 1.02100489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42275509599997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.22, Y:127.73, Z:1.03 [[ 3.11318100e-01 -9.50304678e-01 -1.43509477e-03 1.89222142e+02] [ 9.50296595e-01 3.11321375e-01 -3.92213439e-03 1.27732322e+02] [ 4.17399833e-03 -1.42734248e-04 9.99991279e-01 1.02544647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.24, Y:127.79, Z:1.03 [[ 3.13396276e-01 -9.49621356e-01 -1.43356174e-03 1.89242034e+02] [ 9.49613263e-01 3.13399527e-01 -3.92269464e-03 1.27786168e+02] [ 4.17435217e-03 -1.31971354e-04 9.99991279e-01 1.03069809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.26, Y:127.84, Z:1.03 [[ 3.13622939e-01 -9.49546524e-01 -1.43203307e-03 1.89261253e+02] [ 9.49538428e-01 3.13626181e-01 -3.92325262e-03 1.27838704e+02] [ 4.17443395e-03 -1.29348415e-04 9.99991279e-01 1.03271384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.28, Y:127.89, Z:1.03 [[ 3.13712038e-01 -9.49517093e-01 -1.43099455e-03 1.89280962e+02] [ 9.49508995e-01 3.13715276e-01 -3.92363138e-03 1.27892039e+02] [ 4.17447991e-03 -1.27851802e-04 9.99991279e-01 1.03336654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.30, Y:127.95, Z:1.04 [[ 3.16950127e-01 -9.48441128e-01 -1.42967163e-03 1.89304787e+02] [ 9.48433017e-01 3.16953331e-01 -3.92411336e-03 1.27945606e+02] [ 4.17492969e-03 -1.12199551e-04 9.99991279e-01 1.03781021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.32, Y:128.00, Z:1.03 [[ 3.12882349e-01 -9.49790817e-01 -1.42841087e-03 1.89322264e+02] [ 9.49782717e-01 3.12885583e-01 -3.92457223e-03 1.28000734e+02] [ 4.17445184e-03 -1.28750582e-04 9.99991279e-01 1.03288554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.782755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:189.35, Y:128.05, Z:1.04 [[ 3.15707276e-01 -9.48855563e-01 -1.42720947e-03 1.89348349e+02] [ 9.48847452e-01 3.15710481e-01 -3.92500909e-03 1.28052943e+02] [ 4.17485169e-03 -1.15050144e-04 9.99991279e-01 1.03737636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.36, Y:128.11, Z:1.03 [[ 3.08962271e-01 -9.51073226e-01 -1.42595880e-03 1.89363810e+02] [ 9.51065136e-01 3.08965528e-01 -3.92546340e-03 1.28107742e+02] [ 4.17397526e-03 -1.43359612e-04 9.99991279e-01 1.03324805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.38, Y:128.16, Z:1.03 [[ 3.06130346e-01 -9.51988541e-01 -1.42458585e-03 1.89384531e+02] [ 9.51980458e-01 3.06133621e-01 -3.92596160e-03 1.28161262e+02] [ 4.17358408e-03 -1.54321910e-04 9.99991279e-01 1.03430256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.41, Y:128.21, Z:1.04 [[ 3.08573159e-01 -9.51199548e-01 -1.42317450e-03 1.89409439e+02] [ 9.51191454e-01 3.08576408e-01 -3.92647315e-03 1.28213880e+02] [ 4.17401756e-03 -1.42107198e-04 9.99991279e-01 1.03775380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.43, Y:128.27, Z:1.04 [[ 3.08947649e-01 -9.51077982e-01 -1.42190653e-03 1.89428679e+02] [ 9.51069885e-01 3.08950890e-01 -3.92693227e-03 1.28268737e+02] [ 4.17411811e-03 -1.39115989e-04 9.99991279e-01 1.03578937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.45, Y:128.32, Z:1.03 [[ 3.10964700e-01 -9.50420401e-01 -1.42056322e-03 1.89448089e+02] [ 9.50412295e-01 3.10967918e-01 -3.92741815e-03 1.28323907e+02] [ 4.17444792e-03 -1.28832348e-04 9.99991279e-01 1.03312110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.142755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:189.47, Y:128.38, Z:1.03 [[ 3.13156794e-01 -9.49700378e-01 -1.41928836e-03 1.89467377e+02] [ 9.49692263e-01 3.13159988e-01 -3.92787881e-03 1.28376687e+02] [ 4.17477231e-03 -1.17845235e-04 9.99991279e-01 1.03003566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.49, Y:128.43, Z:1.03 [[ 3.15984109e-01 -9.48763423e-01 -1.41765500e-03 1.89487556e+02] [ 9.48755296e-01 3.15987272e-01 -3.92846823e-03 1.28430340e+02] [ 4.17514790e-03 -1.03674160e-04 9.99991279e-01 1.03499649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.51, Y:128.48, Z:1.04 [[ 3.18195816e-01 -9.48023954e-01 -1.41605307e-03 1.89509409e+02] [ 9.48015817e-01 3.18198953e-01 -3.92904558e-03 1.28484469e+02] [ 4.17541593e-03 -9.22348403e-05 9.99991279e-01 1.03587558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.53, Y:128.54, Z:1.04 [[ 3.18054807e-01 -9.48071273e-01 -1.41478563e-03 1.89531670e+02] [ 9.48063134e-01 3.18057940e-01 -3.92950191e-03 1.28537805e+02] [ 4.17543168e-03 -9.15091281e-05 9.99991279e-01 1.03651718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.56, Y:128.59, Z:1.04 [[ 3.18199271e-01 -9.48022799e-01 -1.41336780e-03 1.89556810e+02] [ 9.48014657e-01 3.18202397e-01 -3.93001181e-03 1.28590849e+02] [ 4.17547782e-03 -8.93664947e-05 9.99991279e-01 1.03767664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.58, Y:128.64, Z:1.04 [[ 3.13304488e-01 -9.49651675e-01 -1.41201863e-03 1.89575635e+02] [ 9.49643547e-01 3.13307651e-01 -3.93049650e-03 1.28643812e+02] [ 4.17499882e-03 -1.09472182e-04 9.99991279e-01 1.03589237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.60, Y:128.70, Z:1.04 [[ 3.11018804e-01 -9.50402711e-01 -1.41076441e-03 1.89596159e+02] [ 9.50394589e-01 3.11021981e-01 -3.93094662e-03 1.28697747e+02] [ 4.17476106e-03 -1.18184546e-04 9.99991279e-01 1.03816230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.62, Y:128.75, Z:1.03 [[ 3.08237393e-01 -9.51308427e-01 -1.40923708e-03 1.89616497e+02] [ 9.51300312e-01 3.08240588e-01 -3.93149409e-03 1.28751002e+02] [ 4.17444752e-03 -1.28774187e-04 9.99991279e-01 1.03457798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.64, Y:128.80, Z:1.04 [[ 3.10088468e-01 -9.50706664e-01 -1.40768025e-03 1.89636911e+02] [ 9.50698540e-01 3.10091641e-01 -3.93205143e-03 1.28804651e+02] [ 4.17473738e-03 -1.18995748e-04 9.99991279e-01 1.03725454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.66, Y:128.86, Z:1.03 [[ 3.12444804e-01 -9.49934876e-01 -1.40602882e-03 1.89656809e+02] [ 9.49926741e-01 3.12447949e-01 -3.93264187e-03 1.28857386e+02] [ 4.17506448e-03 -1.06890860e-04 9.99991279e-01 1.03490893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.68, Y:128.91, Z:1.03 [[ 3.15213595e-01 -9.49019714e-01 -1.40455536e-03 1.89676691e+02] [ 9.49011568e-01 3.15216710e-01 -3.93316805e-03 1.28910036e+02] [ 4.17539333e-03 -9.31512421e-05 9.99991279e-01 1.03346885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.70, Y:128.96, Z:1.03 [[ 3.18421214e-01 -9.47948290e-01 -1.40352611e-03 1.89696955e+02] [ 9.47940132e-01 3.18424298e-01 -3.93353529e-03 1.28963205e+02] [ 4.17570487e-03 -7.79376450e-05 9.99991279e-01 1.03288050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.862755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:189.72, Y:129.02, Z:1.03 [[ 3.22804227e-01 -9.46464720e-01 -1.40192211e-03 1.89717665e+02] [ 9.46456545e-01 3.22807266e-01 -3.93410688e-03 1.29015100e+02] [ 4.17604401e-03 -5.69120268e-05 9.99991279e-01 1.03309360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92275509599997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.74, Y:129.07, Z:1.04 [[ 3.23727913e-01 -9.46149184e-01 -1.40022869e-03 1.89738140e+02] [ 9.46141003e-01 3.23730937e-01 -3.93470951e-03 1.29068785e+02] [ 4.17611954e-03 -5.10384832e-05 9.99991279e-01 1.03525934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.76, Y:129.12, Z:1.04 [[ 3.24190850e-01 -9.45990664e-01 -1.39885569e-03 1.89759848e+02] [ 9.45982480e-01 3.24193864e-01 -3.93519758e-03 1.29121475e+02] [ 4.17616060e-03 -4.75379262e-05 9.99991279e-01 1.03628049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.78, Y:129.18, Z:1.04 [[ 3.21970009e-01 -9.46748837e-01 -1.39743373e-03 1.89780554e+02] [ 9.46740658e-01 3.21973037e-01 -3.93570246e-03 1.29175089e+02] [ 4.17605771e-03 -5.58291675e-05 9.99991279e-01 1.03949552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10275509599998 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:189.80, Y:129.23, Z:1.04 [[ 3.19856467e-01 -9.47464982e-01 -1.39590806e-03 1.89801693e+02] [ 9.47456808e-01 3.19859506e-01 -3.93624351e-03 1.29228308e+02] [ 4.17594735e-03 -6.35296520e-05 9.99991279e-01 1.03731854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.82, Y:129.28, Z:1.04 [[ 3.18126376e-01 -9.48047290e-01 -1.39448997e-03 1.89820433e+02] [ 9.48039119e-01 3.18129425e-01 -3.93674583e-03 1.29281852e+02] [ 4.17584951e-03 -6.96483538e-05 9.99991279e-01 1.03964640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.84, Y:129.34, Z:1.04 [[ 3.17598877e-01 -9.48224136e-01 -1.39302026e-03 1.89838270e+02] [ 9.48215965e-01 3.17601924e-01 -3.93726582e-03 1.29336526e+02] [ 4.17583640e-03 -7.04128490e-05 9.99991279e-01 1.03793772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.282755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:189.86, Y:129.39, Z:1.04 [[ 3.18032706e-01 -9.48078721e-01 -1.39154026e-03 1.89855772e+02] [ 9.48070546e-01 3.18035743e-01 -3.93778883e-03 1.29390819e+02] [ 4.17589334e-03 -6.69326923e-05 9.99991279e-01 1.03825090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.87, Y:129.44, Z:1.04 [[ 3.17884076e-01 -9.48128568e-01 -1.39003996e-03 1.89874138e+02] [ 9.48120391e-01 3.17887108e-01 -3.93831836e-03 1.29444152e+02] [ 4.17590793e-03 -6.59965382e-05 9.99991279e-01 1.03959843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.89, Y:129.50, Z:1.04 [[ 3.17025582e-01 -9.48415970e-01 -1.38861999e-03 1.89891020e+02] [ 9.48407793e-01 3.17028616e-01 -3.93881897e-03 1.29497598e+02] [ 4.17587108e-03 -6.82716458e-05 9.99991279e-01 1.03746934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.91, Y:129.55, Z:1.03 [[ 3.16261075e-01 -9.48671180e-01 -1.38722967e-03 1.89907891e+02] [ 9.48663004e-01 3.16264110e-01 -3.93930857e-03 1.29552201e+02] [ 4.17583947e-03 -7.01635030e-05 9.99991279e-01 1.03429144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.522755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:189.92, Y:129.61, Z:1.04 [[ 3.13242055e-01 -9.49672308e-01 -1.38622075e-03 1.89924928e+02] [ 9.49664140e-01 3.13245112e-01 -3.93966357e-03 1.29607404e+02] [ 4.17561627e-03 -8.23758185e-05 9.99991279e-01 1.03620246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.582755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:189.95, Y:129.66, Z:1.05 [[ 3.14196350e-01 -9.49357012e-01 -1.38486199e-03 1.89945885e+02] [ 9.49348839e-01 3.14199392e-01 -3.94014114e-03 1.29661283e+02] [ 4.17572342e-03 -7.67391591e-05 9.99991279e-01 1.04643787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.96, Y:129.72, Z:1.04 [[ 3.08828896e-01 -9.51116606e-01 -1.38337970e-03 1.89957823e+02] [ 9.51108448e-01 3.08831979e-01 -3.94066150e-03 1.29718003e+02] [ 4.17526049e-03 -9.87539750e-05 9.99991279e-01 1.03889885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.97, Y:129.77, Z:1.04 [[ 3.07184543e-01 -9.51648962e-01 -1.38192872e-03 1.89972895e+02] [ 9.51640807e-01 3.07187634e-01 -3.94117027e-03 1.29773340e+02] [ 4.17512201e-03 -1.04433172e-04 9.99991279e-01 1.04060114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76275509599998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:189.99, Y:129.83, Z:1.04 [[ 3.06062816e-01 -9.52010319e-01 -1.38040246e-03 1.89989520e+02] [ 9.52002165e-01 3.06065910e-01 -3.94170478e-03 1.29827591e+02] [ 4.17503776e-03 -1.07736865e-04 9.99991279e-01 1.03843358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.01, Y:129.88, Z:1.04 [[ 3.06222257e-01 -9.51959047e-01 -1.37898002e-03 1.90005748e+02] [ 9.51950891e-01 3.06225344e-01 -3.94220235e-03 1.29882218e+02] [ 4.17509382e-03 -1.05531155e-04 9.99991279e-01 1.04304030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.02, Y:129.94, Z:1.04 [[ 3.05363971e-01 -9.52234712e-01 -1.37757482e-03 1.90022755e+02] [ 9.52226556e-01 3.05367059e-01 -3.94269332e-03 1.29937322e+02] [ 4.17503541e-03 -1.07806838e-04 9.99991279e-01 1.04381145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94275509599998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:190.04, Y:129.99, Z:1.04 [[ 3.04515971e-01 -9.52506236e-01 -1.37618585e-03 1.90038533e+02] [ 9.52498080e-01 3.04519061e-01 -3.94317808e-03 1.29992595e+02] [ 4.17497653e-03 -1.10053675e-04 9.99991279e-01 1.04195263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.06, Y:130.05, Z:1.05 [[ 3.09078691e-01 -9.51035474e-01 -1.37476831e-03 1.90061716e+02] [ 9.51027301e-01 3.09081736e-01 -3.94367223e-03 1.30045992e+02] [ 4.17548797e-03 -8.85371480e-05 9.99991279e-01 1.04898505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.08, Y:130.10, Z:1.05 [[ 3.08995233e-01 -9.51062595e-01 -1.37348234e-03 1.90077901e+02] [ 9.51054421e-01 3.08998273e-01 -3.94412005e-03 1.30100297e+02] [ 4.17550872e-03 -8.75421593e-05 9.99991279e-01 1.04519368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.09, Y:130.16, Z:1.04 [[ 3.08245504e-01 -9.51305854e-01 -1.37208042e-03 1.90091224e+02] [ 9.51297679e-01 3.08248544e-01 -3.94460769e-03 1.30155748e+02] [ 4.17547018e-03 -8.93493356e-05 9.99991279e-01 1.04082920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.182755096 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:190.11, Y:130.21, Z:1.04 [[ 3.10441535e-01 -9.50591486e-01 -1.37116510e-03 1.90107925e+02] [ 9.50583304e-01 3.10444553e-01 -3.94492584e-03 1.30210415e+02] [ 4.17568365e-03 -7.87378179e-05 9.99991279e-01 1.03936994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.13, Y:130.26, Z:1.05 [[ 3.14048598e-01 -9.49405920e-01 -1.36979664e-03 1.90129553e+02] [ 9.49397724e-01 3.14051580e-01 -3.94540095e-03 1.30264248e+02] [ 4.17597382e-03 -6.14341759e-05 9.99991279e-01 1.04734922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.15, Y:130.32, Z:1.04 [[ 3.12023248e-01 -9.50073481e-01 -1.36845322e-03 1.90145492e+02] [ 9.50065290e-01 3.12026241e-01 -3.94586686e-03 1.30319294e+02] [ 4.17585678e-03 -6.89177137e-05 9.99991279e-01 1.04304838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.17, Y:130.37, Z:1.05 [[ 3.11956420e-01 -9.50095429e-01 -1.36693421e-03 1.90165496e+02] [ 9.50087235e-01 3.11959408e-01 -3.94639300e-03 1.30373369e+02] [ 4.17587794e-03 -6.76041127e-05 9.99991279e-01 1.04660922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42275509599997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.19, Y:130.43, Z:1.05 [[ 3.12541354e-01 -9.49903173e-01 -1.36542476e-03 1.90185069e+02] [ 9.49894975e-01 3.12544330e-01 -3.94691520e-03 1.30427170e+02] [ 4.17594303e-03 -6.34359023e-05 9.99991279e-01 1.04727692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.20, Y:130.48, Z:1.05 [[ 3.12190737e-01 -9.50018465e-01 -1.36389368e-03 1.90202761e+02] [ 9.50010266e-01 3.12193710e-01 -3.94744421e-03 1.30481029e+02] [ 4.17594391e-03 -6.33574779e-05 9.99991279e-01 1.04802668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54275509599998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:190.22, Y:130.53, Z:1.05 [[ 3.11791234e-01 -9.50149657e-01 -1.36218147e-03 1.90222745e+02] [ 9.50141457e-01 3.11794203e-01 -3.94803496e-03 1.30534403e+02] [ 4.17594435e-03 -6.33023979e-05 9.99991279e-01 1.04639219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.25, Y:130.59, Z:1.05 [[ 3.14299965e-01 -9.49322748e-01 -1.36079808e-03 1.90245254e+02] [ 9.49314538e-01 3.14302907e-01 -3.94851173e-03 1.30588540e+02] [ 4.17611480e-03 -5.08083009e-05 9.99991279e-01 1.05209150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.27, Y:130.64, Z:1.05 [[ 3.13896384e-01 -9.49456272e-01 -1.35952360e-03 1.90266762e+02] [ 9.49448061e-01 3.13899324e-01 -3.94895050e-03 1.30642126e+02] [ 4.17610936e-03 -5.12357612e-05 9.99991279e-01 1.05191733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.28, Y:130.70, Z:1.05 [[ 3.09803289e-01 -9.50799704e-01 -1.35818903e-03 1.90283271e+02] [ 9.50791504e-01 3.09806259e-01 -3.94940946e-03 1.30697605e+02] [ 4.17587280e-03 -6.78145486e-05 9.99991279e-01 1.04777749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.30, Y:130.75, Z:1.05 [[ 3.08257584e-01 -9.51301961e-01 -1.35700142e-03 1.90302785e+02] [ 9.51293764e-01 3.08260562e-01 -3.94981747e-03 1.30751268e+02] [ 4.17577913e-03 -7.33457959e-05 9.99991279e-01 1.04697304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.32, Y:130.80, Z:1.05 [[ 3.09467806e-01 -9.50908955e-01 -1.35535371e-03 1.90322689e+02] [ 9.50900751e-01 3.09470767e-01 -3.95038279e-03 1.30803923e+02] [ 4.17589672e-03 -6.62905677e-05 9.99991279e-01 1.04941337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.34, Y:130.86, Z:1.05 [[ 3.10405762e-01 -9.50603193e-01 -1.35361416e-03 1.90342211e+02] [ 9.50594984e-01 3.10408708e-01 -3.95097876e-03 1.30857809e+02] [ 4.17598665e-03 -6.03322568e-05 9.99991279e-01 1.05013852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.36, Y:130.91, Z:1.05 [[ 3.10982026e-01 -9.50414831e-01 -1.35224479e-03 1.90361995e+02] [ 9.50406618e-01 3.10984961e-01 -3.95144738e-03 1.30911480e+02] [ 4.17604199e-03 -5.63532886e-05 9.99991279e-01 1.05021823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.38, Y:130.97, Z:1.05 [[ 3.12967582e-01 -9.49762848e-01 -1.35084478e-03 1.90382990e+02] [ 9.49754627e-01 3.12970494e-01 -3.95192593e-03 1.30966187e+02] [ 4.17616699e-03 -4.61463749e-05 9.99991279e-01 1.05346577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.40, Y:131.02, Z:1.05 [[ 3.10944240e-01 -9.50427197e-01 -1.34999485e-03 1.90400931e+02] [ 9.50418981e-01 3.10947166e-01 -3.95221625e-03 1.31020982e+02] [ 4.17607089e-03 -5.41418489e-05 9.99991279e-01 1.05079248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.42, Y:131.07, Z:1.05 [[ 3.08826398e-01 -9.51117467e-01 -1.34879944e-03 1.90420960e+02] [ 9.51109256e-01 3.08829337e-01 -3.95262418e-03 1.31074439e+02] [ 4.17595873e-03 -6.21809430e-05 9.99991279e-01 1.04956024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.44, Y:131.13, Z:1.05 [[ 3.06722931e-01 -9.51797892e-01 -1.34745830e-03 1.90440051e+02] [ 9.51789686e-01 3.06725883e-01 -3.95308132e-03 1.31128339e+02] [ 4.17583481e-03 -6.99962258e-05 9.99991279e-01 1.05270692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.46, Y:131.18, Z:1.05 [[ 3.03123339e-01 -9.52950382e-01 -1.34595993e-03 1.90459464e+02] [ 9.52942184e-01 3.03126315e-01 -3.95359142e-03 1.31182199e+02] [ 4.17557233e-03 -8.41961665e-05 9.99991279e-01 1.05255491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.48, Y:131.24, Z:1.05 [[ 3.02214717e-01 -9.53238930e-01 -1.34456044e-03 1.90478430e+02] [ 9.53230733e-01 3.02217696e-01 -3.95406732e-03 1.31235931e+02] [ 4.17552085e-03 -8.66989933e-05 9.99991279e-01 1.05252620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.50, Y:131.29, Z:1.05 [[ 3.03183696e-01 -9.52931185e-01 -1.34313810e-03 1.90497197e+02] [ 9.52922983e-01 3.03186660e-01 -3.95455040e-03 1.31290359e+02] [ 4.17563596e-03 -8.09519614e-05 9.99991279e-01 1.05189255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44275509599998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.52, Y:131.34, Z:1.05 [[ 3.04991388e-01 -9.52354164e-01 -1.34171038e-03 1.90515893e+02] [ 9.52345954e-01 3.04994330e-01 -3.95503474e-03 1.31344801e+02] [ 4.17580787e-03 -7.15209184e-05 9.99991279e-01 1.05058989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.54, Y:131.40, Z:1.05 [[ 3.06701835e-01 -9.51804701e-01 -1.34029549e-03 1.90535094e+02] [ 9.51796483e-01 3.06704757e-01 -3.95551417e-03 1.31398740e+02] [ 4.17595198e-03 -6.25250827e-05 9.99991279e-01 1.05110776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.562755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:190.55, Y:131.45, Z:1.05 [[ 3.07107808e-01 -9.51673790e-01 -1.33886170e-03 1.90553749e+02] [ 9.51665569e-01 3.07110721e-01 -3.95599942e-03 1.31452082e+02] [ 4.17599974e-03 -5.92302674e-05 9.99991279e-01 1.05083027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.622755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:190.57, Y:131.51, Z:1.05 [[ 3.07229275e-01 -9.51634585e-01 -1.33770046e-03 1.90573490e+02] [ 9.51626362e-01 3.07232182e-01 -3.95639205e-03 1.31505503e+02] [ 4.17602414e-03 -5.74715572e-05 9.99991279e-01 1.05280880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.59, Y:131.56, Z:1.05 [[ 3.06610785e-01 -9.51834041e-01 -1.33613851e-03 1.90593848e+02] [ 9.51825818e-01 3.06613690e-01 -3.95691947e-03 1.31558963e+02] [ 4.17600901e-03 -5.85369422e-05 9.99991279e-01 1.05403982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.61, Y:131.61, Z:1.05 [[ 3.05602428e-01 -9.52158272e-01 -1.33469084e-03 1.90613023e+02] [ 9.52150050e-01 3.05605336e-01 -3.95740772e-03 1.31611747e+02] [ 4.17596714e-03 -6.14325412e-05 9.99991279e-01 1.05451118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.63, Y:131.67, Z:1.05 [[ 3.02866997e-01 -9.53031901e-01 -1.33319092e-03 1.90632902e+02] [ 9.53023685e-01 3.02869923e-01 -3.95791296e-03 1.31665900e+02] [ 4.17580074e-03 -7.18413077e-05 9.99991279e-01 1.05444320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.862755096 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:190.65, Y:131.72, Z:1.05 [[ 2.98395512e-01 -9.54441378e-01 -1.33176852e-03 1.90653908e+02] [ 9.54433174e-01 2.98398470e-01 -3.95839151e-03 1.31719056e+02] [ 4.17545034e-03 -8.99177936e-05 9.99991279e-01 1.05207527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92275509599997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.67, Y:131.77, Z:1.05 [[ 2.94426664e-01 -9.55673150e-01 -1.33034160e-03 1.90674035e+02] [ 9.55664956e-01 2.94429651e-01 -3.95887101e-03 1.31772411e+02] [ 4.17507875e-03 -1.05763658e-04 9.99991279e-01 1.05424098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98275509599998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:190.69, Y:131.83, Z:1.05 [[ 2.91277576e-01 -9.56637658e-01 -1.32892664e-03 1.90693022e+02] [ 9.56629471e-01 2.91280583e-01 -3.95934594e-03 1.31826957e+02] [ 4.17474995e-03 -1.18021705e-04 9.99991279e-01 1.05255624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.042755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:190.71, Y:131.88, Z:1.06 [[ 2.89791803e-01 -9.57088788e-01 -1.32752088e-03 1.90712389e+02] [ 9.57080605e-01 2.89794817e-01 -3.95981721e-03 1.31880787e+02] [ 4.17460533e-03 -1.23021923e-04 9.99991279e-01 1.05532154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.73, Y:131.94, Z:1.05 [[ 2.90060586e-01 -9.57007366e-01 -1.32611877e-03 1.90730262e+02] [ 9.56999179e-01 2.90063593e-01 -3.96028672e-03 1.31935391e+02] [ 4.17468233e-03 -1.20371489e-04 9.99991279e-01 1.05406589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.162755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:190.75, Y:131.99, Z:1.05 [[ 2.89979689e-01 -9.57031883e-01 -1.32464760e-03 1.90745483e+02] [ 9.57023694e-01 2.89982690e-01 -3.96077874e-03 1.31989166e+02] [ 4.17471641e-03 -1.19173753e-04 9.99991279e-01 1.05112431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.76, Y:132.04, Z:1.05 [[ 2.99385603e-01 -9.54131286e-01 -1.32282826e-03 1.90764456e+02] [ 9.54123065e-01 2.99388516e-01 -3.96138627e-03 1.32043617e+02] [ 4.17572217e-03 -7.61589330e-05 9.99991279e-01 1.05253249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.282755096 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:190.78, Y:132.10, Z:1.05 [[ 3.03212679e-01 -9.52921993e-01 -1.32174627e-03 1.90779627e+02] [ 9.52913759e-01 3.03215555e-01 -3.96174725e-03 1.32098022e+02] [ 4.17601011e-03 -5.82582116e-05 9.99991279e-01 1.05334576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.342755096 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:190.80, Y:132.15, Z:1.06 [[ 3.06996674e-01 -9.51709672e-01 -1.32035968e-03 1.90795874e+02] [ 9.51701425e-01 3.06999510e-01 -3.96220932e-03 1.32153188e+02] [ 4.17622270e-03 -4.02031049e-05 9.99991279e-01 1.05644924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.81, Y:132.21, Z:1.06 [[ 3.08620760e-01 -9.51184255e-01 -1.31900201e-03 1.90811870e+02] [ 9.51176001e-01 3.08623577e-01 -3.96266123e-03 1.32208646e+02] [ 4.17629608e-03 -3.16435364e-05 9.99991279e-01 1.05915312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.83, Y:132.26, Z:1.06 [[ 3.08882010e-01 -9.51099452e-01 -1.31772642e-03 1.90829871e+02] [ 9.51091196e-01 3.08884819e-01 -3.96308536e-03 1.32263794e+02] [ 4.17631400e-03 -2.91522296e-05 9.99991279e-01 1.06014237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.85, Y:132.32, Z:1.06 [[ 3.06865527e-01 -9.51751972e-01 -1.31636450e-03 1.90848271e+02] [ 9.51743719e-01 3.06868349e-01 -3.96353768e-03 1.32317519e+02] [ 4.17625540e-03 -3.65685600e-05 9.99991279e-01 1.06274286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.87, Y:132.37, Z:1.06 [[ 3.02555095e-01 -9.53130991e-01 -1.31497762e-03 1.90865360e+02] [ 9.53122749e-01 3.02557948e-01 -3.96399775e-03 1.32371781e+02] [ 4.17606603e-03 -5.40073682e-05 9.99991279e-01 1.06289426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.88, Y:132.43, Z:1.06 [[ 2.97741101e-01 -9.54645752e-01 -1.31343442e-03 1.90882571e+02] [ 9.54637523e-01 2.97743989e-01 -3.96450901e-03 1.32426253e+02] [ 4.17576889e-03 -7.34564989e-05 9.99991279e-01 1.06174385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.90, Y:132.48, Z:1.06 [[ 2.91269849e-01 -9.56640034e-01 -1.31175381e-03 1.90900519e+02] [ 9.56631822e-01 2.91272785e-01 -3.96506500e-03 1.32480208e+02] [ 4.17521810e-03 -9.99615548e-05 9.99991279e-01 1.06299519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76275509600003 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:190.92, Y:132.53, Z:1.06 [[ 2.84812828e-01 -9.58582253e-01 -1.31039914e-03 1.90917456e+02] [ 9.58574059e-01 2.84815815e-01 -3.96551265e-03 1.32534638e+02] [ 4.17449245e-03 -1.26685744e-04 9.99991279e-01 1.06110257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.93, Y:132.59, Z:1.06 [[ 2.81653899e-01 -9.59515173e-01 -1.30897965e-03 1.90934245e+02] [ 9.59506987e-01 2.81656907e-01 -3.96598115e-03 1.32588830e+02] [ 4.17410225e-03 -1.38941068e-04 9.99991279e-01 1.06230109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.95, Y:132.64, Z:1.06 [[ 2.77861934e-01 -9.60620131e-01 -1.30751227e-03 1.90950549e+02] [ 9.60611954e-01 2.77864968e-01 -3.96646487e-03 1.32643670e+02] [ 4.17357785e-03 -1.53882315e-04 9.99991279e-01 1.06293728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.97, Y:132.70, Z:1.06 [[ 2.78078398e-01 -9.60557494e-01 -1.30611869e-03 1.90966989e+02] [ 9.60549314e-01 2.78081424e-01 -3.96692371e-03 1.32698445e+02] [ 4.17366564e-03 -1.51475618e-04 9.99991279e-01 1.06419094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00275509600004 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:190.98, Y:132.75, Z:1.06 [[ 2.80685739e-01 -9.59798840e-01 -1.30474503e-03 1.90982601e+02] [ 9.59790651e-01 2.80688737e-01 -3.96737546e-03 1.32753239e+02] [ 4.17410960e-03 -1.38696364e-04 9.99991279e-01 1.06269670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.00, Y:132.81, Z:1.07 [[ 2.85836526e-01 -9.58277508e-01 -1.30333300e-03 1.90998308e+02] [ 9.58269300e-01 2.85839475e-01 -3.96783927e-03 1.32808107e+02] [ 4.17483515e-03 -1.14790610e-04 9.99991279e-01 1.06606521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.122755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:191.01, Y:132.86, Z:1.07 [[ 2.89290893e-01 -9.57240348e-01 -1.30192423e-03 1.91014938e+02] [ 9.57232128e-01 2.89293806e-01 -3.96830146e-03 1.32862701e+02] [ 4.17525689e-03 -9.82502325e-05 9.99991279e-01 1.06537736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.03, Y:132.92, Z:1.07 [[ 2.95027842e-01 -9.55487771e-01 -1.30051742e-03 1.91031679e+02] [ 9.55479532e-01 2.95030699e-01 -3.96876246e-03 1.32917464e+02] [ 4.17579656e-03 -7.17223552e-05 9.99991279e-01 1.06863834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.05, Y:132.97, Z:1.07 [[ 2.99861114e-01 -9.53981983e-01 -1.29910449e-03 1.91047691e+02] [ 9.53973727e-01 2.99863924e-01 -3.96922490e-03 1.32971521e+02] [ 4.17612362e-03 -4.90953472e-05 9.99991279e-01 1.06974704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.06, Y:133.03, Z:1.07 [[ 3.02020096e-01 -9.53300675e-01 -1.29763679e-03 1.91064836e+02] [ 9.53292411e-01 3.02022882e-01 -3.96970467e-03 1.33025922e+02] [ 4.17623815e-03 -3.80967112e-05 9.99991279e-01 1.06970735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.08, Y:133.08, Z:1.07 [[ 3.03507643e-01 -9.52828122e-01 -1.29624703e-03 1.91082765e+02] [ 9.52819851e-01 3.03510410e-01 -3.97015843e-03 1.33079912e+02] [ 4.17630306e-03 -3.01164731e-05 9.99991279e-01 1.06987454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.10, Y:133.13, Z:1.07 [[ 3.01823336e-01 -9.53362993e-01 -1.29484209e-03 1.91100294e+02] [ 9.53354726e-01 3.01826111e-01 -3.97061659e-03 1.33133965e+02] [ 4.17625607e-03 -3.60190807e-05 9.99991279e-01 1.06832673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.12, Y:133.19, Z:1.07 [[ 2.98324772e-01 -9.54463544e-01 -1.29344589e-03 1.91118989e+02] [ 9.54455285e-01 2.98327572e-01 -3.97107135e-03 1.33188568e+02] [ 4.17611341e-03 -4.98673076e-05 9.99991279e-01 1.06826968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.14, Y:133.24, Z:1.07 [[ 2.92751646e-01 -9.56187641e-01 -1.29191058e-03 1.91137501e+02] [ 9.56179396e-01 2.92754487e-01 -3.97157077e-03 1.33241595e+02] [ 4.17577951e-03 -7.26144032e-05 9.99991279e-01 1.06884338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.16, Y:133.30, Z:1.07 [[ 2.88792692e-01 -9.57390786e-01 -1.29030811e-03 1.91156215e+02] [ 9.57382550e-01 2.88795561e-01 -3.97209132e-03 1.33295793e+02] [ 4.17547889e-03 -8.82075218e-05 9.99991279e-01 1.06838697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.18, Y:133.35, Z:1.07 [[ 2.83228404e-01 -9.59051620e-01 -1.28895297e-03 1.91175690e+02] [ 9.59043399e-01 2.83231315e-01 -3.97253102e-03 1.33349474e+02] [ 4.17493416e-03 -1.11028217e-04 9.99991279e-01 1.06916900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.19, Y:133.40, Z:1.07 [[ 2.78696463e-01 -9.60378375e-01 -1.28754041e-03 1.91194702e+02] [ 9.60370166e-01 2.78699407e-01 -3.97298880e-03 1.33403661e+02] [ 4.17440927e-03 -1.29257473e-04 9.99991279e-01 1.06994897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.782755096 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:191.21, Y:133.46, Z:1.07 [[ 2.76862182e-01 -9.60908777e-01 -1.28612768e-03 1.91212688e+02] [ 9.60900571e-01 2.76865136e-01 -3.97344607e-03 1.33456406e+02] [ 4.17420312e-03 -1.35743877e-04 9.99991279e-01 1.06590903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.23, Y:133.51, Z:1.07 [[ 2.76350060e-01 -9.61056187e-01 -1.28436889e-03 1.91230024e+02] [ 9.61047980e-01 2.76353011e-01 -3.97401449e-03 1.33511177e+02] [ 4.17419043e-03 -1.36120985e-04 9.99991279e-01 1.07168048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.25, Y:133.57, Z:1.07 [[ 2.78314773e-01 -9.60489064e-01 -1.28280472e-03 1.91246798e+02] [ 9.60480849e-01 2.78317701e-01 -3.97451934e-03 1.33566377e+02] [ 4.17450962e-03 -1.25941918e-04 9.99991279e-01 1.07271025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.26, Y:133.62, Z:1.07 [[ 2.82200080e-01 -9.59354717e-01 -1.28140831e-03 1.91262252e+02] [ 9.59346488e-01 2.82202968e-01 -3.97496950e-03 1.33620885e+02] [ 4.17502297e-03 -1.07577856e-04 9.99991279e-01 1.07262675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.28, Y:133.68, Z:1.07 [[ 2.85924138e-01 -9.58251402e-01 -1.27995704e-03 1.91278293e+02] [ 9.58243160e-01 2.85926989e-01 -3.97543676e-03 1.33675397e+02] [ 4.17544211e-03 -8.98367448e-05 9.99991279e-01 1.07465770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.30, Y:133.73, Z:1.08 [[ 2.89998074e-01 -9.57026375e-01 -1.27853786e-03 1.91299095e+02] [ 9.57018119e-01 2.90000884e-01 -3.97589313e-03 1.33730064e+02] [ 4.17581170e-03 -7.05825490e-05 9.99991279e-01 1.07782238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.31, Y:133.79, Z:1.08 [[ 2.87781746e-01 -9.57695168e-01 -1.27722010e-03 1.91312816e+02] [ 9.57686917e-01 2.87784570e-01 -3.97631640e-03 1.33787116e+02] [ 4.17566324e-03 -7.88657023e-05 9.99991279e-01 1.07650792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.33, Y:133.84, Z:1.08 [[ 2.86887003e-01 -9.57963579e-01 -1.27591290e-03 1.91330643e+02] [ 9.57955329e-01 2.86889829e-01 -3.97673581e-03 1.33840813e+02] [ 4.17561451e-03 -8.13937458e-05 9.99991279e-01 1.07623135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.35, Y:133.90, Z:1.08 [[ 2.85073338e-01 -9.58504861e-01 -1.27438849e-03 1.91348819e+02] [ 9.58496613e-01 2.85076173e-01 -3.97722427e-03 1.33895446e+02] [ 4.17548658e-03 -8.76964568e-05 9.99991279e-01 1.07547734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.37, Y:133.95, Z:1.08 [[ 2.84474775e-01 -9.58682681e-01 -1.27294905e-03 1.91366642e+02] [ 9.58674433e-01 2.84477609e-01 -3.97768492e-03 1.33949669e+02] [ 4.17546314e-03 -8.87926860e-05 9.99991279e-01 1.07570046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.39, Y:134.00, Z:1.07 [[ 2.83605073e-01 -9.58940324e-01 -1.27150413e-03 1.91385001e+02] [ 9.58932077e-01 2.83607909e-01 -3.97814675e-03 1.34003368e+02] [ 4.17541396e-03 -9.10634970e-05 9.99991279e-01 1.07484287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.40, Y:134.06, Z:1.07 [[ 2.83632056e-01 -9.58932346e-01 -1.27000595e-03 1.91402688e+02] [ 9.58924096e-01 2.83634886e-01 -3.97862498e-03 1.34057997e+02] [ 4.17545018e-03 -8.93737260e-05 9.99991279e-01 1.07246970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.42, Y:134.11, Z:1.07 [[ 2.87283638e-01 -9.57844717e-01 -1.26851186e-03 1.91420780e+02] [ 9.57836455e-01 2.87286429e-01 -3.97910128e-03 1.34112767e+02] [ 4.17578739e-03 -7.18962127e-05 9.99991279e-01 1.07356748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.44, Y:134.17, Z:1.07 [[ 2.89320349e-01 -9.57231493e-01 -1.26694672e-03 1.91438446e+02] [ 9.57223222e-01 2.89323117e-01 -3.97959956e-03 1.34167172e+02] [ 4.17595500e-03 -6.13716888e-05 9.99991279e-01 1.07269505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.46, Y:134.22, Z:1.07 [[ 2.92323179e-01 -9.56318753e-01 -1.26549302e-03 1.91456234e+02] [ 9.56310472e-01 2.92325914e-01 -3.98006178e-03 1.34220490e+02] [ 4.17614412e-03 -4.67399200e-05 9.99991279e-01 1.07261926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.47, Y:134.28, Z:1.07 [[ 2.95343223e-01 -9.55390382e-01 -1.26437829e-03 1.91473917e+02] [ 9.55382091e-01 2.95345927e-01 -3.98041587e-03 1.34275415e+02] [ 4.17628002e-03 -3.23755261e-05 9.99991279e-01 1.07435859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.49, Y:134.33, Z:1.08 [[ 2.96857955e-01 -9.54920813e-01 -1.26292927e-03 1.91491532e+02] [ 9.54912516e-01 2.96860640e-01 -3.98087557e-03 1.34328351e+02] [ 4.17633493e-03 -2.42323825e-05 9.99991279e-01 1.07523126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.51, Y:134.38, Z:1.08 [[ 2.96236972e-01 -9.55113640e-01 -1.26142597e-03 1.91510258e+02] [ 9.55105342e-01 2.96239656e-01 -3.98135187e-03 1.34382699e+02] [ 4.17632787e-03 -2.53710633e-05 9.99991279e-01 1.07567576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.53, Y:134.44, Z:1.08 [[ 2.94834755e-01 -9.55547424e-01 -1.26002088e-03 1.91528539e+02] [ 9.55539128e-01 2.94837446e-01 -3.98179650e-03 1.34436619e+02] [ 4.17629673e-03 -3.00272561e-05 9.99991279e-01 1.07628710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.922755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:191.55, Y:134.49, Z:1.07 [[ 2.91389145e-01 -9.56603775e-01 -1.25857582e-03 1.91546603e+02] [ 9.56595487e-01 2.91391860e-01 -3.98225321e-03 1.34490326e+02] [ 4.17617720e-03 -4.35625920e-05 9.99991279e-01 1.07485802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.57, Y:134.54, Z:1.07 [[ 2.87962490e-01 -9.57640864e-01 -1.25707928e-03 1.91566472e+02] [ 9.57632584e-01 2.87965228e-01 -3.98272556e-03 1.34543405e+02] [ 4.17601587e-03 -5.69445087e-05 9.99991279e-01 1.07485837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.042755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:191.58, Y:134.60, Z:1.07 [[ 2.81440858e-01 -9.59577755e-01 -1.25559525e-03 1.91583264e+02] [ 9.59569491e-01 2.81443646e-01 -3.98319337e-03 1.34597161e+02] [ 4.17556305e-03 -8.37975355e-05 9.99991279e-01 1.07478929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.102755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:191.60, Y:134.65, Z:1.08 [[ 2.77303310e-01 -9.60781610e-01 -1.25396599e-03 1.91600002e+02] [ 9.60773356e-01 2.77306127e-01 -3.98370622e-03 1.34650698e+02] [ 4.17520412e-03 -1.00082190e-04 9.99991279e-01 1.07687460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.62, Y:134.70, Z:1.08 [[ 2.74112633e-01 -9.61696779e-01 -1.25264822e-03 1.91618087e+02] [ 9.61688533e-01 2.74115472e-01 -3.98412053e-03 1.34704322e+02] [ 4.17488614e-03 -1.12559662e-04 9.99991279e-01 1.07663471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.63, Y:134.76, Z:1.08 [[ 2.71301466e-01 -9.62493610e-01 -1.25102471e-03 1.91634257e+02] [ 9.62485370e-01 2.71304322e-01 -3.98463026e-03 1.34757762e+02] [ 4.17458957e-03 -1.23056951e-04 9.99991279e-01 1.07657011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.65, Y:134.81, Z:1.08 [[ 2.70359753e-01 -9.62758559e-01 -1.24949284e-03 1.91650021e+02] [ 9.62750319e-01 2.70362611e-01 -3.98511056e-03 1.34812779e+02] [ 4.17451545e-03 -1.25536127e-04 9.99991279e-01 1.07783676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.342755096 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:191.67, Y:134.87, Z:1.08 [[ 2.72899717e-01 -9.62041676e-01 -1.24806633e-03 1.91666354e+02] [ 9.62033427e-01 2.72902547e-01 -3.98555727e-03 1.34868126e+02] [ 4.17487267e-03 -1.13024078e-04 9.99991279e-01 1.07723371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.402755096 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:191.68, Y:134.92, Z:1.08 [[ 2.77249061e-01 -9.60797275e-01 -1.24644003e-03 1.91681082e+02] [ 9.60789011e-01 2.77251847e-01 -3.98606581e-03 1.34922485e+02] [ 4.17537897e-03 -9.24328846e-05 9.99991279e-01 1.07861562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.69, Y:134.98, Z:1.08 [[ 2.81141001e-01 -9.59665665e-01 -1.24492141e-03 1.91694618e+02] [ 9.59657387e-01 2.81143747e-01 -3.98654005e-03 1.34979098e+02] [ 4.17574747e-03 -7.39181729e-05 9.99991279e-01 1.07950673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.71, Y:135.03, Z:1.08 [[ 2.86714579e-01 -9.58015242e-01 -1.24360824e-03 1.91710077e+02] [ 9.58006947e-01 2.86717272e-01 -3.98694965e-03 1.35032950e+02] [ 4.17612250e-03 -4.82687473e-05 9.99991279e-01 1.08450620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.582755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:191.73, Y:135.09, Z:1.08 [[ 2.88796645e-01 -9.57389657e-01 -1.24207849e-03 1.91725642e+02] [ 9.57381354e-01 2.88799314e-01 -3.98742617e-03 1.35088230e+02] [ 4.17623198e-03 -3.75874856e-05 9.99991279e-01 1.08160666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64275509600003 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:191.74, Y:135.14, Z:1.08 [[ 2.88278802e-01 -9.57545713e-01 -1.24068561e-03 1.91740770e+02] [ 9.57537410e-01 2.88281469e-01 -3.98785951e-03 1.35142177e+02] [ 4.17622445e-03 -3.83875210e-05 9.99991279e-01 1.08262177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70275509600003 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:191.76, Y:135.20, Z:1.08 [[ 2.86794049e-01 -9.57991460e-01 -1.23912813e-03 1.91756695e+02] [ 9.57983159e-01 2.86796723e-01 -3.98834340e-03 1.35196893e+02] [ 4.17617681e-03 -4.32307279e-05 9.99991279e-01 1.08287075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.77, Y:135.25, Z:1.08 [[ 2.83431669e-01 -9.58991636e-01 -1.23775392e-03 1.91772284e+02] [ 9.58983342e-01 2.83434366e-01 -3.98876983e-03 1.35252267e+02] [ 4.17601890e-03 -5.64416977e-05 9.99991279e-01 1.08490245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.79, Y:135.31, Z:1.08 [[ 2.82348785e-01 -9.59311021e-01 -1.23637350e-03 1.91788816e+02] [ 9.59302728e-01 2.82351486e-01 -3.98919767e-03 1.35305494e+02] [ 4.17597318e-03 -5.97113537e-05 9.99991279e-01 1.08285087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.80, Y:135.36, Z:1.08 [[ 2.77795743e-01 -9.60639371e-01 -1.23477966e-03 1.91803716e+02] [ 9.60631089e-01 2.77798476e-01 -3.98969095e-03 1.35359535e+02] [ 4.17567411e-03 -7.78485633e-05 9.99991279e-01 1.08059115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.82, Y:135.42, Z:1.08 [[ 2.72701994e-01 -9.62097761e-01 -1.23317387e-03 1.91818671e+02] [ 9.62089492e-01 2.72704765e-01 -3.99018722e-03 1.35415319e+02] [ 4.17524258e-03 -9.82916108e-05 9.99991279e-01 1.08188889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.83, Y:135.47, Z:1.08 [[ 2.67352872e-01 -9.63597906e-01 -1.23157287e-03 1.91834492e+02] [ 9.63589650e-01 2.67355682e-01 -3.99068131e-03 1.35469801e+02] [ 4.17468016e-03 -1.19810766e-04 9.99991279e-01 1.08151095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.85, Y:135.52, Z:1.08 [[ 2.65517530e-01 -9.64105248e-01 -1.22992527e-03 1.91850594e+02] [ 9.64096994e-01 2.65520349e-01 -3.99118903e-03 1.35524415e+02] [ 4.17449648e-03 -1.26036605e-04 9.99991279e-01 1.07954538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.87, Y:135.58, Z:1.08 [[ 2.62866683e-01 -9.64831383e-01 -1.22845398e-03 1.91865475e+02] [ 9.64823136e-01 2.62869518e-01 -3.99164183e-03 1.35578711e+02] [ 4.17418442e-03 -1.35971175e-04 9.99991279e-01 1.08118929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.88, Y:135.63, Z:1.08 [[ 2.61431264e-01 -9.65221316e-01 -1.22680872e-03 1.91882321e+02] [ 9.65213071e-01 2.61434105e-01 -3.99214743e-03 1.35633828e+02] [ 4.17403544e-03 -1.40459663e-04 9.99991279e-01 1.08253226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.90, Y:135.69, Z:1.08 [[ 2.61651884e-01 -9.65161536e-01 -1.22538057e-03 1.91899100e+02] [ 9.65153287e-01 2.61654717e-01 -3.99258575e-03 1.35687616e+02] [ 4.17411680e-03 -1.38012501e-04 9.99991279e-01 1.08097165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.302755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:191.92, Y:135.74, Z:1.08 [[ 2.61227500e-01 -9.65276487e-01 -1.22389894e-03 1.91915536e+02] [ 9.65268237e-01 2.61230330e-01 -3.99303988e-03 1.35742715e+02] [ 4.17410703e-03 -1.38298952e-04 9.99991279e-01 1.08221678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.93, Y:135.80, Z:1.08 [[ 2.62850751e-01 -9.64835731e-01 -1.22247780e-03 1.91930781e+02] [ 9.64827475e-01 2.62853561e-01 -3.99347492e-03 1.35798042e+02] [ 4.17437994e-03 -1.29792288e-04 9.99991279e-01 1.08226100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.95, Y:135.85, Z:1.08 [[ 2.63254559e-01 -9.64725633e-01 -1.22101536e-03 1.91946345e+02] [ 9.64717374e-01 2.63257360e-01 -3.99392201e-03 1.35852354e+02] [ 4.17448022e-03 -1.26516549e-04 9.99991279e-01 1.08209109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.96, Y:135.91, Z:1.08 [[ 2.64783211e-01 -9.64307194e-01 -1.21938000e-03 1.91962210e+02] [ 9.64298928e-01 2.64785992e-01 -3.99442124e-03 1.35907406e+02] [ 4.17472388e-03 -1.18191143e-04 9.99991279e-01 1.08118186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.98, Y:135.96, Z:1.08 [[ 2.65576065e-01 -9.64089140e-01 -1.21798367e-03 1.91978071e+02] [ 9.64080870e-01 2.65578834e-01 -3.99484696e-03 1.35962475e+02] [ 4.17485926e-03 -1.13299022e-04 9.99991279e-01 1.07997882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.99, Y:136.02, Z:1.08 [[ 2.66173298e-01 -9.63924424e-01 -1.21653921e-03 1.91994930e+02] [ 9.63916150e-01 2.66176056e-01 -3.99528680e-03 1.36017605e+02] [ 4.17496813e-03 -1.09203125e-04 9.99991279e-01 1.07866900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.01, Y:136.07, Z:1.08 [[ 2.65757946e-01 -9.64039023e-01 -1.21508610e-03 1.92013012e+02] [ 9.64030748e-01 2.65760701e-01 -3.99572868e-03 1.36072437e+02] [ 4.17496051e-03 -1.09483716e-04 9.99991279e-01 1.07849359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.03, Y:136.13, Z:1.08 [[ 2.65519996e-01 -9.64104589e-01 -1.21362607e-03 1.92030713e+02] [ 9.64096313e-01 2.65522747e-01 -3.99617209e-03 1.36127231e+02] [ 4.17497318e-03 -1.08988825e-04 9.99991279e-01 1.07770546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.05, Y:136.18, Z:1.08 [[ 2.65276114e-01 -9.64171724e-01 -1.21217532e-03 1.92048812e+02] [ 9.64163447e-01 2.65278861e-01 -3.99661210e-03 1.36181505e+02] [ 4.17498487e-03 -1.08529412e-04 9.99991279e-01 1.07703187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.07, Y:136.23, Z:1.08 [[ 2.66942548e-01 -9.63711684e-01 -1.21072978e-03 1.92070480e+02] [ 9.63703400e-01 2.66945275e-01 -3.99704996e-03 1.36234621e+02] [ 4.17520234e-03 -9.98017081e-05 9.99991279e-01 1.07854759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.902755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:192.09, Y:136.29, Z:1.08 [[ 2.64868934e-01 -9.64283664e-01 -1.20933313e-03 1.92086875e+02] [ 9.64275384e-01 2.64871673e-01 -3.99747248e-03 1.36288881e+02] [ 4.17501550e-03 -1.07323893e-04 9.99991279e-01 1.07665349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.11, Y:136.34, Z:1.08 [[ 2.63446772e-01 -9.64673178e-01 -1.20777140e-03 1.92107386e+02] [ 9.64664900e-01 2.63449517e-01 -3.99794428e-03 1.36342092e+02] [ 4.17489640e-03 -1.11849167e-04 9.99991279e-01 1.07691613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.13, Y:136.40, Z:1.08 [[ 2.62060458e-01 -9.65050704e-01 -1.20636636e-03 1.92126172e+02] [ 9.65042428e-01 2.62063208e-01 -3.99836820e-03 1.36396624e+02] [ 4.17477228e-03 -1.16380526e-04 9.99991279e-01 1.07738722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.14, Y:136.45, Z:1.08 [[ 2.60039261e-01 -9.65597292e-01 -1.20497445e-03 1.92144347e+02] [ 9.65589020e-01 2.60042024e-01 -3.99878763e-03 1.36450490e+02] [ 4.17456250e-03 -1.23668318e-04 9.99991279e-01 1.07695619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.16, Y:136.50, Z:1.08 [[ 2.57906935e-01 -9.66169014e-01 -1.20354869e-03 1.92163000e+02] [ 9.66160746e-01 2.57909710e-01 -3.99921671e-03 1.36504973e+02] [ 4.17432616e-03 -1.31395772e-04 9.99991279e-01 1.07725156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.18, Y:136.56, Z:1.08 [[ 2.56936455e-01 -9.66427552e-01 -1.20210264e-03 1.92179814e+02] [ 9.66419285e-01 2.56939232e-01 -3.99965132e-03 1.36559253e+02] [ 4.17424056e-03 -1.34078943e-04 9.99991279e-01 1.07730547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.20, Y:136.61, Z:1.08 [[ 2.57874416e-01 -9.66177698e-01 -1.20065644e-03 1.92195511e+02] [ 9.66169426e-01 2.57877179e-01 -4.00008541e-03 1.36613042e+02] [ 4.17441521e-03 -1.28517856e-04 9.99991279e-01 1.07788898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.21, Y:136.67, Z:1.08 [[ 2.60358973e-01 -9.65511143e-01 -1.19915321e-03 1.92211831e+02] [ 9.65502862e-01 2.60361708e-01 -4.00053600e-03 1.36668425e+02] [ 4.17477566e-03 -1.16210413e-04 9.99991279e-01 1.07674946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.23, Y:136.72, Z:1.08 [[ 2.62404666e-01 -9.64957179e-01 -1.19775933e-03 1.92227379e+02] [ 9.64948890e-01 2.62407379e-01 -4.00095328e-03 1.36723200e+02] [ 4.17504948e-03 -1.05907721e-04 9.99991279e-01 1.07561862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.24, Y:136.78, Z:1.08 [[ 2.62286024e-01 -9.64989436e-01 -1.19635491e-03 1.92242044e+02] [ 9.64981145e-01 2.62288731e-01 -4.00137318e-03 1.36777568e+02] [ 4.17507326e-03 -1.04955673e-04 9.99991279e-01 1.07558974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.26, Y:136.83, Z:1.08 [[ 2.60203518e-01 -9.65553054e-01 -1.19528021e-03 1.92257680e+02] [ 9.65544768e-01 2.60206239e-01 -4.00169419e-03 1.36832465e+02] [ 4.17486742e-03 -1.12841648e-04 9.99991279e-01 1.07610833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.27, Y:136.89, Z:1.08 [[ 2.57847363e-01 -9.66184926e-01 -1.19388260e-03 1.92273250e+02] [ 9.66176645e-01 2.57850099e-01 -4.00211112e-03 1.36887884e+02] [ 4.17462218e-03 -1.21567691e-04 9.99991279e-01 1.07702578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.29, Y:136.94, Z:1.08 [[ 2.56141364e-01 -9.66638598e-01 -1.19246126e-03 1.92287636e+02] [ 9.66630320e-01 2.56144108e-01 -4.00253457e-03 1.36943750e+02] [ 4.17444633e-03 -1.27454546e-04 9.99991279e-01 1.07706170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.30, Y:137.00, Z:1.08 [[ 2.52294921e-01 -9.67649655e-01 -1.19105251e-03 1.92300902e+02] [ 9.67641386e-01 2.52297692e-01 -4.00295374e-03 1.36999030e+02] [ 4.17395660e-03 -1.42586804e-04 9.99991279e-01 1.07667797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.32, Y:137.05, Z:1.08 [[ 2.50994560e-01 -9.67987766e-01 -1.18962614e-03 1.92316088e+02] [ 9.67979499e-01 2.50997336e-01 -4.00337759e-03 1.37054734e+02] [ 4.17381352e-03 -1.46707724e-04 9.99991279e-01 1.07699721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.33, Y:137.11, Z:1.08 [[ 2.51445382e-01 -9.67870760e-01 -1.18819573e-03 1.92328568e+02] [ 9.67862489e-01 2.51448148e-01 -4.00380209e-03 1.37109915e+02] [ 4.17393259e-03 -1.43272530e-04 9.99991279e-01 1.07668503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.34, Y:137.17, Z:1.08 [[ 2.53738804e-01 -9.67272046e-01 -1.18671305e-03 1.92341158e+02] [ 9.67263767e-01 2.53741544e-01 -4.00424150e-03 1.37165903e+02] [ 4.17430927e-03 -1.31833089e-04 9.99991279e-01 1.07504569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.36, Y:137.22, Z:1.07 [[ 2.55249012e-01 -9.66874623e-01 -1.18524992e-03 1.92355144e+02] [ 9.66866338e-01 2.55251733e-01 -4.00467454e-03 1.37220832e+02] [ 4.17455528e-03 -1.23789029e-04 9.99991279e-01 1.07431040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.37, Y:137.28, Z:1.07 [[ 2.57120188e-01 -9.66378708e-01 -1.18373257e-03 1.92369081e+02] [ 9.66370415e-01 2.57122888e-01 -4.00512300e-03 1.37276877e+02] [ 4.17483033e-03 -1.14126159e-04 9.99991279e-01 1.07347365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.38, Y:137.33, Z:1.07 [[ 2.57274988e-01 -9.66337510e-01 -1.18218003e-03 1.92383239e+02] [ 9.66329215e-01 2.57277680e-01 -4.00558121e-03 1.37332327e+02] [ 4.17489190e-03 -1.11839240e-04 9.99991279e-01 1.07421610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.40, Y:137.39, Z:1.07 [[ 2.56080678e-01 -9.66654691e-01 -1.18061289e-03 1.92398488e+02] [ 9.66646397e-01 2.56083374e-01 -4.00604305e-03 1.37387782e+02] [ 4.17479564e-03 -1.15364977e-04 9.99991279e-01 1.07478492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.41, Y:137.44, Z:1.08 [[ 2.54639919e-01 -9.67035222e-01 -1.17920879e-03 1.92413580e+02] [ 9.67026930e-01 2.54642621e-01 -4.00645632e-03 1.37442655e+02] [ 4.17466119e-03 -1.20122939e-04 9.99991279e-01 1.07563050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.43, Y:137.50, Z:1.08 [[ 2.52585182e-01 -9.67573945e-01 -1.17782105e-03 1.92427692e+02] [ 9.67565657e-01 2.52587896e-01 -4.00686425e-03 1.37497751e+02] [ 4.17444078e-03 -1.27544664e-04 9.99991279e-01 1.07535761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.44, Y:137.55, Z:1.07 [[ 2.50822935e-01 -9.68032268e-01 -1.17637888e-03 1.92442327e+02] [ 9.68023983e-01 2.50825658e-01 -4.00728761e-03 1.37553167e+02] [ 4.17424972e-03 -1.33643332e-04 9.99991279e-01 1.07428178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.46, Y:137.61, Z:1.07 [[ 2.49112783e-01 -9.68473769e-01 -1.17493171e-03 1.92457904e+02] [ 9.68465487e-01 2.49115515e-01 -4.00771187e-03 1.37607840e+02] [ 4.17405754e-03 -1.39508552e-04 9.99991279e-01 1.07402868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.47, Y:137.66, Z:1.07 [[ 2.46173992e-01 -9.69224942e-01 -1.17350450e-03 1.92471170e+02] [ 9.69216666e-01 2.46176743e-01 -4.00812973e-03 1.37664839e+02] [ 4.17366882e-03 -1.50682825e-04 9.99991279e-01 1.07000960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.49, Y:137.72, Z:1.07 [[ 2.47074275e-01 -9.68995835e-01 -1.17215727e-03 1.92487422e+02] [ 9.68987555e-01 2.47077012e-01 -4.00852368e-03 1.37721008e+02] [ 4.17385587e-03 -1.45402727e-04 9.99991279e-01 1.06964933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.50, Y:137.78, Z:1.07 [[ 2.49801046e-01 -9.68296477e-01 -1.17080674e-03 1.92503724e+02] [ 9.68288187e-01 2.49803755e-01 -4.00891811e-03 1.37775222e+02] [ 4.17429320e-03 -1.32246403e-04 9.99991279e-01 1.07003248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.52, Y:137.83, Z:1.07 [[ 2.54197566e-01 -9.67151606e-01 -1.16940642e-03 1.92520103e+02] [ 9.67143303e-01 2.54200231e-01 -4.00932654e-03 1.37829475e+02] [ 4.17488999e-03 -1.11822542e-04 9.99991279e-01 1.07150757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.54, Y:137.88, Z:1.07 [[ 2.57430967e-01 -9.66295986e-01 -1.16787142e-03 1.92535832e+02] [ 9.66287672e-01 2.57433598e-01 -4.00977362e-03 1.37883880e+02] [ 4.17527750e-03 -9.62598551e-05 9.99991279e-01 1.07142282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.55, Y:137.94, Z:1.07 [[ 2.63419662e-01 -9.64680632e-01 -1.16637315e-03 1.92552532e+02] [ 9.64672299e-01 2.63422235e-01 -4.01020939e-03 1.37938575e+02] [ 4.17581995e-03 -6.87998681e-05 9.99991279e-01 1.07276548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.57, Y:137.99, Z:1.07 [[ 2.64962100e-01 -9.64258123e-01 -1.16495789e-03 1.92568751e+02] [ 9.64249785e-01 2.64964654e-01 -4.01062048e-03 1.37992961e+02] [ 4.17594604e-03 -6.06479717e-05 9.99991279e-01 1.07291909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.59, Y:138.05, Z:1.07 [[ 2.65106617e-01 -9.64218402e-01 -1.16352532e-03 1.92585321e+02] [ 9.64210061e-01 2.65109164e-01 -4.01103604e-03 1.38047051e+02] [ 4.17597599e-03 -5.85306203e-05 9.99991279e-01 1.07260219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.60, Y:138.10, Z:1.07 [[ 2.61476904e-01 -9.65209034e-01 -1.16203997e-03 1.92602281e+02] [ 9.65200700e-01 2.61479476e-01 -4.01146632e-03 1.38100045e+02] [ 4.17575313e-03 -7.26959975e-05 9.99991279e-01 1.07421683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.62, Y:138.15, Z:1.08 [[ 2.59370409e-01 -9.65777223e-01 -1.16046035e-03 1.92620486e+02] [ 9.65768893e-01 2.59372993e-01 -4.01192323e-03 1.38154365e+02] [ 4.17561615e-03 -8.01623367e-05 9.99991279e-01 1.07613365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.64, Y:138.21, Z:1.08 [[ 2.56200530e-01 -9.66622959e-01 -1.15891534e-03 1.92637602e+02] [ 9.66614636e-01 2.56203134e-01 -4.01236948e-03 1.38209248e+02] [ 4.17536620e-03 -9.22533407e-05 9.99991279e-01 1.07651700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.65, Y:138.26, Z:1.08 [[ 2.54207122e-01 -9.67149109e-01 -1.15746898e-03 1.92654141e+02] [ 9.67140789e-01 2.54209738e-01 -4.01278668e-03 1.38263410e+02] [ 4.17520295e-03 -9.93565135e-05 9.99991279e-01 1.07647515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.67, Y:138.32, Z:1.07 [[ 2.51128192e-01 -9.67953147e-01 -1.15636368e-03 1.92671936e+02] [ 9.67944834e-01 2.51130829e-01 -4.01310517e-03 1.38318036e+02] [ 4.17489634e-03 -1.11492406e-04 9.99991279e-01 1.07351717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.69, Y:138.37, Z:1.07 [[ 2.50540835e-01 -9.68105344e-01 -1.15487655e-03 1.92687972e+02] [ 9.68097031e-01 2.50543471e-01 -4.01353308e-03 1.38372937e+02] [ 4.17486960e-03 -1.12478634e-04 9.99991279e-01 1.07243636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.70, Y:138.43, Z:1.07 [[ 2.51365920e-01 -9.67891442e-01 -1.15341593e-03 1.92704210e+02] [ 9.67883125e-01 2.51368544e-01 -4.01395279e-03 1.38427143e+02] [ 4.17500304e-03 -1.07400880e-04 9.99991279e-01 1.06948176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.72, Y:138.48, Z:1.07 [[ 2.52764392e-01 -9.67527176e-01 -1.15190382e-03 1.92720948e+02] [ 9.67518853e-01 2.52766997e-01 -4.01438668e-03 1.38481967e+02] [ 4.17519148e-03 -9.97946585e-05 9.99991279e-01 1.06993278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.74, Y:138.54, Z:1.07 [[ 2.54767806e-01 -9.67001573e-01 -1.15047076e-03 1.92737477e+02] [ 9.66993242e-01 2.54770388e-01 -4.01479734e-03 1.38535481e+02] [ 4.17542122e-03 -8.96563440e-05 9.99991279e-01 1.07235977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.75, Y:138.59, Z:1.07 [[ 2.56711771e-01 -9.66487323e-01 -1.14898754e-03 1.92754635e+02] [ 9.66478986e-01 2.56714330e-01 -4.01522177e-03 1.38589507e+02] [ 4.17562251e-03 -7.97176245e-05 9.99991279e-01 1.07465358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.77, Y:138.64, Z:1.08 [[ 2.58159559e-01 -9.66101612e-01 -1.14753058e-03 1.92770960e+02] [ 9.66093269e-01 2.58162099e-01 -4.01563812e-03 1.38644515e+02] [ 4.17576337e-03 -7.19462022e-05 9.99991279e-01 1.07580244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.79, Y:138.70, Z:1.08 [[ 2.61350022e-01 -9.65243416e-01 -1.14612893e-03 1.92786942e+02] [ 9.65235063e-01 2.61352529e-01 -4.01603814e-03 1.38698019e+02] [ 4.17599806e-03 -5.66921733e-05 9.99991279e-01 1.07668795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.80, Y:138.75, Z:1.08 [[ 2.63645405e-01 -9.64618987e-01 -1.14467422e-03 1.92802434e+02] [ 9.64610626e-01 2.63647886e-01 -4.01645272e-03 1.38751634e+02] [ 4.17613749e-03 -4.52456103e-05 9.99991279e-01 1.07708437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.82, Y:138.80, Z:1.08 [[ 2.62928085e-01 -9.64814757e-01 -1.14313535e-03 1.92818899e+02] [ 9.64806396e-01 2.62930566e-01 -4.01689066e-03 1.38804575e+02] [ 4.17612061e-03 -4.67509354e-05 9.99991279e-01 1.07599138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.84, Y:138.86, Z:1.07 [[ 2.60523116e-01 -9.65466935e-01 -1.14162490e-03 1.92835468e+02] [ 9.65458578e-01 2.60525612e-01 -4.01731989e-03 1.38858089e+02] [ 4.17601205e-03 -5.55868582e-05 9.99991279e-01 1.07489234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.85, Y:138.91, Z:1.08 [[ 2.59510053e-01 -9.65739733e-01 -1.14020949e-03 1.92850035e+02] [ 9.65731377e-01 2.59512552e-01 -4.01772158e-03 1.38913739e+02] [ 4.17597204e-03 -5.84969380e-05 9.99991279e-01 1.07605467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.86, Y:138.97, Z:1.08 [[ 2.59112000e-01 -9.65846610e-01 -1.13880503e-03 1.92863329e+02] [ 9.65838254e-01 2.59114496e-01 -4.01811963e-03 1.38969221e+02] [ 4.17596811e-03 -5.87584475e-05 9.99991279e-01 1.07571613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.88, Y:139.02, Z:1.07 [[ 2.58978017e-01 -9.65882546e-01 -1.13740087e-03 1.92878155e+02] [ 9.65874188e-01 2.58980508e-01 -4.01851706e-03 1.39024890e+02] [ 4.17598014e-03 -5.78785652e-05 9.99991279e-01 1.07454531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.89, Y:139.08, Z:1.07 [[ 2.57608083e-01 -9.66248821e-01 -1.13606206e-03 1.92890918e+02] [ 9.66240466e-01 2.57610581e-01 -4.01889551e-03 1.39079876e+02] [ 4.17591466e-03 -6.24091631e-05 9.99991279e-01 1.07295872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.90, Y:139.14, Z:1.07 [[ 2.56251237e-01 -9.66609547e-01 -1.13449885e-03 1.92904619e+02] [ 9.66601193e-01 2.56253740e-01 -4.01933675e-03 1.39135124e+02] [ 4.17584884e-03 -6.66479237e-05 9.99991279e-01 1.07432455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.92, Y:139.19, Z:1.08 [[ 2.54103576e-01 -9.67176348e-01 -1.13305220e-03 1.92918659e+02] [ 9.67167998e-01 2.54106092e-01 -4.01974452e-03 1.39190600e+02] [ 4.17571729e-03 -7.44203681e-05 9.99991279e-01 1.07520513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.93, Y:139.25, Z:1.08 [[ 2.50978221e-01 -9.67992072e-01 -1.13160009e-03 1.92933208e+02] [ 9.67983728e-01 2.50980757e-01 -4.02015326e-03 1.39246327e+02] [ 4.17548633e-03 -8.63995636e-05 9.99991279e-01 1.07826228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.95, Y:139.30, Z:1.08 [[ 2.49051099e-01 -9.68489686e-01 -1.13011967e-03 1.92947791e+02] [ 9.68481345e-01 2.49053646e-01 -4.02056938e-03 1.39301120e+02] [ 4.17534040e-03 -9.31725959e-05 9.99991279e-01 1.07952501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.96, Y:139.36, Z:1.08 [[ 2.46754882e-01 -9.69077270e-01 -1.12858697e-03 1.92962554e+02] [ 9.69068933e-01 2.46757442e-01 -4.02099957e-03 1.39357400e+02] [ 4.17514652e-03 -1.01477300e-04 9.99991279e-01 1.08214215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.98, Y:139.41, Z:1.08 [[ 2.45181023e-01 -9.69476661e-01 -1.12726869e-03 1.92976383e+02] [ 9.69468326e-01 2.45183591e-01 -4.02136911e-03 1.39412188e+02] [ 4.17501128e-03 -1.06887896e-04 9.99991279e-01 1.08264964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.99, Y:139.47, Z:1.08 [[ 2.45396971e-01 -9.69422023e-01 -1.12613547e-03 1.92990164e+02] [ 9.69413687e-01 2.45399532e-01 -4.02168643e-03 1.39466480e+02] [ 4.17506451e-03 -1.04781474e-04 9.99991279e-01 1.08257160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44275509600004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:193.00, Y:139.52, Z:1.08 [[ 2.45260695e-01 -9.69456511e-01 -1.12464528e-03 1.93004183e+02] [ 9.69448173e-01 2.45263251e-01 -4.02210311e-03 1.39521699e+02] [ 4.17508820e-03 -1.03821515e-04 9.99991279e-01 1.08261414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.02, Y:139.58, Z:1.08 [[ 2.44550832e-01 -9.69635823e-01 -1.12322114e-03 1.93019497e+02] [ 9.69627485e-01 2.44553389e-01 -4.02250078e-03 1.39577323e+02] [ 4.17504839e-03 -1.05400180e-04 9.99991279e-01 1.08240097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.04, Y:139.63, Z:1.08 [[ 2.40846299e-01 -9.70562621e-01 -1.12179813e-03 1.93035035e+02] [ 9.70554291e-01 2.40848881e-01 -4.02289759e-03 1.39632923e+02] [ 4.17465785e-03 -1.19865992e-04 9.99991279e-01 1.08193868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.05, Y:139.69, Z:1.08 [[ 2.38756330e-01 -9.71078863e-01 -1.12080724e-03 1.93050669e+02] [ 9.71070538e-01 2.38758927e-01 -4.02317364e-03 1.39687473e+02] [ 4.17442162e-03 -1.27824713e-04 9.99991279e-01 1.08276620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.07, Y:139.74, Z:1.08 [[ 2.37389619e-01 -9.71413875e-01 -1.11933233e-03 1.93066234e+02] [ 9.71405551e-01 2.37392221e-01 -4.02358395e-03 1.39741334e+02] [ 4.17428606e-03 -1.32168575e-04 9.99991279e-01 1.08383620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.08, Y:139.79, Z:1.08 [[ 2.39555892e-01 -9.70881932e-01 -1.11788458e-03 1.93080877e+02] [ 9.70873600e-01 2.39558470e-01 -4.02398614e-03 1.39794635e+02] [ 4.17461416e-03 -1.21355035e-04 9.99991279e-01 1.08498592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.10, Y:139.85, Z:1.09 [[ 2.44554745e-01 -9.69634844e-01 -1.11631343e-03 1.93095535e+02] [ 9.69626497e-01 2.44557273e-01 -4.02442195e-03 1.39850384e+02] [ 4.17522232e-03 -9.82155968e-05 9.99991279e-01 1.08658143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.862755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:193.11, Y:139.91, Z:1.08 [[ 2.51424268e-01 -9.67876332e-01 -1.11487289e-03 1.93109910e+02] [ 9.67867966e-01 2.51426731e-01 -4.02482098e-03 1.39906026e+02] [ 4.17583782e-03 -6.71120861e-05 9.99991279e-01 1.08469366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.12, Y:139.96, Z:1.09 [[ 2.55542089e-01 -9.66797290e-01 -1.11343088e-03 1.93124065e+02] [ 9.66788912e-01 2.55544511e-01 -4.02521986e-03 1.39961496e+02] [ 4.17610281e-03 -4.78395345e-05 9.99991279e-01 1.08763173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.982755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:193.14, Y:140.02, Z:1.09 [[ 2.60242238e-01 -9.65542718e-01 -1.11196192e-03 1.93138606e+02] [ 9.65534327e-01 2.60244613e-01 -4.02562562e-03 1.40017263e+02] [ 4.17629560e-03 -2.59995812e-05 9.99991279e-01 1.08678121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.15, Y:140.07, Z:1.09 [[ 2.62314741e-01 -9.64981732e-01 -1.11048225e-03 1.93151630e+02] [ 9.64973334e-01 2.62317091e-01 -4.02603375e-03 1.40071639e+02] [ 4.17634750e-03 -1.54977633e-05 9.99991279e-01 1.08821057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.17, Y:140.13, Z:1.09 [[ 2.61610379e-01 -9.65172927e-01 -1.10894935e-03 1.93165891e+02] [ 9.65164529e-01 2.61612729e-01 -4.02645594e-03 1.40127309e+02] [ 4.17634153e-03 -1.69559106e-05 9.99991279e-01 1.08906025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.18, Y:140.18, Z:1.09 [[ 2.58956836e-01 -9.65888260e-01 -1.10748266e-03 1.93180423e+02] [ 9.65879866e-01 2.58959202e-01 -4.02685931e-03 1.40181961e+02] [ 4.17628896e-03 -2.69124560e-05 9.99991279e-01 1.08806819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.19, Y:140.24, Z:1.09 [[ 2.54288419e-01 -9.67127798e-01 -1.10596202e-03 1.93194831e+02] [ 9.67119414e-01 2.54290820e-01 -4.02727690e-03 1.40237564e+02] [ 4.17612743e-03 -4.55074639e-05 9.99991279e-01 1.08609601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.21, Y:140.29, Z:1.08 [[ 2.49292442e-01 -9.68427622e-01 -1.10452483e-03 1.93210190e+02] [ 9.68419248e-01 2.49294880e-01 -4.02767103e-03 1.40291183e+02] [ 4.17586026e-03 -6.55751567e-05 9.99991279e-01 1.08456870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.23, Y:140.35, Z:1.09 [[ 2.45539802e-01 -9.69385883e-01 -1.10303686e-03 1.93225732e+02] [ 9.69377517e-01 2.45542266e-01 -4.02807849e-03 1.40346544e+02] [ 4.17560459e-03 -8.02055366e-05 9.99991279e-01 1.08552951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.24, Y:140.40, Z:1.09 [[ 2.40971447e-01 -9.70531580e-01 -1.10158841e-03 1.93241689e+02] [ 9.70523225e-01 2.40973945e-01 -4.02847457e-03 1.40400176e+02] [ 4.17521590e-03 -9.83697886e-05 9.99991279e-01 1.08506741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.462755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:193.26, Y:140.45, Z:1.09 [[ 2.38578616e-01 -9.71122564e-01 -1.10009261e-03 1.93257210e+02] [ 9.71114212e-01 2.38581129e-01 -4.02888300e-03 1.40454898e+02] [ 4.17500053e-03 -1.07110234e-04 9.99991279e-01 1.08613897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.27, Y:140.51, Z:1.09 [[ 2.37966292e-01 -9.71272792e-01 -1.09864608e-03 1.93273036e+02] [ 9.71264441e-01 2.37968803e-01 -4.02927742e-03 1.40509416e+02] [ 4.17497103e-03 -1.08243660e-04 9.99991279e-01 1.08764744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.29, Y:140.56, Z:1.09 [[ 2.38908457e-01 -9.71041475e-01 -1.09719320e-03 1.93288633e+02] [ 9.71033119e-01 2.38910955e-01 -4.02967301e-03 1.40563424e+02] [ 4.17511110e-03 -1.02687971e-04 9.99991279e-01 1.08675698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64275509600003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:193.30, Y:140.62, Z:1.09 [[ 2.39642804e-01 -9.70860508e-01 -1.09568570e-03 1.93303417e+02] [ 9.70852148e-01 2.39645289e-01 -4.03008286e-03 1.40619049e+02] [ 4.17522421e-03 -9.79684573e-05 9.99991279e-01 1.08911717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70275509600003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:193.32, Y:140.67, Z:1.09 [[ 2.40434551e-01 -9.70664736e-01 -1.09423961e-03 1.93317909e+02] [ 9.70656373e-01 2.40437023e-01 -4.03047547e-03 1.40674876e+02] [ 4.17533612e-03 -9.30650897e-05 9.99991279e-01 1.09054489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76275509600003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:193.33, Y:140.73, Z:1.09 [[ 2.41242163e-01 -9.70464335e-01 -1.09280127e-03 1.93330880e+02] [ 9.70455967e-01 2.41244622e-01 -4.03086541e-03 1.40730237e+02] [ 4.17544355e-03 -8.81008256e-05 9.99991279e-01 1.09178896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.34, Y:140.79, Z:1.09 [[ 2.41772932e-01 -9.70332241e-01 -1.09133931e-03 1.93343778e+02] [ 9.70323871e-01 2.41775380e-01 -4.03126119e-03 1.40785746e+02] [ 4.17552168e-03 -8.43027510e-05 9.99991279e-01 1.09301283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88275509600004 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:193.36, Y:140.84, Z:1.09 [[ 2.41698535e-01 -9.70350777e-01 -1.08990198e-03 1.93357767e+02] [ 9.70342405e-01 2.41700979e-01 -4.03164975e-03 1.40841545e+02] [ 4.17554485e-03 -8.31342720e-05 9.99991279e-01 1.09277054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.37, Y:140.90, Z:1.09 [[ 2.41966977e-01 -9.70283875e-01 -1.08844287e-03 1.93371918e+02] [ 9.70275500e-01 2.41969412e-01 -4.03204364e-03 1.40895733e+02] [ 4.17559680e-03 -8.04680418e-05 9.99991279e-01 1.09143430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.39, Y:140.95, Z:1.10 [[ 2.40548369e-01 -9.70636544e-01 -1.08689972e-03 1.93387565e+02] [ 9.70628172e-01 2.40550809e-01 -4.03245958e-03 1.40951279e+02] [ 4.17550723e-03 -8.49739139e-05 9.99991279e-01 1.09634659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.40, Y:141.01, Z:1.09 [[ 2.37182794e-01 -9.71464433e-01 -1.08537928e-03 1.93400202e+02] [ 9.71456067e-01 2.37185257e-01 -4.03286878e-03 1.41007332e+02] [ 4.17522454e-03 -9.78712039e-05 9.99991279e-01 1.09392016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.42, Y:141.06, Z:1.11 [[ 2.42054364e-01 -9.70262083e-01 -1.08379445e-03 1.93420890e+02] [ 9.70253703e-01 2.42056779e-01 -4.03329464e-03 1.41061775e+02] [ 4.17569265e-03 -7.52790047e-05 9.99991279e-01 1.10831349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.43, Y:141.12, Z:1.10 [[ 2.37186931e-01 -9.71463426e-01 -1.08236735e-03 1.93428202e+02] [ 9.71455056e-01 2.37189382e-01 -4.03367758e-03 1.41117875e+02] [ 4.17529628e-03 -9.47356311e-05 9.99991279e-01 1.09529111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.44, Y:141.17, Z:1.10 [[ 2.35813208e-01 -9.71797799e-01 -1.08113062e-03 1.93440812e+02] [ 9.71789431e-01 2.35815666e-01 -4.03400902e-03 1.41173661e+02] [ 4.17518863e-03 -9.93587039e-05 9.99991279e-01 1.09775629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.45, Y:141.23, Z:1.10 [[ 2.37068213e-01 -9.71492407e-01 -1.07948515e-03 1.93453708e+02] [ 9.71484034e-01 2.37070653e-01 -4.03444930e-03 1.41228889e+02] [ 4.17535111e-03 -9.22629026e-05 9.99991279e-01 1.09729383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.362755096 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:193.47, Y:141.28, Z:1.10 [[ 2.36924469e-01 -9.71527475e-01 -1.07794904e-03 1.93467613e+02] [ 9.71519100e-01 2.36926904e-01 -4.03485968e-03 1.41284063e+02] [ 4.17537217e-03 -9.12910979e-05 9.99991279e-01 1.09608394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.48, Y:141.34, Z:1.10 [[ 2.36521645e-01 -9.71625624e-01 -1.07653018e-03 1.93480377e+02] [ 9.71617249e-01 2.36524077e-01 -4.03523821e-03 1.41339191e+02] [ 4.17536615e-03 -9.15541159e-05 9.99991279e-01 1.09731117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.49, Y:141.39, Z:1.10 [[ 2.35475020e-01 -9.71879807e-01 -1.07505693e-03 1.93493281e+02] [ 9.71871433e-01 2.35477455e-01 -4.03563067e-03 1.41394605e+02] [ 4.17529963e-03 -9.45269068e-05 9.99991279e-01 1.09747216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.51, Y:141.45, Z:1.10 [[ 2.32462177e-01 -9.72604845e-01 -1.07360154e-03 1.93505357e+02] [ 9.72596476e-01 2.32464632e-01 -4.03601781e-03 1.41451011e+02] [ 4.17502486e-03 -1.05959589e-04 9.99991279e-01 1.09925060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.52, Y:141.51, Z:1.10 [[ 2.30858235e-01 -9.72986807e-01 -1.07196149e-03 1.93518878e+02] [ 9.72978441e-01 2.30860697e-01 -4.03645336e-03 1.41507126e+02] [ 4.17488964e-03 -1.11146916e-04 9.99991279e-01 1.09922776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.53, Y:141.56, Z:1.10 [[ 2.30304214e-01 -9.73118093e-01 -1.07046053e-03 1.93532643e+02] [ 9.73109726e-01 2.30306675e-01 -4.03685137e-03 1.41561591e+02] [ 4.17486732e-03 -1.11971674e-04 9.99991279e-01 1.09826517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.722755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:193.55, Y:141.62, Z:1.10 [[ 2.29048541e-01 -9.73414415e-01 -1.06889003e-03 1.93546338e+02] [ 9.73406049e-01 2.29051006e-01 -4.03726717e-03 1.41616694e+02] [ 4.17476440e-03 -1.15733868e-04 9.99991279e-01 1.09824159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.782755096 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:193.56, Y:141.67, Z:1.10 [[ 2.27039423e-01 -9.73884984e-01 -1.06729834e-03 1.93560434e+02] [ 9.73876621e-01 2.27041898e-01 -4.03768791e-03 1.41672117e+02] [ 4.17456507e-03 -1.22702574e-04 9.99991279e-01 1.09659784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.58, Y:141.73, Z:1.10 [[ 2.29177895e-01 -9.73383972e-01 -1.06571392e-03 1.93575956e+02] [ 9.73375602e-01 2.29180346e-01 -4.03810606e-03 1.41726910e+02] [ 4.17486840e-03 -1.11895283e-04 9.99991279e-01 1.09805519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.59, Y:141.78, Z:1.10 [[ 2.29992127e-01 -9.73191907e-01 -1.06429520e-03 1.93588940e+02] [ 9.73183534e-01 2.29994565e-01 -4.03847995e-03 1.41783187e+02] [ 4.17499812e-03 -1.06935973e-04 9.99991279e-01 1.09713928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.60, Y:141.84, Z:1.10 [[ 2.30050550e-01 -9.73178100e-01 -1.06284817e-03 1.93602723e+02] [ 9.73169725e-01 2.30052981e-01 -4.03886074e-03 1.41838089e+02] [ 4.17504222e-03 -1.05189525e-04 9.99991279e-01 1.09620734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.62, Y:141.89, Z:1.10 [[ 2.34143841e-01 -9.72201386e-01 -1.06165498e-03 1.93622027e+02] [ 9.72192999e-01 2.34146232e-01 -4.03917436e-03 1.41891961e+02] [ 4.17547342e-03 -8.63857458e-05 9.99991279e-01 1.10005234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.64, Y:141.95, Z:1.10 [[ 2.32744889e-01 -9.72537245e-01 -1.05993847e-03 1.93636361e+02] [ 9.72528860e-01 2.32747285e-01 -4.03962475e-03 1.41947775e+02] [ 4.17538333e-03 -9.06187414e-05 9.99991279e-01 1.09887736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.65, Y:142.00, Z:1.10 [[ 2.31100624e-01 -9.72929279e-01 -1.05855027e-03 1.93650691e+02] [ 9.72920895e-01 2.31103028e-01 -4.03998848e-03 1.42003533e+02] [ 4.17525725e-03 -9.62418220e-05 9.99991279e-01 1.09778399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.67, Y:142.06, Z:1.10 [[ 2.28757283e-01 -9.73482916e-01 -1.05707804e-03 1.93665522e+02] [ 9.73474537e-01 2.28759701e-01 -4.04037366e-03 1.42058399e+02] [ 4.17505159e-03 -1.04773653e-04 9.99991279e-01 1.09878438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26275509600003 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:193.68, Y:142.11, Z:1.10 [[ 2.28018344e-01 -9.73656264e-01 -1.05563503e-03 1.93680558e+02] [ 9.73647885e-01 2.28020762e-01 -4.04075064e-03 1.42114344e+02] [ 4.17500888e-03 -1.06451548e-04 9.99991279e-01 1.09778722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.69, Y:142.17, Z:1.10 [[ 2.26466938e-01 -9.74018282e-01 -1.05425407e-03 1.93694339e+02] [ 9.74009906e-01 2.26469364e-01 -4.04111091e-03 1.42169471e+02] [ 4.17487216e-03 -1.11675898e-04 9.99991279e-01 1.09880564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.71, Y:142.23, Z:1.10 [[ 2.25560964e-01 -9.74228486e-01 -1.05325659e-03 1.93706839e+02] [ 9.74220110e-01 2.25563394e-01 -4.04137087e-03 1.42225617e+02] [ 4.17479476e-03 -1.14528238e-04 9.99991279e-01 1.10105261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44275509600004 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:193.72, Y:142.28, Z:1.10 [[ 2.26598469e-01 -9.73987694e-01 -1.05175144e-03 1.93719197e+02] [ 9.73979314e-01 2.26600883e-01 -4.04176254e-03 1.42282190e+02] [ 4.17495478e-03 -1.08526939e-04 9.99991279e-01 1.09951323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50275509600004 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:193.73, Y:142.34, Z:1.10 [[ 2.29275411e-01 -9.73361024e-01 -1.05031890e-03 1.93732417e+02] [ 9.73352635e-01 2.29277797e-01 -4.04213478e-03 1.42336921e+02] [ 4.17527125e-03 -9.55685560e-05 9.99991279e-01 1.10299961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.75, Y:142.39, Z:1.10 [[ 2.30888241e-01 -9.72979712e-01 -1.04850166e-03 1.93745255e+02] [ 9.72971318e-01 2.30890606e-01 -4.04260610e-03 1.42392241e+02] [ 4.17546291e-03 -8.67718311e-05 9.99991279e-01 1.10425429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.76, Y:142.45, Z:1.11 [[ 2.36326343e-01 -9.71673177e-01 -1.04693410e-03 1.93758488e+02] [ 9.71664768e-01 2.36328654e-01 -4.04301202e-03 1.42447765e+02] [ 4.17590686e-03 -6.17987381e-05 9.99991279e-01 1.10799258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.77, Y:142.50, Z:1.11 [[ 2.39424460e-01 -9.70914433e-01 -1.04535809e-03 1.93770712e+02] [ 9.70906014e-01 2.39426737e-01 -4.04341947e-03 1.42504187e+02] [ 4.17610100e-03 -4.68509394e-05 9.99991279e-01 1.10941679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.742755096 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:193.78, Y:142.56, Z:1.11 [[ 2.39519489e-01 -9.70890995e-01 -1.04389203e-03 1.93783886e+02] [ 9.70882575e-01 2.39521760e-01 -4.04379793e-03 1.42558710e+02] [ 4.17612185e-03 -4.49281698e-05 9.99991279e-01 1.10716321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.80, Y:142.61, Z:1.11 [[ 2.38588374e-01 -9.71120230e-01 -1.04237100e-03 1.93797598e+02] [ 9.71111810e-01 2.38590646e-01 -4.04418997e-03 1.42614187e+02] [ 4.17609466e-03 -4.73620830e-05 9.99991279e-01 1.11002879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.81, Y:142.67, Z:1.11 [[ 2.36262244e-01 -9.71688771e-01 -1.04091985e-03 1.93811566e+02] [ 9.71680355e-01 2.36264530e-01 -4.04456344e-03 1.42669143e+02] [ 4.17598932e-03 -5.58637402e-05 9.99991279e-01 1.11085132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.83, Y:142.72, Z:1.11 [[ 2.31994805e-01 -9.72716470e-01 -1.03941809e-03 1.93826025e+02] [ 9.72708062e-01 2.31997122e-01 -4.04494934e-03 1.42724210e+02] [ 4.17573085e-03 -7.26431200e-05 9.99991279e-01 1.11120898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.84, Y:142.78, Z:1.11 [[ 2.26781059e-01 -9.73945211e-01 -1.03800957e-03 1.93841169e+02] [ 9.73936814e-01 2.26783415e-01 -4.04531076e-03 1.42779775e+02] [ 4.17531440e-03 -9.35558780e-05 9.99991279e-01 1.11020262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.042755096 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:193.86, Y:142.83, Z:1.11 [[ 2.21208274e-01 -9.75226038e-01 -1.03662144e-03 1.93856283e+02] [ 9.75217653e-01 2.21210672e-01 -4.04566644e-03 1.42834604e+02] [ 4.17475098e-03 -1.15996642e-04 9.99991279e-01 1.10710080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.102755096 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:193.87, Y:142.89, Z:1.11 [[ 2.17668574e-01 -9.76022193e-01 -1.03519966e-03 1.93870756e+02] [ 9.76013815e-01 2.17670997e-01 -4.04603022e-03 1.42888751e+02] [ 4.17434822e-03 -1.29675538e-04 9.99991279e-01 1.10616204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.89, Y:142.94, Z:1.11 [[ 2.13918347e-01 -9.76850998e-01 -1.03373109e-03 1.93885597e+02] [ 9.76842628e-01 2.13920796e-01 -4.04640539e-03 1.42944319e+02] [ 4.17387172e-03 -1.44192245e-04 9.99991279e-01 1.10965514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.222755096 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:193.90, Y:143.00, Z:1.11 [[ 2.11265053e-01 -9.77428264e-01 -1.03225670e-03 1.93899513e+02] [ 9.77419899e-01 2.11267518e-01 -4.04678148e-03 1.42998953e+02] [ 4.17352091e-03 -1.54004735e-04 9.99991279e-01 1.10644176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.282755096 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:193.91, Y:143.05, Z:1.11 [[ 2.11397920e-01 -9.77399538e-01 -1.03073133e-03 1.93912579e+02] [ 9.77391171e-01 2.11400378e-01 -4.04716996e-03 1.43053104e+02] [ 4.17359904e-03 -1.51864397e-04 9.99991279e-01 1.10639360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.342755096 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:193.93, Y:143.11, Z:1.11 [[ 2.14860478e-01 -9.76644212e-01 -1.02916497e-03 1.93925980e+02] [ 9.76635834e-01 2.14862900e-01 -4.04756823e-03 1.43109691e+02] [ 4.17416345e-03 -1.35456946e-04 9.99991279e-01 1.10662656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.94, Y:143.16, Z:1.11 [[ 2.20209799e-01 -9.75451992e-01 -1.02780230e-03 1.93937540e+02] [ 9.75443599e-01 2.20212170e-01 -4.04791423e-03 1.43164327e+02] [ 4.17488057e-03 -1.11172794e-04 9.99991279e-01 1.11136374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.462755096 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:193.95, Y:143.22, Z:1.11 [[ 2.23131163e-01 -9.74787890e-01 -1.02662167e-03 1.93950510e+02] [ 9.74779489e-01 2.23133504e-01 -4.04821363e-03 1.43219647e+02] [ 4.17522331e-03 -9.74471295e-05 9.99991279e-01 1.10868638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.522755096 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:193.96, Y:143.28, Z:1.11 [[ 2.27814180e-01 -9.73704087e-01 -1.02517216e-03 1.93963225e+02] [ 9.73695673e-01 2.27816474e-01 -4.04858068e-03 1.43275198e+02] [ 4.17567065e-03 -7.58816060e-05 9.99991279e-01 1.10988173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.582755096 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:193.98, Y:143.33, Z:1.11 [[ 2.30785205e-01 -9.73004184e-01 -1.02373391e-03 1.93975704e+02] [ 9.72995761e-01 2.30787467e-01 -4.04894432e-03 1.43330262e+02] [ 4.17590472e-03 -6.16523053e-05 9.99991279e-01 1.11285135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64275509600003 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:193.99, Y:143.39, Z:1.11 [[ 2.30537085e-01 -9.73063002e-01 -1.02264484e-03 1.93989479e+02] [ 9.73054579e-01 2.30539345e-01 -4.04921937e-03 1.43386091e+02] [ 4.17590543e-03 -6.15940188e-05 9.99991279e-01 1.11246372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.00, Y:143.44, Z:1.12 [[ 2.27740802e-01 -9.73721256e-01 -1.02121839e-03 1.94002477e+02] [ 9.73712838e-01 2.27743080e-01 -4.04957909e-03 1.43440618e+02] [ 4.17573666e-03 -7.21190692e-05 9.99991279e-01 1.11503818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.02, Y:143.50, Z:1.12 [[ 2.25304846e-01 -9.74287784e-01 -1.01973818e-03 1.94016376e+02] [ 9.74279370e-01 2.25307139e-01 -4.04995179e-03 1.43496284e+02] [ 4.17557285e-03 -8.10361069e-05 9.99991279e-01 1.11527733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.03, Y:143.55, Z:1.11 [[ 2.21728022e-01 -9.75108018e-01 -1.01836128e-03 1.94030260e+02] [ 9.75099611e-01 2.21730340e-01 -4.05029798e-03 1.43549927e+02] [ 4.17527963e-03 -9.49391332e-05 9.99991279e-01 1.11451556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.04, Y:143.61, Z:1.11 [[ 2.18024163e-01 -9.75942841e-01 -1.01715290e-03 1.94043981e+02] [ 9.75934442e-01 2.18026508e-01 -4.05060142e-03 1.43605674e+02] [ 4.17492176e-03 -1.09545565e-04 9.99991279e-01 1.11449599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94275509600004 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:194.06, Y:143.66, Z:1.11 [[ 2.15244073e-01 -9.76559756e-01 -1.01575686e-03 1.94057494e+02] [ 9.76551361e-01 2.15246437e-01 -4.05095147e-03 1.43661492e+02] [ 4.17463423e-03 -1.19995451e-04 9.99991279e-01 1.11150642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00275509600004 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:194.07, Y:143.72, Z:1.11 [[ 2.14547703e-01 -9.76712985e-01 -1.01428626e-03 1.94069979e+02] [ 9.76704590e-01 2.14550066e-01 -4.05131965e-03 1.43716135e+02] [ 4.17459169e-03 -1.21456716e-04 9.99991279e-01 1.11074306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.08, Y:143.77, Z:1.11 [[ 2.15580724e-01 -9.76485497e-01 -1.01276287e-03 1.94082804e+02] [ 9.76477098e-01 2.15583072e-01 -4.05170044e-03 1.43771685e+02] [ 4.17476125e-03 -1.15471232e-04 9.99991279e-01 1.11476640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.10, Y:143.83, Z:1.12 [[ 2.17649842e-01 -9.76026395e-01 -1.01133042e-03 1.94095991e+02] [ 9.76017989e-01 2.17652167e-01 -4.05205796e-03 1.43826827e+02] [ 4.17503378e-03 -1.05146903e-04 9.99991279e-01 1.11692113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.182755096 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:194.11, Y:143.88, Z:1.12 [[ 2.20341713e-01 -9.75422221e-01 -1.00984318e-03 1.94108664e+02] [ 9.75413808e-01 2.20344008e-01 -4.05242857e-03 1.43883035e+02] [ 4.17534177e-03 -9.20959316e-05 9.99991279e-01 1.11757528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.12, Y:143.94, Z:1.12 [[ 2.23343217e-01 -9.74739345e-01 -1.00843207e-03 1.94121359e+02] [ 9.74730923e-01 2.23345480e-01 -4.05277969e-03 1.43938630e+02] [ 4.17563256e-03 -7.77890658e-05 9.99991279e-01 1.12033643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.302755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:194.13, Y:143.99, Z:1.12 [[ 2.24711849e-01 -9.74424738e-01 -1.00704300e-03 1.94134048e+02] [ 9.74416311e-01 2.24714094e-01 -4.05312482e-03 1.43994567e+02] [ 4.17576184e-03 -7.04939600e-05 9.99991279e-01 1.12023944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.15, Y:144.05, Z:1.12 [[ 2.24473963e-01 -9.74479568e-01 -1.00566425e-03 1.94146315e+02] [ 9.74471140e-01 2.24476205e-01 -4.05346688e-03 1.44048753e+02] [ 4.17576835e-03 -7.00930092e-05 9.99991279e-01 1.11989353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.422755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:194.16, Y:144.10, Z:1.12 [[ 2.21884957e-01 -9.75072335e-01 -1.00407662e-03 1.94160297e+02] [ 9.75063911e-01 2.21887215e-01 -4.05386011e-03 1.44104141e+02] [ 4.17559861e-03 -7.95482972e-05 9.99991279e-01 1.11777815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.482755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:194.17, Y:144.16, Z:1.12 [[ 2.18780814e-01 -9.75773514e-01 -1.00260996e-03 1.94173973e+02] [ 9.75765096e-01 2.18783092e-01 -4.05422282e-03 1.44158460e+02] [ 4.17535735e-03 -9.13256347e-05 9.99991279e-01 1.11723713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.19, Y:144.21, Z:1.12 [[ 2.13942424e-01 -9.76845759e-01 -1.00109283e-03 1.94188962e+02] [ 9.76837351e-01 2.13944738e-01 -4.05459740e-03 1.44213649e+02] [ 4.17489482e-03 -1.10454468e-04 9.99991279e-01 1.11792723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.602755096 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:194.20, Y:144.27, Z:1.12 [[ 2.07788327e-01 -9.78173304e-01 -9.99664483e-04 1.94203957e+02] [ 9.78164908e-01 2.07790688e-01 -4.05494953e-03 1.44267562e+02] [ 4.17416435e-03 -1.35265537e-04 9.99991279e-01 1.11528062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.22, Y:144.32, Z:1.12 [[ 2.03612350e-01 -9.79051079e-01 -9.98184486e-04 1.94220160e+02] [ 9.79042692e-01 2.03614740e-01 -4.05531382e-03 1.44322442e+02] [ 4.17360445e-03 -1.51553248e-04 9.99991279e-01 1.11662034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.24, Y:144.38, Z:1.12 [[ 2.02182666e-01 -9.79347321e-01 -9.96809348e-04 1.94235356e+02] [ 9.79338936e-01 2.02185063e-01 -4.05565181e-03 1.44377898e+02] [ 4.17343170e-03 -1.56231711e-04 9.99991279e-01 1.11695970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.782755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:194.25, Y:144.43, Z:1.12 [[ 2.02407945e-01 -9.79300788e-01 -9.95401680e-04 1.94250059e+02] [ 9.79292400e-01 2.02410334e-01 -4.05599727e-03 1.44432721e+02] [ 4.17352091e-03 -1.53823228e-04 9.99991279e-01 1.11685174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.27, Y:144.49, Z:1.12 [[ 2.08041815e-01 -9.78119428e-01 -9.94011517e-04 1.94268073e+02] [ 9.78111025e-01 2.08044151e-01 -4.05633793e-03 1.44488264e+02] [ 4.17438122e-03 -1.28365716e-04 9.99991279e-01 1.11765763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.902755096 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:194.28, Y:144.54, Z:1.12 [[ 2.10448272e-01 -9.77604490e-01 -9.92645304e-04 1.94279890e+02] [ 9.77596080e-01 2.10450581e-01 -4.05667224e-03 1.44543981e+02] [ 4.17472378e-03 -1.16686495e-04 9.99991279e-01 1.11585771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.29, Y:144.60, Z:1.12 [[ 2.14068064e-01 -9.76818244e-01 -9.90944652e-04 1.94294670e+02] [ 9.76809824e-01 2.14070334e-01 -4.05708762e-03 1.44598488e+02] [ 4.17516906e-03 -9.94715802e-05 9.99991279e-01 1.11906276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.31, Y:144.65, Z:1.12 [[ 2.13343060e-01 -9.76976847e-01 -9.89620108e-04 1.94306862e+02] [ 9.76968427e-01 2.13345331e-01 -4.05741068e-03 1.44653168e+02] [ 4.17512713e-03 -1.01207189e-04 9.99991279e-01 1.11903973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.32, Y:144.71, Z:1.12 [[ 2.10315408e-01 -9.77633087e-01 -9.88375296e-04 1.94320284e+02] [ 9.77624672e-01 2.10317700e-01 -4.05771389e-03 1.44707396e+02] [ 4.17482818e-03 -1.12860320e-04 9.99991279e-01 1.11825837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.33, Y:144.76, Z:1.12 [[ 2.09279254e-01 -9.77855419e-01 -9.86630042e-04 1.94334552e+02] [ 9.77847005e-01 2.09281548e-01 -4.05813821e-03 1.44762065e+02] [ 4.17475590e-03 -1.15489094e-04 9.99991279e-01 1.11872374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.35, Y:144.82, Z:1.12 [[ 2.07901288e-01 -9.78149316e-01 -9.84833825e-04 1.94348911e+02] [ 9.78140903e-01 2.07903586e-01 -4.05857407e-03 1.44815103e+02] [ 4.17464193e-03 -1.19523472e-04 9.99991279e-01 1.11980486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.36, Y:144.87, Z:1.12 [[ 2.08488601e-01 -9.78024303e-01 -9.83030963e-04 1.94363306e+02] [ 9.78015887e-01 2.08490886e-01 -4.05901069e-03 1.44870739e+02] [ 4.17476410e-03 -1.15162440e-04 9.99991279e-01 1.11894026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.38, Y:144.93, Z:1.12 [[ 2.09269586e-01 -9.77857493e-01 -9.81632432e-04 1.94376852e+02] [ 9.77849074e-01 2.09271859e-01 -4.05934889e-03 1.44925932e+02] [ 4.17489277e-03 -1.10390105e-04 9.99991279e-01 1.11781188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.39, Y:144.98, Z:1.12 [[ 2.11058458e-01 -9.77472949e-01 -9.80100797e-04 1.94391677e+02] [ 9.77464524e-01 2.11060709e-01 -4.05971866e-03 1.44979436e+02] [ 4.17512594e-03 -1.01175799e-04 9.99991279e-01 1.11640891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.41, Y:145.03, Z:1.12 [[ 2.11751588e-01 -9.77323031e-01 -9.78896471e-04 1.94406835e+02] [ 9.77314603e-01 2.11753829e-01 -4.06000903e-03 1.45033733e+02] [ 4.17522540e-03 -9.69764555e-05 9.99991279e-01 1.11658174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.42, Y:145.09, Z:1.12 [[ 2.11008961e-01 -9.77483638e-01 -9.77388939e-04 1.94422208e+02] [ 9.77475210e-01 2.11011202e-01 -4.06037191e-03 1.45086810e+02] [ 4.17518712e-03 -9.85986000e-05 9.99991279e-01 1.11695579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.562755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:194.44, Y:145.14, Z:1.12 [[ 2.10291665e-01 -9.77638206e-01 -9.76201243e-04 1.94440328e+02] [ 9.77629778e-01 2.10293907e-01 -4.06065744e-03 1.45142689e+02] [ 4.17514303e-03 -1.00440989e-04 9.99991279e-01 1.12122631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.46, Y:145.20, Z:1.11 [[ 2.07327586e-01 -9.78271088e-01 -9.74898427e-04 1.94455418e+02] [ 9.78262665e-01 2.07329848e-01 -4.06097020e-03 1.45197407e+02] [ 4.17485528e-03 -1.11755585e-04 9.99991279e-01 1.11484516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.682755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:194.47, Y:145.25, Z:1.12 [[ 2.06765619e-01 -9.78390020e-01 -9.73552112e-04 1.94468436e+02] [ 9.78381597e-01 2.06767880e-01 -4.06129293e-03 1.45253893e+02] [ 4.17482778e-03 -1.12769723e-04 9.99991279e-01 1.11920414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.48, Y:145.31, Z:1.12 [[ 2.07362698e-01 -9.78263649e-01 -9.72231901e-04 1.94483722e+02] [ 9.78255223e-01 2.07364948e-01 -4.06160895e-03 1.45308663e+02] [ 4.17493121e-03 -1.08864746e-04 9.99991279e-01 1.11841410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.50, Y:145.36, Z:1.12 [[ 2.07748415e-01 -9.78181810e-01 -9.70770060e-04 1.94499480e+02] [ 9.78173382e-01 2.07750656e-01 -4.06195832e-03 1.45363019e+02] [ 4.17501186e-03 -1.05716031e-04 9.99991279e-01 1.12018973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.51, Y:145.42, Z:1.12 [[ 2.07371512e-01 -9.78261783e-01 -9.69251860e-04 1.94514459e+02] [ 9.78253354e-01 2.07373750e-01 -4.06232056e-03 1.45417972e+02] [ 4.17501034e-03 -1.05764328e-04 9.99991279e-01 1.11948932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.53, Y:145.47, Z:1.12 [[ 2.06910233e-01 -9.78359453e-01 -9.68072421e-04 1.94528937e+02] [ 9.78351023e-01 2.06912470e-01 -4.06260160e-03 1.45472901e+02] [ 4.17499094e-03 -1.06520799e-04 9.99991279e-01 1.12267806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.54, Y:145.53, Z:1.12 [[ 2.07163708e-01 -9.78305813e-01 -9.66354656e-04 1.94543239e+02] [ 9.78297382e-01 2.07165936e-01 -4.06301016e-03 1.45527035e+02] [ 4.17506222e-03 -1.03673981e-04 9.99991279e-01 1.12238627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.56, Y:145.58, Z:1.12 [[ 2.09970108e-01 -9.77707330e-01 -9.64819918e-04 1.94558459e+02] [ 9.77698890e-01 2.09972306e-01 -4.06337457e-03 1.45582333e+02] [ 4.17537657e-03 -9.01161649e-05 9.99991279e-01 1.12274468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.57, Y:145.64, Z:1.12 [[ 2.11744491e-01 -9.77324584e-01 -9.63308972e-04 1.94571839e+02] [ 9.77316139e-01 2.11746667e-01 -4.06373274e-03 1.45637102e+02] [ 4.17556338e-03 -8.09843831e-05 9.99991279e-01 1.12000690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.59, Y:145.69, Z:1.12 [[ 2.13246612e-01 -9.76997931e-01 -9.61620620e-04 1.94586039e+02] [ 9.76989481e-01 2.13248767e-01 -4.06413223e-03 1.45690483e+02] [ 4.17571319e-03 -7.28308033e-05 9.99991279e-01 1.12170947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.60, Y:145.75, Z:1.12 [[ 2.13312854e-01 -9.76983472e-01 -9.59789309e-04 1.94601275e+02] [ 9.76975020e-01 2.13315002e-01 -4.06456466e-03 1.45746174e+02] [ 4.17574996e-03 -7.06662888e-05 9.99991279e-01 1.12222117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.62, Y:145.80, Z:1.12 [[ 2.12638529e-01 -9.77130461e-01 -9.58376060e-04 1.94615374e+02] [ 9.77122008e-01 2.12640676e-01 -4.06489786e-03 1.45802144e+02] [ 4.17572526e-03 -7.20964386e-05 9.99991279e-01 1.12242616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.63, Y:145.86, Z:1.12 [[ 2.11402172e-01 -9.77398693e-01 -9.56986893e-04 1.94630157e+02] [ 9.77390242e-01 2.11404324e-01 -4.06522489e-03 1.45857895e+02] [ 4.17565666e-03 -7.59522806e-05 9.99991279e-01 1.12271409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.64, Y:145.91, Z:1.12 [[ 2.09157596e-01 -9.77881479e-01 -9.55268628e-04 1.94642428e+02] [ 9.77873031e-01 2.09159760e-01 -4.06562861e-03 1.45912545e+02] [ 4.17550668e-03 -8.37743236e-05 9.99991279e-01 1.12265055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.65, Y:145.97, Z:1.12 [[ 2.08422881e-01 -9.78038340e-01 -9.53454629e-04 1.94653751e+02] [ 9.78029891e-01 2.08425045e-01 -4.06605398e-03 1.45968943e+02] [ 4.17548051e-03 -8.50484409e-05 9.99991279e-01 1.12389966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.67, Y:146.03, Z:1.12 [[ 2.07143457e-01 -9.78310115e-01 -9.52051218e-04 1.94665624e+02] [ 9.78301668e-01 2.07145625e-01 -4.06638256e-03 1.46025168e+02] [ 4.17539643e-03 -8.90687563e-05 9.99991279e-01 1.12365282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.68, Y:146.08, Z:1.12 [[ 2.06168399e-01 -9.78516064e-01 -9.50570943e-04 1.94677231e+02] [ 9.78507618e-01 2.06170570e-01 -4.06672856e-03 1.46080290e+02] [ 4.17533898e-03 -9.17099913e-05 9.99991279e-01 1.12231719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.69, Y:146.14, Z:1.12 [[ 2.05501086e-01 -9.78656427e-01 -9.49037132e-04 1.94688198e+02] [ 9.78647981e-01 2.05503256e-01 -4.06708647e-03 1.46136380e+02] [ 4.17531053e-03 -9.29825863e-05 9.99991279e-01 1.12195135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.70, Y:146.19, Z:1.12 [[ 2.05238573e-01 -9.78711515e-01 -9.47612078e-04 1.94700320e+02] [ 9.78703068e-01 2.05240739e-01 -4.06741847e-03 1.46191437e+02] [ 4.17531790e-03 -9.26396864e-05 9.99991279e-01 1.12141068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76275509600003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:194.71, Y:146.25, Z:1.12 [[ 2.05350345e-01 -9.78688071e-01 -9.46134483e-04 1.94712965e+02] [ 9.78679622e-01 2.05352505e-01 -4.06776215e-03 1.46247124e+02] [ 4.17536138e-03 -9.06461763e-05 9.99991279e-01 1.12136800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.73, Y:146.30, Z:1.12 [[ 2.06725014e-01 -9.78398629e-01 -9.44698515e-04 1.94726153e+02] [ 9.78390175e-01 2.06727155e-01 -4.06809561e-03 1.46303119e+02] [ 4.17551401e-03 -8.33066244e-05 9.99991279e-01 1.12208774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.74, Y:146.36, Z:1.12 [[ 2.07059751e-01 -9.78327844e-01 -9.43250696e-04 1.94737392e+02] [ 9.78319388e-01 2.07061883e-01 -4.06843129e-03 1.46357193e+02] [ 4.17557087e-03 -8.03920764e-05 9.99991279e-01 1.12146367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.75, Y:146.41, Z:1.12 [[ 2.08282909e-01 -9.78068169e-01 -9.41559656e-04 1.94750768e+02] [ 9.78059708e-01 2.08285024e-01 -4.06882261e-03 1.46412461e+02] [ 4.17569865e-03 -7.34353531e-05 9.99991279e-01 1.12229255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.76, Y:146.47, Z:1.12 [[ 2.07560372e-01 -9.78221758e-01 -9.39924920e-04 1.94764943e+02] [ 9.78213298e-01 2.07562487e-01 -4.06920021e-03 1.46467812e+02] [ 4.17567333e-03 -7.48423467e-05 9.99991279e-01 1.12242494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.78, Y:146.52, Z:1.12 [[ 2.07080522e-01 -9.78323452e-01 -9.38453164e-04 1.94778769e+02] [ 9.78314991e-01 2.07082635e-01 -4.06953960e-03 1.46522338e+02] [ 4.17566338e-03 -7.53804121e-05 9.99991279e-01 1.12238302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.79, Y:146.58, Z:1.12 [[ 2.06995745e-01 -9.78341394e-01 -9.36927549e-04 1.94791689e+02] [ 9.78332932e-01 2.06997852e-01 -4.06989081e-03 1.46578091e+02] [ 4.17568464e-03 -7.41769942e-05 9.99991279e-01 1.12280371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.80, Y:146.63, Z:1.12 [[ 2.06119031e-01 -9.78526479e-01 -9.35461850e-04 1.94804423e+02] [ 9.78518017e-01 2.06121140e-01 -4.07022767e-03 1.46632643e+02] [ 4.17564402e-03 -7.64148905e-05 9.99991279e-01 1.12193258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.82, Y:146.69, Z:1.12 [[ 2.04568498e-01 -9.78851805e-01 -9.34340742e-04 1.94817202e+02] [ 9.78843345e-01 2.04570615e-01 -4.07048501e-03 1.46688957e+02] [ 4.17554026e-03 -8.18802145e-05 9.99991279e-01 1.12164563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.83, Y:146.74, Z:1.12 [[ 2.02798888e-01 -9.79219966e-01 -9.32907687e-04 1.94830038e+02] [ 9.79211508e-01 2.02801014e-01 -4.07081343e-03 1.46743608e+02] [ 4.17541641e-03 -8.79575077e-05 9.99991279e-01 1.12168890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.84, Y:146.80, Z:1.12 [[ 2.01197804e-01 -9.79550191e-01 -9.31421467e-04 1.94841574e+02] [ 9.79541735e-01 2.01199939e-01 -4.07115345e-03 1.46799660e+02] [ 4.17530108e-03 -9.32590647e-05 9.99991279e-01 1.12087700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.85, Y:146.86, Z:1.12 [[ 2.00470108e-01 -9.79699378e-01 -9.29994991e-04 1.94853177e+02] [ 9.79690922e-01 2.00472243e-01 -4.07147928e-03 1.46856226e+02] [ 4.17526390e-03 -9.48977586e-05 9.99991279e-01 1.12063913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.86, Y:146.91, Z:1.12 [[ 1.99838279e-01 -9.79828455e-01 -9.28567983e-04 1.94864695e+02] [ 9.79819999e-01 1.99840413e-01 -4.07180471e-03 1.46912182e+02] [ 4.17523552e-03 -9.61270363e-05 9.99991279e-01 1.12146924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.88, Y:146.97, Z:1.12 [[ 1.98687980e-01 -9.80062359e-01 -9.27112718e-04 1.94875460e+02] [ 9.80053904e-01 1.98690118e-01 -4.07213603e-03 1.46966812e+02] [ 4.17515538e-03 -9.95359557e-05 9.99991279e-01 1.11972508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.89, Y:147.02, Z:1.12 [[ 2.01243814e-01 -9.79540745e-01 -9.25317320e-04 1.94886004e+02] [ 9.79532283e-01 2.01245923e-01 -4.07254396e-03 1.47022092e+02] [ 4.17543908e-03 -8.68039067e-05 9.99991279e-01 1.12272647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.90, Y:147.08, Z:1.12 [[ 2.02468745e-01 -9.79288290e-01 -9.23541757e-04 1.94897189e+02] [ 9.79279823e-01 2.02470835e-01 -4.07294657e-03 1.47077981e+02] [ 4.17557915e-03 -7.97614290e-05 9.99991279e-01 1.12258421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.91, Y:147.13, Z:1.12 [[ 2.06569137e-01 -9.78431572e-01 -9.22050723e-04 1.94907452e+02] [ 9.78423095e-01 2.06571186e-01 -4.07328409e-03 1.47133477e+02] [ 4.17589887e-03 -6.07409428e-05 9.99991279e-01 1.12461666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.92, Y:147.19, Z:1.13 [[ 2.09754675e-01 -9.77753614e-01 -9.20294101e-04 1.94918090e+02] [ 9.77745129e-01 2.09756689e-01 -4.07368093e-03 1.47189777e+02] [ 4.17609410e-03 -4.53394538e-05 9.99991279e-01 1.12542291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.93, Y:147.25, Z:1.13 [[ 2.12104820e-01 -9.77246489e-01 -9.18856895e-04 1.94930025e+02] [ 9.77237998e-01 2.12106808e-01 -4.07400508e-03 1.47245806e+02] [ 4.17620297e-03 -3.38257576e-05 9.99991279e-01 1.12611466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.94, Y:147.30, Z:1.13 [[ 2.12692504e-01 -9.77118753e-01 -9.17369706e-04 1.94942312e+02] [ 9.77110259e-01 2.12694480e-01 -4.07433993e-03 1.47301620e+02] [ 4.17623343e-03 -2.97897873e-05 9.99991279e-01 1.12607802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.95, Y:147.36, Z:1.13 [[ 2.11260820e-01 -9.77429295e-01 -9.15899240e-04 1.94954285e+02] [ 9.77420803e-01 2.11262802e-01 -4.07467046e-03 1.47356305e+02] [ 4.17619772e-03 -3.44007473e-05 9.99991279e-01 1.12549659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.97, Y:147.41, Z:1.13 [[ 2.08352460e-01 -9.78053381e-01 -9.14375832e-04 1.94969137e+02] [ 9.78044893e-01 2.08354461e-01 -4.07501230e-03 1.47411313e+02] [ 4.17609384e-03 -4.52617790e-05 9.99991279e-01 1.12535410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.98, Y:147.47, Z:1.12 [[ 2.02900861e-01 -9.79198860e-01 -9.12923362e-04 1.94979787e+02] [ 9.79190382e-01 2.02902903e-01 -4.07533767e-03 1.47467187e+02] [ 4.17580080e-03 -6.70362548e-05 9.99991279e-01 1.12371048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.99, Y:147.52, Z:1.12 [[ 1.99584213e-01 -9.79880254e-01 -9.11477800e-04 1.94992691e+02] [ 9.79871781e-01 1.99586278e-01 -4.07566095e-03 1.47523320e+02] [ 4.17557815e-03 -7.96937931e-05 9.99991279e-01 1.12393720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.00, Y:147.58, Z:1.12 [[ 1.96563518e-01 -9.80490671e-01 -9.09997340e-04 1.95004713e+02] [ 9.80482203e-01 1.96565603e-01 -4.07599147e-03 1.47579056e+02] [ 4.17534579e-03 -9.10449750e-05 9.99991279e-01 1.12472191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.02, Y:147.63, Z:1.13 [[ 1.95947366e-01 -9.80613994e-01 -9.08513573e-04 1.95016604e+02] [ 9.80605525e-01 1.95949451e-01 -4.07632217e-03 1.47634608e+02] [ 4.17532130e-03 -9.21488365e-05 9.99991279e-01 1.12542442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.03, Y:147.69, Z:1.12 [[ 1.95990043e-01 -9.80605466e-01 -9.07027389e-04 1.95026897e+02] [ 9.80596996e-01 1.95992121e-01 -4.07665284e-03 1.47691429e+02] [ 4.17535828e-03 -9.04449681e-05 9.99991279e-01 1.12419169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.04, Y:147.75, Z:1.13 [[ 1.97975642e-01 -9.80206522e-01 -9.05649100e-04 1.95039504e+02] [ 9.80198046e-01 1.97977697e-01 -4.07695901e-03 1.47746124e+02] [ 4.17556013e-03 -8.05769029e-05 9.99991279e-01 1.12586126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.05, Y:147.80, Z:1.12 [[ 1.97617240e-01 -9.80278843e-01 -9.04046815e-04 1.95050352e+02] [ 9.80270366e-01 1.97619291e-01 -4.07731428e-03 1.47802197e+02] [ 4.17556201e-03 -8.04627099e-05 9.99991279e-01 1.12409291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50275509600004 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:195.06, Y:147.86, Z:1.13 [[ 1.98248114e-01 -9.80151453e-01 -9.02555654e-04 1.95062484e+02] [ 9.80142974e-01 1.98250154e-01 -4.07764433e-03 1.47857077e+02] [ 4.17564081e-03 -7.62482839e-05 9.99991279e-01 1.12518152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:147.91, Z:1.13 [[ 1.97941931e-01 -9.80213334e-01 -9.01415367e-04 1.95074455e+02] [ 9.80204854e-01 1.97943969e-01 -4.07789639e-03 1.47913009e+02] [ 4.17563815e-03 -7.63850315e-05 9.99991279e-01 1.12718746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.09, Y:147.97, Z:1.13 [[ 1.96834284e-01 -9.80436359e-01 -8.99968900e-04 1.95086428e+02] [ 9.80427881e-01 1.96836325e-01 -4.07821559e-03 1.47968658e+02] [ 4.17557742e-03 -7.96219553e-05 9.99991279e-01 1.12749391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.10, Y:148.02, Z:1.13 [[ 1.94448181e-01 -9.80912380e-01 -8.98537405e-04 1.95096647e+02] [ 9.80903905e-01 1.94450237e-01 -4.07853097e-03 1.48024263e+02] [ 4.17540233e-03 -8.83159209e-05 9.99991279e-01 1.12759031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.11, Y:148.08, Z:1.13 [[ 1.93668974e-01 -9.81066524e-01 -8.97053612e-04 1.95109075e+02] [ 9.81058049e-01 1.93671031e-01 -4.07885729e-03 1.48079687e+02] [ 4.17536364e-03 -9.01135572e-05 9.99991279e-01 1.12701169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.802755096 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:195.12, Y:148.13, Z:1.12 [[ 1.93226951e-01 -9.81153680e-01 -8.95523906e-04 1.95119622e+02] [ 9.81145204e-01 1.93229005e-01 -4.07919312e-03 1.48134729e+02] [ 4.17535653e-03 -9.04289361e-05 9.99991279e-01 1.12458695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.13, Y:148.19, Z:1.13 [[ 1.92638545e-01 -9.81269378e-01 -8.93842223e-04 1.95130092e+02] [ 9.81260902e-01 1.92640598e-01 -4.07956158e-03 1.48190365e+02] [ 4.17533915e-03 -9.12116182e-05 9.99991279e-01 1.12808190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.14, Y:148.25, Z:1.13 [[ 1.91832166e-01 -9.81427340e-01 -8.92018037e-04 1.95138835e+02] [ 9.81418864e-01 1.91834217e-01 -4.07996041e-03 1.48245794e+02] [ 4.17530427e-03 -9.27756877e-05 9.99991279e-01 1.12767146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.15, Y:148.30, Z:1.13 [[ 1.90252017e-01 -9.81734881e-01 -8.90515698e-04 1.95147834e+02] [ 9.81726407e-01 1.90254075e-01 -4.08028829e-03 1.48302074e+02] [ 4.17518558e-03 -9.79597014e-05 9.99991279e-01 1.12783425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.16, Y:148.36, Z:1.13 [[ 1.86754400e-01 -9.82406231e-01 -8.89104909e-04 1.95156349e+02] [ 9.82397763e-01 1.86756483e-01 -4.08059568e-03 1.48358935e+02] [ 4.17484873e-03 -1.11385476e-04 9.99991279e-01 1.12630468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.17, Y:148.41, Z:1.13 [[ 1.84489042e-01 -9.82834170e-01 -8.87668300e-04 1.95166691e+02] [ 9.82825705e-01 1.84491139e-01 -4.08090817e-03 1.48414804e+02] [ 4.17462293e-03 -1.19540384e-04 9.99991279e-01 1.12658111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.162755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:195.18, Y:148.47, Z:1.13 [[ 1.82936812e-01 -9.83124274e-01 -8.86147500e-04 1.95176103e+02] [ 9.83115810e-01 1.82938915e-01 -4.08123837e-03 1.48471550e+02] [ 4.17447538e-03 -1.24576882e-04 9.99991279e-01 1.12855955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.19, Y:148.53, Z:1.13 [[ 1.83646989e-01 -9.82991862e-01 -8.84507763e-04 1.95186259e+02] [ 9.82983396e-01 1.83649080e-01 -4.08159372e-03 1.48527137e+02] [ 4.17461244e-03 -1.19884048e-04 9.99991279e-01 1.13182921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.19, Y:148.58, Z:1.13 [[ 1.86348652e-01 -9.82483283e-01 -8.82674163e-04 1.95194161e+02] [ 9.82474809e-01 1.86350712e-01 -4.08199021e-03 1.48582307e+02] [ 4.17497410e-03 -1.06531757e-04 9.99991279e-01 1.13307135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.20, Y:148.64, Z:1.13 [[ 1.89193656e-01 -9.81939400e-01 -8.80845092e-04 1.95201469e+02] [ 9.81930918e-01 1.89195684e-01 -4.08238486e-03 1.48639110e+02] [ 4.17530663e-03 -9.25677126e-05 9.99991279e-01 1.13336279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.21, Y:148.70, Z:1.13 [[ 1.93416025e-01 -9.81116440e-01 -8.79171800e-04 1.95210185e+02] [ 9.81107948e-01 1.93418009e-01 -4.08274518e-03 1.48696106e+02] [ 4.17569608e-03 -7.28940958e-05 9.99991279e-01 1.13304456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.22, Y:148.75, Z:1.13 [[ 1.95924067e-01 -9.80618677e-01 -8.77584506e-04 1.95219941e+02] [ 9.80610178e-01 1.95926023e-01 -4.08308634e-03 1.48752958e+02] [ 4.17589237e-03 -6.05934188e-05 9.99991279e-01 1.13398423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.23, Y:148.81, Z:1.13 [[ 1.97006775e-01 -9.80401736e-01 -8.75977474e-04 1.95227959e+02] [ 9.80393233e-01 1.97008715e-01 -4.08343108e-03 1.48809717e+02] [ 4.17597812e-03 -5.43388009e-05 9.99991279e-01 1.13360059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.24, Y:148.86, Z:1.13 [[ 1.97657426e-01 -9.80270767e-01 -8.74364919e-04 1.95238339e+02] [ 9.80262262e-01 1.97659354e-01 -4.08377634e-03 1.48863787e+02] [ 4.17603298e-03 -4.99182122e-05 9.99991279e-01 1.13490741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.25, Y:148.92, Z:1.13 [[ 1.92416364e-01 -9.81312989e-01 -8.72518077e-04 1.95247217e+02] [ 9.81304492e-01 1.92418329e-01 -4.08417089e-03 1.48920937e+02] [ 4.17573842e-03 -7.03445968e-05 9.99991279e-01 1.12774784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.26, Y:148.98, Z:1.13 [[ 1.90420445e-01 -9.81702244e-01 -8.70899981e-04 1.95259175e+02] [ 9.81693750e-01 1.90422421e-01 -4.08451590e-03 1.48977159e+02] [ 4.17561731e-03 -7.71817342e-05 9.99991279e-01 1.12954183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76275509600003 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:195.27, Y:149.03, Z:1.13 [[ 1.89741023e-01 -9.81833788e-01 -8.69753682e-04 1.95271692e+02] [ 9.81825294e-01 1.89743000e-01 -4.08475998e-03 1.49032315e+02] [ 4.17558504e-03 -7.88996258e-05 9.99991279e-01 1.13038148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82275509600004 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:195.28, Y:149.09, Z:1.13 [[ 1.87850802e-01 -9.82197191e-01 -8.68485630e-04 1.95283651e+02] [ 9.82188700e-01 1.87852790e-01 -4.08502957e-03 1.49088482e+02] [ 4.17545202e-03 -8.56406917e-05 9.99991279e-01 1.13069849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88275509600004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:195.30, Y:149.14, Z:1.13 [[ 1.86139598e-01 -9.82522925e-01 -8.67010423e-04 1.95296171e+02] [ 9.82514436e-01 1.86141594e-01 -4.08534265e-03 1.49143373e+02] [ 4.17532951e-03 -9.14062204e-05 9.99991279e-01 1.12968822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.31, Y:149.20, Z:1.13 [[ 1.84967016e-01 -9.82744348e-01 -8.65483033e-04 1.95308512e+02] [ 9.82735860e-01 1.84969016e-01 -4.08566620e-03 1.49197809e+02] [ 4.17525291e-03 -9.48277276e-05 9.99991279e-01 1.13053272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.32, Y:149.25, Z:1.13 [[ 1.83790024e-01 -9.82965147e-01 -8.63811926e-04 1.95320063e+02] [ 9.82956660e-01 1.83792028e-01 -4.08601948e-03 1.49253176e+02] [ 4.17517649e-03 -9.81200681e-05 9.99991279e-01 1.12965890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.33, Y:149.31, Z:1.13 [[ 1.82403026e-01 -9.83223470e-01 -8.62131349e-04 1.95332749e+02] [ 9.83214984e-01 1.82405035e-01 -4.08637405e-03 1.49307996e+02] [ 4.17507597e-03 -1.02293468e-04 9.99991279e-01 1.12887267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.35, Y:149.36, Z:1.13 [[ 1.81709222e-01 -9.83351930e-01 -8.60325712e-04 1.95345247e+02] [ 9.83343443e-01 1.81711229e-01 -4.08675416e-03 1.49361778e+02] [ 4.17504843e-03 -1.03394729e-04 9.99991279e-01 1.12807590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.36, Y:149.42, Z:1.13 [[ 1.79280412e-01 -9.83797640e-01 -8.58490884e-04 1.95358196e+02] [ 9.83789157e-01 1.79282432e-01 -4.08713956e-03 1.49417001e+02] [ 4.17483059e-03 -1.11829960e-04 9.99991279e-01 1.12747329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.37, Y:149.47, Z:1.12 [[ 1.78906552e-01 -9.83865698e-01 -8.56771376e-04 1.95370666e+02] [ 9.83857214e-01 1.78908568e-01 -4.08749998e-03 1.49471269e+02] [ 4.17483476e-03 -1.11660173e-04 9.99991279e-01 1.12469450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.38, Y:149.53, Z:1.12 [[ 1.77023782e-01 -9.84206203e-01 -8.55018628e-04 1.95381404e+02] [ 9.84197720e-01 1.77025808e-01 -4.08786659e-03 1.49528846e+02] [ 4.17466401e-03 -1.17857779e-04 9.99991279e-01 1.12299431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.40, Y:149.58, Z:1.13 [[ 1.82542480e-01 -9.83197596e-01 -8.54027071e-04 1.95397561e+02] [ 9.83189102e-01 1.82544454e-01 -4.08807373e-03 1.49583711e+02] [ 4.17528217e-03 -9.34229897e-05 9.99991279e-01 1.13026627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.41, Y:149.64, Z:1.13 [[ 1.86813596e-01 -9.82395008e-01 -8.53003308e-04 1.95410438e+02] [ 9.82386504e-01 1.86815529e-01 -4.08828733e-03 1.49637939e+02] [ 4.17566733e-03 -7.42312774e-05 9.99991279e-01 1.13042989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.42, Y:149.69, Z:1.13 [[ 1.88901880e-01 -9.81995598e-01 -8.51760594e-04 1.95422749e+02] [ 9.81987089e-01 1.88903789e-01 -4.08854623e-03 1.49693195e+02] [ 4.17583520e-03 -6.40838371e-05 9.99991279e-01 1.13016890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.44, Y:149.75, Z:1.13 [[ 1.91484436e-01 -9.81495282e-01 -8.50198806e-04 1.95436650e+02] [ 9.81486766e-01 1.91486317e-01 -4.08887097e-03 1.49748726e+02] [ 4.17600900e-03 -5.15037237e-05 9.99991279e-01 1.12890903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.45, Y:149.80, Z:1.13 [[ 1.91690360e-01 -9.81455086e-01 -8.48513489e-04 1.95447944e+02] [ 9.81446568e-01 1.91692232e-01 -4.08922067e-03 1.49804308e+02] [ 4.17603987e-03 -4.89064669e-05 9.99991279e-01 1.13092834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.46, Y:149.86, Z:1.13 [[ 1.93562394e-01 -9.81087602e-01 -8.46930895e-04 1.95462742e+02] [ 9.81079079e-01 1.93564243e-01 -4.08954842e-03 1.49859030e+02] [ 4.17614079e-03 -3.93233991e-05 9.99991279e-01 1.13008165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.47, Y:149.92, Z:1.13 [[ 1.91937647e-01 -9.81406758e-01 -8.45437847e-04 1.95474479e+02] [ 9.81398237e-01 1.91939504e-01 -4.08985706e-03 1.49915062e+02] [ 4.17608628e-03 -4.47136726e-05 9.99991279e-01 1.13079022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.49, Y:149.97, Z:1.13 [[ 1.89925476e-01 -9.81798147e-01 -8.43968102e-04 1.95487426e+02] [ 9.81789629e-01 1.89927344e-01 -4.09016033e-03 1.49971130e+02] [ 4.17600445e-03 -5.17734829e-05 9.99991279e-01 1.13060814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.50, Y:150.03, Z:1.13 [[ 1.87058070e-01 -9.82348497e-01 -8.42509807e-04 1.95501334e+02] [ 9.82339982e-01 1.87059956e-01 -4.09046069e-03 1.50026820e+02] [ 4.17585776e-03 -6.24773879e-05 9.99991279e-01 1.13040440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.52, Y:150.08, Z:1.13 [[ 1.84004454e-01 -9.82925050e-01 -8.41069273e-04 1.95515350e+02] [ 9.82916540e-01 1.84006361e-01 -4.09075687e-03 1.50080801e+02] [ 4.17566950e-03 -7.39834172e-05 9.99991279e-01 1.12962376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.962755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:195.53, Y:150.14, Z:1.12 [[ 1.79360694e-01 -9.83783023e-01 -8.39277181e-04 1.95527367e+02] [ 9.83774521e-01 1.79362634e-01 -4.09112451e-03 1.50136562e+02] [ 4.17531380e-03 -9.18725770e-05 9.99991279e-01 1.12484900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.54, Y:150.19, Z:1.13 [[ 1.77326520e-01 -9.84151718e-01 -8.37506701e-04 1.95542649e+02] [ 9.84143218e-01 1.77328470e-01 -4.09148692e-03 1.50190381e+02] [ 4.17515766e-03 -9.86974055e-05 9.99991279e-01 1.12959182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.56, Y:150.25, Z:1.13 [[ 1.74992227e-01 -9.84569460e-01 -8.36156512e-04 1.95556755e+02] [ 9.84560963e-01 1.74994192e-01 -4.09176283e-03 1.50246390e+02] [ 4.17494725e-03 -1.07220370e-04 9.99991279e-01 1.12961051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.57, Y:150.30, Z:1.13 [[ 1.75688742e-01 -9.84445412e-01 -8.34425169e-04 1.95571632e+02] [ 9.84436913e-01 1.75690694e-01 -4.09211587e-03 1.50300781e+02] [ 4.17506543e-03 -1.02500247e-04 9.99991279e-01 1.12971021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.58, Y:150.36, Z:1.13 [[ 1.76958492e-01 -9.84217963e-01 -8.32705520e-04 1.95583627e+02] [ 9.84209459e-01 1.76960425e-01 -4.09246577e-03 1.50355581e+02] [ 4.17523425e-03 -9.53600794e-05 9.99991279e-01 1.12906034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.60, Y:150.41, Z:1.13 [[ 1.86890209e-01 -9.82380455e-01 -8.31344977e-04 1.95595894e+02] [ 9.82371931e-01 1.86892051e-01 -4.09274213e-03 1.50411949e+02] [ 4.17600165e-03 -5.17965364e-05 9.99991279e-01 1.13313974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.60, Y:150.47, Z:1.13 [[ 1.91585237e-01 -9.81475628e-01 -8.29610719e-04 1.95604943e+02] [ 9.81467094e-01 1.91587030e-01 -4.09309364e-03 1.50468810e+02] [ 4.17621431e-03 -3.00593071e-05 9.99991279e-01 1.13098890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.62, Y:150.52, Z:1.13 [[ 1.94286083e-01 -9.80944561e-01 -8.28592417e-04 1.95616705e+02] [ 9.80936021e-01 1.94287849e-01 -4.09329977e-03 1.50524574e+02] [ 4.17628559e-03 -1.75249703e-05 9.99991279e-01 1.13162648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.63, Y:150.58, Z:1.13 [[ 1.96400214e-01 -9.80523468e-01 -8.27167506e-04 1.95626159e+02] [ 9.80514923e-01 1.96401956e-01 -4.09358770e-03 1.50578783e+02] [ 4.17631612e-03 -7.06858210e-06 9.99991279e-01 1.13107954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.64, Y:150.63, Z:1.13 [[ 1.96127293e-01 -9.80578097e-01 -8.25531557e-04 1.95637094e+02] [ 9.80569550e-01 1.96129031e-01 -4.09391758e-03 1.50634978e+02] [ 4.17631662e-03 -6.56213267e-06 9.99991279e-01 1.13039149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.65, Y:150.69, Z:1.13 [[ 1.94290489e-01 -9.80943692e-01 -8.24060355e-04 1.95648695e+02] [ 9.80935148e-01 1.94292236e-01 -4.09421370e-03 1.50690969e+02] [ 4.17630163e-03 -1.28829853e-05 9.99991279e-01 1.13109776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.66, Y:150.75, Z:1.13 [[ 1.91361036e-01 -9.81519372e-01 -8.22608110e-04 1.95659176e+02] [ 9.81510832e-01 1.91362802e-01 -4.09450546e-03 1.50745836e+02] [ 4.17625302e-03 -2.38699647e-05 9.99991279e-01 1.13249034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.67, Y:150.80, Z:1.13 [[ 1.89003061e-01 -9.81976155e-01 -8.21102202e-04 1.95669907e+02] [ 9.81967618e-01 1.89004842e-01 -4.09480743e-03 1.50802340e+02] [ 4.17619555e-03 -3.23646337e-05 9.99991279e-01 1.13182408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.68, Y:150.86, Z:1.13 [[ 1.85412286e-01 -9.82660477e-01 -8.19685141e-04 1.95680198e+02] [ 9.82651945e-01 1.85414092e-01 -4.09509107e-03 1.50856407e+02] [ 4.17606532e-03 -4.61849990e-05 9.99991279e-01 1.13062063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.69, Y:150.91, Z:1.13 [[ 1.82023766e-01 -9.83293791e-01 -8.18060902e-04 1.95690815e+02] [ 9.83285264e-01 1.82025594e-01 -4.09541552e-03 1.50912847e+02] [ 4.17590467e-03 -5.89242755e-05 9.99991279e-01 1.12968484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.70, Y:150.97, Z:1.13 [[ 1.79355340e-01 -9.83784019e-01 -8.16605143e-04 1.95700852e+02] [ 9.83775495e-01 1.79357186e-01 -4.09570577e-03 1.50969435e+02] [ 4.17575388e-03 -6.87694272e-05 9.99991279e-01 1.12896013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.71, Y:151.03, Z:1.13 [[ 1.77791100e-01 -9.84067914e-01 -8.15118804e-04 1.95711929e+02] [ 9.84059393e-01 1.77792954e-01 -4.09600155e-03 1.51025106e+02] [ 4.17566609e-03 -7.38926922e-05 9.99991279e-01 1.12945047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.72, Y:151.08, Z:1.13 [[ 1.76288606e-01 -9.84338187e-01 -8.13658865e-04 1.95722336e+02] [ 9.84329666e-01 1.76290466e-01 -4.09629155e-03 1.51081084e+02] [ 4.17557649e-03 -7.87790347e-05 9.99991279e-01 1.12975740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.73, Y:151.14, Z:1.13 [[ 1.76261339e-01 -9.84343071e-01 -8.12183196e-04 1.95731710e+02] [ 9.84334549e-01 1.76263193e-01 -4.09658411e-03 1.51136783e+02] [ 4.17560219e-03 -7.73905793e-05 9.99991279e-01 1.13056862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.74, Y:151.19, Z:1.13 [[ 1.76529587e-01 -9.84295000e-01 -8.10651611e-04 1.95742042e+02] [ 9.84286477e-01 1.76531432e-01 -4.09688717e-03 1.51193422e+02] [ 4.17565104e-03 -7.46916195e-05 9.99991279e-01 1.13135451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.75, Y:151.25, Z:1.13 [[ 1.76634469e-01 -9.84276186e-01 -8.09178901e-04 1.95752964e+02] [ 9.84267661e-01 1.76636308e-01 -4.09717802e-03 1.51249319e+02] [ 4.17568513e-03 -7.27457600e-05 9.99991279e-01 1.13197065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.76, Y:151.31, Z:1.13 [[ 1.76689472e-01 -9.84266315e-01 -8.07726037e-04 1.95764289e+02] [ 9.84257788e-01 1.76691304e-01 -4.09746442e-03 1.51305931e+02] [ 4.17571437e-03 -7.10318160e-05 9.99991279e-01 1.13305801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.77, Y:151.36, Z:1.13 [[ 1.76701072e-01 -9.84264233e-01 -8.06254923e-04 1.95774134e+02] [ 9.84255706e-01 1.76702898e-01 -4.09775387e-03 1.51360889e+02] [ 4.17574015e-03 -6.94835050e-05 9.99991279e-01 1.13345966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.78, Y:151.42, Z:1.13 [[ 1.76625499e-01 -9.84277799e-01 -8.04729780e-04 1.95783923e+02] [ 9.84269270e-01 1.76627319e-01 -4.09805336e-03 1.51417792e+02] [ 4.17576021e-03 -6.82500724e-05 9.99991279e-01 1.13255001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.79, Y:151.47, Z:1.13 [[ 1.76305239e-01 -9.84335216e-01 -8.03257094e-04 1.95794522e+02] [ 9.84326687e-01 1.76307055e-01 -4.09834200e-03 1.51474011e+02] [ 4.17576225e-03 -6.81082299e-05 9.99991279e-01 1.13252103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.81, Y:151.53, Z:1.13 [[ 1.75681203e-01 -9.84446785e-01 -8.01795452e-04 1.95805542e+02] [ 9.84438255e-01 1.75683019e-01 -4.09862794e-03 1.51529884e+02] [ 4.17574294e-03 -6.92662292e-05 9.99991279e-01 1.13246262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.82, Y:151.59, Z:1.13 [[ 1.73550909e-01 -9.84824574e-01 -8.00349460e-04 1.95815063e+02] [ 9.84816047e-01 1.73552737e-01 -4.09891028e-03 1.51585431e+02] [ 4.17561041e-03 -7.68273888e-05 9.99991279e-01 1.13308296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.82, Y:151.64, Z:1.13 [[ 1.71760673e-01 -9.85138383e-01 -7.98849937e-04 1.95824946e+02] [ 9.85129858e-01 1.71762510e-01 -4.09920250e-03 1.51641904e+02] [ 4.17549420e-03 -8.28891456e-05 9.99991279e-01 1.13360140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.83, Y:151.70, Z:1.13 [[ 1.68080776e-01 -9.85772903e-01 -7.97290263e-04 1.95834834e+02] [ 9.85764384e-01 1.68082639e-01 -4.09950584e-03 1.51697930e+02] [ 4.17519242e-03 -9.68922223e-05 9.99991279e-01 1.13423443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.85, Y:151.75, Z:1.13 [[ 1.66605558e-01 -9.86023304e-01 -7.95541920e-04 1.95845496e+02] [ 9.86014785e-01 1.66607427e-01 -4.09984509e-03 1.51753680e+02] [ 4.17508599e-03 -1.01359115e-04 9.99991279e-01 1.13295883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.86, Y:151.81, Z:1.13 [[ 1.64469951e-01 -9.86381774e-01 -7.94141965e-04 1.95855135e+02] [ 9.86373259e-01 1.64471832e-01 -4.10011624e-03 1.51809727e+02] [ 4.17489392e-03 -1.08974480e-04 9.99991279e-01 1.13260907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.87, Y:151.87, Z:1.13 [[ 1.63753659e-01 -9.86500943e-01 -7.92372092e-04 1.95865236e+02] [ 9.86492428e-01 1.63755539e-01 -4.10045825e-03 1.51866134e+02] [ 4.17486125e-03 -1.10204027e-04 9.99991279e-01 1.13203113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.87, Y:151.92, Z:1.13 [[ 1.62196605e-01 -9.86758145e-01 -7.90881736e-04 1.95872257e+02] [ 9.86749630e-01 1.62198492e-01 -4.10074569e-03 1.51923932e+02] [ 4.17472403e-03 -1.15275234e-04 9.99991279e-01 1.12686482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.89, Y:151.98, Z:1.13 [[ 1.66629509e-01 -9.86019261e-01 -7.89482387e-04 1.95887156e+02] [ 9.86010737e-01 1.66631352e-01 -4.10101507e-03 1.51978019e+02] [ 4.17523237e-03 -9.50879817e-05 9.99991279e-01 1.13359363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.90, Y:152.03, Z:1.13 [[ 1.68799681e-01 -9.85650063e-01 -7.88276698e-04 1.95898192e+02] [ 9.85641534e-01 1.68801500e-01 -4.10124681e-03 1.52034469e+02] [ 4.17545647e-03 -8.46691005e-05 9.99991279e-01 1.13455055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.91, Y:152.09, Z:1.14 [[ 1.70215877e-01 -9.85406483e-01 -7.86843958e-04 1.95908978e+02] [ 9.85397950e-01 1.70217678e-01 -4.10152167e-03 1.52090638e+02] [ 4.17560080e-03 -7.72103158e-05 9.99991279e-01 1.13514804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.92, Y:152.15, Z:1.13 [[ 1.72109713e-01 -9.85077474e-01 -7.85384263e-04 1.95920459e+02] [ 9.85068936e-01 1.72111492e-01 -4.10180117e-03 1.52145846e+02] [ 4.17576559e-03 -6.76978184e-05 9.99991279e-01 1.13469952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.93, Y:152.20, Z:1.13 [[ 1.72261886e-01 -9.85050876e-01 -7.83869411e-04 1.95931926e+02] [ 9.85042337e-01 1.72263658e-01 -4.10209064e-03 1.52202320e+02] [ 4.17580019e-03 -6.55106844e-05 9.99991279e-01 1.13486142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.94, Y:152.26, Z:1.13 [[ 1.70906809e-01 -9.85286887e-01 -7.82451916e-04 1.95943804e+02] [ 9.85278350e-01 1.70908586e-01 -4.10236100e-03 1.52256422e+02] [ 4.17573025e-03 -6.98115056e-05 9.99991279e-01 1.13386549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.96, Y:152.31, Z:1.13 [[ 1.68937800e-01 -9.85626405e-01 -7.80826647e-04 1.95955422e+02] [ 9.85617869e-01 1.68939588e-01 -4.10267032e-03 1.52310144e+02] [ 4.17561273e-03 -7.65005953e-05 9.99991279e-01 1.13332692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.96, Y:152.37, Z:1.13 [[ 1.68334748e-01 -9.85729580e-01 -7.79234838e-04 1.95963288e+02] [ 9.85721044e-01 1.68336534e-01 -4.10297264e-03 1.52366937e+02] [ 4.17559519e-03 -7.74353120e-05 9.99991279e-01 1.13245440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.97, Y:152.42, Z:1.13 [[ 1.69143400e-01 -9.85591145e-01 -7.77743570e-04 1.95970413e+02] [ 9.85582606e-01 1.69145173e-01 -4.10325530e-03 1.52423302e+02] [ 4.17568366e-03 -7.24919813e-05 9.99991279e-01 1.13110538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.98, Y:152.48, Z:1.13 [[ 1.67195769e-01 -9.85923411e-01 -7.76197878e-04 1.95977516e+02] [ 9.85914874e-01 1.67197552e-01 -4.10354767e-03 1.52480376e+02] [ 4.17556210e-03 -7.91692259e-05 9.99991279e-01 1.13017062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.99, Y:152.54, Z:1.13 [[ 1.65546339e-01 -9.86201708e-01 -7.74710989e-04 1.95986030e+02] [ 9.86193173e-01 1.65548130e-01 -4.10382836e-03 1.52535578e+02] [ 4.17545450e-03 -8.46409293e-05 9.99991279e-01 1.12862021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.602755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:196.00, Y:152.59, Z:1.13 [[ 1.65531332e-01 -9.86204229e-01 -7.73173484e-04 1.95998753e+02] [ 9.86195692e-01 1.65533117e-01 -4.10411801e-03 1.52591008e+02] [ 4.17548436e-03 -8.31402389e-05 9.99991279e-01 1.13021249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.01, Y:152.65, Z:1.13 [[ 1.64847929e-01 -9.86318693e-01 -7.71728608e-04 1.96007511e+02] [ 9.86310157e-01 1.64849713e-01 -4.10438969e-03 1.52646962e+02] [ 4.17545551e-03 -8.45636267e-05 9.99991279e-01 1.13029327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.02, Y:152.70, Z:1.14 [[ 1.64546584e-01 -9.86369012e-01 -7.70008536e-04 1.96017331e+02] [ 9.86360475e-01 1.64548365e-01 -4.10471236e-03 1.52703496e+02] [ 4.17546472e-03 -8.40895876e-05 9.99991279e-01 1.13513367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.03, Y:152.76, Z:1.13 [[ 1.64143687e-01 -9.86436141e-01 -7.68246410e-04 1.96026524e+02] [ 9.86427603e-01 1.64145463e-01 -4.10504213e-03 1.52759945e+02] [ 4.17546608e-03 -8.40027127e-05 9.99991279e-01 1.13467679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.03, Y:152.82, Z:1.14 [[ 1.65790306e-01 -9.86160730e-01 -7.67119895e-04 1.96034825e+02] [ 9.86152188e-01 1.65792063e-01 -4.10525264e-03 1.52815153e+02] [ 4.17562133e-03 -7.58858738e-05 9.99991279e-01 1.13562321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.04, Y:152.87, Z:1.14 [[ 1.66763423e-01 -9.85996640e-01 -7.65495823e-04 1.96044348e+02] [ 9.85988095e-01 1.66765165e-01 -4.10555545e-03 1.52871276e+02] [ 4.17572192e-03 -7.01132868e-05 9.99991279e-01 1.13874887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.06, Y:152.93, Z:1.15 [[ 1.71154604e-01 -9.85243888e-01 -7.63981639e-04 1.96059820e+02] [ 9.85235334e-01 1.71156301e-01 -4.10583720e-03 1.52926517e+02] [ 4.17601128e-03 -4.99687673e-05 9.99991279e-01 1.14605341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.07, Y:152.98, Z:1.14 [[ 1.70609640e-01 -9.85338403e-01 -7.62725363e-04 1.96068313e+02] [ 9.85329849e-01 1.70611337e-01 -4.10607056e-03 1.52984337e+02] [ 4.17599860e-03 -5.10008481e-05 9.99991279e-01 1.14383560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.07, Y:153.04, Z:1.14 [[ 1.66817189e-01 -9.85987549e-01 -7.61327293e-04 1.96074741e+02] [ 9.85979000e-01 1.66818913e-01 -4.10632977e-03 1.53041045e+02] [ 4.17579381e-03 -6.56463346e-05 9.99991279e-01 1.13948057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.09, Y:153.10, Z:1.14 [[ 1.63323522e-01 -9.86572273e-01 -7.59868242e-04 1.96086271e+02] [ 9.86563729e-01 1.63325271e-01 -4.10659974e-03 1.53097332e+02] [ 4.17556313e-03 -7.89541119e-05 9.99991279e-01 1.13949313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20275509600003 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:196.10, Y:153.15, Z:1.14 [[ 1.59843766e-01 -9.87142034e-01 -7.58365437e-04 1.96097543e+02] [ 9.87133495e-01 1.59845538e-01 -4.10687725e-03 1.53152318e+02] [ 4.17529249e-03 -9.21491997e-05 9.99991279e-01 1.13782643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.11, Y:153.21, Z:1.14 [[ 1.55810856e-01 -9.87786619e-01 -7.56809433e-04 1.96108187e+02] [ 9.87778086e-01 1.55812657e-01 -4.10716396e-03 1.53206451e+02] [ 4.17492209e-03 -1.07619040e-04 9.99991279e-01 1.13883456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.12, Y:153.26, Z:1.14 [[ 1.57147128e-01 -9.87574914e-01 -7.55032821e-04 1.96122220e+02] [ 9.87566377e-01 1.57148910e-01 -4.10749054e-03 1.53262179e+02] [ 4.17510720e-03 -1.00164687e-04 9.99991279e-01 1.13693556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.13, Y:153.32, Z:1.14 [[ 1.55563704e-01 -9.87825575e-01 -7.53247372e-04 1.96131698e+02] [ 9.87817040e-01 1.55565492e-01 -4.10781794e-03 1.53319513e+02] [ 4.17498691e-03 -1.05043218e-04 9.99991279e-01 1.13519030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.14, Y:153.37, Z:1.14 [[ 1.57182991e-01 -9.87569209e-01 -7.51831130e-04 1.96139923e+02] [ 9.87560669e-01 1.57184759e-01 -4.10807713e-03 1.53374869e+02] [ 4.17518687e-03 -9.67590038e-05 9.99991279e-01 1.14055511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.15, Y:153.43, Z:1.14 [[ 1.60664748e-01 -9.87008752e-01 -7.50179572e-04 1.96149260e+02] [ 9.87000205e-01 1.60666479e-01 -4.10837870e-03 1.53430916e+02] [ 4.17553444e-03 -8.03557637e-05 9.99991279e-01 1.13991494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.16, Y:153.49, Z:1.14 [[ 1.60599257e-01 -9.87019411e-01 -7.48685854e-04 1.96158652e+02] [ 9.87010863e-01 1.60600982e-01 -4.10865088e-03 1.53486742e+02] [ 4.17555786e-03 -7.91147932e-05 9.99991279e-01 1.14012711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.17, Y:153.54, Z:1.14 [[ 1.67265857e-01 -9.85911545e-01 -7.47531625e-04 1.96169509e+02] [ 9.85902984e-01 1.67267520e-01 -4.10886088e-03 1.53543300e+02] [ 4.17601113e-03 -4.97215221e-05 9.99991279e-01 1.14249898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.18, Y:153.60, Z:1.14 [[ 1.67395158e-01 -9.85889601e-01 -7.46052363e-04 1.96179388e+02] [ 9.85881038e-01 1.67396814e-01 -4.10912945e-03 1.53598385e+02] [ 4.17603478e-03 -4.76705041e-05 9.99991279e-01 1.14250058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.19, Y:153.65, Z:1.14 [[ 1.67506538e-01 -9.85870684e-01 -7.44283231e-04 1.96190609e+02] [ 9.85862120e-01 1.67508186e-01 -4.10944987e-03 1.53653515e+02] [ 4.17605968e-03 -4.54009234e-05 9.99991279e-01 1.14364509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.20, Y:153.71, Z:1.14 [[ 1.64315884e-01 -9.86407491e-01 -7.42450023e-04 1.96202285e+02] [ 9.86398932e-01 1.64317551e-01 -4.10978104e-03 1.53709278e+02] [ 4.17591638e-03 -5.70496048e-05 9.99991279e-01 1.14405789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.21, Y:153.76, Z:1.14 [[ 1.59845302e-01 -9.87141799e-01 -7.40979858e-04 1.96211510e+02] [ 9.87133245e-01 1.59847002e-01 -4.11004609e-03 1.53763873e+02] [ 4.17564170e-03 -7.44742944e-05 9.99991279e-01 1.14267261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.22, Y:153.82, Z:1.14 [[ 1.59353051e-01 -9.87221383e-01 -7.39268841e-04 1.96224073e+02] [ 9.87212829e-01 1.59354748e-01 -4.11035383e-03 1.53819012e+02] [ 4.17563519e-03 -7.48182599e-05 9.99991279e-01 1.14465960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.23, Y:153.88, Z:1.14 [[ 1.54660761e-01 -9.87967360e-01 -7.37497480e-04 1.96231824e+02] [ 9.87958813e-01 1.54662491e-01 -4.11067163e-03 1.53875711e+02] [ 4.17527260e-03 -9.28575331e-05 9.99991279e-01 1.14291936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.042755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:196.24, Y:153.93, Z:1.14 [[ 1.51047277e-01 -9.88526266e-01 -7.36057182e-04 1.96241579e+02] [ 9.88517724e-01 1.51049033e-01 -4.11092951e-03 1.53932286e+02] [ 4.17494252e-03 -1.06660862e-04 9.99991279e-01 1.14169491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.25, Y:153.99, Z:1.14 [[ 1.48669487e-01 -9.88886669e-01 -7.34582571e-04 1.96251300e+02] [ 9.88878130e-01 1.48671257e-01 -4.11119299e-03 1.53988450e+02] [ 4.17471526e-03 -1.15203685e-04 9.99991279e-01 1.13988855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.26, Y:154.04, Z:1.14 [[ 1.46988837e-01 -9.89137879e-01 -7.33446547e-04 1.96261327e+02] [ 9.89129342e-01 1.46990617e-01 -4.11139565e-03 1.54043563e+02] [ 4.17454694e-03 -1.21144234e-04 9.99991279e-01 1.14105932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.222755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:196.27, Y:154.10, Z:1.14 [[ 1.45863440e-01 -9.89304464e-01 -7.31623726e-04 1.96271082e+02] [ 9.89295927e-01 1.45865222e-01 -4.11172000e-03 1.54099581e+02] [ 4.17446140e-03 -1.24042748e-04 9.99991279e-01 1.14221540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.28, Y:154.15, Z:1.14 [[ 1.47034914e-01 -9.89131033e-01 -7.30132492e-04 1.96280106e+02] [ 9.89122493e-01 1.47036679e-01 -4.11198478e-03 1.54154217e+02] [ 4.17464802e-03 -1.17585144e-04 9.99991279e-01 1.14175829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.29, Y:154.21, Z:1.14 [[ 1.47649460e-01 -9.89039487e-01 -7.28282057e-04 1.96289152e+02] [ 9.89030944e-01 1.47651212e-01 -4.11231249e-03 1.54210020e+02] [ 4.17477117e-03 -1.13112773e-04 9.99991279e-01 1.14233207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.30, Y:154.27, Z:1.14 [[ 1.50091554e-01 -9.88671835e-01 -7.26463712e-04 1.96298129e+02] [ 9.88663287e-01 1.50093278e-01 -4.11263369e-03 1.54266434e+02] [ 4.17508242e-03 -1.00956421e-04 9.99991279e-01 1.14429205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.31, Y:154.32, Z:1.15 [[ 1.52459796e-01 -9.88309408e-01 -7.24906482e-04 1.96306879e+02] [ 9.88300854e-01 1.52461493e-01 -4.11290815e-03 1.54323093e+02] [ 4.17534615e-03 -8.93725574e-05 9.99991279e-01 1.14594319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.32, Y:154.38, Z:1.15 [[ 1.53634757e-01 -9.88127440e-01 -7.23414366e-04 1.96315377e+02] [ 9.88118883e-01 1.53636438e-01 -4.11317058e-03 1.54378882e+02] [ 4.17547953e-03 -8.28934314e-05 9.99991279e-01 1.14670213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.32, Y:154.43, Z:1.15 [[ 1.54306196e-01 -9.88022812e-01 -7.21866372e-04 1.96324415e+02] [ 9.88014252e-01 1.54307865e-01 -4.11344224e-03 1.54434968e+02] [ 4.17556443e-03 -7.84846390e-05 9.99991279e-01 1.14688310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.33, Y:154.49, Z:1.15 [[ 1.56244662e-01 -9.87718121e-01 -7.20404217e-04 1.96332829e+02] [ 9.87709557e-01 1.56246308e-01 -4.11369830e-03 1.54491065e+02] [ 4.17573485e-03 -6.88067304e-05 9.99991279e-01 1.14628040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.34, Y:154.55, Z:1.15 [[ 1.58602265e-01 -9.87342294e-01 -7.18887689e-04 1.96341329e+02] [ 9.87333724e-01 1.58603884e-01 -4.11396330e-03 1.54547790e+02] [ 4.17590834e-03 -5.72981605e-05 9.99991279e-01 1.14532674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.35, Y:154.60, Z:1.14 [[ 1.59085586e-01 -9.87264535e-01 -7.17431938e-04 1.96350186e+02] [ 9.87255964e-01 1.59087194e-01 -4.11421715e-03 1.54602966e+02] [ 4.17595492e-03 -5.37763135e-05 9.99991279e-01 1.14399154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82275509600004 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:196.36, Y:154.66, Z:1.14 [[ 1.57495118e-01 -9.87519506e-01 -7.15771550e-04 1.96359278e+02] [ 9.87510937e-01 1.57496733e-01 -4.11450600e-03 1.54659066e+02] [ 4.17588661e-03 -5.88176262e-05 9.99991279e-01 1.14361538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.37, Y:154.72, Z:1.15 [[ 1.55993981e-01 -9.87757748e-01 -7.14203533e-04 1.96369049e+02] [ 9.87749179e-01 1.55995603e-01 -4.11477816e-03 1.54715189e+02] [ 4.17581662e-03 -6.35733293e-05 9.99991279e-01 1.14512889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94275509600004 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:196.38, Y:154.77, Z:1.14 [[ 1.53711347e-01 -9.88115537e-01 -7.12722145e-04 1.96378951e+02] [ 9.88106971e-01 1.53712983e-01 -4.11503474e-03 1.54771203e+02] [ 4.17568440e-03 -7.17181863e-05 9.99991279e-01 1.14420046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.39, Y:154.83, Z:1.15 [[ 1.50721443e-01 -9.88576017e-01 -7.11237950e-04 1.96388404e+02] [ 9.88567454e-01 1.50723099e-01 -4.11529125e-03 1.54827716e+02] [ 4.17547822e-03 -8.28440543e-05 9.99991279e-01 1.14500685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.40, Y:154.88, Z:1.14 [[ 1.48284516e-01 -9.88944487e-01 -7.09745424e-04 1.96397219e+02] [ 9.88935928e-01 1.48286186e-01 -4.11554864e-03 1.54883249e+02] [ 4.17529458e-03 -9.16206105e-05 9.99991279e-01 1.14492383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.41, Y:154.94, Z:1.14 [[ 1.46957561e-01 -9.89142545e-01 -7.08198404e-04 1.96406509e+02] [ 9.89133986e-01 1.46959236e-01 -4.11581483e-03 1.54940186e+02] [ 4.17520385e-03 -9.56530008e-05 9.99991279e-01 1.14197120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.42, Y:155.00, Z:1.14 [[ 1.46028119e-01 -9.89280187e-01 -7.06800541e-04 1.96415221e+02] [ 9.89271629e-01 1.46029796e-01 -4.11605487e-03 1.54996202e+02] [ 4.17514547e-03 -9.81579745e-05 9.99991279e-01 1.14494595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.42, Y:155.05, Z:1.15 [[ 1.44844912e-01 -9.89454119e-01 -7.05171583e-04 1.96423907e+02] [ 9.89445562e-01 1.44846593e-01 -4.11633393e-03 1.55050558e+02] [ 4.17506526e-03 -1.01498867e-04 9.99991279e-01 1.14529157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.43, Y:155.11, Z:1.14 [[ 1.44343153e-01 -9.89527442e-01 -7.03531334e-04 1.96432747e+02] [ 9.89518885e-01 1.44344832e-01 -4.11661425e-03 1.55106532e+02] [ 4.17505388e-03 -1.01952459e-04 9.99991279e-01 1.14476000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.44, Y:155.16, Z:1.14 [[ 1.44190534e-01 -9.89549694e-01 -7.02005887e-04 1.96441989e+02] [ 9.89541135e-01 1.44192208e-01 -4.11687436e-03 1.55162062e+02] [ 4.17507555e-03 -1.01049387e-04 9.99991279e-01 1.14467712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.45, Y:155.22, Z:1.15 [[ 1.45063798e-01 -9.89422055e-01 -7.00499971e-04 1.96452059e+02] [ 9.89413494e-01 1.45065458e-01 -4.11713059e-03 1.55217041e+02] [ 4.17519816e-03 -9.58375237e-05 9.99991279e-01 1.14546108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.46, Y:155.27, Z:1.15 [[ 1.46417951e-01 -9.89222571e-01 -6.98943831e-04 1.96461943e+02] [ 9.89214006e-01 1.46419593e-01 -4.11739475e-03 1.55273590e+02] [ 4.17535889e-03 -8.85445232e-05 9.99991279e-01 1.14570508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.47, Y:155.33, Z:1.15 [[ 1.47939209e-01 -9.88996210e-01 -6.97502449e-04 1.96471550e+02] [ 9.88987642e-01 1.47940831e-01 -4.11763891e-03 1.55328081e+02] [ 4.17551837e-03 -8.06610588e-05 9.99991279e-01 1.14576110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.48, Y:155.38, Z:1.14 [[ 1.48261797e-01 -9.88947903e-01 -6.96241678e-04 1.96480871e+02] [ 9.88939333e-01 1.48263411e-01 -4.11785208e-03 1.55383988e+02] [ 4.17556834e-03 -7.80206332e-05 9.99991279e-01 1.14239716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.49, Y:155.44, Z:1.14 [[ 1.48026923e-01 -9.88983088e-01 -6.94680707e-04 1.96489745e+02] [ 9.88974517e-01 1.48028533e-01 -4.11811540e-03 1.55439667e+02] [ 4.17557904e-03 -7.74295674e-05 9.99991279e-01 1.14131963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.50, Y:155.50, Z:1.15 [[ 1.49026352e-01 -9.88832982e-01 -6.93006279e-04 1.96499081e+02] [ 9.88824408e-01 1.49027946e-01 -4.11839715e-03 1.55495760e+02] [ 4.17568424e-03 -7.15118214e-05 9.99991279e-01 1.14692741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.51, Y:155.55, Z:1.15 [[ 1.50454519e-01 -9.88616690e-01 -6.91471029e-04 1.96511046e+02] [ 9.88608113e-01 1.50456095e-01 -4.11865490e-03 1.55552234e+02] [ 4.17580701e-03 -6.39236249e-05 9.99991279e-01 1.14586578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.52, Y:155.61, Z:1.15 [[ 1.47930327e-01 -9.88997544e-01 -6.89906496e-04 1.96518195e+02] [ 9.88988970e-01 1.47931918e-01 -4.11891696e-03 1.55608205e+02] [ 4.17565795e-03 -7.29971810e-05 9.99991279e-01 1.14782427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.53, Y:155.66, Z:1.15 [[ 1.47797886e-01 -9.89017346e-01 -6.88282101e-04 1.96527462e+02] [ 9.89008771e-01 1.47799472e-01 -4.11918838e-03 1.55664711e+02] [ 4.17567649e-03 -7.19096980e-05 9.99991279e-01 1.14659539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.54, Y:155.72, Z:1.15 [[ 1.48212216e-01 -9.88955341e-01 -6.86832783e-04 1.96536979e+02] [ 9.88946764e-01 1.48213792e-01 -4.11943002e-03 1.55720864e+02] [ 4.17573042e-03 -6.86912048e-05 9.99991279e-01 1.14604356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.55, Y:155.78, Z:1.15 [[ 1.49137521e-01 -9.88816227e-01 -6.85398793e-04 1.96546610e+02] [ 9.88807647e-01 1.49139083e-01 -4.11966860e-03 1.55775991e+02] [ 4.17581491e-03 -6.33304046e-05 9.99991279e-01 1.14593628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.56, Y:155.83, Z:1.14 [[ 1.49836359e-01 -9.88710573e-01 -6.83820364e-04 1.96556720e+02] [ 9.88701991e-01 1.49837908e-01 -4.11993059e-03 1.55831726e+02] [ 4.17588115e-03 -5.87791569e-05 9.99991279e-01 1.14341061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.57, Y:155.89, Z:1.14 [[ 1.49168140e-01 -9.88811610e-01 -6.82116083e-04 1.96567304e+02] [ 9.88803028e-01 1.49169687e-01 -4.12021274e-03 1.55886742e+02] [ 4.17586523e-03 -5.98739792e-05 9.99991279e-01 1.14112620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.58, Y:155.94, Z:1.15 [[ 1.46917094e-01 -9.89148576e-01 -6.80384898e-04 1.96577023e+02] [ 9.89139996e-01 1.46918654e-01 -4.12049859e-03 1.55941064e+02] [ 4.17574655e-03 -6.76242369e-05 9.99991279e-01 1.14511131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.59, Y:156.00, Z:1.15 [[ 1.44805568e-01 -9.89459897e-01 -6.78631708e-04 1.96587385e+02] [ 9.89451318e-01 1.44807139e-01 -4.12078732e-03 1.55996253e+02] [ 4.17562451e-03 -7.47600893e-05 9.99991279e-01 1.14629637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.60, Y:156.05, Z:1.14 [[ 1.42259398e-01 -9.89829180e-01 -6.77114563e-04 1.96597074e+02] [ 9.89820605e-01 1.42260985e-01 -4.12103659e-03 1.56052269e+02] [ 4.17544926e-03 -8.39657597e-05 9.99991279e-01 1.14420921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.61, Y:156.11, Z:1.15 [[ 1.44773497e-01 -9.89464592e-01 -6.75482744e-04 1.96610733e+02] [ 9.89456011e-01 1.44775055e-01 -4.12130405e-03 1.56107863e+02] [ 4.17567748e-03 -7.17048644e-05 9.99991279e-01 1.14771157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.62, Y:156.16, Z:1.14 [[ 1.39896650e-01 -9.90165882e-01 -6.73768506e-04 1.96615566e+02] [ 9.90157308e-01 1.39898243e-01 -4.12158428e-03 1.56163760e+02] [ 4.17531117e-03 -9.05409768e-05 9.99991279e-01 1.14496095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.63, Y:156.22, Z:1.14 [[ 1.40499574e-01 -9.90080511e-01 -6.72032381e-04 1.96627903e+02] [ 9.90071935e-01 1.40501155e-01 -4.12186734e-03 1.56219346e+02] [ 4.17540185e-03 -8.62397929e-05 9.99991279e-01 1.14495014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.64, Y:156.28, Z:1.14 [[ 1.38343484e-01 -9.90384083e-01 -6.70221421e-04 1.96636026e+02] [ 9.90375508e-01 1.38345076e-01 -4.12216178e-03 1.56276402e+02] [ 4.17524525e-03 -9.34966570e-05 9.99991279e-01 1.14327358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.64, Y:156.33, Z:1.14 [[ 1.38552588e-01 -9.90354852e-01 -6.68763207e-04 1.96643117e+02] [ 9.90346276e-01 1.38554172e-01 -4.12239835e-03 1.56332918e+02] [ 4.17529714e-03 -9.11381914e-05 9.99991279e-01 1.14228240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.65, Y:156.39, Z:1.14 [[ 1.39044491e-01 -9.90285910e-01 -6.67219653e-04 1.96650968e+02] [ 9.90277333e-01 1.39046065e-01 -4.12264816e-03 1.56389171e+02] [ 4.17537465e-03 -8.75009822e-05 9.99991279e-01 1.14228440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.66, Y:156.45, Z:1.14 [[ 1.39959293e-01 -9.90157035e-01 -6.65704390e-04 1.96658771e+02] [ 9.90148454e-01 1.39960852e-01 -4.12289282e-03 1.56446195e+02] [ 4.17548388e-03 -8.21090090e-05 9.99991279e-01 1.14230670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.67, Y:156.50, Z:1.14 [[ 1.42335869e-01 -9.89818195e-01 -6.64210507e-04 1.96667566e+02] [ 9.89809610e-01 1.42337401e-01 -4.12313348e-03 1.56502233e+02] [ 4.17569453e-03 -7.05721580e-05 9.99991279e-01 1.14319263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.68, Y:156.56, Z:1.15 [[ 1.44652865e-01 -9.89482243e-01 -6.62664368e-04 1.96676038e+02] [ 9.89473653e-01 1.44654371e-01 -4.12338195e-03 1.56557891e+02] [ 4.17587052e-03 -5.92299202e-05 9.99991279e-01 1.14566458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.68, Y:156.61, Z:1.15 [[ 1.45464866e-01 -9.89363197e-01 -6.61142022e-04 1.96683144e+02] [ 9.89354605e-01 1.45466358e-01 -4.12362603e-03 1.56613678e+02] [ 4.17593776e-03 -5.42611964e-05 9.99991279e-01 1.14603287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.69, Y:156.67, Z:1.15 [[ 1.45137971e-01 -9.89411206e-01 -6.59574889e-04 1.96690599e+02] [ 9.89402613e-01 1.45139460e-01 -4.12387668e-03 1.56669292e+02] [ 4.17594014e-03 -5.40540234e-05 9.99991279e-01 1.14615853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.70, Y:156.72, Z:1.15 [[ 1.42485699e-01 -9.89796642e-01 -6.58030087e-04 1.96698212e+02] [ 9.89788052e-01 1.42487204e-01 -4.12412316e-03 1.56724476e+02] [ 4.17580413e-03 -6.36817474e-05 9.99991279e-01 1.14672911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.71, Y:156.78, Z:1.15 [[ 1.39994174e-01 -9.90152110e-01 -6.56435291e-04 1.96706954e+02] [ 9.90143523e-01 1.39995694e-01 -4.12437699e-03 1.56780816e+02] [ 4.17565869e-03 -7.25764029e-05 9.99991279e-01 1.14879466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.72, Y:156.84, Z:1.15 [[ 1.37719631e-01 -9.90471037e-01 -6.54923647e-04 1.96715803e+02] [ 9.90462452e-01 1.37721165e-01 -4.12461702e-03 1.56836501e+02] [ 4.17551054e-03 -8.06365478e-05 9.99991279e-01 1.14957368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.72, Y:156.89, Z:1.15 [[ 1.36289885e-01 -9.90668784e-01 -6.53357131e-04 1.96723754e+02] [ 9.90660201e-01 1.36291424e-01 -4.12486514e-03 1.56891898e+02] [ 4.17542211e-03 -8.50775119e-05 9.99991279e-01 1.14943961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.73, Y:156.95, Z:1.15 [[ 1.37625874e-01 -9.90484071e-01 -6.51766437e-04 1.96731402e+02] [ 9.90475484e-01 1.37627395e-01 -4.12511647e-03 1.56948737e+02] [ 4.17556307e-03 -7.78359174e-05 9.99991279e-01 1.14802695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.74, Y:157.00, Z:1.15 [[ 1.39369427e-01 -9.90240244e-01 -6.50309367e-04 1.96739722e+02] [ 9.90231653e-01 1.39370927e-01 -4.12534616e-03 1.57004910e+02] [ 4.17571801e-03 -6.90097873e-05 9.99991279e-01 1.14731387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.75, Y:157.06, Z:1.15 [[ 1.41920666e-01 -9.89877823e-01 -6.48820529e-04 1.96747524e+02] [ 9.89869227e-01 1.41922138e-01 -4.12558031e-03 1.57060235e+02] [ 4.17590245e-03 -5.67423699e-05 9.99991279e-01 1.14627369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.75, Y:157.12, Z:1.15 [[ 1.43472933e-01 -9.89654030e-01 -6.47276276e-04 1.96754791e+02] [ 9.89645431e-01 1.43474385e-01 -4.12582258e-03 1.57117507e+02] [ 4.17600450e-03 -4.86301428e-05 9.99991279e-01 1.14630683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.76, Y:157.17, Z:1.15 [[ 1.43614931e-01 -9.89633434e-01 -6.45821601e-04 1.96762064e+02] [ 9.89624834e-01 1.43616376e-01 -4.12605027e-03 1.57174267e+02] [ 4.17602785e-03 -4.65586695e-05 9.99991279e-01 1.14626430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.77, Y:157.23, Z:1.15 [[ 1.43072001e-01 -9.89712073e-01 -6.44321473e-04 1.96770289e+02] [ 9.89703472e-01 1.43073444e-01 -4.12628451e-03 1.57231380e+02] [ 4.17601889e-03 -4.73314147e-05 9.99991279e-01 1.14784477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.78, Y:157.29, Z:1.15 [[ 1.42126131e-01 -9.89848347e-01 -6.42851673e-04 1.96778870e+02] [ 9.89839747e-01 1.42127577e-01 -4.12651349e-03 1.57287301e+02] [ 4.17598950e-03 -4.98347383e-05 9.99991279e-01 1.14920356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.79, Y:157.34, Z:1.15 [[ 1.41319911e-01 -9.89963773e-01 -6.41723562e-04 1.96786876e+02] [ 9.89955173e-01 1.41321359e-01 -4.12668891e-03 1.57344358e+02] [ 4.17596177e-03 -5.20942484e-05 9.99991279e-01 1.15084060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.80, Y:157.40, Z:1.15 [[ 1.40719200e-01 -9.90049341e-01 -6.40247363e-04 1.96795296e+02] [ 9.90040741e-01 1.40720646e-01 -4.12691793e-03 1.57401178e+02] [ 4.17594840e-03 -5.31343845e-05 9.99991279e-01 1.15135466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.80, Y:157.46, Z:1.15 [[ 1.38081680e-01 -9.90420639e-01 -6.38751082e-04 1.96803384e+02] [ 9.90412042e-01 1.38083143e-01 -4.12714951e-03 1.57457141e+02] [ 4.17581481e-03 -6.27430247e-05 9.99991279e-01 1.15158977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.81, Y:157.51, Z:1.15 [[ 1.34857578e-01 -9.90864788e-01 -6.37198760e-04 1.96811358e+02] [ 9.90856194e-01 1.34859062e-01 -4.12738916e-03 1.57513178e+02] [ 4.17561661e-03 -7.47626340e-05 9.99991279e-01 1.15172623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.82, Y:157.57, Z:1.15 [[ 1.31915415e-01 -9.91260773e-01 -6.35629343e-04 1.96820653e+02] [ 9.91252182e-01 1.31916919e-01 -4.12763084e-03 1.57569313e+02] [ 4.17540880e-03 -8.55708370e-05 9.99991279e-01 1.15278410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.83, Y:157.63, Z:1.15 [[ 1.30499790e-01 -9.91448134e-01 -6.34114616e-04 1.96829755e+02] [ 9.91439545e-01 1.30501300e-01 -4.12786353e-03 1.57625550e+02] [ 4.17531538e-03 -9.00009810e-05 9.99991279e-01 1.15319596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.84, Y:157.68, Z:1.15 [[ 1.29488293e-01 -9.91580749e-01 -6.32612004e-04 1.96838079e+02] [ 9.91572160e-01 1.29489805e-01 -4.12809380e-03 1.57681305e+02] [ 4.17525515e-03 -9.27406326e-05 9.99991279e-01 1.15380269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.85, Y:157.74, Z:1.15 [[ 1.29703997e-01 -9.91552558e-01 -6.31055574e-04 1.96847195e+02] [ 9.91543968e-01 1.29705500e-01 -4.12833171e-03 1.57737758e+02] [ 4.17530925e-03 -9.02582255e-05 9.99991279e-01 1.15354665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.86, Y:157.79, Z:1.15 [[ 1.31812457e-01 -9.91274472e-01 -6.29607372e-04 1.96856682e+02] [ 9.91265878e-01 1.31813937e-01 -4.12855257e-03 1.57792274e+02] [ 4.17551979e-03 -7.99136456e-05 9.99991279e-01 1.15123945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.86, Y:157.85, Z:1.15 [[ 1.31407288e-01 -9.91328266e-01 -6.27759861e-04 1.96864414e+02] [ 9.91319671e-01 1.31408764e-01 -4.12883347e-03 1.57848549e+02] [ 4.17552247e-03 -7.97518893e-05 9.99991279e-01 1.15249636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.87, Y:157.90, Z:1.15 [[ 1.31783845e-01 -9.91278279e-01 -6.25876987e-04 1.96872767e+02] [ 9.91269682e-01 1.31785309e-01 -4.12911887e-03 1.57903769e+02] [ 4.17558724e-03 -7.62617239e-05 9.99991279e-01 1.15179003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.88, Y:157.96, Z:1.15 [[ 1.31029786e-01 -9.91378236e-01 -6.23981629e-04 1.96881844e+02] [ 9.91369638e-01 1.31031248e-01 -4.12940527e-03 1.57959658e+02] [ 4.17556360e-03 -7.75213548e-05 9.99991279e-01 1.15428230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.89, Y:158.02, Z:1.16 [[ 1.28941738e-01 -9.91651976e-01 -6.22105033e-04 1.96891284e+02] [ 9.91643381e-01 1.28943211e-01 -4.12968796e-03 1.58015506e+02] [ 4.17542945e-03 -8.44171964e-05 9.99991279e-01 1.15711125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.90, Y:158.07, Z:1.16 [[ 1.29891627e-01 -9.91528003e-01 -6.20299736e-04 1.96903271e+02] [ 9.91519405e-01 1.29893084e-01 -4.12995911e-03 1.58072631e+02] [ 4.17554275e-03 -7.85921187e-05 9.99991279e-01 1.15805002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.542755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:196.91, Y:158.13, Z:1.16 [[ 1.27899125e-01 -9.91786989e-01 -6.18884768e-04 1.96908050e+02] [ 9.91778393e-01 1.27900593e-01 -4.13017113e-03 1.58129120e+02] [ 4.17540572e-03 -8.55512687e-05 9.99991279e-01 1.15680029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.92, Y:158.19, Z:1.16 [[ 1.30431801e-01 -9.91457092e-01 -6.17235554e-04 1.96915166e+02] [ 9.91448490e-01 1.30433241e-01 -4.13041759e-03 1.58185518e+02] [ 4.17563984e-03 -7.32194529e-05 9.99991279e-01 1.15855198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.92, Y:158.24, Z:1.16 [[ 1.32400660e-01 -9.91196089e-01 -6.15738008e-04 1.96922261e+02] [ 9.91187484e-01 1.32402077e-01 -4.13064082e-03 1.58241420e+02] [ 4.17580002e-03 -6.34122359e-05 9.99991279e-01 1.15861996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.93, Y:158.30, Z:1.16 [[ 1.35015887e-01 -9.90843244e-01 -6.14184853e-04 1.96928540e+02] [ 9.90834634e-01 1.35017274e-01 -4.13087175e-03 1.58296900e+02] [ 4.17597192e-03 -5.08223124e-05 9.99991279e-01 1.15698104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.94, Y:158.35, Z:1.15 [[ 1.36135668e-01 -9.90690014e-01 -6.12663806e-04 1.96935866e+02] [ 9.90681402e-01 1.36137039e-01 -4.13109733e-03 1.58353154e+02] [ 4.17604311e-03 -4.45649461e-05 9.99991279e-01 1.15370556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.842755096 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:196.94, Y:158.41, Z:1.15 [[ 1.34009146e-01 -9.90979907e-01 -6.10872849e-04 1.96943672e+02] [ 9.90971296e-01 1.34010528e-01 -4.13136214e-03 1.58409479e+02] [ 4.17596026e-03 -5.17171476e-05 9.99991279e-01 1.15415586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.95, Y:158.46, Z:1.15 [[ 1.30720407e-01 -9.91419086e-01 -6.09074309e-04 1.96951773e+02] [ 9.91410479e-01 1.30721810e-01 -4.13162728e-03 1.58464262e+02] [ 4.17579344e-03 -6.37546535e-05 9.99991279e-01 1.15399339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.96, Y:158.52, Z:1.16 [[ 1.25161952e-01 -9.92136138e-01 -6.07085517e-04 1.96959763e+02] [ 9.92127538e-01 1.25163396e-01 -4.13191948e-03 1.58520011e+02] [ 4.17541152e-03 -8.51471499e-05 9.99991279e-01 1.15514713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.97, Y:158.57, Z:1.15 [[ 1.21819779e-01 -9.92552052e-01 -6.05317626e-04 1.96966844e+02] [ 9.92543455e-01 1.21821244e-01 -4.13217846e-03 1.58574635e+02] [ 4.17514275e-03 -9.74229794e-05 9.99991279e-01 1.15496393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.97, Y:158.63, Z:1.16 [[ 1.20672225e-01 -9.92692223e-01 -6.03492893e-04 1.96974692e+02] [ 9.92683627e-01 1.20673692e-01 -4.13244494e-03 1.58630086e+02] [ 4.17507167e-03 -1.00406188e-04 9.99991279e-01 1.15689209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.98, Y:158.69, Z:1.15 [[ 1.18198845e-01 -9.92989764e-01 -6.01756004e-04 1.96979065e+02] [ 9.92981170e-01 1.18200327e-01 -4.13269784e-03 1.58687470e+02] [ 4.17485441e-03 -1.09052267e-04 9.99991279e-01 1.14951594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.99, Y:158.74, Z:1.15 [[ 1.19199424e-01 -9.92870151e-01 -6.00273601e-04 1.96988189e+02] [ 9.92861555e-01 1.19200891e-01 -4.13291315e-03 1.58744159e+02] [ 4.17499925e-03 -1.03347712e-04 9.99991279e-01 1.15231473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.00, Y:158.80, Z:1.16 [[ 1.21093909e-01 -9.92640875e-01 -5.98593685e-04 1.96996355e+02] [ 9.92632275e-01 1.21095353e-01 -4.13315645e-03 1.58800304e+02] [ 4.17522695e-03 -9.36833390e-05 9.99991279e-01 1.15728339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.00, Y:158.86, Z:1.16 [[ 1.22518569e-01 -9.92466042e-01 -5.96914240e-04 1.97003812e+02] [ 9.92457438e-01 1.22519993e-01 -4.13339898e-03 1.58856444e+02] [ 4.17539205e-03 -8.59938494e-05 9.99991279e-01 1.15759715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.01, Y:158.91, Z:1.16 [[ 1.23808776e-01 -9.92305917e-01 -5.95368011e-04 1.97011404e+02] [ 9.92297310e-01 1.23810182e-01 -4.13362169e-03 1.58913362e+02] [ 4.17552988e-03 -7.90034356e-05 9.99991279e-01 1.15902554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.02, Y:158.97, Z:1.16 [[ 1.24534797e-01 -9.92215063e-01 -5.93904021e-04 1.97018828e+02] [ 9.92206455e-01 1.24536191e-01 -4.13383202e-03 1.58969916e+02] [ 4.17561294e-03 -7.44694740e-05 9.99991279e-01 1.16001245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.03, Y:159.03, Z:1.16 [[ 1.26257657e-01 -9.91997305e-01 -5.92416237e-04 1.97026207e+02] [ 9.91988693e-01 1.26259030e-01 -4.13404522e-03 1.59026231e+02] [ 4.17575961e-03 -6.57153446e-05 9.99991279e-01 1.16209528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.03, Y:159.08, Z:1.16 [[ 1.28285360e-01 -9.91737121e-01 -5.90921075e-04 1.97033007e+02] [ 9.91728505e-01 1.28286709e-01 -4.13425893e-03 1.59082168e+02] [ 4.17590536e-03 -5.56683802e-05 9.99991279e-01 1.16278573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.04, Y:159.14, Z:1.16 [[ 1.29154229e-01 -9.91624343e-01 -5.89775470e-04 1.97039463e+02] [ 9.91615725e-01 1.29155565e-01 -4.13442235e-03 1.59138970e+02] [ 4.17596663e-03 -5.08525018e-05 9.99991279e-01 1.16315198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.05, Y:159.19, Z:1.16 [[ 1.27918440e-01 -9.91784516e-01 -5.88267651e-04 1.97046480e+02] [ 9.91775899e-01 1.27919781e-01 -4.13463688e-03 1.59194903e+02] [ 4.17591990e-03 -5.45333781e-05 9.99991279e-01 1.16246291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.05, Y:159.25, Z:1.16 [[ 1.24318460e-01 -9.92242196e-01 -5.86704502e-04 1.97053874e+02] [ 9.92233583e-01 1.24319826e-01 -4.13485867e-03 1.59250501e+02] [ 4.17572025e-03 -6.81086486e-05 9.99991279e-01 1.16094661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.06, Y:159.31, Z:1.16 [[ 1.20183466e-01 -9.92751526e-01 -5.84839061e-04 1.97062313e+02] [ 9.92742918e-01 1.20184860e-01 -4.13512251e-03 1.59305160e+02] [ 4.17543798e-03 -8.36214812e-05 9.99991279e-01 1.16361292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.07, Y:159.36, Z:1.16 [[ 1.14537948e-01 -9.93418703e-01 -5.82880193e-04 1.97069857e+02] [ 9.93410101e-01 1.14539383e-01 -4.13539861e-03 1.59361249e+02] [ 4.17494506e-03 -1.05379000e-04 9.99991279e-01 1.16323816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.08, Y:159.42, Z:1.16 [[ 1.11913239e-01 -9.93717812e-01 -5.81230099e-04 1.97077174e+02] [ 9.93709212e-01 1.11914690e-01 -4.13563052e-03 1.59417345e+02] [ 4.17469789e-03 -1.14741897e-04 9.99991279e-01 1.16454349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.982755096 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:197.08, Y:159.47, Z:1.16 [[ 1.09736366e-01 -9.93960560e-01 -5.79430718e-04 1.97083699e+02] [ 9.93951962e-01 1.09737828e-01 -4.13588261e-03 1.59473589e+02] [ 4.17448966e-03 -1.22069572e-04 9.99991279e-01 1.16434066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.09, Y:159.53, Z:1.16 [[ 1.10543716e-01 -9.93871095e-01 -5.77558363e-04 1.97088440e+02] [ 9.93862495e-01 1.10545163e-01 -4.13614406e-03 1.59530485e+02] [ 4.17464031e-03 -1.16788864e-04 9.99991279e-01 1.16499681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.09, Y:159.59, Z:1.16 [[ 1.12109623e-01 -9.93695678e-01 -5.76033902e-04 1.97092875e+02] [ 9.93687075e-01 1.12111051e-01 -4.13635635e-03 1.59587658e+02] [ 4.17485920e-03 -1.08672090e-04 9.99991279e-01 1.15972348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.162755096 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:197.10, Y:159.64, Z:1.16 [[ 1.17129877e-01 -9.93116439e-01 -5.74221248e-04 1.97099394e+02] [ 9.93107828e-01 1.17131253e-01 -4.13660798e-03 1.59643336e+02] [ 4.17539264e-03 -8.57432323e-05 9.99991279e-01 1.16016272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.10, Y:159.70, Z:1.16 [[ 1.18567163e-01 -9.92945870e-01 -5.72307697e-04 1.97102584e+02] [ 9.92937255e-01 1.18568519e-01 -4.13687270e-03 1.59699328e+02] [ 4.17554834e-03 -7.77683722e-05 9.99991279e-01 1.15819112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.11, Y:159.76, Z:1.16 [[ 1.25034720e-01 -9.92152203e-01 -5.70642063e-04 1.97110592e+02] [ 9.92143578e-01 1.25036013e-01 -4.13710245e-03 1.59755433e+02] [ 4.17598612e-03 -4.88774118e-05 9.99991279e-01 1.16378593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.342755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:197.12, Y:159.81, Z:1.16 [[ 1.24863616e-01 -9.92173752e-01 -5.68966568e-04 1.97116866e+02] [ 9.92165127e-01 1.24864903e-01 -4.13733286e-03 1.59812657e+02] [ 4.17599702e-03 -4.79064463e-05 9.99991279e-01 1.16093851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.13, Y:159.87, Z:1.17 [[ 1.25606739e-01 -9.92079949e-01 -5.67403510e-04 1.97125633e+02] [ 9.92071322e-01 1.25608013e-01 -4.13754721e-03 1.59867796e+02] [ 4.17604806e-03 -4.32009377e-05 9.99991279e-01 1.16612366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.13, Y:159.92, Z:1.17 [[ 1.24447133e-01 -9.92226078e-01 -5.66208195e-04 1.97133217e+02] [ 9.92217452e-01 1.24448412e-01 -4.13771078e-03 1.59922392e+02] [ 4.17600825e-03 -4.68754076e-05 9.99991279e-01 1.16710073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.14, Y:159.98, Z:1.17 [[ 1.23162638e-01 -9.92386339e-01 -5.64558584e-04 1.97140692e+02] [ 9.92377713e-01 1.23163922e-01 -4.13793585e-03 1.59979548e+02] [ 4.17596425e-03 -5.06162603e-05 9.99991279e-01 1.16871504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.15, Y:160.04, Z:1.17 [[ 1.21797868e-01 -9.92554765e-01 -5.63056007e-04 1.97148933e+02] [ 9.92546141e-01 1.21799157e-01 -4.13814029e-03 1.60036675e+02] [ 4.17591062e-03 -5.48424002e-05 9.99991279e-01 1.16660484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.16, Y:160.09, Z:1.17 [[ 1.20791050e-01 -9.92677796e-01 -5.61883710e-04 1.97156175e+02] [ 9.92669172e-01 1.20792343e-01 -4.13829946e-03 1.60092641e+02] [ 4.17586924e-03 -5.78951001e-05 9.99991279e-01 1.16691823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.16, Y:160.15, Z:1.17 [[ 1.20792765e-01 -9.92677588e-01 -5.60585878e-04 1.97163385e+02] [ 9.92668963e-01 1.20794053e-01 -4.13847527e-03 1.60149594e+02] [ 4.17588708e-03 -5.65783299e-05 9.99991279e-01 1.16511107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.17, Y:160.21, Z:1.16 [[ 1.21164062e-01 -9.92632338e-01 -5.59132815e-04 1.97172358e+02] [ 9.92623711e-01 1.21165340e-01 -4.13867157e-03 1.60207173e+02] [ 4.17592676e-03 -5.35502314e-05 9.99991279e-01 1.16402755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.18, Y:160.26, Z:1.16 [[ 1.19913712e-01 -9.92784161e-01 -5.57693681e-04 1.97181117e+02] [ 9.92775535e-01 1.19914995e-01 -4.13886549e-03 1.60263170e+02] [ 4.17587594e-03 -5.73579183e-05 9.99991279e-01 1.16188642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.19, Y:160.32, Z:1.16 [[ 1.22414602e-01 -9.92478895e-01 -5.55907168e-04 1.97191908e+02] [ 9.92470265e-01 1.22415856e-01 -4.13910543e-03 1.60318267e+02] [ 4.17602663e-03 -4.50343893e-05 9.99991279e-01 1.16410064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.20, Y:160.37, Z:1.16 [[ 1.22358595e-01 -9.92485802e-01 -5.54150566e-04 1.97200092e+02] [ 9.92477171e-01 1.22359842e-01 -4.13934059e-03 1.60374098e+02] [ 4.17604254e-03 -4.34978849e-05 9.99991279e-01 1.16470637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.21, Y:160.43, Z:1.17 [[ 1.18481519e-01 -9.92956104e-01 -5.52601829e-04 1.97208286e+02] [ 9.92947477e-01 1.18482793e-01 -4.13954734e-03 1.60429674e+02] [ 4.17586261e-03 -5.82447360e-05 9.99991279e-01 1.16536218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.22, Y:160.48, Z:1.17 [[ 1.25016243e-01 -9.92154542e-01 -5.50941913e-04 1.97221385e+02] [ 9.92145906e-01 1.25017453e-01 -4.13976825e-03 1.60484869e+02] [ 4.17616723e-03 -2.90764913e-05 9.99991279e-01 1.16811594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.23, Y:160.54, Z:1.16 [[ 1.18037469e-01 -9.93008990e-01 -5.49365788e-04 1.97225397e+02] [ 9.93000361e-01 1.18038734e-01 -4.13997740e-03 1.60541921e+02] [ 4.17588122e-03 -5.68479705e-05 9.99991279e-01 1.16482031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.24, Y:160.60, Z:1.17 [[ 1.19185944e-01 -9.92871800e-01 -5.47732033e-04 1.97239688e+02] [ 9.92863169e-01 1.19187192e-01 -4.14019354e-03 1.60596845e+02] [ 4.17596405e-03 -5.03700867e-05 9.99991279e-01 1.17215631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.25, Y:160.65, Z:1.17 [[ 1.17806140e-01 -9.93036462e-01 -5.46162953e-04 1.97249603e+02] [ 9.93027832e-01 1.17807393e-01 -4.14040052e-03 1.60653555e+02] [ 4.17591071e-03 -5.45904124e-05 9.99991279e-01 1.17243563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.26, Y:160.71, Z:1.17 [[ 1.17003380e-01 -9.93131367e-01 -5.44693020e-04 1.97258263e+02] [ 9.93122737e-01 1.17004635e-01 -4.14059389e-03 1.60708567e+02] [ 4.17588527e-03 -5.64835414e-05 9.99991279e-01 1.17255078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.362755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:197.27, Y:160.76, Z:1.17 [[ 1.15728202e-01 -9.93280770e-01 -5.43006988e-04 1.97267888e+02] [ 9.93272141e-01 1.15729460e-01 -4.14081498e-03 1.60763978e+02] [ 4.17583380e-03 -6.01446421e-05 9.99991279e-01 1.16901587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.28, Y:160.82, Z:1.17 [[ 1.16628738e-01 -9.93175435e-01 -5.41412112e-04 1.97276625e+02] [ 9.93166803e-01 1.16629982e-01 -4.14102350e-03 1.60818617e+02] [ 4.17590770e-03 -5.47501926e-05 9.99991279e-01 1.17057885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.29, Y:160.87, Z:1.17 [[ 1.18980273e-01 -9.92896472e-01 -5.39766822e-04 1.97285549e+02] [ 9.92887836e-01 1.18981490e-01 -4.14123795e-03 1.60874147e+02] [ 4.17604281e-03 -4.32022879e-05 9.99991279e-01 1.17066864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.29, Y:160.93, Z:1.17 [[ 1.22327091e-01 -9.92489694e-01 -5.38211081e-04 1.97293967e+02] [ 9.92481054e-01 1.22328271e-01 -4.14144013e-03 1.60929176e+02] [ 4.17617508e-03 -2.75539797e-05 9.99991279e-01 1.17069441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.602755096 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:197.30, Y:160.99, Z:1.17 [[ 1.23475485e-01 -9.92347478e-01 -5.36602820e-04 1.97301945e+02] [ 9.92338835e-01 1.23476649e-01 -4.14164850e-03 1.60985253e+02] [ 4.17621236e-03 -2.10997598e-05 9.99991279e-01 1.16893100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.31, Y:161.04, Z:1.17 [[ 1.23930456e-01 -9.92290762e-01 -5.35095850e-04 1.97310752e+02] [ 9.92282118e-01 1.23931610e-01 -4.14184319e-03 1.61041070e+02] [ 4.17622802e-03 -1.76655271e-05 9.99991279e-01 1.17234061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.32, Y:161.10, Z:1.17 [[ 1.20388685e-01 -9.92726689e-01 -5.33612689e-04 1.97319720e+02] [ 9.92718049e-01 1.20389864e-01 -4.14203426e-03 1.61097423e+02] [ 4.17614952e-03 -3.10728892e-05 9.99991279e-01 1.17367715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.33, Y:161.15, Z:1.17 [[ 1.16761788e-01 -9.93159807e-01 -5.32088916e-04 1.97328311e+02] [ 9.93151170e-01 1.16762992e-01 -4.14223000e-03 1.61153012e+02] [ 4.17602464e-03 -4.47905490e-05 9.99991279e-01 1.17478228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.34, Y:161.21, Z:1.18 [[ 1.10531566e-01 -9.93872472e-01 -5.30509439e-04 1.97335498e+02] [ 9.93863842e-01 1.10532817e-01 -4.14243228e-03 1.61210305e+02] [ 4.17568811e-03 -6.93846214e-05 9.99991279e-01 1.17547158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.34, Y:161.27, Z:1.17 [[ 1.06950904e-01 -9.94264162e-01 -5.28982666e-04 1.97341577e+02] [ 9.94255535e-01 1.06952180e-01 -4.14262724e-03 1.61267215e+02] [ 4.17544165e-03 -8.28862151e-05 9.99991279e-01 1.17490040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.35, Y:161.32, Z:1.17 [[ 1.05470052e-01 -9.94422340e-01 -5.27447635e-04 1.97347142e+02] [ 9.94413714e-01 1.05471334e-01 -4.14282267e-03 1.61323506e+02] [ 4.17534602e-03 -8.75574397e-05 9.99991279e-01 1.17429473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.35, Y:161.38, Z:1.17 [[ 1.03978382e-01 -9.94579418e-01 -5.25856725e-04 1.97352861e+02] [ 9.94570794e-01 1.03979671e-01 -4.14302460e-03 1.61380678e+02] [ 4.17524540e-03 -9.22167451e-05 9.99991279e-01 1.17282672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.36, Y:161.44, Z:1.17 [[ 1.00791865e-01 -9.94907395e-01 -5.24391149e-04 1.97357863e+02] [ 9.94898774e-01 1.00793175e-01 -4.14321009e-03 1.61437555e+02] [ 4.17496541e-03 -1.04114241e-04 9.99991279e-01 1.17144750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.36, Y:161.49, Z:1.17 [[ 9.57873317e-02 -9.95401685e-01 -5.22928602e-04 1.97362044e+02] [ 9.95393069e-01 9.57886793e-02 -4.14339467e-03 1.61494700e+02] [ 4.17443268e-03 -1.23634786e-04 9.99991279e-01 1.17011987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.37, Y:161.55, Z:1.17 [[ 9.33399293e-02 -9.95634163e-01 -5.21289463e-04 1.97367161e+02] [ 9.95625549e-01 9.33412913e-02 -4.14360089e-03 1.61550792e+02] [ 4.17416843e-03 -1.32245693e-04 9.99991279e-01 1.17406549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.37, Y:161.61, Z:1.17 [[ 8.97240136e-02 -9.95966531e-01 -5.19456539e-04 1.97369077e+02] [ 9.95957922e-01 8.97253992e-02 -4.14383066e-03 1.61608546e+02] [ 4.17372509e-03 -1.45555737e-04 9.99991279e-01 1.17191442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.37, Y:161.66, Z:1.18 [[ 9.06114651e-02 -9.95886185e-01 -5.17945298e-04 1.97373316e+02] [ 9.95877573e-01 9.06128368e-02 -4.14401954e-03 1.61664992e+02] [ 4.17390431e-03 -1.40314425e-04 9.99991279e-01 1.17739324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.38, Y:161.72, Z:1.18 [[ 9.12302464e-02 -9.95829692e-01 -5.16377162e-04 1.97375676e+02] [ 9.95821078e-01 9.12316062e-02 -4.14421493e-03 1.61720168e+02] [ 4.17404220e-03 -1.36141513e-04 9.99991279e-01 1.17685261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.38, Y:161.78, Z:1.18 [[ 9.52214277e-02 -9.95455983e-01 -5.14564603e-04 1.97378315e+02] [ 9.95447363e-01 9.52227455e-02 -4.14443998e-03 1.61776630e+02] [ 4.17460583e-03 -1.17582486e-04 9.99991279e-01 1.18091277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.38, Y:161.83, Z:1.18 [[ 1.00178254e-01 -9.94969374e-01 -5.12792575e-04 1.97379723e+02] [ 9.94960746e-01 1.00179522e-01 -4.14465922e-03 1.61833257e+02] [ 4.17518030e-03 -9.50037576e-05 9.99991279e-01 1.18093954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.38, Y:161.89, Z:1.18 [[ 1.05827529e-01 -9.94384369e-01 -5.11094659e-04 1.97382161e+02] [ 9.94375733e-01 1.05828740e-01 -4.14486859e-03 1.61888470e+02] [ 4.17568104e-03 -6.95789277e-05 9.99991279e-01 1.18029631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.39, Y:161.95, Z:1.18 [[ 1.07848029e-01 -9.94167261e-01 -5.09217177e-04 1.97386428e+02] [ 9.94158622e-01 1.07849215e-01 -4.14509923e-03 1.61945735e+02] [ 4.17584062e-03 -5.92018635e-05 9.99991279e-01 1.17955167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.39, Y:162.00, Z:1.18 [[ 1.10695840e-01 -9.93854201e-01 -5.07733966e-04 1.97390519e+02] [ 9.93845557e-01 1.10696995e-01 -4.14528090e-03 1.62001038e+02] [ 4.17600946e-03 -4.57437930e-05 9.99991279e-01 1.17854628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.39, Y:162.06, Z:1.18 [[ 1.07312780e-01 -9.94225181e-01 -5.06353772e-04 1.97394068e+02] [ 9.94216541e-01 1.07313959e-01 -4.14544949e-03 1.62057261e+02] [ 4.17584910e-03 -5.85655863e-05 9.99991279e-01 1.18008424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.40, Y:162.11, Z:1.18 [[ 1.05864818e-01 -9.94380403e-01 -5.04539207e-04 1.97400179e+02] [ 9.94371763e-01 1.05866001e-01 -4.14567033e-03 1.62113896e+02] [ 4.17578688e-03 -6.28189075e-05 9.99991279e-01 1.18023874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.41, Y:162.17, Z:1.18 [[ 1.00378734e-01 -9.94949173e-01 -5.03017878e-04 1.97405393e+02] [ 9.94940539e-01 1.00379959e-01 -4.14585491e-03 1.62170762e+02] [ 4.17540783e-03 -8.43172123e-05 9.99991279e-01 1.18091537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.41, Y:162.23, Z:1.18 [[ 9.60493934e-02 -9.95376443e-01 -5.01527160e-04 1.97411518e+02] [ 9.95367813e-01 9.60506497e-02 -4.14603523e-03 1.62227923e+02] [ 4.17503781e-03 -1.00979823e-04 9.99991279e-01 1.18110698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.42, Y:162.28, Z:1.18 [[ 9.06409852e-02 -9.95883508e-01 -5.00048107e-04 1.97416567e+02] [ 9.95874885e-01 9.06422822e-02 -4.14621361e-03 1.62284959e+02] [ 4.17447126e-03 -1.22168464e-04 9.99991279e-01 1.18208541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.42, Y:162.34, Z:1.18 [[ 8.85464292e-02 -9.96071926e-01 -4.98587553e-04 1.97421773e+02] [ 9.96063304e-01 8.85477382e-02 -4.14638924e-03 1.62340992e+02] [ 4.17425071e-03 -1.29476804e-04 9.99991279e-01 1.18350893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.43, Y:162.40, Z:1.19 [[ 9.02164474e-02 -9.95922058e-01 -4.96986713e-04 1.97426658e+02] [ 9.95913433e-01 9.02177354e-02 -4.14658111e-03 1.62397582e+02] [ 4.17450861e-03 -1.20865927e-04 9.99991279e-01 1.18511273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.43, Y:162.46, Z:1.18 [[ 9.31041289e-02 -9.95656254e-01 -4.95395673e-04 1.97431432e+02] [ 9.95647624e-01 9.31053851e-02 -4.14677118e-03 1.62455125e+02] [ 4.17488267e-03 -1.07158007e-04 9.99991279e-01 1.18301763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.44, Y:162.51, Z:1.19 [[ 9.81587546e-02 -9.95170646e-01 -4.94236056e-04 1.97436751e+02] [ 9.95162009e-01 9.81599622e-02 -4.14690939e-03 1.62510803e+02] [ 4.17539669e-03 -8.47894860e-05 9.99991279e-01 1.18578984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.44, Y:162.57, Z:1.19 [[ 1.01879623e-01 -9.94796612e-01 -4.92461640e-04 1.97442337e+02] [ 9.94787970e-01 1.01880791e-01 -4.14712010e-03 1.62565933e+02] [ 4.17571340e-03 -6.73878842e-05 9.99991279e-01 1.18627095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.45, Y:162.62, Z:1.19 [[ 1.03785788e-01 -9.94599552e-01 -4.90770454e-04 1.97448368e+02] [ 9.94590907e-01 1.03786932e-01 -4.14732022e-03 1.62622479e+02] [ 4.17585839e-03 -5.76829355e-05 9.99991279e-01 1.18583183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.402755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:197.45, Y:162.68, Z:1.19 [[ 1.03860348e-01 -9.94591770e-01 -4.89154961e-04 1.97454240e+02] [ 9.94583124e-01 1.03861484e-01 -4.14751075e-03 1.62677094e+02] [ 4.17588442e-03 -5.57433610e-05 9.99991279e-01 1.18524752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.46, Y:162.73, Z:1.18 [[ 1.02499248e-01 -9.94732962e-01 -4.87486940e-04 1.97461693e+02] [ 9.94724317e-01 1.02500389e-01 -4.14770680e-03 1.62733805e+02] [ 4.17582827e-03 -5.97782869e-05 9.99991279e-01 1.18401044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.47, Y:162.79, Z:1.18 [[ 1.00484422e-01 -9.94938513e-01 -4.86017975e-04 1.97469464e+02] [ 9.94929869e-01 1.00485575e-01 -4.14787892e-03 1.62790019e+02] [ 4.17572228e-03 -6.67565843e-05 9.99991279e-01 1.18408194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.48, Y:162.85, Z:1.18 [[ 9.73826251e-02 -9.95246899e-01 -4.84404168e-04 1.97477965e+02] [ 9.95238258e-01 9.73837985e-02 -4.14806738e-03 1.62847138e+02] [ 4.17552431e-03 -7.81478699e-05 9.99991279e-01 1.18258273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.49, Y:162.90, Z:1.18 [[ 9.50074795e-02 -9.95476442e-01 -4.82943393e-04 1.97486315e+02] [ 9.95467802e-01 9.50086675e-02 -4.14823744e-03 1.62902611e+02] [ 4.17535646e-03 -8.66410142e-05 9.99991279e-01 1.18145735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.49, Y:162.96, Z:1.18 [[ 9.54517247e-02 -9.95433944e-01 -4.81343711e-04 1.97494491e+02] [ 9.95425303e-01 9.54529022e-02 -4.14842305e-03 1.62958639e+02] [ 4.17542678e-03 -8.31675743e-05 9.99991279e-01 1.17987305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.50, Y:163.02, Z:1.18 [[ 9.73645479e-02 -9.95248670e-01 -4.79743958e-04 1.97501857e+02] [ 9.95240026e-01 9.73657021e-02 -4.14860805e-03 1.63015245e+02] [ 4.17560725e-03 -7.35330421e-05 9.99991279e-01 1.17831420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.51, Y:163.07, Z:1.18 [[ 1.00739808e-01 -9.94912691e-01 -4.78264431e-04 1.97509863e+02] [ 9.94904042e-01 1.00740926e-01 -4.14877861e-03 1.63071091e+02] [ 4.17585329e-03 -5.78800577e-05 9.99991279e-01 1.17643466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.52, Y:163.13, Z:1.17 [[ 1.03452346e-01 -9.94634297e-01 -4.76632383e-04 1.97518076e+02] [ 9.94625645e-01 1.03453434e-01 -4.14896610e-03 1.63126845e+02] [ 4.17601323e-03 -4.48505168e-05 9.99991279e-01 1.17403037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.53, Y:163.18, Z:1.18 [[ 1.07743054e-01 -9.94178660e-01 -4.74967287e-04 1.97528313e+02] [ 9.94170003e-01 1.07744098e-01 -4.14915670e-03 1.63182628e+02] [ 4.17617798e-03 -2.51554146e-05 9.99991279e-01 1.17531880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.54, Y:163.24, Z:1.17 [[ 1.04704456e-01 -9.94503270e-01 -4.73168527e-04 1.97535244e+02] [ 9.94494614e-01 1.04705519e-01 -4.14936182e-03 1.63238621e+02] [ 4.17609726e-03 -3.61068800e-05 9.99991279e-01 1.17287845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.54, Y:163.30, Z:1.17 [[ 1.01332474e-01 -9.94852505e-01 -4.71360697e-04 1.97543333e+02] [ 9.94843853e-01 1.01333559e-01 -4.14956718e-03 1.63295206e+02] [ 4.17597196e-03 -4.84443830e-05 9.99991279e-01 1.17343230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.55, Y:163.35, Z:1.17 [[ 9.87891782e-02 -9.95108274e-01 -4.69486500e-04 1.97549371e+02] [ 9.95099623e-01 9.87902772e-02 -4.14977922e-03 1.63353086e+02] [ 4.17586034e-03 -5.72325612e-05 9.99991279e-01 1.16754908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.56, Y:163.41, Z:1.17 [[ 9.97097394e-02 -9.95016457e-01 -4.68069418e-04 1.97559490e+02] [ 9.95007804e-01 9.97108245e-02 -4.14993905e-03 1.63409686e+02] [ 4.17592924e-03 -5.19433818e-05 9.99991279e-01 1.16927141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.57, Y:163.47, Z:1.17 [[ 1.02035904e-01 -9.94780607e-01 -4.66480223e-04 1.97573512e+02] [ 9.94771951e-01 1.02036962e-01 -4.15011768e-03 1.63465489e+02] [ 4.17605481e-03 -4.05804324e-05 9.99991279e-01 1.17486960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.58, Y:163.52, Z:1.17 [[ 9.89471277e-02 -9.95092584e-01 -4.65005652e-04 1.97581092e+02] [ 9.95083930e-01 9.89482066e-02 -4.15028289e-03 1.63522043e+02] [ 4.17592720e-03 -5.20610804e-05 9.99991279e-01 1.17125760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.59, Y:163.58, Z:1.17 [[ 9.70394199e-02 -9.95280431e-01 -4.63483140e-04 1.97591186e+02] [ 9.95271779e-01 9.70405091e-02 -4.15045291e-03 1.63577351e+02] [ 4.17584120e-03 -5.85341465e-05 9.99991279e-01 1.17351576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.60, Y:163.63, Z:1.17 [[ 9.51702708e-02 -9.95460901e-01 -4.61909244e-04 1.97602587e+02] [ 9.95452250e-01 9.51713697e-02 -4.15062807e-03 1.63632015e+02] [ 4.17574849e-03 -6.47921997e-05 9.99991279e-01 1.17426420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.61, Y:163.69, Z:1.17 [[ 9.38789249e-02 -9.95583515e-01 -4.60080188e-04 1.97609721e+02] [ 9.95574865e-01 9.38800274e-02 -4.15083080e-03 1.63689033e+02] [ 4.17569106e-03 -6.83687382e-05 9.99991279e-01 1.17414566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.62, Y:163.74, Z:1.18 [[ 9.47176893e-02 -9.95504068e-01 -4.58269991e-04 1.97621173e+02] [ 9.95495416e-01 9.47187769e-02 -4.15103064e-03 1.63744290e+02] [ 4.17577466e-03 -6.30296443e-05 9.99991279e-01 1.17574200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.63, Y:163.80, Z:1.18 [[ 9.72435321e-02 -9.95260512e-01 -4.57078304e-04 1.97630053e+02] [ 9.95251856e-01 9.72445929e-02 -4.15116186e-03 1.63801331e+02] [ 4.17593587e-03 -5.12343887e-05 9.99991279e-01 1.17791721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.64, Y:163.86, Z:1.18 [[ 9.92281006e-02 -9.95064609e-01 -4.55522511e-04 1.97637832e+02] [ 9.95055951e-01 9.92291376e-02 -4.15133257e-03 1.63858366e+02] [ 4.17604523e-03 -4.13415387e-05 9.99991279e-01 1.18014061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.722755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:197.64, Y:163.91, Z:1.18 [[ 9.82335736e-02 -9.95163283e-01 -4.53981363e-04 1.97641915e+02] [ 9.95154624e-01 9.82346127e-02 -4.15150110e-03 1.63913532e+02] [ 4.17601815e-03 -4.39648638e-05 9.99991279e-01 1.17782299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.65, Y:163.97, Z:1.18 [[ 9.78506415e-02 -9.95201008e-01 -4.52529878e-04 1.97648363e+02] [ 9.95192350e-01 9.78516779e-02 -4.15165932e-03 1.63969526e+02] [ 4.17601635e-03 -4.41117452e-05 9.99991279e-01 1.17989692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.65, Y:164.03, Z:1.18 [[ 9.52788161e-02 -9.95450523e-01 -4.50679210e-04 1.97652749e+02] [ 9.95441866e-01 9.52798672e-02 -4.15186020e-03 1.64026129e+02] [ 4.17591207e-03 -5.30406289e-05 9.99991279e-01 1.18050022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.66, Y:164.08, Z:1.18 [[ 9.28181583e-02 -9.95682976e-01 -4.48939392e-04 1.97657320e+02] [ 9.95674320e-01 9.28192236e-02 -4.15204832e-03 1.64082545e+02] [ 4.17579403e-03 -6.16119461e-05 9.99991279e-01 1.18201465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.962755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:197.66, Y:164.14, Z:1.18 [[ 9.13093718e-02 -9.95822474e-01 -4.47057844e-04 1.97662897e+02] [ 9.95813819e-01 9.13104423e-02 -4.15225090e-03 1.64137912e+02] [ 4.17572581e-03 -6.60469573e-05 9.99991279e-01 1.18144248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.66, Y:164.19, Z:1.18 [[ 8.76839581e-02 -9.96148244e-01 -4.45627586e-04 1.97662826e+02] [ 9.96139593e-01 8.76850542e-02 -4.15240439e-03 1.64194570e+02] [ 4.17548522e-03 -7.98080295e-05 9.99991279e-01 1.17922888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.67, Y:164.25, Z:1.18 [[ 9.02028462e-02 -9.95923315e-01 -4.43785347e-04 1.97670879e+02] [ 9.95914660e-01 9.02039127e-02 -4.15260127e-03 1.64249060e+02] [ 4.17570360e-03 -6.73958786e-05 9.99991279e-01 1.18159559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.67, Y:164.31, Z:1.18 [[ 8.61467229e-02 -9.96282363e-01 -4.42031088e-04 1.97671512e+02] [ 9.96273711e-01 8.61478173e-02 -4.15278800e-03 1.64306193e+02] [ 4.17542945e-03 -8.26348759e-05 9.99991279e-01 1.17673905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.68, Y:164.36, Z:1.18 [[ 8.65083520e-02 -9.96251028e-01 -4.40254902e-04 1.97682072e+02] [ 9.96242375e-01 8.65094359e-02 -4.15297629e-03 1.64360529e+02] [ 4.17549310e-03 -7.93334540e-05 9.99991279e-01 1.18051956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.69, Y:164.42, Z:1.18 [[ 8.49056856e-02 -9.96388896e-01 -4.38470781e-04 1.97687421e+02] [ 9.96380244e-01 8.49067759e-02 -4.15316465e-03 1.64416773e+02] [ 4.17539628e-03 -8.42563323e-05 9.99991279e-01 1.18190192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.69, Y:164.47, Z:1.18 [[ 8.39683063e-02 -9.96468330e-01 -4.36774980e-04 1.97692860e+02] [ 9.96459678e-01 8.39693978e-02 -4.15334298e-03 1.64473307e+02] [ 4.17535048e-03 -8.64794803e-05 9.99991279e-01 1.18180245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.70, Y:164.53, Z:1.18 [[ 8.67297056e-02 -9.96231785e-01 -4.34897323e-04 1.97702909e+02] [ 9.96223129e-01 8.67307652e-02 -4.15353958e-03 1.64528237e+02] [ 4.17560713e-03 -7.30195070e-05 9.99991279e-01 1.18450671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.70, Y:164.59, Z:1.18 [[ 8.26903470e-02 -9.96575195e-01 -4.33006583e-04 1.97703370e+02] [ 9.96566542e-01 8.26914339e-02 -4.15373668e-03 1.64586976e+02] [ 4.17531688e-03 -8.80459451e-05 9.99991279e-01 1.17818666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.71, Y:164.64, Z:1.18 [[ 8.38519147e-02 -9.96478133e-01 -4.31583085e-04 1.97709150e+02] [ 9.96469479e-01 8.38529855e-02 -4.15388458e-03 1.64642910e+02] [ 4.17544469e-03 -8.17481965e-05 9.99991279e-01 1.17912751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.71, Y:164.70, Z:1.18 [[ 8.61130441e-02 -9.96285280e-01 -4.29913165e-04 1.97714955e+02] [ 9.96276622e-01 8.61140883e-02 -4.15405741e-03 1.64700146e+02] [ 4.17564783e-03 -7.05939069e-05 9.99991279e-01 1.18135080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.622755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:197.72, Y:164.76, Z:1.18 [[ 8.62058307e-02 -9.96277256e-01 -4.28503796e-04 1.97719057e+02] [ 9.96268598e-01 8.62068682e-02 -4.15420278e-03 1.64755446e+02] [ 4.17567772e-03 -6.87883746e-05 9.99991279e-01 1.17953071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.73, Y:164.81, Z:1.18 [[ 9.02333986e-02 -9.95920555e-01 -4.26761162e-04 1.97728306e+02] [ 9.95911891e-01 9.02343938e-02 -4.15438180e-03 1.64812146e+02] [ 4.17594276e-03 -5.01525273e-05 9.99991279e-01 1.18183546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.73, Y:164.87, Z:1.18 [[ 8.51082490e-02 -9.96371620e-01 -4.25264167e-04 1.97727521e+02] [ 9.96362961e-01 8.51092826e-02 -4.15453503e-03 1.64867642e+02] [ 4.17565473e-03 -7.01322629e-05 9.99991279e-01 1.17902784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.73, Y:164.92, Z:1.18 [[ 8.64150964e-02 -9.96259129e-01 -4.23368698e-04 1.97732887e+02] [ 9.96250468e-01 8.64161107e-02 -4.15472818e-03 1.64924212e+02] [ 4.17577175e-03 -6.27500271e-05 9.99991279e-01 1.18038355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.862755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:197.74, Y:164.98, Z:1.18 [[ 8.53368717e-02 -9.96352067e-01 -4.21507820e-04 1.97736982e+02] [ 9.96343405e-01 8.53378876e-02 -4.15491696e-03 1.64981608e+02] [ 4.17573069e-03 -6.53989207e-05 9.99991279e-01 1.17705947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.74, Y:165.04, Z:1.18 [[ 8.62510401e-02 -9.96273347e-01 -4.19908374e-04 1.97742088e+02] [ 9.96264684e-01 8.62520414e-02 -4.15507860e-03 1.65037447e+02] [ 4.17581202e-03 -5.99600321e-05 9.99991279e-01 1.18159858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.75, Y:165.09, Z:1.18 [[ 8.58661166e-02 -9.96306597e-01 -4.18251906e-04 1.97746868e+02] [ 9.96297934e-01 8.58671143e-02 -4.15524534e-03 1.65093489e+02] [ 4.17581242e-03 -5.99087291e-05 9.99991279e-01 1.18208715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.75, Y:165.15, Z:1.18 [[ 8.39163100e-02 -9.96472719e-01 -4.17097006e-04 1.97753523e+02] [ 9.96464057e-01 8.39173199e-02 -4.15536126e-03 1.65150510e+02] [ 4.17570579e-03 -6.69195913e-05 9.99991279e-01 1.18138480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.76, Y:165.21, Z:1.19 [[ 8.03782986e-02 -9.96764343e-01 -4.15603778e-04 1.97758797e+02] [ 9.96755685e-01 8.03793330e-02 -4.15551060e-03 1.65207511e+02] [ 4.17547075e-03 -8.02425562e-05 9.99991279e-01 1.18578420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.76, Y:165.26, Z:1.18 [[ 7.52988077e-02 -9.97160929e-01 -4.14054723e-04 1.97762899e+02] [ 9.97152275e-01 7.52998797e-02 -4.15566494e-03 1.65264631e+02] [ 4.17504499e-03 -9.99589937e-05 9.99991279e-01 1.18218866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.77, Y:165.32, Z:1.18 [[ 7.29120922e-02 -9.97338286e-01 -4.12460753e-04 1.97770222e+02] [ 9.97329633e-01 7.29131783e-02 -4.15582314e-03 1.65320744e+02] [ 4.17483535e-03 -1.08349571e-04 9.99991279e-01 1.18419369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.78, Y:165.38, Z:1.18 [[ 7.31345780e-02 -9.97321997e-01 -4.10663989e-04 1.97775919e+02] [ 9.97313343e-01 7.31356547e-02 -4.15600068e-03 1.65376143e+02] [ 4.17490508e-03 -1.05613320e-04 9.99991279e-01 1.18303294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.78, Y:165.43, Z:1.18 [[ 6.95137717e-02 -9.97580908e-01 -4.08877679e-04 1.97777088e+02] [ 9.97572257e-01 6.95148724e-02 -4.15617642e-03 1.65433522e+02] [ 4.17454533e-03 -1.18973531e-04 9.99991279e-01 1.17758825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.79, Y:165.49, Z:1.18 [[ 7.31894028e-02 -9.97317976e-01 -4.07101327e-04 1.97785741e+02] [ 9.97309320e-01 7.31904642e-02 -4.15635041e-03 1.65490385e+02] [ 4.17499891e-03 -1.01805144e-04 9.99991279e-01 1.18299427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.79, Y:165.55, Z:1.18 [[ 7.49426298e-02 -9.97187765e-01 -4.05512269e-04 1.97788750e+02] [ 9.97179106e-01 7.49436693e-02 -4.15650544e-03 1.65546798e+02] [ 4.17520694e-03 -9.28689143e-05 9.99991279e-01 1.18352427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.79, Y:165.60, Z:1.18 [[ 7.81807778e-02 -9.96939117e-01 -4.04301951e-04 1.97792221e+02] [ 9.96930455e-01 7.81817842e-02 -4.15662316e-03 1.65603674e+02] [ 4.17550927e-03 -7.80928957e-05 9.99991279e-01 1.18446746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.80, Y:165.66, Z:1.19 [[ 8.12853918e-02 -9.96690786e-01 -4.02800009e-04 1.97796098e+02] [ 9.96682120e-01 8.12863650e-02 -4.15676870e-03 1.65659785e+02] [ 4.17575521e-03 -6.35789943e-05 9.99991279e-01 1.18549248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.80, Y:165.72, Z:1.19 [[ 8.21177822e-02 -9.96622551e-01 -4.01241772e-04 1.97800877e+02] [ 9.96613883e-01 8.21187416e-02 -4.15691911e-03 1.65716401e+02] [ 4.17582880e-03 -5.85261421e-05 9.99991279e-01 1.18520211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.81, Y:165.77, Z:1.19 [[ 8.57061937e-02 -9.96320375e-01 -3.99506930e-04 1.97806862e+02] [ 9.96311703e-01 8.57071146e-02 -4.15708583e-03 1.65773783e+02] [ 4.17602990e-03 -4.17454262e-05 9.99991279e-01 1.18717225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76275509600003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:197.81, Y:165.83, Z:1.18 [[ 8.36923408e-02 -9.96491562e-01 -3.97778457e-04 1.97809091e+02] [ 9.96482892e-01 8.36932720e-02 -4.15725122e-03 1.65829735e+02] [ 4.17595714e-03 -4.84493415e-05 9.99991279e-01 1.18350313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.82, Y:165.89, Z:1.19 [[ 8.29273384e-02 -9.96555518e-01 -3.96108794e-04 1.97816003e+02] [ 9.96546847e-01 8.29282693e-02 -4.15741030e-03 1.65886821e+02] [ 4.17593879e-03 -4.99779986e-05 9.99991279e-01 1.18833704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.82, Y:165.94, Z:1.19 [[ 7.81114749e-02 -9.96944553e-01 -3.94509462e-04 1.97819638e+02] [ 9.96935886e-01 7.81124411e-02 -4.15756206e-03 1.65943345e+02] [ 4.17567495e-03 -6.85473354e-05 9.99991279e-01 1.18624925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.82, Y:166.00, Z:1.19 [[ 7.44109168e-02 -9.97227588e-01 -3.92670387e-04 1.97824431e+02] [ 9.97218923e-01 7.44119075e-02 -4.15773575e-03 1.66000214e+02] [ 4.17542814e-03 -8.21974120e-05 9.99991279e-01 1.18731023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.002755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:197.83, Y:166.06, Z:1.19 [[ 7.36657294e-02 -9.97282912e-01 -3.90959170e-04 1.97829343e+02] [ 9.97274248e-01 7.36667194e-02 -4.15789665e-03 1.66055932e+02] [ 4.17539996e-03 -8.35990233e-05 9.99991279e-01 1.18755483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.83, Y:166.11, Z:1.19 [[ 7.62475066e-02 -9.97088846e-01 -3.89796482e-04 1.97833641e+02] [ 9.97080178e-01 7.62484693e-02 -4.15800565e-03 1.66111488e+02] [ 4.17562244e-03 -7.16207832e-05 9.99991279e-01 1.18854102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.84, Y:166.17, Z:1.19 [[ 7.83453494e-02 -9.96926204e-01 -3.88198718e-04 1.97837967e+02] [ 9.96917534e-01 7.83462873e-02 -4.15815481e-03 1.66166676e+02] [ 4.17578742e-03 -6.12300165e-05 9.99991279e-01 1.18680806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.182755096 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:197.84, Y:166.22, Z:1.18 [[ 8.23799503e-02 -9.96600920e-01 -3.86621486e-04 1.97842485e+02] [ 9.96592246e-01 8.23808464e-02 -4.15830146e-03 1.66223723e+02] [ 4.17601726e-03 -4.27433081e-05 9.99991279e-01 1.18397508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.242755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:197.86, Y:166.28, Z:1.19 [[ 9.19629752e-02 -9.95762353e-01 -3.85124923e-04 1.97856842e+02] [ 9.95753669e-01 9.19637816e-02 -4.15844006e-03 1.66278412e+02] [ 4.17623560e-03 -1.06703533e-06 9.99991279e-01 1.18685564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.86, Y:166.34, Z:1.19 [[ 8.83242236e-02 -9.96091705e-01 -3.83579517e-04 1.97858547e+02] [ 9.96083024e-01 8.83250553e-02 -4.15858260e-03 1.66335184e+02] [ 4.17620932e-03 -1.47734654e-05 9.99991279e-01 1.19188573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.362755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:197.87, Y:166.39, Z:1.20 [[ 8.63552597e-02 -9.96264334e-01 -3.82430663e-04 1.97867644e+02] [ 9.96255654e-01 8.63561037e-02 -4.15868825e-03 1.66391686e+02] [ 4.17617800e-03 -2.18741063e-05 9.99991279e-01 1.19639953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.87, Y:166.45, Z:1.19 [[ 7.85662230e-02 -9.96908824e-01 -3.80917784e-04 1.97867789e+02] [ 9.96900151e-01 7.85671285e-02 -4.15882682e-03 1.66447731e+02] [ 4.17589877e-03 -5.29936807e-05 9.99991279e-01 1.19369132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.482755096 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:197.88, Y:166.50, Z:1.19 [[ 7.49428127e-02 -9.97187761e-01 -3.79679064e-04 1.97875769e+02] [ 9.97179090e-01 7.49437446e-02 -4.15893991e-03 1.66504929e+02] [ 4.17569854e-03 -6.69253699e-05 9.99991279e-01 1.19272350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.542755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:197.88, Y:166.56, Z:1.20 [[ 7.21314631e-02 -9.97395062e-01 -3.78202132e-04 1.97882148e+02] [ 9.97386393e-01 7.21324133e-02 -4.15907421e-03 1.66559767e+02] [ 4.17552071e-03 -7.72135528e-05 9.99991280e-01 1.19524205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.89, Y:166.62, Z:1.20 [[ 7.00594125e-02 -9.97542749e-01 -3.76509669e-04 1.97887717e+02] [ 9.97534082e-01 7.00603736e-02 -4.15922742e-03 1.66615740e+02] [ 4.17538556e-03 -8.41881977e-05 9.99991280e-01 1.19644441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.662755096 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:197.89, Y:166.67, Z:1.19 [[ 6.84829432e-02 -9.97652217e-01 -3.74903399e-04 1.97894659e+02] [ 9.97643550e-01 6.84839113e-02 -4.15937220e-03 1.66671774e+02] [ 4.17528175e-03 -8.91739083e-05 9.99991280e-01 1.19385330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.91, Y:166.73, Z:1.20 [[ 7.44511065e-02 -9.97224595e-01 -3.73275965e-04 1.97908154e+02] [ 9.97215922e-01 7.44520160e-02 -4.15951824e-03 1.66728863e+02] [ 4.17576505e-03 -6.25560000e-05 9.99991280e-01 1.20424473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.90, Y:166.79, Z:1.20 [[ 6.90437263e-02 -9.97613565e-01 -3.71861423e-04 1.97904509e+02] [ 9.97604897e-01 6.90446768e-02 -4.15964470e-03 1.66786496e+02] [ 4.17539303e-03 -8.37734066e-05 9.99991280e-01 1.19637925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.91, Y:166.84, Z:1.20 [[ 7.09974481e-02 -9.97476428e-01 -3.70399816e-04 1.97909543e+02] [ 9.97467757e-01 7.09983756e-02 -4.15977485e-03 1.66842301e+02] [ 4.17557514e-03 -7.41284748e-05 9.99991280e-01 1.19537884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.91, Y:166.90, Z:1.19 [[ 7.50819054e-02 -9.97177302e-01 -3.68831961e-04 1.97912017e+02] [ 9.97168627e-01 7.50827908e-02 -4.15991386e-03 1.66898081e+02] [ 4.17586461e-03 -5.54534012e-05 9.99991280e-01 1.19480943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:166.95, Z:1.20 [[ 7.81286465e-02 -9.96943218e-01 -3.67219314e-04 1.97915193e+02] [ 9.96934539e-01 7.81294987e-02 -4.16005621e-03 1.66953987e+02] [ 4.17603049e-03 -4.10740566e-05 9.99991280e-01 1.19541043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:167.01, Z:1.20 [[ 7.84062067e-02 -9.96921428e-01 -3.65602285e-04 1.97918939e+02] [ 9.96912748e-01 7.84070497e-02 -4.16019832e-03 1.67009658e+02] [ 4.17605664e-03 -3.82882098e-05 9.99991280e-01 1.19625531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:167.07, Z:1.20 [[ 7.73739384e-02 -9.97002077e-01 -3.63928140e-04 1.97917990e+02] [ 9.96993397e-01 7.73747835e-02 -4.16034476e-03 1.67065670e+02] [ 4.17603123e-03 -4.09316935e-05 9.99991280e-01 1.19783904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:167.12, Z:1.20 [[ 7.61891979e-02 -9.97093313e-01 -3.62681661e-04 1.97922852e+02] [ 9.97084634e-01 7.61900480e-02 -4.16045342e-03 1.67122805e+02] [ 4.17599302e-03 -4.46427017e-05 9.99991280e-01 1.19762443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:167.18, Z:1.20 [[ 7.13284127e-02 -9.97452820e-01 -3.61185711e-04 1.97922976e+02] [ 9.97444144e-01 7.13292989e-02 -4.16058329e-03 1.67179730e+02] [ 4.17574866e-03 -6.34947705e-05 9.99991280e-01 1.19703457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.93, Y:167.24, Z:1.20 [[ 7.24802971e-02 -9.97369779e-01 -3.60036306e-04 1.97930515e+02] [ 9.97361103e-01 7.24811685e-02 -4.16068275e-03 1.67235691e+02] [ 4.17583509e-03 -5.75186851e-05 9.99991280e-01 1.19851460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.93, Y:167.29, Z:1.20 [[ 6.43601762e-02 -9.97926670e-01 -3.58247993e-04 1.97930389e+02] [ 9.97918000e-01 6.43611107e-02 -4.16083672e-03 1.67292220e+02] [ 4.17526718e-03 -8.97099356e-05 9.99991280e-01 1.19527984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.93, Y:167.35, Z:1.20 [[ 6.15081139e-02 -9.98106520e-01 -3.56404505e-04 1.97933615e+02] [ 9.98097851e-01 6.15090655e-02 -4.16099463e-03 1.67347551e+02] [ 4.17503797e-03 -9.97916392e-05 9.99991280e-01 1.19547879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.94, Y:167.40, Z:1.19 [[ 5.87837285e-02 -9.98270679e-01 -3.54529022e-04 1.97937015e+02] [ 9.98262012e-01 5.87846959e-02 -4.16115442e-03 1.67404481e+02] [ 4.17479932e-03 -1.09304683e-04 9.99991280e-01 1.19446284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.94, Y:167.46, Z:1.19 [[ 5.85301497e-02 -9.98285579e-01 -3.53030535e-04 1.97940670e+02] [ 9.98276912e-01 5.85311131e-02 -4.16128154e-03 1.67460555e+02] [ 4.17481062e-03 -1.08861800e-04 9.99991280e-01 1.19376215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.94, Y:167.52, Z:1.19 [[ 5.86213451e-02 -9.98280228e-01 -3.51478107e-04 1.97944068e+02] [ 9.98271560e-01 5.86223013e-02 -4.16141266e-03 1.67516562e+02] [ 4.17486044e-03 -1.06922990e-04 9.99991280e-01 1.19106666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.95, Y:167.57, Z:1.19 [[ 6.02281069e-02 -9.98184579e-01 -3.49702955e-04 1.97948484e+02] [ 9.98175908e-01 6.02290417e-02 -4.16156183e-03 1.67572707e+02] [ 4.17506912e-03 -9.84220744e-05 9.99991280e-01 1.19138412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.95, Y:167.63, Z:1.19 [[ 6.33326109e-02 -9.97992415e-01 -3.47925937e-04 1.97952570e+02] [ 9.97983741e-01 6.33335113e-02 -4.16171039e-03 1.67629385e+02] [ 4.17539078e-03 -8.36524425e-05 9.99991280e-01 1.18790639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.96, Y:167.69, Z:1.19 [[ 6.43057657e-02 -9.97930182e-01 -3.46168327e-04 1.97956460e+02] [ 9.97921507e-01 6.43066504e-02 -4.16185659e-03 1.67685187e+02] [ 4.17550323e-03 -7.78174442e-05 9.99991280e-01 1.19165686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.97, Y:167.74, Z:1.20 [[ 6.89276619e-02 -9.97621601e-01 -3.44499517e-04 1.97965348e+02] [ 9.97612921e-01 6.89284994e-02 -4.16199472e-03 1.67742172e+02] [ 4.17584167e-03 -5.68006050e-05 9.99991280e-01 1.19518209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.97, Y:167.80, Z:1.20 [[ 6.65197779e-02 -9.97785048e-01 -3.42977465e-04 1.97967937e+02] [ 9.97776369e-01 6.65206300e-02 -4.16212014e-03 1.67798079e+02] [ 4.17571632e-03 -6.53515023e-05 9.99991280e-01 1.19503193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.97, Y:167.85, Z:1.20 [[ 6.53045991e-02 -9.97865318e-01 -3.41396263e-04 1.97973450e+02] [ 9.97856640e-01 6.53054551e-02 -4.16224984e-03 1.67853949e+02] [ 4.17565979e-03 -6.88504708e-05 9.99991280e-01 1.19623942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.98, Y:167.91, Z:1.19 [[ 6.38285248e-02 -9.97960823e-01 -3.39808542e-04 1.97980199e+02] [ 9.97952145e-01 6.38293871e-02 -4.16237945e-03 1.67911106e+02] [ 4.17558140e-03 -7.34341234e-05 9.99991280e-01 1.19389473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.99, Y:167.97, Z:1.20 [[ 6.24600480e-02 -9.98047408e-01 -3.38279229e-04 1.97985891e+02] [ 9.98038731e-01 6.24609158e-02 -4.16250374e-03 1.67966994e+02] [ 4.17550530e-03 -7.76255888e-05 9.99991280e-01 1.19580393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.99, Y:168.02, Z:1.19 [[ 6.18922704e-02 -9.98082779e-01 -3.36680288e-04 1.97992405e+02] [ 9.98074102e-01 6.18931365e-02 -4.16263306e-03 1.68022466e+02] [ 4.17549057e-03 -7.83970654e-05 9.99991280e-01 1.19257229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.00, Y:168.08, Z:1.20 [[ 5.92628014e-02 -9.98242359e-01 -3.34905905e-04 1.97997622e+02] [ 9.98233684e-01 5.92636830e-02 -4.16277582e-03 1.68079068e+02] [ 4.17530691e-03 -8.76165983e-05 9.99991280e-01 1.19503787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.01, Y:168.14, Z:1.19 [[ 6.10800055e-02 -9.98132818e-01 -3.33190507e-04 1.98005893e+02] [ 9.98124140e-01 6.10808641e-02 -4.16291311e-03 1.68136068e+02] [ 4.17549176e-03 -7.82947329e-05 9.99991280e-01 1.19390545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.01, Y:168.19, Z:1.19 [[ 6.10985327e-02 -9.98131684e-01 -3.31665250e-04 1.98011016e+02] [ 9.98123006e-01 6.10993848e-02 -4.16303463e-03 1.68193250e+02] [ 4.17552131e-03 -7.66874087e-05 9.99991280e-01 1.19264639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.342755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:198.01, Y:168.25, Z:1.19 [[ 6.10059727e-02 -9.98137346e-01 -3.30147031e-04 1.98013148e+02] [ 9.98128667e-01 6.10068192e-02 -4.16315503e-03 1.68249384e+02] [ 4.17554173e-03 -7.55518944e-05 9.99991280e-01 1.19265227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.02, Y:168.31, Z:1.19 [[ 6.36570961e-02 -9.97971776e-01 -3.28576461e-04 1.98018933e+02] [ 9.97963094e-01 6.36579131e-02 -4.16327898e-03 1.68306501e+02] [ 4.17575141e-03 -6.28849310e-05 9.99991280e-01 1.19192787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.02, Y:168.36, Z:1.19 [[ 6.38462178e-02 -9.97959695e-01 -3.27031375e-04 1.98023433e+02] [ 9.97951012e-01 6.38470266e-02 -4.16340035e-03 1.68362265e+02] [ 4.17578572e-03 -6.05439264e-05 9.99991280e-01 1.19352664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.03, Y:168.42, Z:1.19 [[ 6.32240742e-02 -9.97999304e-01 -3.25427640e-04 1.98027694e+02] [ 9.97990621e-01 6.32248817e-02 -4.16352570e-03 1.68418979e+02] [ 4.17577087e-03 -6.15386752e-05 9.99991280e-01 1.19414992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.03, Y:168.48, Z:1.20 [[ 6.24100328e-02 -9.98050541e-01 -3.23935146e-04 1.98030989e+02] [ 9.98041858e-01 6.24108413e-02 -4.16364181e-03 1.68475876e+02] [ 4.17574203e-03 -6.34478129e-05 9.99991280e-01 1.19569552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.03, Y:168.53, Z:1.20 [[ 6.08020846e-02 -9.98149790e-01 -3.22412494e-04 1.98033130e+02] [ 9.98141107e-01 6.08029006e-02 -4.16375972e-03 1.68530883e+02] [ 4.17565950e-03 -6.86478936e-05 9.99991280e-01 1.19908063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.04, Y:168.59, Z:1.20 [[ 5.91774374e-02 -9.98247428e-01 -3.21001494e-04 1.98036393e+02] [ 9.98238747e-01 5.91782617e-02 -4.16386849e-03 1.68587403e+02] [ 4.17556733e-03 -7.40290615e-05 9.99991280e-01 1.19964615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.04, Y:168.64, Z:1.20 [[ 5.58674837e-02 -9.98438142e-01 -3.19217069e-04 1.98039087e+02] [ 9.98429462e-01 5.58683294e-02 -4.16400529e-03 1.68644229e+02] [ 4.17533583e-03 -8.60832292e-05 9.99991280e-01 1.19855749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.04, Y:168.70, Z:1.20 [[ 5.07091521e-02 -9.98713413e-01 -3.17540004e-04 1.98042516e+02] [ 9.98704737e-01 5.07100356e-02 -4.16413318e-03 1.68700482e+02] [ 4.17487812e-03 -1.05969043e-04 9.99991280e-01 1.19730080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.04, Y:168.76, Z:1.19 [[ 4.54371695e-02 -9.98967149e-01 -3.15769955e-04 1.98043968e+02] [ 9.98958477e-01 4.54380914e-02 -4.16426740e-03 1.68758140e+02] [ 4.17431431e-03 -1.26228549e-04 9.99991280e-01 1.19027473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.05, Y:168.81, Z:1.20 [[ 4.45700229e-02 -9.99006213e-01 -3.14163656e-04 1.98049529e+02] [ 9.98997542e-01 4.45709457e-02 -4.16438858e-03 1.68814100e+02] [ 4.17425263e-03 -1.28241826e-04 9.99991280e-01 1.19658021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.05, Y:168.87, Z:1.19 [[ 4.25413189e-02 -9.99094660e-01 -3.12367595e-04 1.98052306e+02] [ 9.99085989e-01 4.25422518e-02 -4.16452329e-03 1.68870190e+02] [ 4.17404180e-03 -1.34917774e-04 9.99991280e-01 1.19498846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.06, Y:168.93, Z:1.19 [[ 4.64443238e-02 -9.98920832e-01 -3.10549653e-04 1.98056296e+02] [ 9.98912157e-01 4.64452152e-02 -4.16465885e-03 1.68925137e+02] [ 4.17458803e-03 -1.16787059e-04 9.99991280e-01 1.19431480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.06, Y:168.98, Z:1.19 [[ 4.88671848e-02 -9.98805238e-01 -3.08644411e-04 1.98059529e+02] [ 9.98796560e-01 4.88680472e-02 -4.16480005e-03 1.68981749e+02] [ 4.17490695e-03 -1.04750922e-04 9.99991280e-01 1.19422396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.06, Y:169.04, Z:1.19 [[ 5.24993692e-02 -9.98620910e-01 -3.06835906e-04 1.98061405e+02] [ 9.98612229e-01 5.25001925e-02 -4.16493328e-03 1.69037070e+02] [ 4.17529841e-03 -8.77537174e-05 9.99991280e-01 1.19427170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.06, Y:169.09, Z:1.20 [[ 5.32952228e-02 -9.98578753e-01 -3.05151047e-04 1.98063949e+02] [ 9.98570070e-01 5.32960322e-02 -4.16505672e-03 1.69092158e+02] [ 4.17540049e-03 -8.27370765e-05 9.99991280e-01 1.19585470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.07, Y:169.15, Z:1.20 [[ 5.28748886e-02 -9.98601099e-01 -3.03506260e-04 1.98067563e+02] [ 9.98592415e-01 5.28756947e-02 -4.16517657e-03 1.69148155e+02] [ 4.17539801e-03 -8.28458025e-05 9.99991280e-01 1.19796075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.07, Y:169.20, Z:1.19 [[ 4.96577385e-02 -9.98766248e-01 -3.01873206e-04 1.98069029e+02] [ 9.98757567e-01 4.96585658e-02 -4.16529493e-03 1.69204536e+02] [ 4.17514658e-03 -9.46590227e-05 9.99991280e-01 1.19290781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.07, Y:169.26, Z:1.19 [[ 4.96674034e-02 -9.98765768e-01 -3.00234176e-04 1.98072619e+02] [ 9.98757086e-01 4.96682238e-02 -4.16541306e-03 1.69261109e+02] [ 4.17518408e-03 -9.29757600e-05 9.99991280e-01 1.19408703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.08, Y:169.32, Z:1.19 [[ 4.71832330e-02 -9.98886206e-01 -2.98584667e-04 1.98076104e+02] [ 9.98877526e-01 4.71840681e-02 -4.16553130e-03 1.69317540e+02] [ 4.17498020e-03 -1.01706280e-04 9.99991280e-01 1.19347792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.08, Y:169.37, Z:1.19 [[ 4.46650892e-02 -9.99001973e-01 -2.97045884e-04 1.98079284e+02] [ 9.98993294e-01 4.46659398e-02 -4.16564103e-03 1.69373480e+02] [ 4.17475144e-03 -1.10688118e-04 9.99991280e-01 1.19345699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.08, Y:169.43, Z:1.19 [[ 4.42514171e-02 -9.99020383e-01 -2.95448928e-04 1.98081170e+02] [ 9.99011703e-01 4.42522647e-02 -4.16575429e-03 1.69429552e+02] [ 4.17474773e-03 -1.10816406e-04 9.99991280e-01 1.19283749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.09, Y:169.49, Z:1.20 [[ 4.69390557e-02 -9.98897712e-01 -2.93840643e-04 1.98087160e+02] [ 9.98889030e-01 4.69398731e-02 -4.16586773e-03 1.69486270e+02] [ 4.17506859e-03 -9.79722970e-05 9.99991280e-01 1.19842318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.09, Y:169.54, Z:1.19 [[ 4.66092560e-02 -9.98913155e-01 -2.92366156e-04 1.98088267e+02] [ 9.98904473e-01 4.66100702e-02 -4.16597121e-03 1.69541321e+02] [ 4.17507065e-03 -9.78730421e-05 9.99991280e-01 1.19393738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.10, Y:169.60, Z:1.20 [[ 5.05140795e-02 -9.98723307e-01 -2.90542892e-04 1.98095020e+02] [ 9.98714621e-01 5.05148521e-02 -4.16609836e-03 1.69598189e+02] [ 4.17545627e-03 -7.97228102e-05 9.99991280e-01 1.19861438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.10, Y:169.65, Z:1.20 [[ 5.04779343e-02 -9.98725135e-01 -2.89030125e-04 1.98096923e+02] [ 9.98716448e-01 5.04787009e-02 -4.16620331e-03 1.69654264e+02] [ 4.17548183e-03 -7.83578029e-05 9.99991280e-01 1.20013313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.10, Y:169.71, Z:1.20 [[ 5.37758478e-02 -9.98552991e-01 -2.87175509e-04 1.98099146e+02] [ 9.98544301e-01 5.37765780e-02 -4.16633115e-03 1.69710737e+02] [ 4.17574574e-03 -6.27094781e-05 9.99991280e-01 1.19728073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.10, Y:169.77, Z:1.20 [[ 5.46424927e-02 -9.98505942e-01 -2.85599935e-04 1.98102679e+02] [ 9.98497251e-01 5.46432088e-02 -4.16643915e-03 1.69767205e+02] [ 4.17582034e-03 -5.75061294e-05 9.99991280e-01 1.20393465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.11, Y:169.82, Z:1.20 [[ 5.53827117e-02 -9.98465159e-01 -2.83989505e-04 1.98105881e+02] [ 9.98456467e-01 5.53834147e-02 -4.16654891e-03 1.69823046e+02] [ 4.17588224e-03 -5.27963807e-05 9.99991280e-01 1.20387315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.11, Y:169.88, Z:1.20 [[ 5.54551196e-02 -9.98461141e-01 -2.82382792e-04 1.98108981e+02] [ 9.98452448e-01 5.54558152e-02 -4.16665781e-03 1.69879297e+02] [ 4.17590567e-03 -5.08832831e-05 9.99991280e-01 1.20298518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.11, Y:169.94, Z:1.20 [[ 5.43053530e-02 -9.98524336e-01 -2.80793879e-04 1.98112664e+02] [ 9.98515644e-01 5.43060520e-02 -4.16676488e-03 1.69935276e+02] [ 4.17586494e-03 -5.40994435e-05 9.99991280e-01 1.20192593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.12, Y:169.99, Z:1.20 [[ 5.30289319e-02 -9.98592937e-01 -2.79159698e-04 1.98117743e+02] [ 9.98584245e-01 5.30296352e-02 -4.16687436e-03 1.69991399e+02] [ 4.17581505e-03 -5.77995789e-05 9.99991280e-01 1.20008574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.12, Y:170.05, Z:1.20 [[ 4.60717573e-02 -9.98938094e-01 -2.77395409e-04 1.98121938e+02] [ 9.98929407e-01 4.60725138e-02 -4.16699181e-03 1.70047636e+02] [ 4.17534716e-03 -8.51177963e-05 9.99991280e-01 1.20061378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.13, Y:170.10, Z:1.20 [[ 4.05477633e-02 -9.99177563e-01 -2.75570309e-04 1.98127842e+02] [ 9.99168879e-01 4.05485602e-02 -4.16711250e-03 1.70103307e+02] [ 4.17485930e-03 -1.06374185e-04 9.99991280e-01 1.19977572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.13, Y:170.16, Z:1.20 [[ 3.57120501e-02 -9.99362084e-01 -2.74047769e-04 1.98132303e+02] [ 9.99353403e-01 3.57128827e-02 -4.16721263e-03 1.70158662e+02] [ 4.17434133e-03 -1.25050864e-04 9.99991280e-01 1.20010637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.13, Y:170.21, Z:1.20 [[ 2.99953164e-02 -9.99550002e-01 -2.72548258e-04 1.98134893e+02] [ 9.99541326e-01 2.99961923e-02 -4.16731070e-03 1.70214782e+02] [ 4.17361083e-03 -1.47423444e-04 9.99991280e-01 1.19741665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.14, Y:170.27, Z:1.20 [[ 3.09414319e-02 -9.99521163e-01 -2.70541738e-04 1.98140973e+02] [ 9.99512485e-01 3.09422913e-02 -4.16744096e-03 1.70270528e+02] [ 4.17381661e-03 -1.41463254e-04 9.99991280e-01 1.20020363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.14, Y:170.33, Z:1.20 [[ 3.42913734e-02 -9.99411842e-01 -2.68924438e-04 1.98144516e+02] [ 9.99403160e-01 3.42921969e-02 -4.16754532e-03 1.70327285e+02] [ 4.17431616e-03 -1.25853081e-04 9.99991280e-01 1.19874534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.15, Y:170.38, Z:1.20 [[ 3.49448156e-02 -9.99389208e-01 -2.67154738e-04 1.98146762e+02] [ 9.99380525e-01 3.49456260e-02 -4.16765876e-03 1.70383880e+02] [ 4.17444908e-03 -1.21351175e-04 9.99991280e-01 1.20039950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.15, Y:170.44, Z:1.20 [[ 3.84003633e-02 -9.99262399e-01 -2.65346245e-04 1.98149673e+02] [ 9.99253713e-01 3.84011362e-02 -4.16777390e-03 1.70441102e+02] [ 4.17488934e-03 -1.05104188e-04 9.99991280e-01 1.20154716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.15, Y:170.50, Z:1.20 [[ 4.10098981e-02 -9.99158705e-01 -2.63863039e-04 1.98153090e+02] [ 9.99150017e-01 4.10106421e-02 -4.16786780e-03 1.70496916e+02] [ 4.17518259e-03 -9.27149266e-05 9.99991280e-01 1.20049016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:170.55, Z:1.20 [[ 4.35208589e-02 -9.99052484e-01 -2.62124229e-04 1.98155164e+02] [ 9.99043793e-01 4.35215739e-02 -4.16797716e-03 1.70553626e+02] [ 4.17543599e-03 -8.04796377e-05 9.99991280e-01 1.20372086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:170.61, Z:1.20 [[ 4.56835062e-02 -9.98955930e-01 -2.60339268e-04 1.98156479e+02] [ 9.98947237e-01 4.56841949e-02 -4.16808865e-03 1.70610433e+02] [ 4.17563026e-03 -6.96522888e-05 9.99991280e-01 1.20489156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:170.67, Z:1.21 [[ 4.60236330e-02 -9.98940318e-01 -2.58735799e-04 1.98158884e+02] [ 9.98931624e-01 4.60243120e-02 -4.16818818e-03 1.70667084e+02] [ 4.17567936e-03 -6.66242089e-05 9.99991280e-01 1.20541413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:170.72, Z:1.21 [[ 4.53021378e-02 -9.98973298e-01 -2.57154562e-04 1.98161009e+02] [ 9.98964604e-01 4.53028165e-02 -4.16828573e-03 1.70722676e+02] [ 4.17565597e-03 -6.80560513e-05 9.99991280e-01 1.20599446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.042755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:170.78, Z:1.21 [[ 4.43934039e-02 -9.99014094e-01 -2.55518907e-04 1.98163390e+02] [ 9.99005400e-01 4.43940837e-02 -4.16838599e-03 1.70780128e+02] [ 4.17561989e-03 -7.02159248e-05 9.99991280e-01 1.20569230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.17, Y:170.84, Z:1.21 [[ 4.27703541e-02 -9.99084897e-01 -2.54035485e-04 1.98165267e+02] [ 9.99076204e-01 4.27710418e-02 -4.16847640e-03 1.70835024e+02] [ 4.17552718e-03 -7.55135962e-05 9.99991280e-01 1.20565519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.17, Y:170.89, Z:1.21 [[ 4.10244212e-02 -9.99158112e-01 -2.52738331e-04 1.98168030e+02] [ 9.99149420e-01 4.10251187e-02 -4.16855504e-03 1.70892313e+02] [ 4.17541421e-03 -8.15107993e-05 9.99991280e-01 1.20635260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.17, Y:170.95, Z:1.21 [[ 4.10224299e-02 -9.99158194e-01 -2.51241767e-04 1.98170152e+02] [ 9.99149501e-01 4.10231212e-02 -4.16864524e-03 1.70947692e+02] [ 4.17544277e-03 -8.00201290e-05 9.99991280e-01 1.20692537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.17, Y:171.00, Z:1.21 [[ 4.22370396e-02 -9.99107587e-01 -2.49526031e-04 1.98172203e+02] [ 9.99098893e-01 4.22377131e-02 -4.16874794e-03 1.71004737e+02] [ 4.17556710e-03 -7.32256093e-05 9.99991280e-01 1.20718996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.17, Y:171.06, Z:1.21 [[ 4.33024642e-02 -9.99061978e-01 -2.48018363e-04 1.98174660e+02] [ 9.99053282e-01 4.33031222e-02 -4.16883763e-03 1.71059904e+02] [ 4.17566714e-03 -6.72626173e-05 9.99991280e-01 1.20708045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.18, Y:171.12, Z:1.21 [[ 4.68501114e-02 -9.98901900e-01 -2.46167964e-04 1.98175610e+02] [ 9.98893202e-01 4.68507308e-02 -4.16894690e-03 1.71116466e+02] [ 4.17590213e-03 -5.05798792e-05 9.99991280e-01 1.20825093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.18, Y:171.17, Z:1.21 [[ 4.95627907e-02 -9.98770980e-01 -2.44395881e-04 1.98177532e+02] [ 9.98762279e-01 4.95633791e-02 -4.16905078e-03 1.71173202e+02] [ 4.17604002e-03 -3.74635965e-05 9.99991280e-01 1.20955512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.18, Y:171.23, Z:1.21 [[ 5.05221834e-02 -9.98722910e-01 -2.42778681e-04 1.98179615e+02] [ 9.98714208e-01 5.05227567e-02 -4.16914495e-03 1.71230076e+02] [ 4.17608643e-03 -3.18322117e-05 9.99991280e-01 1.21097126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.18, Y:171.29, Z:1.21 [[ 4.89686049e-02 -9.98800289e-01 -2.41248773e-04 1.98181605e+02] [ 9.98791588e-01 4.89691854e-02 -4.16923348e-03 1.71286748e+02] [ 4.17604536e-03 -3.67956980e-05 9.99991280e-01 1.21160464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.18, Y:171.34, Z:1.21 [[ 4.65487018e-02 -9.98915993e-01 -2.39660522e-04 1.98184927e+02] [ 9.98907293e-01 4.65492966e-02 -4.16932477e-03 1.71343789e+02] [ 4.17596123e-03 -4.53219881e-05 9.99991280e-01 1.21189520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.19, Y:171.40, Z:1.21 [[ 4.12680785e-02 -9.99148082e-01 -2.38153558e-04 1.98189205e+02] [ 9.99139384e-01 4.12687131e-02 -4.16941085e-03 1.71399513e+02] [ 4.17568714e-03 -6.58850252e-05 9.99991280e-01 1.20946890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.19, Y:171.46, Z:1.21 [[ 3.66579157e-02 -9.99327845e-01 -2.36433298e-04 1.98193912e+02] [ 9.99319150e-01 3.66585832e-02 -4.16950840e-03 1.71456237e+02] [ 4.17537315e-03 -8.34268351e-05 9.99991280e-01 1.21142583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82275509600004 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:198.20, Y:171.51, Z:1.21 [[ 3.07849086e-02 -9.99526005e-01 -2.34983782e-04 1.98199766e+02] [ 9.99517314e-01 3.07856212e-02 -4.16959009e-03 1.71512484e+02] [ 4.17484784e-03 -1.06509909e-04 9.99991280e-01 1.20866384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.20, Y:171.57, Z:1.21 [[ 2.90591430e-02 -9.99577667e-01 -2.33421716e-04 1.98204318e+02] [ 9.99568976e-01 2.90598640e-02 -4.16967753e-03 1.71568746e+02] [ 4.17469974e-03 -1.12153850e-04 9.99991280e-01 1.21009689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.21, Y:171.62, Z:1.21 [[ 2.78178457e-02 -9.99612982e-01 -2.31754784e-04 1.98206617e+02] [ 9.99604292e-01 2.78185706e-02 -4.16977018e-03 1.71624911e+02] [ 4.17460349e-03 -1.15669054e-04 9.99991280e-01 1.21053343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.21, Y:171.68, Z:1.21 [[ 3.08101023e-02 -9.99525230e-01 -2.29936340e-04 1.98208719e+02] [ 9.99516537e-01 3.08107936e-02 -4.16987046e-03 1.71680700e+02] [ 4.17497525e-03 -1.01351039e-04 9.99991280e-01 1.20954483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.21, Y:171.74, Z:1.21 [[ 3.48563463e-02 -9.99392307e-01 -2.28223213e-04 1.98210210e+02] [ 9.99383611e-01 3.48569953e-02 -4.16996422e-03 1.71736523e+02] [ 4.17538533e-03 -8.27328218e-05 9.99991280e-01 1.21016705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.21, Y:171.79, Z:1.21 [[ 3.87870261e-02 -9.99247475e-01 -2.26528852e-04 1.98210749e+02] [ 9.99238775e-01 3.87876338e-02 -4.17005626e-03 1.71793378e+02] [ 4.17570470e-03 -6.46123313e-05 9.99991280e-01 1.20899833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.21, Y:171.85, Z:1.21 [[ 3.98450428e-02 -9.99205846e-01 -2.24992885e-04 1.98212688e+02] [ 9.99197145e-01 3.98456349e-02 -4.17013913e-03 1.71849640e+02] [ 4.17579238e-03 -5.86528768e-05 9.99991280e-01 1.20911440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.21, Y:171.91, Z:1.21 [[ 3.89404656e-02 -9.99241507e-01 -2.23819626e-04 1.98214696e+02] [ 9.99232807e-01 3.89410607e-02 -4.17020210e-03 1.71905668e+02] [ 4.17575480e-03 -6.12583018e-05 9.99991280e-01 1.20787043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.22, Y:171.96, Z:1.21 [[ 3.51497007e-02 -9.99382034e-01 -2.21993647e-04 1.98217202e+02] [ 9.99373335e-01 3.51503211e-02 -4.17029930e-03 1.71961542e+02] [ 4.17552534e-03 -7.52697597e-05 9.99991280e-01 1.20919580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.22, Y:172.02, Z:1.21 [[ 3.21682900e-02 -9.99482442e-01 -2.20039123e-04 1.98219961e+02] [ 9.99473745e-01 3.21689283e-02 -4.17040242e-03 1.72019221e+02] [ 4.17532242e-03 -8.57686122e-05 9.99991280e-01 1.20720435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.22, Y:172.08, Z:1.21 [[ 2.82568071e-02 -9.99600673e-01 -2.18323404e-04 1.98222486e+02] [ 9.99591978e-01 2.82574721e-02 -4.17049224e-03 1.72075531e+02] [ 4.17499612e-03 -1.00389529e-04 9.99991280e-01 1.20886153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.23, Y:172.13, Z:1.21 [[ 2.73262083e-02 -9.99626546e-01 -2.16581375e-04 1.98225085e+02] [ 9.99617851e-01 2.73268742e-02 -4.17058271e-03 1.72131814e+02] [ 4.17494368e-03 -1.02532397e-04 9.99991280e-01 1.21062347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.23, Y:172.19, Z:1.21 [[ 2.45893136e-02 -9.99697614e-01 -2.14736720e-04 1.98227353e+02] [ 9.99688920e-01 2.45899956e-02 -4.17067768e-03 1.72188434e+02] [ 4.17469690e-03 -1.12115818e-04 9.99991280e-01 1.20968624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.23, Y:172.24, Z:1.21 [[ 2.41167290e-02 -9.99709127e-01 -2.12902605e-04 1.98230596e+02] [ 9.99700433e-01 2.41174075e-02 -4.17077131e-03 1.72244203e+02] [ 4.17469280e-03 -1.12253465e-04 9.99991280e-01 1.20871078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.23, Y:172.30, Z:1.21 [[ 2.69130202e-02 -9.99637757e-01 -2.11181943e-04 1.98234925e+02] [ 9.99629060e-01 2.69136672e-02 -4.17085843e-03 1.72301785e+02] [ 4.17503124e-03 -9.88532098e-05 9.99991280e-01 1.20731747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.24, Y:172.36, Z:1.20 [[ 2.62650282e-02 -9.99654993e-01 -2.10108119e-04 1.98235276e+02] [ 9.99646296e-01 2.62656764e-02 -4.17091252e-03 1.72357428e+02] [ 4.17499216e-03 -1.00484668e-04 9.99991280e-01 1.20461771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.24, Y:172.41, Z:1.21 [[ 2.96024369e-02 -9.99561730e-01 -2.08234992e-04 1.98239999e+02] [ 9.99553031e-01 2.96030482e-02 -4.17100604e-03 1.72414165e+02] [ 4.17534240e-03 -8.46699738e-05 9.99991280e-01 1.20577206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.24, Y:172.47, Z:1.20 [[ 2.76883747e-02 -9.99616582e-01 -2.06530199e-04 1.98240952e+02] [ 9.99607884e-01 2.76889956e-02 -4.17109045e-03 1.72471313e+02] [ 4.17520979e-03 -9.09585001e-05 9.99991280e-01 1.20310439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.25, Y:172.53, Z:1.21 [[ 2.92707036e-02 -9.99571500e-01 -2.05075289e-04 1.98247625e+02] [ 9.99562801e-01 2.92713046e-02 -4.17116198e-03 1.72527464e+02] [ 4.17537746e-03 -8.28927841e-05 9.99991280e-01 1.21193620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.25, Y:172.58, Z:1.21 [[ 2.76377766e-02 -9.99617983e-01 -2.03487464e-04 1.98252747e+02] [ 9.99609284e-01 2.76383852e-02 -4.17123944e-03 1.72583740e+02] [ 4.17527002e-03 -8.81241743e-05 9.99991280e-01 1.21202287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.26, Y:172.64, Z:1.21 [[ 2.56427759e-02 -9.99671150e-01 -2.01791581e-04 1.98256228e+02] [ 9.99662451e-01 2.56433948e-02 -4.17132148e-03 1.72640245e+02] [ 4.17512436e-03 -9.47592047e-05 9.99991280e-01 1.21423822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.26, Y:172.70, Z:1.21 [[ 2.40272416e-02 -9.99711284e-01 -1.99976118e-04 1.98260915e+02] [ 9.99702586e-01 2.40278670e-02 -4.17140851e-03 1.72696282e+02] [ 4.17500916e-03 -9.96892019e-05 9.99991280e-01 1.21298226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.26, Y:172.75, Z:1.21 [[ 1.94180652e-02 -9.99811432e-01 -1.98270107e-04 1.98261234e+02] [ 9.99802736e-01 1.94187235e-02 -4.17148960e-03 1.72752376e+02] [ 4.17455314e-03 -1.17228738e-04 9.99991280e-01 1.20593740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.27, Y:172.81, Z:1.21 [[ 1.77710268e-02 -9.99842064e-01 -1.96461717e-04 1.98268253e+02] [ 9.99833369e-01 1.77716920e-02 -4.17157477e-03 1.72808520e+02] [ 4.17440738e-03 -1.22295813e-04 9.99991280e-01 1.21319378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.27, Y:172.86, Z:1.21 [[ 2.05561802e-02 -9.99788680e-01 -1.94820782e-04 1.98272902e+02] [ 9.99779983e-01 2.05568143e-02 -4.17165140e-03 1.72864550e+02] [ 4.17477474e-03 -1.09024701e-04 9.99991280e-01 1.21325240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.28, Y:172.92, Z:1.21 [[ 2.07944524e-02 -9.99783753e-01 -1.92900487e-04 1.98275750e+02] [ 9.99775055e-01 2.07950764e-02 -4.17174019e-03 1.72919780e+02] [ 4.17484945e-03 -1.06108042e-04 9.99991280e-01 1.21050484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.28, Y:172.98, Z:1.21 [[ 2.54601171e-02 -9.99675820e-01 -1.91009769e-04 1.98277784e+02] [ 9.99667119e-01 2.54606926e-02 -4.17182676e-03 1.72976446e+02] [ 4.17533758e-03 -8.47309878e-05 9.99991280e-01 1.20946628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.28, Y:173.03, Z:1.21 [[ 2.55756485e-02 -9.99672872e-01 -1.89351254e-04 1.98282132e+02] [ 9.99664170e-01 2.55762161e-02 -4.17190204e-03 1.73033669e+02] [ 4.17538018e-03 -8.25885638e-05 9.99991280e-01 1.21298948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.28, Y:173.09, Z:1.21 [[ 2.38403009e-02 -9.99715762e-01 -1.87824162e-04 1.98282537e+02] [ 9.99707061e-01 2.38408773e-02 -4.17197079e-03 1.73089584e+02] [ 4.17526285e-03 -8.83081021e-05 9.99991280e-01 1.21061874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.29, Y:173.15, Z:1.21 [[ 2.85459297e-02 -9.99592465e-01 -1.85927085e-04 1.98286345e+02] [ 9.99583760e-01 2.85464571e-02 -4.17205533e-03 1.73146269e+02] [ 4.17566263e-03 -6.67544969e-05 9.99991280e-01 1.21342312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.29, Y:173.20, Z:1.21 [[ 2.76289299e-02 -9.99618231e-01 -1.84076179e-04 1.98288461e+02] [ 9.99609527e-01 2.76294576e-02 -4.17213699e-03 1.73201282e+02] [ 4.17563013e-03 -6.87326218e-05 9.99991280e-01 1.21374471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.29, Y:173.26, Z:1.21 [[ 2.89061349e-02 -9.99582114e-01 -1.82303947e-04 1.98291771e+02] [ 9.99573408e-01 2.89066441e-02 -4.17221443e-03 1.73257114e+02] [ 4.17574071e-03 -6.16235846e-05 9.99991280e-01 1.21378397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.29, Y:173.31, Z:1.21 [[ 2.81269818e-02 -9.99604342e-01 -1.80446062e-04 1.98294865e+02] [ 9.99595636e-01 2.81274900e-02 -4.17229478e-03 1.73314651e+02] [ 4.17571947e-03 -6.30190368e-05 9.99991280e-01 1.21376341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.30, Y:173.37, Z:1.21 [[ 2.57992612e-02 -9.99667128e-01 -1.78959490e-04 1.98298543e+02] [ 9.99658423e-01 2.57997835e-02 -4.17235854e-03 1.73370563e+02] [ 4.17558680e-03 -7.12545937e-05 9.99991280e-01 1.21408648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.30, Y:173.43, Z:1.21 [[ 2.35772663e-02 -9.99722002e-01 -1.77322621e-04 1.98302312e+02] [ 9.99713298e-01 2.35778011e-02 -4.17242811e-03 1.73426973e+02] [ 4.17544906e-03 -7.88973330e-05 9.99991280e-01 1.21408594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.30, Y:173.49, Z:1.21 [[ 2.05090054e-02 -9.99789653e-01 -1.75700811e-04 1.98303311e+02] [ 9.99780950e-01 2.05095602e-02 -4.17249640e-03 1.73485281e+02] [ 4.17522227e-03 -9.00885729e-05 9.99991280e-01 1.20971744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.31, Y:173.54, Z:1.21 [[ 2.24886777e-02 -9.99747083e-01 -1.74272397e-04 1.98306896e+02] [ 9.99738378e-01 2.24892093e-02 -4.17255606e-03 1.73541743e+02] [ 4.17542000e-03 -8.03915348e-05 9.99991280e-01 1.21464664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.31, Y:173.60, Z:1.21 [[ 2.20593530e-02 -9.99756648e-01 -1.73246530e-04 1.98308356e+02] [ 9.99747944e-01 2.20598841e-02 -4.17259865e-03 1.73598249e+02] [ 4.17540504e-03 -8.11580352e-05 9.99991280e-01 1.21363227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.31, Y:173.65, Z:1.21 [[ 2.10972626e-02 -9.99777413e-01 -1.71627060e-04 1.98310118e+02] [ 9.99768709e-01 2.10977953e-02 -4.17266526e-03 1.73654790e+02] [ 4.17535744e-03 -8.35555491e-05 9.99991280e-01 1.21255484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.162755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:198.31, Y:173.71, Z:1.21 [[ 1.98679284e-02 -9.99802599e-01 -1.69996892e-04 1.98310596e+02] [ 9.99793895e-01 1.98684649e-02 -4.17273168e-03 1.73712520e+02] [ 4.17528555e-03 -8.70583207e-05 9.99991280e-01 1.21268382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.31, Y:173.77, Z:1.21 [[ 1.95692518e-02 -9.99808490e-01 -1.68491959e-04 1.98310296e+02] [ 9.99799786e-01 1.95697847e-02 -4.17279244e-03 1.73767771e+02] [ 4.17529066e-03 -8.67997988e-05 9.99991280e-01 1.21276606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.31, Y:173.82, Z:1.21 [[ 2.06469897e-02 -9.99786814e-01 -1.66768434e-04 1.98311120e+02] [ 9.99778109e-01 2.06475060e-02 -4.17286133e-03 1.73824408e+02] [ 4.17541508e-03 -8.05744047e-05 9.99991280e-01 1.21185579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.31, Y:173.88, Z:1.21 [[ 1.94906200e-02 -9.99810026e-01 -1.65122947e-04 1.98310181e+02] [ 9.99801321e-01 1.94911395e-02 -4.17292644e-03 1.73880943e+02] [ 4.17535213e-03 -8.37572168e-05 9.99991280e-01 1.20504221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.31, Y:173.94, Z:1.21 [[ 2.22115526e-02 -9.99753280e-01 -1.63494603e-04 1.98313672e+02] [ 9.99744573e-01 2.22120416e-02 -4.17299023e-03 1.73938140e+02] [ 4.17559222e-03 -7.07642501e-05 9.99991280e-01 1.21272187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.31, Y:174.00, Z:1.20 [[ 1.98503675e-02 -9.99802949e-01 -1.62032970e-04 1.98311763e+02] [ 9.99794243e-01 1.98508710e-02 -4.17304699e-03 1.73996415e+02] [ 4.17544118e-03 -7.91631137e-05 9.99991280e-01 1.20452033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.31, Y:174.05, Z:1.21 [[ 2.12579771e-02 -9.99774011e-01 -1.60610161e-04 1.98314646e+02] [ 9.99765304e-01 2.12584623e-02 -4.17310175e-03 1.74053178e+02] [ 4.17557300e-03 -7.18607656e-05 9.99991280e-01 1.20642634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.32, Y:174.11, Z:1.21 [[ 2.08453935e-02 -9.99782698e-01 -1.59594078e-04 1.98316491e+02] [ 9.99773992e-01 2.08458781e-02 -4.17314061e-03 1.74110106e+02] [ 4.17556065e-03 -7.25672506e-05 9.99991280e-01 1.20826718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.32, Y:174.17, Z:1.21 [[ 2.30164060e-02 -9.99735075e-01 -1.58032574e-04 1.98321715e+02] [ 9.99726367e-01 2.30168652e-02 -4.17319974e-03 1.74165805e+02] [ 4.17573157e-03 -6.19372711e-05 9.99991280e-01 1.21271858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.32, Y:174.22, Z:1.21 [[ 1.96863202e-02 -9.99806193e-01 -1.56281495e-04 1.98321770e+02] [ 9.99797486e-01 1.96868011e-02 -4.17326531e-03 1.74222981e+02] [ 4.17553319e-03 -7.40936086e-05 9.99991280e-01 1.20836193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.32, Y:174.28, Z:1.21 [[ 1.94944050e-02 -9.99809954e-01 -1.54511988e-04 1.98324272e+02] [ 9.99801247e-01 1.94948801e-02 -4.17333083e-03 1.74278659e+02] [ 4.17554989e-03 -7.31246769e-05 9.99991280e-01 1.21039461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:174.33, Z:1.21 [[ 2.07431865e-02 -9.99784825e-01 -1.53201371e-04 1.98327325e+02] [ 9.99776117e-01 2.07436454e-02 -4.17337894e-03 1.74334702e+02] [ 4.17565889e-03 -6.65978936e-05 9.99991280e-01 1.21433905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.32, Y:174.39, Z:1.21 [[ 1.96320784e-02 -9.99807261e-01 -1.51639773e-04 1.98324722e+02] [ 9.99798553e-01 1.96325404e-02 -4.17343568e-03 1.74393348e+02] [ 4.17560837e-03 -6.96760085e-05 9.99991280e-01 1.20855993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:174.45, Z:1.21 [[ 2.20641956e-02 -9.99756545e-01 -1.50371674e-04 1.98325250e+02] [ 9.99747835e-01 2.20646311e-02 -4.17348137e-03 1.74448620e+02] [ 4.17578321e-03 -5.82492460e-05 9.99991280e-01 1.20804631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.32, Y:174.51, Z:1.20 [[ 2.16228145e-02 -9.99766189e-01 -1.48618326e-04 1.98324201e+02] [ 9.99757479e-01 2.16232465e-02 -4.17354380e-03 1.74505447e+02] [ 4.17578159e-03 -5.83385193e-05 9.99991280e-01 1.20433348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:174.56, Z:1.21 [[ 2.34566041e-02 -9.99724845e-01 -1.47092617e-04 1.98327078e+02] [ 9.99716135e-01 2.34570138e-02 -4.17359758e-03 1.74563044e+02] [ 4.17589954e-03 -4.91524370e-05 9.99991280e-01 1.20941368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.32, Y:174.62, Z:1.20 [[ 1.89775849e-02 -9.99819899e-01 -1.45553899e-04 1.98323782e+02] [ 9.99811190e-01 1.89780272e-02 -4.17365124e-03 1.74620830e+02] [ 4.17566188e-03 -6.63205963e-05 9.99991280e-01 1.20228984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:174.68, Z:1.21 [[ 2.05384342e-02 -9.99789054e-01 -1.43874315e-04 1.98328345e+02] [ 9.99780344e-01 2.05388559e-02 -4.17370913e-03 1.74676822e+02] [ 4.17578372e-03 -5.81212614e-05 9.99991280e-01 1.20903642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:174.73, Z:1.21 [[ 1.70386718e-02 -9.99854821e-01 -1.42155510e-04 1.98326704e+02] [ 9.99846112e-01 1.70391168e-02 -4.17376768e-03 1.74732703e+02] [ 4.17558394e-03 -7.10181769e-05 9.99991280e-01 1.20555296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:174.79, Z:1.21 [[ 1.61043351e-02 -9.99870307e-01 -1.40779002e-04 1.98329529e+02] [ 9.99861598e-01 1.61047825e-02 -4.17381410e-03 1.74788927e+02] [ 4.17554000e-03 -7.35430173e-05 9.99991280e-01 1.21083519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:174.85, Z:1.21 [[ 1.37920511e-02 -9.99904875e-01 -1.39118977e-04 1.98331156e+02] [ 9.99896167e-01 1.37925117e-02 -4.17386943e-03 1.74845007e+02] [ 4.17539120e-03 -8.15383115e-05 9.99991280e-01 1.20870038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:174.90, Z:1.21 [[ 1.08351316e-02 -9.99941289e-01 -1.37296987e-04 1.98332466e+02] [ 9.99932582e-01 1.08356104e-02 -4.17392937e-03 1.74901196e+02] [ 4.17517201e-03 -9.20626570e-05 9.99991280e-01 1.20529664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:174.96, Z:1.20 [[ 1.00848186e-02 -9.99949138e-01 -1.36138674e-04 1.98331502e+02] [ 9.99940431e-01 1.00852991e-02 -4.17396715e-03 1.74957423e+02] [ 4.17512785e-03 -9.40368623e-05 9.99991280e-01 1.20135526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:175.01, Z:1.20 [[ 7.79953098e-03 -9.99969574e-01 -1.34469175e-04 1.98332718e+02] [ 9.99960868e-01 7.80002436e-03 -4.17402093e-03 1.75013483e+02] [ 4.17494280e-03 -1.01908507e-04 9.99991280e-01 1.20294014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:175.07, Z:1.20 [[ 1.06364286e-02 -9.99943423e-01 -1.32912025e-04 1.98330254e+02] [ 9.99934715e-01 1.06368907e-02 -4.17407051e-03 1.75071087e+02] [ 4.17524813e-03 -8.85061449e-05 9.99991280e-01 1.20484361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:175.13, Z:1.21 [[ 1.37087259e-02 -9.99906022e-01 -1.31381301e-04 1.98331100e+02] [ 9.99897313e-01 1.37091550e-02 -4.17411869e-03 1.75126266e+02] [ 4.17552755e-03 -7.41459604e-05 9.99991280e-01 1.21003814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:175.18, Z:1.20 [[ 1.45451170e-02 -9.99894206e-01 -1.29602645e-04 1.98330877e+02] [ 9.99885495e-01 1.45455313e-02 -4.17417392e-03 1.75182894e+02] [ 4.17561746e-03 -6.88739566e-05 9.99991280e-01 1.20442214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:175.24, Z:1.21 [[ 1.49232540e-02 -9.99888634e-01 -1.27964560e-04 1.98330606e+02] [ 9.99879923e-01 1.49236582e-02 -4.17422414e-03 1.75239541e+02] [ 4.17566897e-03 -6.56561876e-05 9.99991280e-01 1.20942741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:175.30, Z:1.21 [[ 1.30283853e-02 -9.99915119e-01 -1.26212533e-04 1.98327827e+02] [ 9.99906409e-01 1.30287987e-02 -4.17427711e-03 1.75297401e+02] [ 4.17556719e-03 -7.18166296e-05 9.99991280e-01 1.20540133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:175.35, Z:1.21 [[ 1.40018717e-02 -9.99901961e-01 -1.24434946e-04 1.98331158e+02] [ 9.99893250e-01 1.40022692e-02 -4.17433010e-03 1.75353277e+02] [ 4.17566322e-03 -6.59732280e-05 9.99991280e-01 1.21182391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:175.41, Z:1.21 [[ 1.46676537e-02 -9.99892417e-01 -1.22755756e-04 1.98334861e+02] [ 9.99883705e-01 1.46680384e-02 -4.17437948e-03 1.75409953e+02] [ 4.17573097e-03 -6.15131272e-05 9.99991280e-01 1.21395252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:175.47, Z:1.21 [[ 1.01298745e-02 -9.99948684e-01 -1.21189798e-04 1.98331189e+02] [ 9.99939974e-01 1.01302922e-02 -4.17442494e-03 1.75465062e+02] [ 4.17543842e-03 -7.88961226e-05 9.99991280e-01 1.21477570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:175.52, Z:1.22 [[ 8.84542909e-03 -9.99960871e-01 -1.19335363e-04 1.98333004e+02] [ 9.99952161e-01 8.84585022e-03 -4.17447795e-03 1.75522115e+02] [ 4.17537023e-03 -8.24046055e-05 9.99991280e-01 1.21598120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.34, Y:175.58, Z:1.22 [[ 8.23034925e-03 -9.99966123e-01 -1.17539494e-04 1.98336879e+02] [ 9.99957413e-01 8.23076825e-03 -4.17452852e-03 1.75578693e+02] [ 4.17535454e-03 -8.31766602e-05 9.99991280e-01 1.22148747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:175.64, Z:1.22 [[ 3.41467272e-03 -9.99994163e-01 -1.15876365e-04 1.98333171e+02] [ 9.99985455e-01 3.41512672e-03 -4.17457468e-03 1.75635324e+02] [ 4.17494605e-03 -1.01619873e-04 9.99991280e-01 1.21933175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:175.69, Z:1.22 [[ 2.80081388e-03 -9.99996071e-01 -1.14268358e-04 1.98333333e+02] [ 9.99987363e-01 2.80126652e-03 -4.17461870e-03 1.75690911e+02] [ 4.17492239e-03 -1.02574583e-04 9.99991280e-01 1.21935063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32275509600004 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:175.75, Z:1.22 [[ 2.88025103e-03 -9.99995846e-01 -1.12545575e-04 1.98333084e+02] [ 9.99987137e-01 2.88069578e-03 -4.17466514e-03 1.75747380e+02] [ 4.17497201e-03 -1.00520044e-04 9.99991280e-01 1.21704671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:175.80, Z:1.22 [[ 4.78808182e-03 -9.99988531e-01 -1.10687311e-04 1.98333368e+02] [ 9.99979821e-01 4.78850221e-03 -4.17471441e-03 1.75802427e+02] [ 4.17519656e-03 -9.06962033e-05 9.99991280e-01 1.21871902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:175.86, Z:1.22 [[ 9.36379134e-03 -9.99956153e-01 -1.08632652e-04 1.98334691e+02] [ 9.99947441e-01 9.36416329e-03 -4.17476788e-03 1.75859515e+02] [ 4.17560208e-03 -6.95352873e-05 9.99991280e-01 1.22144500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:175.92, Z:1.22 [[ 1.07703511e-02 -9.99941992e-01 -1.07028233e-04 1.98334394e+02] [ 9.99933279e-01 1.07707041e-02 -4.17480901e-03 1.75915741e+02] [ 4.17571961e-03 -6.20569328e-05 9.99991280e-01 1.21915075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:175.97, Z:1.22 [[ 1.26735036e-02 -9.99919682e-01 -1.05810675e-04 1.98332911e+02] [ 9.99910968e-01 1.26738349e-02 -4.17483987e-03 1.75973092e+02] [ 4.17584558e-03 -5.28914062e-05 9.99991280e-01 1.21877816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.622755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:198.34, Y:176.03, Z:1.22 [[ 1.54721577e-02 -9.99880294e-01 -1.04234508e-04 1.98338811e+02] [ 9.99871578e-01 1.54724580e-02 -4.17487922e-03 1.76030605e+02] [ 4.17599222e-03 -3.96267328e-05 9.99991280e-01 1.22468014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.682755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:198.34, Y:176.09, Z:1.22 [[ 1.13626152e-02 -9.99935438e-01 -1.02775127e-04 1.98336860e+02] [ 9.99926724e-01 1.13629453e-02 -4.17491515e-03 1.76086722e+02] [ 4.17581343e-03 -5.53296421e-05 9.99991280e-01 1.22209247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.742755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:198.34, Y:176.14, Z:1.22 [[ 9.32110914e-03 -9.99956552e-01 -1.01074254e-04 1.98338582e+02] [ 9.99947839e-01 9.32144991e-03 -4.17495632e-03 1.76141996e+02] [ 4.17571709e-03 -6.21537581e-05 9.99991280e-01 1.22238693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.34, Y:176.20, Z:1.22 [[ 5.67530018e-03 -9.99983890e-01 -9.93507846e-05 1.98338895e+02] [ 9.99975178e-01 5.67566553e-03 -4.17499734e-03 1.76197803e+02] [ 4.17549396e-03 -7.56539554e-05 9.99991280e-01 1.22468109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.34, Y:176.25, Z:1.22 [[ 5.55615676e-03 -9.99984560e-01 -9.75363903e-05 1.98340675e+02] [ 9.99975847e-01 5.55651558e-03 -4.17503972e-03 1.76254623e+02] [ 4.17551722e-03 -7.43368593e-05 9.99991280e-01 1.22336721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.34, Y:176.31, Z:1.22 [[ 5.30292243e-03 -9.99985935e-01 -9.56972911e-05 1.98342610e+02] [ 9.99977222e-01 5.30327577e-03 -4.17508188e-03 1.76312079e+02] [ 4.17553066e-03 -7.35549759e-05 9.99991280e-01 1.22103590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.34, Y:176.37, Z:1.22 [[ 5.08778619e-03 -9.99987053e-01 -9.41840792e-05 1.98344639e+02] [ 9.99978339e-01 5.08813509e-03 -4.17511601e-03 1.76367859e+02] [ 4.17554118e-03 -7.29399415e-05 9.99991280e-01 1.22020241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.35, Y:176.42, Z:1.22 [[ 4.61815899e-03 -9.99989332e-01 -9.24532996e-05 1.98346062e+02] [ 9.99980619e-01 4.61850476e-03 -4.17515434e-03 1.76424317e+02] [ 4.17553680e-03 -7.31699812e-05 9.99991280e-01 1.22018090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.35, Y:176.48, Z:1.22 [[ 3.18044475e-03 -9.99994938e-01 -9.08385394e-05 1.98348698e+02] [ 9.99986225e-01 3.18079631e-03 -4.17518947e-03 1.76479954e+02] [ 4.17545728e-03 -7.75583286e-05 9.99991280e-01 1.22119524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.35, Y:176.54, Z:1.22 [[ 1.04238517e-03 -9.99999453e-01 -8.95676375e-05 1.98350936e+02] [ 9.99990740e-01 1.04275005e-03 -4.17521674e-03 1.76536603e+02] [ 4.17530785e-03 -8.52146242e-05 9.99991280e-01 1.21907197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.35, Y:176.59, Z:1.22 [[ 6.16918497e-04 -9.99999806e-01 -8.82340793e-05 1.98354010e+02] [ 9.99991093e-01 6.17281520e-04 -4.17524492e-03 1.76592910e+02] [ 4.17529857e-03 -8.56575076e-05 9.99991280e-01 1.22107043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.36, Y:176.65, Z:1.22 [[ 1.40568704e-03 -9.99999008e-01 -8.65686376e-05 1.98356836e+02] [ 9.99990295e-01 1.40603624e-03 -4.17527945e-03 1.76648252e+02] [ 4.17539703e-03 -8.06986612e-05 9.99991280e-01 1.21980181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.36, Y:176.70, Z:1.22 [[ 1.81467306e-03 -9.99998350e-01 -8.48977338e-05 1.98358553e+02] [ 9.99989636e-01 1.81501172e-03 -4.17531342e-03 1.76704224e+02] [ 4.17546062e-03 -7.73200252e-05 9.99991280e-01 1.22029293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.36, Y:176.76, Z:1.22 [[ 3.43983367e-03 -9.99994080e-01 -8.31367869e-05 1.98359919e+02] [ 9.99985366e-01 3.44015082e-03 -4.17534849e-03 1.76760588e+02] [ 4.17560977e-03 -6.87730659e-05 9.99991280e-01 1.22261911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.36, Y:176.82, Z:1.22 [[ 7.24772832e-03 -9.99973732e-01 -8.13386562e-05 1.98362070e+02] [ 9.99965016e-01 7.24800478e-03 -4.17538351e-03 1.76818239e+02] [ 4.17586338e-03 -5.10737653e-05 9.99991280e-01 1.22251408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.37, Y:176.87, Z:1.22 [[ 9.30657056e-03 -9.99956690e-01 -7.98192820e-05 1.98365190e+02] [ 9.99947973e-01 9.30682273e-03 -4.17541256e-03 1.76873942e+02] [ 4.17597458e-03 -4.09563577e-05 9.99991280e-01 1.22199887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.37, Y:176.93, Z:1.22 [[ 8.90778894e-03 -9.99960322e-01 -7.84883469e-05 1.98368334e+02] [ 9.99951605e-01 8.90803903e-03 -4.17543758e-03 1.76931112e+02] [ 4.17597108e-03 -4.12906318e-05 9.99991280e-01 1.22264037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.37, Y:176.99, Z:1.22 [[ 6.16576364e-03 -9.99980989e-01 -7.69599760e-05 1.98372469e+02] [ 9.99972272e-01 6.16603124e-03 -4.17546575e-03 1.76986426e+02] [ 4.17586090e-03 -5.12129072e-05 9.99991280e-01 1.22283582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70275509600003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:177.04, Z:1.22 [[ 2.98582450e-03 -9.99995540e-01 -7.52050987e-05 1.98377249e+02] [ 9.99986824e-01 2.98611249e-03 -4.17549735e-03 1.77041657e+02] [ 4.17570330e-03 -6.27368055e-05 9.99991280e-01 1.22429955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:177.10, Z:1.22 [[ 2.59129736e-04 -9.99999964e-01 -7.34041237e-05 1.98380278e+02] [ 9.99991249e-01 2.59433978e-04 -4.17552902e-03 1.77098390e+02] [ 4.17554791e-03 -7.23214776e-05 9.99991280e-01 1.22397994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:177.16, Z:1.22 [[-1.98060572e-04 -9.99999978e-01 -7.17897168e-05 1.98382176e+02] [ 9.99991263e-01 -1.97759085e-04 -4.17555677e-03 1.77155062e+02] [ 4.17554248e-03 -7.26161027e-05 9.99991280e-01 1.22287196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:177.21, Z:1.22 [[ 1.00039110e-04 -9.99999993e-01 -7.01932741e-05 1.98384673e+02] [ 9.99991277e-01 1.00331335e-04 -4.17558361e-03 1.77211099e+02] [ 4.17559062e-03 -6.97749401e-05 9.99991280e-01 1.22141196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.39, Y:177.27, Z:1.22 [[ 2.87031005e-05 -9.99999997e-01 -6.86028242e-05 1.98388062e+02] [ 9.99991282e-01 2.89893080e-05 -4.17560974e-03 1.77267519e+02] [ 4.17561172e-03 -6.84823731e-05 9.99991280e-01 1.22005603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.39, Y:177.32, Z:1.22 [[ 1.59590562e-03 -9.99998724e-01 -6.69428242e-05 1.98389571e+02] [ 9.99990008e-01 1.59617124e-03 -4.17563635e-03 1.77322907e+02] [ 4.17573788e-03 -6.02782338e-05 9.99991280e-01 1.22036279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.39, Y:177.38, Z:1.22 [[ 3.84423075e-03 -9.99992609e-01 -6.52299165e-05 1.98388279e+02] [ 9.99983892e-01 3.84446962e-03 -4.17566311e-03 1.77379740e+02] [ 4.17588302e-03 -4.91766533e-05 9.99991280e-01 1.22024687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.39, Y:177.44, Z:1.22 [[ 6.50967695e-03 -9.99978810e-01 -6.36077740e-05 1.98386311e+02] [ 9.99970092e-01 6.50988581e-03 -4.17568782e-03 1.77435746e+02] [ 4.17601341e-03 -3.64234929e-05 9.99991280e-01 1.22050944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:177.49, Z:1.22 [[ 8.36116357e-03 -9.99965043e-01 -6.20004289e-05 1.98384274e+02] [ 9.99956325e-01 8.36134958e-03 -4.17571168e-03 1.77492404e+02] [ 4.17608412e-03 -2.70839126e-05 9.99991280e-01 1.22141958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:177.55, Z:1.22 [[ 7.04416772e-03 -9.99975188e-01 -6.03642043e-05 1.98383776e+02] [ 9.99966470e-01 7.04435838e-03 -4.17573534e-03 1.77549848e+02] [ 4.17605696e-03 -3.09476002e-05 9.99991280e-01 1.22186635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:177.61, Z:1.22 [[ 4.71980650e-03 -9.99988860e-01 -5.88456282e-05 1.98383440e+02] [ 9.99980142e-01 4.72001108e-03 -4.17575674e-03 1.77605698e+02] [ 4.17598797e-03 -3.91356959e-05 9.99991280e-01 1.22359229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:177.66, Z:1.22 [[-2.09900317e-04 -9.99999976e-01 -5.71061616e-05 1.98381139e+02] [ 9.99991259e-01 -2.09660026e-04 -4.17578053e-03 1.77662313e+02] [ 4.17576845e-03 -5.79821601e-05 9.99991280e-01 1.22381029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:177.72, Z:1.22 [[-5.96910017e-03 -9.99982183e-01 -5.55076950e-05 1.98383605e+02] [ 9.99973468e-01 -5.96881635e-03 -4.17580177e-03 1.77719089e+02] [ 4.17539606e-03 -8.04320013e-05 9.99991280e-01 1.22285688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:177.77, Z:1.22 [[-7.73782859e-03 -9.99970061e-01 -5.40094533e-05 1.98384112e+02] [ 9.99961346e-01 -7.73753561e-03 -4.17582115e-03 1.77774050e+02] [ 4.17527823e-03 -8.63191539e-05 9.99991280e-01 1.22279154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:177.83, Z:1.22 [[-6.75495769e-03 -9.99977184e-01 -5.22933664e-05 1.98384024e+02] [ 9.99968468e-01 -6.75468044e-03 -4.17584264e-03 1.77829434e+02] [ 4.17539414e-03 -8.04993579e-05 9.99991280e-01 1.22243940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:177.89, Z:1.22 [[-4.83357754e-03 -9.99988317e-01 -5.06203248e-05 1.98384322e+02] [ 9.99979600e-01 -4.83332403e-03 -4.17586292e-03 1.77887136e+02] [ 4.17556947e-03 -7.08036495e-05 9.99991280e-01 1.22182223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.39, Y:177.94, Z:1.22 [[-2.56416062e-03 -9.99996711e-01 -4.91279848e-05 1.98386637e+02] [ 9.99987994e-01 -2.56393311e-03 -4.17588048e-03 1.77942257e+02] [ 4.17574079e-03 -5.98350232e-05 9.99991280e-01 1.22239261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:178.00, Z:1.22 [[-3.60031744e-03 -9.99993518e-01 -4.74149798e-05 1.98383741e+02] [ 9.99984801e-01 -3.60008806e-03 -4.17589993e-03 1.77998716e+02] [ 4.17570216e-03 -6.24488245e-05 9.99991280e-01 1.22125159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:178.06, Z:1.22 [[-5.52365722e-03 -9.99984743e-01 -4.57608380e-05 1.98383917e+02] [ 9.99976027e-01 -5.52341797e-03 -4.17591806e-03 1.78055007e+02] [ 4.17560159e-03 -6.88260809e-05 9.99991280e-01 1.22089218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:178.11, Z:1.22 [[-7.99287265e-03 -9.99968056e-01 -4.40348641e-05 1.98383134e+02] [ 9.99959339e-01 -7.99261908e-03 -4.17593626e-03 1.78109979e+02] [ 4.17545091e-03 -7.74108003e-05 9.99991280e-01 1.22057372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:178.17, Z:1.22 [[-7.65261431e-03 -9.99970717e-01 -4.21265430e-05 1.98383724e+02] [ 9.99962001e-01 -7.65237168e-03 -4.17595551e-03 1.78167276e+02] [ 4.17551086e-03 -7.40819191e-05 9.99991280e-01 1.21982250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:178.22, Z:1.22 [[-9.90895013e-03 -9.99950904e-01 -4.02918856e-05 1.98381950e+02] [ 9.99942188e-01 -9.90869548e-03 -4.17597321e-03 1.78223757e+02] [ 4.17536895e-03 -8.16690665e-05 9.99991280e-01 1.22182754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:178.28, Z:1.22 [[-1.12546490e-02 -9.99936664e-01 -3.86082573e-05 1.98381921e+02] [ 9.99927947e-01 -1.12543897e-02 -4.17598878e-03 1.78280894e+02] [ 4.17528977e-03 -8.56047635e-05 9.99991280e-01 1.22298356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.082755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:178.34, Z:1.22 [[-1.10747045e-02 -9.99938673e-01 -3.71208302e-05 1.98382520e+02] [ 9.99929956e-01 -1.10744529e-02 -4.17600200e-03 1.78336253e+02] [ 4.17533480e-03 -8.33662183e-05 9.99991280e-01 1.22176514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:178.39, Z:1.22 [[-1.28646921e-02 -9.99917246e-01 -3.54148740e-05 1.98380448e+02] [ 9.99908529e-01 -1.28644321e-02 -4.17601646e-03 1.78394065e+02] [ 4.17521529e-03 -8.91348006e-05 9.99991280e-01 1.21711079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:178.45, Z:1.22 [[-9.32243667e-03 -9.99956545e-01 -3.38791312e-05 1.98383157e+02] [ 9.99947827e-01 -9.32221391e-03 -4.17602892e-03 1.78451341e+02] [ 4.17553162e-03 -7.28081288e-05 9.99991280e-01 1.22257424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.39, Y:178.51, Z:1.22 [[-7.24474275e-03 -9.99973756e-01 -3.28350583e-05 1.98385387e+02] [ 9.99965038e-01 -7.24454246e-03 -4.17603713e-03 1.78507632e+02] [ 4.17568966e-03 -6.30882250e-05 9.99991280e-01 1.22242774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32275509600004 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:198.39, Y:178.56, Z:1.22 [[-7.50781752e-03 -9.99971815e-01 -3.11591707e-05 1.98386780e+02] [ 9.99963097e-01 -7.50762194e-03 -4.17604964e-03 1.78564392e+02] [ 4.17569801e-03 -6.25110395e-05 9.99991280e-01 1.22196473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.39, Y:178.62, Z:1.22 [[-5.56494218e-03 -9.99984515e-01 -2.93920293e-05 1.98387865e+02] [ 9.99975797e-01 -5.56477092e-03 -4.17606208e-03 1.78620945e+02] [ 4.17583385e-03 -5.26308619e-05 9.99991280e-01 1.22479372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.39, Y:178.68, Z:1.23 [[-2.63033249e-03 -9.99996540e-01 -2.74190091e-05 1.98389174e+02] [ 9.99987821e-01 -2.63019505e-03 -4.17607503e-03 1.78677730e+02] [ 4.17598846e-03 -3.84031410e-05 9.99991280e-01 1.22601667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.39, Y:178.73, Z:1.23 [[-2.04531672e-03 -9.99997908e-01 -2.55402189e-05 1.98389584e+02] [ 9.99989189e-01 -2.04519223e-03 -4.17608652e-03 1.78733248e+02] [ 4.17602555e-03 -3.40813623e-05 9.99991280e-01 1.22586925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.39, Y:178.79, Z:1.23 [[-3.89633691e-03 -9.99992409e-01 -2.36374876e-05 1.98389032e+02] [ 9.99983690e-01 -3.89620423e-03 -4.17609729e-03 1.78789593e+02] [ 4.17597349e-03 -3.99085841e-05 9.99991280e-01 1.22587508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.39, Y:178.85, Z:1.23 [[-4.69198979e-03 -9.99988992e-01 -2.18010270e-05 1.98386726e+02] [ 9.99980273e-01 -4.69185783e-03 -4.17610688e-03 1.78845960e+02] [ 4.17595862e-03 -4.13948478e-05 9.99991280e-01 1.22542708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.39, Y:178.90, Z:1.23 [[-5.28928458e-03 -9.99986011e-01 -2.01413605e-05 1.98385833e+02] [ 9.99977292e-01 -5.28915435e-03 -4.17611488e-03 1.78901656e+02] [ 4.17594993e-03 -4.22295632e-05 9.99991280e-01 1.22509261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.39, Y:178.96, Z:1.22 [[-6.62482279e-03 -9.99978055e-01 -1.88360344e-05 1.98385254e+02] [ 9.99969336e-01 -6.62468637e-03 -4.17612077e-03 1.78956742e+02] [ 4.17590434e-03 -4.65015169e-05 9.99991280e-01 1.22398970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.802755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:179.01, Z:1.22 [[-9.74617687e-03 -9.99952505e-01 -1.71628868e-05 1.98383890e+02] [ 9.99943786e-01 -9.74602022e-03 -4.17612765e-03 1.79012906e+02] [ 4.17576203e-03 -5.78632007e-05 9.99991280e-01 1.22026400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:179.07, Z:1.22 [[-1.22203669e-02 -9.99925328e-01 -1.55425697e-05 1.98383770e+02] [ 9.99916610e-01 -1.22201955e-02 -4.17613368e-03 1.79069066e+02] [ 4.17563190e-03 -6.65751595e-05 9.99991280e-01 1.22266356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:179.13, Z:1.22 [[-1.48097644e-02 -9.99890329e-01 -1.39222504e-05 1.98383593e+02] [ 9.99881611e-01 -1.48095772e-02 -4.17613908e-03 1.79125433e+02] [ 4.17547489e-03 -7.57682381e-05 9.99991280e-01 1.22086059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:179.18, Z:1.22 [[-1.86029556e-02 -9.99826950e-01 -1.21806087e-05 1.98382333e+02] [ 9.99818232e-01 -1.86027425e-02 -4.17614416e-03 1.79182000e+02] [ 4.17519488e-03 -8.98670188e-05 9.99991280e-01 1.22207791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:179.24, Z:1.22 [[-1.71106283e-02 -9.99853602e-01 -1.03702362e-05 1.98381775e+02] [ 9.99844884e-01 -1.71104358e-02 -4.17614865e-03 1.79238372e+02] [ 4.17535984e-03 -8.18251548e-05 9.99991280e-01 1.22433564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:179.30, Z:1.22 [[-1.59540657e-02 -9.99872726e-01 -8.54117654e-06 1.98380657e+02] [ 9.99864007e-01 -1.59538909e-02 -4.17615239e-03 1.79295005e+02] [ 4.17548461e-03 -7.51666246e-05 9.99991280e-01 1.22470171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:179.35, Z:1.22 [[-1.47300435e-02 -9.99891507e-01 -6.92035188e-06 1.98379139e+02] [ 9.99882788e-01 -1.47298861e-02 -4.17615508e-03 1.79351186e+02] [ 4.17560006e-03 -6.84344865e-05 9.99991280e-01 1.22441195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:179.41, Z:1.22 [[-1.31550288e-02 -9.99913469e-01 -5.31332647e-06 1.98377126e+02] [ 9.99904750e-01 -1.31548919e-02 -4.17615712e-03 1.79407277e+02] [ 4.17572586e-03 -6.02502878e-05 9.99991280e-01 1.22385522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:179.46, Z:1.22 [[-1.25569382e-02 -9.99921159e-01 -3.65459103e-06 1.98377065e+02] [ 9.99912439e-01 -1.25568134e-02 -4.17615858e-03 1.79463666e+02] [ 4.17578343e-03 -5.60940361e-05 9.99991280e-01 1.22264520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:179.52, Z:1.22 [[-1.20434956e-02 -9.99927475e-01 -1.99080664e-06 1.98376781e+02] [ 9.99918755e-01 -1.20433823e-02 -4.17615937e-03 1.79520122e+02] [ 4.17583251e-03 -5.22862020e-05 9.99991280e-01 1.22211728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:179.58, Z:1.22 [[-1.34500957e-02 -9.99909543e-01 -2.87155079e-07 1.98376558e+02] [ 9.99900824e-01 -1.34499773e-02 -4.17615949e-03 1.79575534e+02] [ 4.17577786e-03 -5.64568715e-05 9.99991280e-01 1.21870342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:179.29, Z:2.45 [[-6.65960132e-02 -9.97780021e-01 1.46566220e-06 1.97917598e+02] [ 9.97771320e-01 -6.65954386e-02 -4.17615887e-03 1.79286262e+02] [ 4.16698549e-03 -2.76653135e-04 9.99991280e-01 2.45404250e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 307.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.90, Y:179.57, Z:2.45 [[-6.80948614e-02 -9.97678825e-01 2.27166444e-04 1.97900603e+02] [ 9.97670138e-01 -6.80952166e-02 -4.16384545e-03 1.79568806e+02] [ 4.16964938e-03 -5.68993013e-05 9.99991305e-01 2.45231417e+00] [ 0.00000000e+00 -0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:179.27, Z:2.45 [[-6.82034712e-02 -9.97671406e-01 2.29908990e-04 1.97918728e+02] [ 9.97662719e-01 -6.82038369e-02 -4.16369401e-03 1.79273294e+02] [ 4.16967913e-03 -5.46067561e-05 9.99991305e-01 2.45491330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:179.26, Z:2.46 [[-6.97774980e-02 -9.97562553e-01 2.32290443e-04 1.97919656e+02] [ 9.97553866e-01 -6.97778599e-02 -4.16356114e-03 1.79263462e+02] [ 4.16962141e-03 -5.88006501e-05 9.99991305e-01 2.45514115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:179.26, Z:2.45 [[-7.09346015e-02 -9.97480941e-01 2.34584228e-04 1.97916841e+02] [ 9.97472254e-01 -7.09349629e-02 -4.16343190e-03 1.79261218e+02] [ 4.16958420e-03 -6.13401242e-05 9.99991305e-01 2.45395732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:179.28, Z:2.45 [[-7.05561939e-02 -9.97507778e-01 2.35580303e-04 1.97915617e+02] [ 9.97499092e-01 -7.05565627e-02 -4.16337554e-03 1.79281191e+02] [ 4.16962122e-03 -5.87607933e-05 9.99991305e-01 2.45242692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:179.26, Z:2.45 [[-7.02210279e-02 -9.97531429e-01 2.36589342e-04 1.97917479e+02] [ 9.97522742e-01 -7.02214039e-02 -4.16331820e-03 1.79258232e+02] [ 4.16965439e-03 -5.63492348e-05 9.99991305e-01 2.45239160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:179.25, Z:2.45 [[-7.08844228e-02 -9.97484507e-01 2.37598565e-04 1.97917644e+02] [ 9.97475821e-01 -7.08847972e-02 -4.16326060e-03 1.79254791e+02] [ 4.16963008e-03 -5.81115009e-05 9.99991305e-01 2.45213411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:179.25, Z:2.45 [[-7.20084010e-02 -9.97403997e-01 2.39887263e-04 1.97917803e+02] [ 9.97395310e-01 -7.20087751e-02 -4.16312873e-03 1.79252263e+02] [ 4.16959522e-03 -6.05178113e-05 9.99991305e-01 2.45154419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:179.25, Z:2.45 [[-7.39129052e-02 -9.97264671e-01 2.42174791e-04 1.97919480e+02] [ 9.97255984e-01 -7.39132723e-02 -4.16299565e-03 1.79250452e+02] [ 4.16950842e-03 -6.61888440e-05 9.99991305e-01 2.45225047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:179.25, Z:2.45 [[-7.69894792e-02 -9.97031876e-01 2.43172368e-04 1.97922283e+02] [ 9.97023188e-01 -7.69898237e-02 -4.16293738e-03 1.79245799e+02] [ 4.16930306e-03 -7.80538917e-05 9.99991305e-01 2.45387365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:179.25, Z:2.46 [[-7.96255630e-02 -9.96824814e-01 2.45457598e-04 1.97922883e+02] [ 9.96816126e-01 -7.96258940e-02 -4.16280263e-03 1.79249646e+02] [ 4.16912974e-03 -8.67894111e-05 9.99991305e-01 2.45607152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:179.24, Z:2.46 [[-7.98032155e-02 -9.96810607e-01 2.47023013e-04 1.97923733e+02] [ 9.96801919e-01 -7.98035515e-02 -4.16270974e-03 1.79242291e+02] [ 4.16914653e-03 -8.59646091e-05 9.99991305e-01 2.45658626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:179.25, Z:2.46 [[-7.89516135e-02 -9.96878418e-01 2.49314123e-04 1.97923318e+02] [ 9.96869731e-01 -7.89519665e-02 -4.16257251e-03 1.79246329e+02] [ 4.16926254e-03 -8.01081143e-05 9.99991305e-01 2.45715840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:179.24, Z:2.46 [[-7.77045348e-02 -9.96976400e-01 2.50314213e-04 1.97923237e+02] [ 9.96967713e-01 -7.77049028e-02 -4.16251237e-03 1.79239715e+02] [ 4.16937724e-03 -7.38908985e-05 9.99991305e-01 2.45654876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.91, Y:179.53, Z:2.46 [[-7.83402584e-02 -9.96926648e-01 2.51883243e-04 1.97905064e+02] [ 9.96917961e-01 -7.83406274e-02 -4.16241743e-03 1.79525396e+02] [ 4.16935754e-03 -7.49779276e-05 9.99991305e-01 2.45688179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.46, Y:179.19, Z:3.68 [[-1.22561155e-01 -9.92460931e-01 2.52723825e-04 1.97461690e+02] [ 9.92452236e-01 -1.22561141e-01 -4.16236639e-03 1.79185781e+02] [ 4.16196014e-03 -2.59328106e-04 9.99991305e-01 3.68404566e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 308.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.46, Y:179.18, Z:3.68 [[-1.24140138e-01 -9.92264597e-01 4.43182602e-04 1.97460912e+02] [ 9.92255955e-01 -1.24140907e-01 -4.14198784e-03 1.79184011e+02] [ 4.16496498e-03 -7.44363652e-05 9.99991324e-01 3.68481846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.46, Y:179.25, Z:3.69 [[-1.24372118e-01 -9.92235546e-01 4.44177736e-04 1.97455072e+02] [ 9.92226904e-01 -1.24372889e-01 -4.14188112e-03 1.79254979e+02] [ 4.16496534e-03 -7.44094276e-05 9.99991324e-01 3.68808977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.46, Y:179.17, Z:3.69 [[-1.32827288e-01 -9.91139098e-01 4.46552055e-04 1.97463723e+02] [ 9.91130451e-01 -1.32827995e-01 -4.14162512e-03 1.79172388e+02] [ 4.16424120e-03 -1.07529492e-04 9.99991324e-01 3.68680962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.46, Y:179.17, Z:3.69 [[-1.35273858e-01 -9.90808146e-01 4.48916828e-04 1.97464143e+02] [ 9.90799498e-01 -1.35274554e-01 -4.14136878e-03 1.79170172e+02] [ 4.16402895e-03 -1.15432365e-04 9.99991324e-01 3.68689455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.46, Y:179.17, Z:3.69 [[-1.36770196e-01 -9.90602700e-01 4.51181538e-04 1.97463597e+02] [ 9.90594052e-01 -1.36770888e-01 -4.14112204e-03 1.79166144e+02] [ 4.16391518e-03 -1.19444325e-04 9.99991324e-01 3.68578801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.42, Y:179.54, Z:3.69 [[-1.35804390e-01 -9.90735567e-01 4.52168698e-04 1.97421914e+02] [ 9.90726919e-01 -1.35805094e-01 -4.14101425e-03 1.79544861e+02] [ 4.16405691e-03 -1.14392211e-04 9.99991324e-01 3.68605623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.842755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:196.96, Y:179.37, Z:4.91 [[-1.63039751e-01 -9.86619396e-01 4.54995517e-04 1.96962978e+02] [ 9.86610733e-01 -1.63040229e-01 -4.14070363e-03 1.79374218e+02] [ 4.15948109e-03 -2.26195829e-04 9.99991324e-01 4.91266465e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 308.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.55, Y:179.00, Z:6.14 [[-1.97557421e-01 -9.80291146e-01 5.78898896e-04 1.96548045e+02] [ 9.80282505e-01 -1.97558114e-01 -4.12330803e-03 1.79003055e+02] [ 4.15640853e-03 -2.47105640e-04 9.99991332e-01 6.13909317e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 308.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.55, Y:179.00, Z:6.14 [[-1.95774322e-01 -9.80648694e-01 7.43749678e-04 1.96550627e+02] [ 9.80640154e-01 -1.95775721e-01 -4.09335523e-03 1.78999827e+02] [ 4.15975159e-03 -7.20230449e-05 9.99991346e-01 6.13917625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.55, Y:179.01, Z:6.14 [[-1.97111499e-01 -9.80380794e-01 7.45992829e-04 1.96550672e+02] [ 9.80372253e-01 -1.97112896e-01 -4.09294639e-03 1.79007074e+02] [ 4.15969083e-03 -7.54161274e-05 9.99991346e-01 6.13859304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.55, Y:179.00, Z:6.14 [[-1.98939813e-01 -9.80011425e-01 7.46974575e-04 1.96554500e+02] [ 9.80002882e-01 -1.98941199e-01 -4.09276721e-03 1.78999894e+02] [ 4.15956264e-03 -8.21771082e-05 9.99991346e-01 6.14308282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.56, Y:179.00, Z:6.15 [[-2.00087176e-01 -9.79777813e-01 7.48517243e-04 1.96557069e+02] [ 9.79769269e-01 -2.00088558e-01 -4.09248505e-03 1.78997058e+02] [ 4.15949579e-03 -8.54795837e-05 9.99991346e-01 6.14512637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.56, Y:178.99, Z:6.15 [[-2.00553202e-01 -9.79682525e-01 7.50766877e-04 1.96558443e+02] [ 9.79673982e-01 -2.00554589e-01 -4.09207231e-03 1.78994879e+02] [ 4.15950148e-03 -8.51714293e-05 9.99991346e-01 6.14520875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.56, Y:178.99, Z:6.15 [[-1.96629558e-01 -9.80477563e-01 7.51747429e-04 1.96561593e+02] [ 9.80469027e-01 -1.96630983e-01 -4.09189217e-03 1.78993577e+02] [ 4.15982530e-03 -6.75218784e-05 9.99991346e-01 6.14522681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.56, Y:179.00, Z:6.14 [[-1.96121495e-01 -9.80579315e-01 7.52447749e-04 1.96557142e+02] [ 9.80570780e-01 -1.96122928e-01 -4.09176339e-03 1.79002662e+02] [ 4.15987079e-03 -6.46544768e-05 9.99991346e-01 6.14388348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.51, Y:179.26, Z:6.14 [[-1.96578732e-01 -9.80487752e-01 7.54709945e-04 1.96509756e+02] [ 9.80479218e-01 -1.96580170e-01 -4.09134609e-03 1.79257965e+02] [ 4.15987574e-03 -6.42942077e-05 9.99991346e-01 6.14288468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.56, Y:178.99, Z:6.14 [[-1.95259920e-01 -9.80751238e-01 7.57354610e-04 1.96562200e+02] [ 9.80742707e-01 -1.95261381e-01 -4.09085647e-03 1.78989841e+02] [ 4.15999466e-03 -5.60102974e-05 9.99991346e-01 6.14121360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.56, Y:179.00, Z:6.14 [[-1.97201397e-01 -9.80362704e-01 7.59984207e-04 1.96563531e+02] [ 9.80354173e-01 -1.97202851e-01 -4.09036790e-03 1.78996428e+02] [ 4.15991519e-03 -6.15725743e-05 9.99991346e-01 6.14204144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.57, Y:178.99, Z:6.14 [[-2.00818468e-01 -9.79628176e-01 7.60972101e-04 1.96568048e+02] [ 9.79619640e-01 -2.00819896e-01 -4.09018410e-03 1.78986035e+02] [ 4.15967793e-03 -7.59212906e-05 9.99991346e-01 6.14168370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.57, Y:178.98, Z:6.14 [[-2.01426081e-01 -9.79503422e-01 7.61959951e-04 1.96571849e+02] [ 9.79494886e-01 -2.01427507e-01 -4.09000007e-03 1.78980843e+02] [ 4.15964876e-03 -7.74968113e-05 9.99991346e-01 6.14113101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.57, Y:178.98, Z:6.14 [[-2.03823867e-01 -9.79007277e-01 7.62940989e-04 1.96569804e+02] [ 9.78998739e-01 -2.03825276e-01 -4.08981706e-03 1.78983135e+02] [ 4.15946732e-03 -8.66840618e-05 9.99991346e-01 6.14029186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.57, Y:178.98, Z:6.14 [[-2.04209928e-01 -9.78926821e-01 7.65193984e-04 1.96567629e+02] [ 9.78918283e-01 -2.04211343e-01 -4.08939549e-03 1.78984498e+02] [ 4.15948021e-03 -8.60327756e-05 9.99991346e-01 6.13821039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.51, Y:179.26, Z:6.14 [[-2.03107357e-01 -9.79156175e-01 7.65898265e-04 1.96513861e+02] [ 9.79147639e-01 -2.03108785e-01 -4.08926358e-03 1.79259852e+02] [ 4.15958835e-03 -8.06320403e-05 9.99991346e-01 6.14115578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.57, Y:178.98, Z:6.14 [[-2.01676994e-01 -9.79451785e-01 7.68226106e-04 1.96565368e+02] [ 9.79443253e-01 -2.01678444e-01 -4.08882621e-03 1.78976077e+02] [ 4.15974278e-03 -7.21883037e-05 9.99991346e-01 6.13873242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.51, Y:179.23, Z:6.14 [[-1.99738094e-01 -9.79849020e-01 7.69384644e-04 1.96514569e+02] [ 9.79840492e-01 -1.99739565e-01 -4.08860820e-03 1.79226304e+02] [ 4.15989530e-03 -6.27765799e-05 9.99991346e-01 6.13599323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.10, Y:178.86, Z:7.37 [[-2.48643464e-01 -9.68594773e-01 7.70197754e-04 1.96098366e+02] [ 9.68586182e-01 -2.48644510e-01 -4.08845503e-03 1.78860137e+02] [ 4.15156161e-03 -2.70564719e-04 9.99991346e-01 7.37259428e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 310.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.04, Y:179.09, Z:7.37 [[-2.48671084e-01 -9.68587494e-01 9.78870607e-04 1.96040121e+02] [ 9.68579079e-01 -2.48673004e-01 -4.03786810e-03 1.79094040e+02] [ 4.15444724e-03 -5.59874462e-05 9.99991369e-01 7.37099384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.65, Y:178.72, Z:8.61 [[-2.97989484e-01 -9.54568650e-01 9.79984742e-04 1.95645389e+02] [ 9.54560148e-01 -2.97990975e-01 -4.03759769e-03 1.78720619e+02] [ 4.14619078e-03 -2.67707272e-04 9.99991369e-01 8.61419725e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 310.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.64, Y:178.72, Z:8.62 [[-2.99483063e-01 -9.54100886e-01 1.18098463e-03 1.95644720e+02] [ 9.54092596e-01 -2.99485384e-01 -3.97792400e-03 1.78720957e+02] [ 4.14902845e-03 -6.45521722e-05 9.99991391e-01 8.61511227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.66, Y:178.69, Z:8.62 [[-2.98814738e-01 -9.54310407e-01 1.18317951e-03 1.95657452e+02] [ 9.54302120e-01 -2.98817075e-01 -3.97727105e-03 1.78692131e+02] [ 4.14910540e-03 -5.93564895e-05 9.99991391e-01 8.61759222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.65, Y:178.71, Z:8.62 [[-3.04473309e-01 -9.52520131e-01 1.18466096e-03 1.95648513e+02] [ 9.52511833e-01 -3.04475603e-01 -3.97682974e-03 1.78710357e+02] [ 4.14871075e-03 -8.24349313e-05 9.99991391e-01 8.61694929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.65, Y:178.71, Z:8.62 [[-3.06880016e-01 -9.51747472e-01 1.18533279e-03 1.95650323e+02] [ 9.51739169e-01 -3.06882291e-01 -3.97662949e-03 1.78709594e+02] [ 4.14850470e-03 -9.22204793e-05 9.99991391e-01 8.61699625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.65, Y:178.71, Z:8.62 [[-3.07164940e-01 -9.51655552e-01 1.18751546e-03 1.95654172e+02] [ 9.51647251e-01 -3.07167222e-01 -3.97597758e-03 1.78706175e+02] [ 4.14852697e-03 -9.11850952e-05 9.99991391e-01 8.61514479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.66, Y:178.71, Z:8.61 [[-3.03860181e-01 -9.52715895e-01 1.18900694e-03 1.95655588e+02] [ 9.52707603e-01 -3.03862498e-01 -3.97553151e-03 1.78706286e+02] [ 4.14884668e-03 -7.52297699e-05 9.99991391e-01 8.61344851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.66, Y:178.71, Z:8.61 [[-2.99335939e-01 -9.54147041e-01 1.19118747e-03 1.95655198e+02] [ 9.54138763e-01 -2.99338305e-01 -3.97487805e-03 1.78706857e+02] [ 4.14918617e-03 -5.32657164e-05 9.99991391e-01 8.61197556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.65, Y:178.71, Z:8.61 [[-2.91811125e-01 -9.56475219e-01 1.19268208e-03 1.95652725e+02] [ 9.56466962e-01 -2.91813562e-01 -3.97442953e-03 1.78708659e+02] [ 4.14948417e-03 -1.90217490e-05 9.99991391e-01 8.61038256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.65, Y:178.71, Z:8.61 [[-2.88956973e-01 -9.57341341e-01 1.19363942e-03 1.95649541e+02] [ 9.57333092e-01 -2.88959438e-01 -3.97414200e-03 1.78714146e+02] [ 4.14952380e-03 -5.64551975e-06 9.99991391e-01 8.60978938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.65, Y:178.70, Z:8.61 [[-2.90853120e-01 -9.56766969e-01 1.19585076e-03 1.95652445e+02] [ 9.56758718e-01 -2.90855578e-01 -3.97347647e-03 1.78704671e+02] [ 4.14951091e-03 -1.15573903e-05 9.99991391e-01 8.61022412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.65, Y:178.70, Z:8.61 [[-2.96367661e-01 -9.55073179e-01 1.19681548e-03 1.95654938e+02] [ 9.55064915e-01 -2.96370075e-01 -3.97318588e-03 1.78700616e+02] [ 4.14938356e-03 -3.44873265e-05 9.99991391e-01 8.61139980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.66, Y:178.70, Z:8.61 [[-3.01141579e-01 -9.53578688e-01 1.19777505e-03 1.95657925e+02] [ 9.53570414e-01 -3.01143956e-01 -3.97289658e-03 1.78695991e+02] [ 4.14917223e-03 -5.42415021e-05 9.99991391e-01 8.61245254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.66, Y:178.69, Z:8.61 [[-3.02720193e-01 -9.53078721e-01 1.19873202e-03 1.95659272e+02] [ 9.53070443e-01 -3.02722560e-01 -3.97260782e-03 1.78694861e+02] [ 4.14909120e-03 -6.01125430e-05 9.99991391e-01 8.61202982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.66, Y:178.69, Z:8.61 [[-3.01756150e-01 -9.53384384e-01 1.20092397e-03 1.95662229e+02] [ 9.53376112e-01 -3.01758535e-01 -3.97194508e-03 1.78689940e+02] [ 4.14917947e-03 -5.36266304e-05 9.99991391e-01 8.61146518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.002755096 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:195.66, Y:178.69, Z:8.61 [[-2.99576513e-01 -9.54071520e-01 1.20311294e-03 1.95663731e+02] [ 9.54063256e-01 -2.99578926e-01 -3.97128192e-03 1.78689501e+02] [ 4.14931426e-03 -4.18569351e-05 9.99991391e-01 8.60906112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.062755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:195.66, Y:178.69, Z:8.61 [[-2.96207986e-01 -9.55122704e-01 1.20406625e-03 1.95663915e+02] [ 9.55114449e-01 -2.96210432e-01 -3.97099286e-03 1.78687424e+02] [ 4.14944242e-03 -2.62187270e-05 9.99991391e-01 8.60952477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.66, Y:178.69, Z:8.61 [[-2.94517647e-01 -9.55645280e-01 1.20625470e-03 1.95663028e+02] [ 9.55637032e-01 -2.94520117e-01 -3.97032797e-03 1.78688663e+02] [ 4.14949146e-03 -1.65899931e-05 9.99991391e-01 8.60984690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.182755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:195.67, Y:178.68, Z:8.61 [[-2.96017977e-01 -9.55181604e-01 1.20844750e-03 1.95666254e+02] [ 9.55173356e-01 -2.96020443e-01 -3.96966044e-03 1.78683134e+02] [ 4.14947179e-03 -2.08140030e-05 9.99991391e-01 8.60843088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.242755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:195.58, Y:178.96, Z:8.61 [[-3.03191199e-01 -9.52928975e-01 1.21063993e-03 1.95579404e+02] [ 9.52920711e-01 -3.03193612e-01 -3.96899170e-03 1.78958435e+02] [ 4.14922548e-03 -4.97194949e-05 9.99991391e-01 8.60823779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.56, Y:179.02, Z:8.61 [[-3.08732100e-01 -9.51148264e-01 1.21289561e-03 1.95559377e+02] [ 9.51139988e-01 -3.08734474e-01 -3.96830225e-03 1.79021673e+02] [ 4.14890649e-03 -7.15087677e-05 9.99991391e-01 8.60950287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.22, Y:178.51, Z:9.86 [[-3.50259315e-01 -9.36651981e-01 1.21621724e-03 1.95215837e+02] [ 9.36643612e-01 -3.50261337e-01 -3.96728397e-03 1.78506972e+02] [ 4.14195827e-03 -2.50416054e-04 9.99991391e-01 9.85676447e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 311.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.21, Y:178.50, Z:9.86 [[-3.50952977e-01 -9.36392065e-01 1.38174409e-03 1.95213783e+02] [ 9.36383910e-01 -3.50955689e-01 -3.90877056e-03 1.78504274e+02] [ 4.14507269e-03 -7.79517356e-05 9.99991406e-01 9.85642181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.482755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:195.21, Y:178.50, Z:9.86 [[-3.50025771e-01 -9.36739048e-01 1.38388234e-03 1.95210335e+02] [ 9.36730899e-01 -3.50028500e-01 -3.90801338e-03 1.78503115e+02] [ 4.14518699e-03 -7.15800538e-05 9.99991406e-01 9.85578748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.542755096 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:195.21, Y:178.50, Z:9.85 [[-3.49928277e-01 -9.36775469e-01 1.38602372e-03 1.95210300e+02] [ 9.36767323e-01 -3.49931015e-01 -3.90725377e-03 1.78498594e+02] [ 4.14523217e-03 -6.88768508e-05 9.99991406e-01 9.85074509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.21, Y:178.49, Z:9.86 [[-3.50654534e-01 -9.36503855e-01 1.38816571e-03 1.95208913e+02] [ 9.36495710e-01 -3.50657275e-01 -3.90649262e-03 1.78494279e+02] [ 4.14521580e-03 -6.98181210e-05 9.99991406e-01 9.85573600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.21, Y:178.49, Z:9.86 [[-3.52376200e-01 -9.35857406e-01 1.38909781e-03 1.95209623e+02] [ 9.35849257e-01 -3.52378929e-01 -3.90616114e-03 1.78489319e+02] [ 4.14509863e-03 -7.64520668e-05 9.99991406e-01 9.85671660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.21, Y:178.49, Z:9.86 [[-3.54236811e-01 -9.35154720e-01 1.39002816e-03 1.95209632e+02] [ 9.35146567e-01 -3.54239528e-01 -3.90583005e-03 1.78489135e+02] [ 4.14495832e-03 -8.37087213e-05 9.99991406e-01 9.85737161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.11, Y:178.76, Z:9.86 [[-3.56287103e-01 -9.34375495e-01 1.39095843e-03 1.95111910e+02] [ 9.34367337e-01 -3.56289807e-01 -3.90549873e-03 1.78764051e+02] [ 4.14478661e-03 -9.18127065e-05 9.99991406e-01 9.85610375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.79, Y:178.31, Z:11.10 [[-3.88679171e-01 -9.21372108e-01 1.39316204e-03 1.94788224e+02] [ 9.21363864e-01 -3.88681597e-01 -3.90471250e-03 1.78308094e+02] [ 4.13918963e-03 -2.34071256e-04 9.99991406e-01 1.10971652e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 311.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.79, Y:178.31, Z:11.10 [[-3.87190257e-01 -9.21998577e-01 1.52614806e-03 1.94787119e+02] [ 9.21990534e-01 -3.87193255e-01 -3.85202431e-03 1.78311855e+02] [ 4.14247517e-03 -8.43722141e-05 9.99991416e-01 1.10976838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.78, Y:178.33, Z:11.10 [[-3.83627230e-01 -9.23486769e-01 1.52825522e-03 1.94779244e+02] [ 9.23478741e-01 -3.83630268e-01 -3.85118813e-03 1.78330741e+02] [ 4.14280625e-03 -6.61094305e-05 9.99991416e-01 1.10964705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.79, Y:178.31, Z:11.10 [[-3.79865069e-01 -9.25040641e-01 1.53039442e-03 1.94786837e+02] [ 9.25032629e-01 -3.79868148e-01 -3.85033787e-03 1.78308323e+02] [ 4.14306710e-03 -4.69440840e-05 9.99991416e-01 1.10971751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.79, Y:178.31, Z:11.10 [[-3.78286800e-01 -9.25687176e-01 1.53253571e-03 1.94787483e+02] [ 9.25679173e-01 -3.78289903e-01 -3.84948539e-03 1.78305929e+02] [ 4.14316204e-03 -3.75731179e-05 9.99991416e-01 1.10964238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.69, Y:178.55, Z:11.09 [[-3.76885561e-01 -9.26258560e-01 1.53465152e-03 1.94688984e+02] [ 9.26250564e-01 -3.76888684e-01 -3.84864170e-03 1.78548149e+02] [ 4.14323011e-03 -2.90256493e-05 9.99991416e-01 1.10927519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.36, Y:178.14, Z:12.34 [[-4.38347187e-01 -8.98804420e-01 1.53541544e-03 1.94359357e+02] [ 8.98796234e-01 -4.38349769e-01 -3.84833691e-03 1.78142477e+02] [ 4.13195123e-03 -3.06882043e-04 9.99991416e-01 1.23369044e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 312.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.25, Y:178.37, Z:12.34 [[-4.40121851e-01 -8.97936263e-01 1.79586869e-03 1.94246078e+02] [ 8.97928546e-01 -4.40125514e-01 -3.72269150e-03 1.78372371e+02] [ 4.13314732e-03 -2.58761098e-05 9.99991458e-01 1.23387460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.97, Y:177.90, Z:13.58 [[-4.97652781e-01 -8.67374475e-01 1.79694438e-03 1.93970985e+02] [ 8.67366539e-01 -4.97655938e-01 -3.72217219e-03 1.77897597e+02] [ 4.12277719e-03 -2.93739913e-04 9.99991458e-01 1.35786267e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 312.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.97, Y:177.90, Z:13.58 [[-5.01707844e-01 -8.65034759e-01 2.02614011e-03 1.93971195e+02] [ 8.65027299e-01 -5.01711932e-01 -3.59292309e-03 1.77895938e+02] [ 4.12454203e-03 -4.99311854e-05 9.99991493e-01 1.35782651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.98, Y:177.89, Z:13.58 [[-5.03009000e-01 -8.64278796e-01 2.02700937e-03 1.93976970e+02] [ 8.64271332e-01 -5.03013081e-01 -3.59243262e-03 1.77889307e+02] [ 4.12447557e-03 -5.51398483e-05 9.99991493e-01 1.35822167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.98, Y:177.88, Z:13.58 [[-5.06952349e-01 -8.61971695e-01 2.02787552e-03 1.93983035e+02] [ 8.61964214e-01 -5.06956400e-01 -3.59194362e-03 1.77880169e+02] [ 4.12419820e-03 -7.29881288e-05 9.99991493e-01 1.35828130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.81, Y:178.19, Z:13.58 [[-5.07199588e-01 -8.61826234e-01 2.02984770e-03 1.93810493e+02] [ 8.61818757e-01 -5.07203644e-01 -3.59082877e-03 1.78188770e+02] [ 4.12421659e-03 -7.19060528e-05 9.99991493e-01 1.35839175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.59, Y:177.63, Z:14.81 [[-5.46216580e-01 -8.37641522e-01 2.03195124e-03 1.93593138e+02] [ 8.37633870e-01 -5.46220298e-01 -3.58963804e-03 1.77630899e+02] [ 4.11672289e-03 -2.58688635e-04 9.99991493e-01 1.48141094e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 312.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.59, Y:177.63, Z:14.81 [[-5.47565470e-01 -8.36759959e-01 2.19681061e-03 1.93592137e+02] [ 8.36752702e-01 -5.47569873e-01 -3.48573913e-03 1.77630167e+02] [ 4.11963424e-03 -7.04831733e-05 9.99991512e-01 1.48131277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.59, Y:177.63, Z:14.82 [[-5.43800033e-01 -8.39211946e-01 2.19847481e-03 1.93591422e+02] [ 8.39204713e-01 -5.43804475e-01 -3.48468920e-03 1.77634129e+02] [ 4.11993324e-03 -5.00036858e-05 9.99991512e-01 1.48174609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.59, Y:177.63, Z:14.81 [[-5.44501198e-01 -8.38757180e-01 2.19936714e-03 1.93593259e+02] [ 8.38749946e-01 -5.44505638e-01 -3.48412591e-03 1.77630386e+02] [ 4.11990343e-03 -5.23916657e-05 9.99991512e-01 1.48148657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.59, Y:177.63, Z:14.81 [[-5.43649516e-01 -8.39309457e-01 2.19996340e-03 1.93594392e+02] [ 8.39302228e-01 -5.43653965e-01 -3.48374938e-03 1.77628171e+02] [ 4.11996262e-03 -4.75044849e-05 9.99991512e-01 1.48136524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.60, Y:177.63, Z:14.81 [[-5.43469169e-01 -8.39426241e-01 2.20187384e-03 1.93595119e+02] [ 8.39419018e-01 -5.43473628e-01 -3.48254148e-03 1.77628898e+02] [ 4.11999707e-03 -4.43591504e-05 9.99991512e-01 1.48142536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.44, Y:177.88, Z:14.82 [[-5.40622927e-01 -8.41262144e-01 2.20378680e-03 1.93439788e+02] [ 8.41254941e-01 -5.40627418e-01 -3.48133052e-03 1.77884939e+02] [ 4.12013914e-03 -2.81405646e-05 9.99991512e-01 1.48197613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.19, Y:177.37, Z:16.04 [[-5.95788894e-01 -8.03138051e-01 2.20577321e-03 1.93191762e+02] [ 8.03130568e-01 -5.95792900e-01 -3.48007147e-03 1.77372727e+02] [ 4.10916184e-03 -3.01864037e-04 9.99991512e-01 1.60384074e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 313.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.21, Y:177.35, Z:16.04 [[-5.96809798e-01 -8.02379057e-01 2.43195665e-03 1.93209420e+02] [ 8.02372213e-01 -5.96814752e-01 -3.31409314e-03 1.77348815e+02] [ 4.11058653e-03 -2.65488148e-05 9.99991551e-01 1.60380928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.21, Y:177.35, Z:16.04 [[-5.97885436e-01 -8.01577874e-01 2.43253190e-03 1.93209671e+02] [ 8.01571026e-01 -5.97890383e-01 -3.31367086e-03 1.77353388e+02] [ 4.11055267e-03 -3.13484558e-05 9.99991551e-01 1.60405162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.22, Y:177.35, Z:16.04 [[-5.98925523e-01 -8.00801032e-01 2.43435854e-03 1.93216036e+02] [ 8.00794182e-01 -5.98930469e-01 -3.31232839e-03 1.77347527e+02] [ 4.11052749e-03 -3.44178609e-05 9.99991551e-01 1.60399244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.22, Y:177.35, Z:16.04 [[-5.99605404e-01 -8.00292089e-01 2.43560975e-03 1.93217781e+02] [ 8.00285239e-01 -5.99610350e-01 -3.31140810e-03 1.77347713e+02] [ 4.11051052e-03 -3.63556575e-05 9.99991551e-01 1.60400677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.83, Y:177.03, Z:17.26 [[-6.47639437e-01 -7.61943054e-01 2.43743164e-03 1.92829138e+02] [ 7.61935918e-01 -6.47643961e-01 -3.31006652e-03 1.77025729e+02] [ 4.10067007e-03 -2.86562904e-04 9.99991551e-01 1.72576798e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 313.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.83, Y:177.02, Z:17.26 [[-6.47985442e-01 -7.61648179e-01 2.63021549e-03 1.92831519e+02] [ 7.61641670e-01 -6.47990779e-01 -3.14904548e-03 1.77023047e+02] [ 4.10282014e-03 -3.72539112e-05 9.99991583e-01 1.72572553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.46, Y:176.68, Z:18.48 [[-6.92647067e-01 -7.21271875e-01 2.63096818e-03 1.92460090e+02] [ 7.21265059e-01 -6.92652006e-01 -3.14841650e-03 1.76680691e+02] [ 4.09320966e-03 -2.83116033e-04 9.99991583e-01 1.84755038e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 313.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.11, Y:176.31, Z:19.69 [[-7.33403205e-01 -6.79788091e-01 2.80901603e-03 1.92114137e+02] [ 6.79781613e-01 -7.33408532e-01 -2.98061959e-03 1.76313879e+02] [ 4.08634602e-03 -2.76478513e-04 9.99991613e-01 1.96930099e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 313.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.79, Y:175.93, Z:20.91 [[-7.70424412e-01 -6.37524441e-01 2.96862369e-03 1.91787070e+02] [ 6.37518298e-01 -7.70430082e-01 -2.81213000e-03 1.75931713e+02] [ 4.07991860e-03 -2.73981672e-04 9.99991640e-01 2.09116079e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 313.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.60, Y:176.09, Z:20.91 [[-7.71389358e-01 -6.36355837e-01 3.11565437e-03 1.91602023e+02] [ 6.36350369e-01 -7.71395648e-01 -2.63851071e-03 1.76086576e+02] [ 4.08243392e-03 -5.26712784e-05 9.99991665e-01 2.09116980e+01] [ 0.00000000e+00 -0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.49, Y:175.54, Z:22.13 [[-8.04126534e-01 -5.94450004e-01 3.11616971e-03 1.91490369e+02] [ 5.94444212e-01 -8.04132527e-01 -2.63790193e-03 1.75535318e+02] [ 4.07391424e-03 -2.68817890e-04 9.99991665e-01 2.21322175e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 313.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.49, Y:175.53, Z:22.13 [[-8.04202522e-01 -5.94346495e-01 3.24781292e-03 1.91494161e+02] [ 5.94341388e-01 -8.04209078e-01 -2.46441138e-03 1.75528580e+02] [ 4.07663490e-03 -5.15762064e-05 9.99991689e-01 2.21330486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.49, Y:175.53, Z:22.14 [[-8.02915266e-01 -5.96084322e-01 3.24898606e-03 1.91491605e+02] [ 5.96079236e-01 -8.02921839e-01 -2.46286378e-03 1.75532257e+02] [ 4.07675635e-03 -4.08178019e-05 9.99991689e-01 2.21351032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.97, Y:175.29, Z:23.35 [[-8.37982464e-01 -5.45687484e-01 3.24940421e-03 1.90970873e+02] [ 5.45682006e-01 -8.37988714e-01 -2.46231196e-03 1.75285401e+02] [ 4.06661688e-03 -2.90232839e-04 9.99991689e-01 2.33517147e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 313.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.95, Y:174.71, Z:24.56 [[-8.71181769e-01 -4.90948889e-01 3.39331584e-03 1.90954541e+02] [ 4.90943842e-01 -8.71188329e-01 -2.24476736e-03 1.74710426e+02] [ 4.05828319e-03 -2.89672883e-04 9.99991723e-01 2.45635239e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 314.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.96, Y:174.71, Z:24.56 [[-8.71888522e-01 -4.89691726e-01 3.52388625e-03 1.90957855e+02] [ 4.89687575e-01 -8.71895643e-01 -2.01660424e-03 1.74708952e+02] [ 4.05997548e-03 -3.26507844e-05 9.99991758e-01 2.45636614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.74, Y:174.26, Z:25.77 [[-9.00194728e-01 -4.35473336e-01 3.52499435e-03 1.90737347e+02] [ 4.35468765e-01 -9.00201586e-01 -2.01466544e-03 1.74262603e+02] [ 4.05053858e-03 -2.78566270e-04 9.99991758e-01 2.57732315e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 314.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.54, Y:173.80, Z:26.98 [[-9.23677741e-01 -3.83153031e-01 3.63108383e-03 1.90537615e+02] [ 3.83148896e-01 -9.23684838e-01 -1.80074300e-03 1.73803205e+02] [ 4.04393722e-03 -2.72060467e-04 9.99991786e-01 2.69811643e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 314.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.37, Y:173.33, Z:28.19 [[-9.43116487e-01 -3.32441652e-01 3.72017078e-03 1.90365859e+02] [ 3.32437943e-01 -9.43123787e-01 -1.59265075e-03 1.73331453e+02] [ 4.03804501e-03 -2.65329257e-04 9.99991812e-01 2.81869636e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 314.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.22, Y:172.85, Z:29.39 [[-9.58728302e-01 -2.84298525e-01 3.79376002e-03 1.90216556e+02] [ 2.84295232e-01 -9.58735773e-01 -1.39210601e-03 1.72851189e+02] [ 4.03298714e-03 -2.56103545e-04 9.99991835e-01 2.93907361e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 314.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.22, Y:172.85, Z:29.39 [[-9.59490854e-01 -2.81713441e-01 3.85217057e-03 1.90218194e+02] [ 2.81710871e-01 -9.59498584e-01 -1.20544747e-03 1.72851837e+02] [ 4.03574296e-03 -7.14175023e-05 9.99991854e-01 2.93923854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.10, Y:172.36, Z:30.59 [[-9.70521659e-01 -2.40983124e-01 3.85283006e-03 1.90097058e+02] [ 2.40980238e-01 -9.70529277e-01 -1.20333592e-03 1.72360114e+02] [ 4.02926802e-03 -2.39407670e-04 9.99991854e-01 3.05925872e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 314.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.99, Y:171.86, Z:31.79 [[-9.78902696e-01 -2.04289846e-01 3.89491896e-03 1.89989110e+02] [ 2.04287293e-01 -9.78910418e-01 -1.04672041e-03 1.71864776e+02] [ 4.02661110e-03 -2.28954982e-04 9.99991867e-01 3.17915410e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 314.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.91, Y:171.36, Z:32.99 [[-9.85157512e-01 -1.71607854e-01 3.92690152e-03 1.89905475e+02] [ 1.71605591e-01 -9.85165314e-01 -9.08475398e-04 1.71364579e+02] [ 4.02454868e-03 -2.21113107e-04 9.99991877e-01 3.29884449e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 314.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.90, Y:171.36, Z:32.99 [[-9.85433872e-01 -1.70013147e-01 3.95146063e-03 1.89904077e+02] [ 1.70011365e-01 -9.85441789e-01 -7.84824540e-04 1.71364898e+02] [ 4.02736492e-03 -1.01599469e-04 9.99991885e-01 3.29895217e+01] [ 0.00000000e+00 -0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.602755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:189.53, Y:170.91, Z:34.19 [[-9.89826221e-01 -1.42226699e-01 3.95188734e-03 1.89534151e+02] [ 1.42224704e-01 -9.89834088e-01 -7.82669975e-04 1.70906618e+02] [ 4.02302937e-03 -2.12651256e-04 9.99991885e-01 3.41862679e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 314.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.83, Y:170.86, Z:34.19 [[-9.89763684e-01 -1.42660739e-01 3.97025403e-03 1.89832655e+02] [ 1.42659180e-01 -9.89771642e-01 -6.74571156e-04 1.70856052e+02] [ 4.02587967e-03 -1.01272848e-04 9.99991891e-01 3.41870408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.83, Y:170.86, Z:34.19 [[-9.89723221e-01 -1.42941202e-01 3.96976053e-03 1.89832167e+02] [ 1.42939634e-01 -9.89731177e-01 -6.77462960e-04 1.70855928e+02] [ 4.02583313e-03 -1.03064707e-04 9.99991891e-01 3.41879607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.77, Y:170.35, Z:35.38 [[-9.93477099e-01 -1.13962682e-01 3.96987517e-03 1.89771849e+02] [ 1.13960885e-01 -9.93485007e-01 -6.76790537e-04 1.70354801e+02] [ 4.02114032e-03 -2.19965413e-04 9.99991891e-01 3.53790139e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 314.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.72, Y:169.85, Z:36.57 [[-9.96841994e-01 -7.93104159e-02 3.98699489e-03 1.89724440e+02] [ 7.93088344e-02 -9.96849940e-01 -5.53465546e-04 1.69853523e+02] [ 4.01833120e-03 -2.35513781e-04 9.99991899e-01 3.65697770e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 314.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.70, Y:169.35, Z:37.76 [[-9.99329609e-01 -3.63911227e-02 4.00241275e-03 1.89697938e+02] [ 3.63898166e-02 -9.99337592e-01 -3.98686027e-04 1.69350780e+02] [ 4.01427015e-03 -2.52771686e-04 9.99991911e-01 3.77607408e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 314.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.70, Y:169.35, Z:37.76 [[-9.99233589e-01 -3.89375846e-02 4.01229438e-03 1.89696602e+02] [ 3.89370600e-02 -9.99241643e-01 -2.08825965e-04 1.69351066e+02] [ 4.01738281e-03 -5.24389719e-05 9.99991929e-01 3.77602256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.69, Y:168.85, Z:38.95 [[-9.99784568e-01 2.03646260e-02 4.01240802e-03 1.89693816e+02] [-2.03656184e-02 -9.99792578e-01 -2.06619069e-04 1.68847365e+02] [ 4.00736804e-03 -2.88289727e-04 9.99991929e-01 3.89533546e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 315.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.72, Y:168.34, Z:40.15 [[-9.96182805e-01 8.71994766e-02 4.00881046e-03 1.89723966e+02] [-8.71999570e-02 -9.96190827e-01 5.51056435e-05 1.68344374e+02] [ 3.99834539e-03 -2.94672805e-04 9.99991963e-01 4.01472706e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 315.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.72, Y:168.34, Z:40.15 [[-9.96368400e-01 8.50536355e-02 3.98620360e-03 1.89724937e+02] [-8.50529999e-02 -9.96376374e-01 3.29008117e-04 1.68344554e+02] [ 3.99974243e-03 -1.12252828e-05 9.99992001e-01 4.01477930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.72, Y:168.35, Z:40.15 [[-9.96473191e-01 8.38170103e-02 3.98612376e-03 1.89721427e+02] [-8.38163609e-02 -9.96481163e-01 3.29972636e-04 1.68345449e+02] [ 3.99975456e-03 -5.29350196e-06 9.99992001e-01 4.01488100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.79, Y:167.84, Z:41.34 [[-9.87128008e-01 1.59882482e-01 3.98604334e-03 1.89794015e+02] [-1.59882441e-01 -9.87136007e-01 3.30941271e-04 1.67841038e+02] [ 3.98767861e-03 -3.10616941e-04 9.99992001e-01 4.13383308e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 315.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.90, Y:167.34, Z:42.52 [[-9.72124955e-01 2.34430313e-01 3.93700989e-03 1.89895039e+02] [-2.34429653e-01 -9.72132879e-01 6.34966574e-04 1.67335888e+02] [ 3.97615217e-03 -3.05685009e-04 9.99992048e-01 4.25247597e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 315.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.90, Y:167.34, Z:42.53 [[-9.71794183e-01 2.35798875e-01 3.86744207e-03 1.89899329e+02] [-2.35797058e-01 -9.71801878e-01 9.25632840e-04 1.67339238e+02] [ 3.97665065e-03 -1.24068533e-05 9.99992093e-01 4.25253506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.05, Y:166.83, Z:43.71 [[-9.53223284e-01 3.02242304e-01 3.86776579e-03 1.90046719e+02] [-3.02241028e-01 -9.53231088e-01 9.24278188e-04 1.66832640e+02] [ 3.96623056e-03 -2.87954018e-04 9.99992093e-01 4.37062731e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 315.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.23, Y:166.33, Z:44.88 [[-9.31251965e-01 3.64356171e-01 3.78920032e-03 1.90229107e+02] [-3.64354380e-01 -9.31259631e-01 1.17717293e-03 1.66330896e+02] [ 3.95763951e-03 -2.84367131e-04 9.99992128e-01 4.48838938e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 315.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.44, Y:165.84, Z:46.06 [[-9.05859366e-01 4.23562446e-01 3.69655167e-03 1.90442030e+02] [-4.23560163e-01 -9.05866864e-01 1.41859553e-03 1.65837263e+02] [ 3.94944747e-03 -2.80663979e-04 9.99992162e-01 4.60595942e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 315.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.69, Y:165.36, Z:47.23 [[-8.76854423e-01 4.80742572e-01 3.59161894e-03 1.90686536e+02] [-4.80739832e-01 -8.76861734e-01 1.64737144e-03 1.65356584e+02] [ 3.94131479e-03 -2.82129356e-04 9.99992193e-01 4.72328470e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 315.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.96, Y:164.89, Z:48.40 [[-8.44655105e-01 5.35299646e-01 3.47039787e-03 1.90956196e+02] [-5.35296444e-01 -8.44662189e-01 1.87208641e-03 1.64892325e+02] [ 3.93344105e-03 -2.76424296e-04 9.99992226e-01 4.84032031e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 315.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.96, Y:164.89, Z:48.40 [[-8.43637880e-01 5.36902204e-01 3.33921562e-03 1.90955079e+02] [-5.36898167e-01 -8.43644488e-01 2.08243895e-03 1.64890444e+02] [ 3.93517691e-03 -3.59943643e-05 9.99992257e-01 4.84028797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.95, Y:164.89, Z:48.40 [[-8.42426140e-01 5.38801485e-01 3.34037138e-03 1.90953815e+02] [-5.38797470e-01 -8.42432761e-01 2.08058337e-03 1.64888603e+02] [ 3.93505970e-03 -4.70458351e-05 9.99992257e-01 4.84005280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.96, Y:164.89, Z:48.40 [[-8.40682501e-01 5.41518023e-01 3.34109580e-03 1.90956161e+02] [-5.41514034e-01 -8.40689138e-01 2.07941941e-03 1.64887698e+02] [ 3.93486604e-03 -6.11187625e-05 9.99992257e-01 4.83979278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.96, Y:164.89, Z:48.39 [[-8.37804410e-01 5.45960254e-01 3.34224684e-03 1.90960964e+02] [-5.45956308e-01 -8.37811073e-01 2.07756770e-03 1.64887725e+02] [ 3.93444080e-03 -8.41253666e-05 9.99992257e-01 4.83926206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.96, Y:164.89, Z:48.39 [[-8.35660277e-01 5.49236492e-01 3.34324503e-03 1.90963379e+02] [-5.49232578e-01 -8.35666959e-01 2.07596015e-03 1.64887745e+02] [ 3.93403248e-03 -1.01421650e-04 9.99992257e-01 4.83898911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.97, Y:164.89, Z:48.38 [[-8.33606927e-01 5.52347995e-01 3.34431250e-03 1.90966077e+02] [-5.52344113e-01 -8.33613627e-01 2.07423907e-03 1.64886199e+02] [ 3.93356626e-03 -1.18111261e-04 9.99992257e-01 4.83843501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.23, Y:164.45, Z:49.60 [[-8.25276795e-01 5.64718531e-01 3.34544381e-03 1.91234251e+02] [-5.64714757e-01 -8.25283556e-01 2.07241281e-03 1.64452423e+02] [ 3.93126969e-03 -1.78907285e-04 9.99992257e-01 4.95980409e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 316.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.24, Y:164.45, Z:49.59 [[-8.28513352e-01 5.59959502e-01 3.31387567e-03 1.91237759e+02] [-5.59955491e-01 -8.28519974e-01 2.12171856e-03 1.64445140e+02] [ 3.93368865e-03 -9.77507185e-05 9.99992258e-01 4.95906069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.24, Y:164.44, Z:49.59 [[-8.31308302e-01 5.55801689e-01 3.31495819e-03 1.91237339e+02] [-5.55797651e-01 -8.31314908e-01 2.12002590e-03 1.64441277e+02] [ 3.93408814e-03 -8.00508447e-05 9.99992258e-01 4.95856591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.50, Y:164.05, Z:50.84 [[-8.06793463e-01 5.90824266e-01 3.31596274e-03 1.91504919e+02] [-5.90820521e-01 -8.06800238e-01 2.11845350e-03 1.64049691e+02] [ 3.92695326e-03 -2.49984402e-04 9.99992258e-01 5.08369015e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 316.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.75, Y:163.66, Z:52.10 [[-7.72854209e-01 6.34575534e-01 3.20379847e-03 1.91745173e+02] [-6.34571510e-01 -7.72860801e-01 2.27631891e-03 1.63659923e+02] [ 3.92058653e-03 -2.73776583e-04 9.99992277e-01 5.20967155e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 316.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.78, Y:163.68, Z:52.10 [[-7.74611508e-01 6.32429990e-01 3.05280063e-03 1.91783093e+02] [-6.32425192e-01 -7.74617524e-01 2.46344194e-03 1.63683756e+02] [ 3.92270743e-03 -2.24575524e-05 9.99992306e-01 5.20965718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.79, Y:163.68, Z:52.10 [[-7.75998857e-01 6.30726920e-01 3.05401332e-03 1.91785142e+02] [-6.30722115e-01 -7.76004866e-01 2.46193761e-03 1.63675850e+02] [ 3.92273952e-03 -1.57729741e-05 9.99992306e-01 5.20971586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.89, Y:163.22, Z:53.36 [[-7.31441717e-01 6.81897118e-01 3.05528008e-03 1.91891615e+02] [-6.81892738e-01 -7.31448043e-01 2.46036455e-03 1.63220850e+02] [ 3.91249413e-03 -2.83760025e-04 9.99992306e-01 5.33607279e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 316.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.15, Y:162.91, Z:54.62 [[-6.91351563e-01 7.22512786e-01 2.87928406e-03 1.92146127e+02] [-7.22507963e-01 -6.91357515e-01 2.65148150e-03 1.62908833e+02] [ 3.90634396e-03 -2.47199784e-04 9.99992340e-01 5.46248411e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 316.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.15, Y:162.91, Z:54.62 [[-6.89369060e-01 7.24405156e-01 2.73301517e-03 1.92148488e+02] [-7.24399768e-01 -6.89374475e-01 2.79453071e-03 1.62906609e+02] [ 3.90844335e-03 -5.33325528e-05 9.99992361e-01 5.46226137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.14, Y:162.89, Z:54.63 [[-6.86084413e-01 7.27516803e-01 2.73493117e-03 1.92135642e+02] [-7.27511446e-01 -6.86089860e-01 2.79265431e-03 1.62890280e+02] [ 3.90811148e-03 -7.36971418e-05 9.99992361e-01 5.46255140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.14, Y:162.89, Z:54.63 [[-6.84863120e-01 7.28666601e-01 2.73699293e-03 1.92135398e+02] [-7.28661262e-01 -6.84868584e-01 2.79063218e-03 1.62886185e+02] [ 3.90792094e-03 -8.31396671e-05 9.99992361e-01 5.46267060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.04, Y:162.79, Z:54.63 [[-6.83094132e-01 7.30325205e-01 2.73895420e-03 1.92040822e+02] [-7.30319887e-01 -6.83099617e-01 2.78870591e-03 1.62787888e+02] [ 3.90764077e-03 -9.53640760e-05 9.99992361e-01 5.46270816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.13, Y:162.88, Z:54.63 [[-6.84936554e-01 7.28597569e-01 2.73837710e-03 1.92131424e+02] [-7.28592235e-01 -6.84942023e-01 2.78927248e-03 1.62881725e+02] [ 3.90788669e-03 -8.46856100e-05 9.99992361e-01 5.46292421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.13, Y:162.89, Z:54.63 [[-6.88121552e-01 7.25590256e-01 2.74056292e-03 1.92134860e+02] [-7.25584906e-01 -6.88127006e-01 2.78712317e-03 1.62888353e+02] [ 3.90816477e-03 -7.06315720e-05 9.99992361e-01 5.46306956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.13, Y:162.89, Z:54.63 [[-6.91161096e-01 7.22695525e-01 2.74187586e-03 1.92134399e+02] [-7.22690158e-01 -6.91166532e-01 2.78583094e-03 1.62893003e+02] [ 3.90840039e-03 -5.60687291e-05 9.99992361e-01 5.46347676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.14, Y:162.90, Z:54.64 [[-6.95260488e-01 7.18752617e-01 2.74394118e-03 1.92138800e+02] [-7.18747227e-01 -6.95265902e-01 2.78379519e-03 1.62903543e+02] [ 3.90862882e-03 -3.67373128e-05 9.99992361e-01 5.46383759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.27, Y:163.04, Z:54.64 [[-7.00343169e-01 7.13801027e-01 2.74585417e-03 1.92269424e+02] [-7.13795606e-01 -7.00348552e-01 2.78190700e-03 1.63043584e+02] [ 3.90878306e-03 -1.16890775e-05 9.99992361e-01 5.46382897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.28, Y:163.06, Z:54.64 [[-7.04883486e-01 7.09317785e-01 2.74798785e-03 1.92280105e+02] [-7.09312338e-01 -7.04888842e-01 2.77979773e-03 1.63063576e+02] [ 3.90878594e-03 1.02518295e-05 9.99992361e-01 5.46427500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.56, Y:162.74, Z:55.87 [[-6.41664495e-01 7.66980519e-01 2.74945753e-03 1.92559437e+02] [-7.66975556e-01 -6.41670302e-01 2.77834333e-03 1.62741123e+02] [ 3.89518045e-03 -3.26002446e-04 9.99992361e-01 5.58684359e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 317.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.58, Y:162.77, Z:55.87 [[-6.42272792e-01 7.66472113e-01 2.48224323e-03 1.92580045e+02] [-7.66466244e-01 -6.42277588e-01 2.99947900e-03 1.62774259e+02] [ 3.89330620e-03 2.39281110e-05 9.99992421e-01 5.58711318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.54, Y:162.73, Z:55.87 [[-6.42395727e-01 7.66369071e-01 2.48533053e-03 1.92538295e+02] [-7.66363211e-01 -6.42400535e-01 2.99691872e-03 1.62733697e+02] [ 3.89332347e-03 2.05418933e-05 9.99992421e-01 5.58735547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.57, Y:162.78, Z:55.88 [[-6.40803747e-01 7.67700705e-01 2.48705956e-03 1.92572029e+02] [-7.67694861e-01 -6.40808573e-01 2.99548315e-03 1.62783332e+02] [ 3.89336362e-03 1.02139802e-05 9.99992421e-01 5.58751891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.51, Y:162.73, Z:55.88 [[-6.39971399e-01 7.68394700e-01 2.48867673e-03 1.92513630e+02] [-7.68388867e-01 -6.39976238e-01 2.99413899e-03 1.62727040e+02] [ 3.89337450e-03 3.89182589e-06 9.99992421e-01 5.58759551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.34, Y:162.53, Z:55.88 [[-6.41092803e-01 7.67459325e-01 2.49041373e-03 1.92340332e+02] [-7.67453490e-01 -6.41097640e-01 2.99269352e-03 1.62531674e+02] [ 3.89336892e-03 7.31757085e-06 9.99992421e-01 5.58771563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.40, Y:162.62, Z:55.88 [[-6.42488078e-01 7.66291636e-01 2.48947876e-03 1.92401843e+02] [-7.66285790e-01 -6.42492901e-01 2.99347107e-03 1.62615675e+02] [ 3.89334428e-03 1.56172770e-05 9.99992421e-01 5.58789885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.56, Y:162.81, Z:55.88 [[-6.42782234e-01 7.66044899e-01 2.49250807e-03 1.92559109e+02] [-7.66039060e-01 -6.42787066e-01 2.99094660e-03 1.62806004e+02] [ 3.89335133e-03 1.31687996e-05 9.99992421e-01 5.58819941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.55, Y:162.80, Z:55.88 [[-6.42887014e-01 7.65956953e-01 2.49693892e-03 1.92546154e+02] [-7.65951127e-01 -6.42891862e-01 2.98724299e-03 1.62802878e+02] [ 3.89336125e-03 7.92654122e-06 9.99992421e-01 5.58810669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.53, Y:162.80, Z:55.88 [[-6.42032099e-01 7.66673687e-01 2.49847157e-03 1.92530423e+02] [-7.66667872e-01 -6.42036960e-01 2.98596057e-03 1.62797631e+02] [ 3.89336849e-03 1.58464593e-06 9.99992421e-01 5.58809855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.53, Y:162.81, Z:55.88 [[-6.41529482e-01 7.67094306e-01 2.50002045e-03 1.92534451e+02] [-7.67088499e-01 -6.41534353e-01 2.98466319e-03 1.62805621e+02] [ 3.89336714e-03 -2.98750973e-06 9.99992421e-01 5.58824146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.53, Y:162.81, Z:55.88 [[-6.36621852e-01 7.71172068e-01 2.50166972e-03 1.92527130e+02] [-7.71166298e-01 -6.36626767e-01 2.98328018e-03 1.62806493e+02] [ 3.89325225e-03 -2.99820218e-05 9.99992421e-01 5.58843449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.52, Y:162.81, Z:55.89 [[-6.36272251e-01 7.71460535e-01 2.50331035e-03 1.92524393e+02] [-7.71454773e-01 -6.36277174e-01 2.98190286e-03 1.62805307e+02] [ 3.89321961e-03 -3.38886670e-05 9.99992421e-01 5.58872470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.52, Y:162.81, Z:55.89 [[-6.33871429e-01 7.73434378e-01 2.50495179e-03 1.92523718e+02] [-7.73428637e-01 -6.33876376e-01 2.98052333e-03 1.62806846e+02] [ 3.89306897e-03 -4.81328700e-05 9.99992421e-01 5.58878759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.52, Y:162.81, Z:55.89 [[-6.32217018e-01 7.74787299e-01 2.50659012e-03 1.92522089e+02] [-7.74781574e-01 -6.32221984e-01 2.97914487e-03 1.62806027e+02] [ 3.89292499e-03 -5.85937515e-05 9.99992421e-01 5.58889047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.52, Y:162.80, Z:55.89 [[-6.30028617e-01 7.76567866e-01 2.50812401e-03 1.92524436e+02] [-7.76562160e-01 -6.30033606e-01 2.97785294e-03 1.62804015e+02] [ 3.89270732e-03 -7.15816299e-05 9.99992421e-01 5.58878912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.52, Y:162.80, Z:55.89 [[-6.29466485e-01 7.77023581e-01 2.50975465e-03 1.92524020e+02] [-7.77017884e-01 -6.29471484e-01 2.97647799e-03 1.62801922e+02] [ 3.89261257e-03 -7.65311134e-05 9.99992421e-01 5.58869202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.53, Y:162.80, Z:55.89 [[-6.30195224e-01 7.76432658e-01 2.51138221e-03 1.92526476e+02] [-7.76426962e-01 -6.30200224e-01 2.97510411e-03 1.62801004e+02] [ 3.89264163e-03 -7.50084579e-05 9.99992421e-01 5.58863455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.53, Y:162.80, Z:55.88 [[-6.31536095e-01 7.75342405e-01 2.51300633e-03 1.92527270e+02] [-7.75336706e-01 -6.31541091e-01 2.97373162e-03 1.62796364e+02] [ 3.89272699e-03 -7.04071877e-05 9.99992421e-01 5.58844958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.53, Y:162.79, Z:55.88 [[-6.32244330e-01 7.74764987e-01 2.51462738e-03 1.92528880e+02] [-7.74759288e-01 -6.32249327e-01 2.97236021e-03 1.62792567e+02] [ 3.89275208e-03 -6.89730270e-05 9.99992421e-01 5.58833621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.53, Y:162.79, Z:55.88 [[-6.31356419e-01 7.75488711e-01 2.51614840e-03 1.92529182e+02] [-7.75483023e-01 -6.31361428e-01 2.97107208e-03 1.62790083e+02] [ 3.89263191e-03 -7.54249438e-05 9.99992421e-01 5.58836085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.53, Y:162.79, Z:55.88 [[-6.28118627e-01 7.78113523e-01 2.51716423e-03 1.92531237e+02] [-7.78107860e-01 -6.28123664e-01 2.97021119e-03 1.62789245e+02] [ 3.89225192e-03 -9.29802983e-05 9.99992421e-01 5.58841948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.562755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:192.67, Y:162.09, Z:57.08 [[-6.06180396e-01 7.95323194e-01 2.51877916e-03 1.92673591e+02] [-7.95317679e-01 -6.06185595e-01 2.96884108e-03 1.62087364e+02] [ 3.88803582e-03 -2.03576329e-04 9.99992421e-01 5.70790147e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 318.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.71, Y:162.13, Z:57.08 [[-6.02531418e-01 7.98091435e-01 2.43966193e-03 1.92712903e+02] [-7.98085682e-01 -6.02536345e-01 3.03249151e-03 1.62133767e+02] [ 3.89019048e-03 -1.19887852e-04 9.99992426e-01 5.70801409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.97, Y:162.44, Z:57.08 [[-6.01924199e-01 7.98549490e-01 2.44349110e-03 1.92966676e+02] [-7.98543754e-01 -6.01929145e-01 3.02940293e-03 1.62444898e+02] [ 3.88993667e-03 -1.27763628e-04 9.99992426e-01 5.70794591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.97, Y:162.44, Z:57.07 [[-6.01052871e-01 7.99205503e-01 2.45161132e-03 1.92967307e+02] [-7.99199799e-01 -6.01057854e-01 3.02281715e-03 1.62443152e+02] [ 3.88941234e-03 -1.42454351e-04 9.99992426e-01 5.70744168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.97, Y:162.44, Z:57.08 [[-6.03372861e-01 7.97455437e-01 2.45313967e-03 1.92965046e+02] [-7.97449723e-01 -6.03377833e-01 3.02157632e-03 1.62442428e+02] [ 3.88974256e-03 -1.33118403e-04 9.99992426e-01 5.70769696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.97, Y:162.44, Z:57.07 [[-6.03593246e-01 7.97288636e-01 2.45455908e-03 1.92965375e+02] [-7.97282926e-01 -6.03598222e-01 3.02042283e-03 1.62439790e+02] [ 3.88971629e-03 -1.33871232e-04 9.99992426e-01 5.70724686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.96, Y:162.44, Z:57.08 [[-6.09875954e-01 7.92493085e-01 2.45597856e-03 1.92960448e+02] [-7.92487340e-01 -6.09880890e-01 3.01926818e-03 1.62444705e+02] [ 3.89060354e-03 -1.04952859e-04 9.99992426e-01 5.70779828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.982755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:192.96, Y:162.44, Z:57.07 [[-6.09555354e-01 7.92739701e-01 2.45700561e-03 1.92959794e+02] [-7.92733962e-01 -6.09560297e-01 3.01843216e-03 1.62436549e+02] [ 3.89052407e-03 -1.07850308e-04 9.99992426e-01 5.70728338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.96, Y:162.43, Z:57.07 [[-6.11881110e-01 7.90945929e-01 2.45842355e-03 1.92955632e+02] [-7.90940180e-01 -6.11886041e-01 3.01727685e-03 1.62432457e+02] [ 3.89077789e-03 -9.82512546e-05 9.99992426e-01 5.70733064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.95, Y:162.43, Z:57.07 [[-6.14682883e-01 7.88770500e-01 2.45995560e-03 1.92950099e+02] [-7.88764739e-01 -6.14687800e-01 3.01602726e-03 1.62427177e+02] [ 3.89105803e-03 -8.64259086e-05 9.99992426e-01 5.70735629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.95, Y:162.43, Z:57.07 [[-6.16253099e-01 7.87544321e-01 2.46159355e-03 1.92948860e+02] [-7.87538555e-01 -6.16258010e-01 3.01468982e-03 1.62425773e+02] [ 3.89117859e-03 -8.07878767e-05 9.99992426e-01 5.70740583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.95, Y:162.43, Z:57.08 [[-6.15345754e-01 7.88253472e-01 2.46313434e-03 1.92946906e+02] [-7.88247717e-01 -6.15350677e-01 3.01343040e-03 1.62425119e+02] [ 3.89103836e-03 -8.72584185e-05 9.99992426e-01 5.70766658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.95, Y:162.43, Z:57.08 [[-6.14721165e-01 7.88740651e-01 2.46477404e-03 1.92946113e+02] [-7.88734905e-01 -6.14726100e-01 3.01208864e-03 1.62425275e+02] [ 3.89091769e-03 -9.24586811e-05 9.99992426e-01 5.70770194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.74, Y:162.18, Z:57.08 [[-6.09916668e-01 7.92461721e-01 2.46580123e-03 1.92743031e+02] [-7.92456008e-01 -6.09921641e-01 3.01124752e-03 1.62179186e+02] [ 3.89024392e-03 -1.17428943e-04 9.99992426e-01 5.70775179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.67, Y:162.08, Z:57.08 [[-6.08528865e-01 7.93527914e-01 2.46383415e-03 1.92665024e+02] [-7.93522204e-01 -6.08533840e-01 3.01285615e-03 1.62083645e+02] [ 3.89011191e-03 -1.21697172e-04 9.99992426e-01 5.70785452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.73, Y:162.16, Z:57.08 [[-6.08217533e-01 7.93766559e-01 2.46637827e-03 1.92725533e+02] [-7.93760859e-01 -6.08222521e-01 3.01077204e-03 1.62158352e+02] [ 3.88995697e-03 -1.26510189e-04 9.99992426e-01 5.70793448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.94, Y:162.42, Z:57.08 [[-6.08541050e-01 7.93518550e-01 2.47007698e-03 1.92938445e+02] [-7.93512860e-01 -6.08546049e-01 3.00773450e-03 1.62417929e+02] [ 3.88984871e-03 -1.29707936e-04 9.99992426e-01 5.70784755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.94, Y:162.42, Z:57.08 [[-6.12768146e-01 7.90258863e-01 2.47560610e-03 1.92935007e+02] [-7.90253165e-01 -6.12773136e-01 3.00317669e-03 1.62422433e+02] [ 3.89027191e-03 -1.16104546e-04 9.99992426e-01 5.70804083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.94, Y:162.42, Z:57.08 [[-6.12080368e-01 7.90791684e-01 2.47702109e-03 1.92938324e+02] [-7.90785995e-01 -6.12085368e-01 3.00200915e-03 1.62418228e+02] [ 3.89011224e-03 -1.21322727e-04 9.99992426e-01 5.70767386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70275509600003 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:193.13, Y:161.77, Z:58.28 [[-5.99298932e-01 8.00521485e-01 2.47853959e-03 1.93133252e+02] [-8.00515882e-01 -5.99304028e-01 3.00075491e-03 1.61767988e+02] [ 3.88756754e-03 -1.85761094e-04 9.99992426e-01 5.82761267e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 319.76275509600003 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:193.08, Y:161.70, Z:58.28 [[-5.99195347e-01 8.00599179e-01 2.42689101e-03 1.93080462e+02] [-8.00593409e-01 -5.99200250e-01 3.04196042e-03 1.61698967e+02] [ 3.88958471e-03 -1.20224419e-04 9.99992428e-01 5.82780727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.09, Y:161.71, Z:58.28 [[-6.03892301e-01 7.97062221e-01 2.42992727e-03 1.93085660e+02] [-7.97056432e-01 -6.03897181e-01 3.03953310e-03 1.61705872e+02] [ 3.89012324e-03 -1.01238523e-04 9.99992428e-01 5.82847404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.38, Y:162.05, Z:58.28 [[-6.02598112e-01 7.98041098e-01 2.43342687e-03 1.93375082e+02] [-7.98035328e-01 -6.02603015e-01 3.03672877e-03 1.62054445e+02] [ 3.88982473e-03 -1.12033587e-04 9.99992428e-01 5.82781448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94275509600004 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:193.38, Y:162.06, Z:58.28 [[-6.03258766e-01 7.97541789e-01 2.44041039e-03 1.93376721e+02] [-7.97536038e-01 -6.03263691e-01 3.03110618e-03 1.62057571e+02] [ 3.88964482e-03 -1.17773863e-04 9.99992428e-01 5.82762290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.002755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:193.37, Y:162.06, Z:58.28 [[-6.08624355e-01 7.93454744e-01 2.44206985e-03 1.93374262e+02] [-7.93448965e-01 -6.08629247e-01 3.02976861e-03 1.62057048e+02] [ 3.89029941e-03 -9.36668235e-05 9.99992428e-01 5.82829948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.38, Y:162.06, Z:58.28 [[-6.05966458e-01 7.95486445e-01 2.44289285e-03 1.93375597e+02] [-7.95480685e-01 -6.05971373e-01 3.02910489e-03 1.62058517e+02] [ 3.88993501e-03 -1.07738115e-04 9.99992428e-01 5.82824230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.37, Y:162.06, Z:58.29 [[-6.07283000e-01 7.94481833e-01 2.44422578e-03 1.93373758e+02] [-7.94476069e-01 -6.07287910e-01 3.02802894e-03 1.62058706e+02] [ 3.89006275e-03 -1.03008386e-04 9.99992428e-01 5.82859732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.36, Y:162.06, Z:58.29 [[-6.07423693e-01 7.94374267e-01 2.44576399e-03 1.93364416e+02] [-7.94368507e-01 -6.07428608e-01 3.02678600e-03 1.62059566e+02] [ 3.89002793e-03 -1.04296362e-04 9.99992428e-01 5.82913470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.242755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:193.37, Y:162.06, Z:58.29 [[-6.02314001e-01 7.98255508e-01 2.44719441e-03 1.93367357e+02] [-7.98249784e-01 -6.02318958e-01 3.02562905e-03 1.62058647e+02] [ 3.88921664e-03 -1.31093667e-04 9.99992428e-01 5.82868666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.36, Y:162.06, Z:58.29 [[-6.05701269e-01 7.95688369e-01 2.44797205e-03 1.93362518e+02] [-7.95682627e-01 -6.05706205e-01 3.02499975e-03 1.62063047e+02] [ 3.88970898e-03 -1.15562648e-04 9.99992428e-01 5.82907441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.36, Y:162.06, Z:58.29 [[-6.06585933e-01 7.95014155e-01 2.44939855e-03 1.93358871e+02] [-7.95008412e-01 -6.06590868e-01 3.02384424e-03 1.62056614e+02] [ 3.88978177e-03 -1.13071070e-04 9.99992428e-01 5.82903490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.35, Y:162.04, Z:58.29 [[-6.06664251e-01 7.94954388e-01 2.45093464e-03 1.93349452e+02] [-7.94948650e-01 -6.06669191e-01 3.02259868e-03 1.62042570e+02] [ 3.88973462e-03 -1.14664622e-04 9.99992428e-01 5.82907253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.36, Y:162.06, Z:58.29 [[-6.06956190e-01 7.94731508e-01 2.45227511e-03 1.93362178e+02] [-7.94725773e-01 -6.06961133e-01 3.02151075e-03 1.62058433e+02] [ 3.88972547e-03 -1.14961579e-04 9.99992428e-01 5.82904299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.36, Y:162.05, Z:58.29 [[-6.05774291e-01 7.95632761e-01 2.45314957e-03 1.93355330e+02] [-7.95627036e-01 -6.05779246e-01 3.02080060e-03 1.62049181e+02] [ 3.88951502e-03 -1.21868776e-04 9.99992428e-01 5.82903488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.35, Y:162.05, Z:58.29 [[-6.06681663e-01 7.94941088e-01 2.45478509e-03 1.93351729e+02] [-7.94935363e-01 -6.06686617e-01 3.01947095e-03 1.62045565e+02] [ 3.88958679e-03 -1.19537822e-04 9.99992428e-01 5.82926828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.662755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:193.36, Y:162.06, Z:58.29 [[-6.05514595e-01 7.95830410e-01 2.45642995e-03 1.93359678e+02] [-7.95824697e-01 -6.05519564e-01 3.01813222e-03 1.62055310e+02] [ 3.88933779e-03 -1.27364516e-04 9.99992428e-01 5.82931866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.36, Y:162.05, Z:58.29 [[-6.01284393e-01 7.99031311e-01 2.45807215e-03 1.93364570e+02] [-7.99025630e-01 -6.01289399e-01 3.01679416e-03 1.62049009e+02] [ 3.88852572e-03 -1.50111408e-04 9.99992428e-01 5.82894115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.36, Y:162.04, Z:58.29 [[-6.01713702e-01 7.98708064e-01 2.45948629e-03 1.93361368e+02] [-7.98702385e-01 -6.01718710e-01 3.01564081e-03 1.62042578e+02] [ 3.88853556e-03 -1.49845171e-04 9.99992428e-01 5.82888859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.59, Y:161.46, Z:59.47 [[-6.02342817e-01 7.98233721e-01 2.46111062e-03 1.93593750e+02] [-7.98228043e-01 -6.02347827e-01 3.01431459e-03 1.61462167e+02] [ 3.88857219e-03 -1.48876770e-04 9.99992428e-01 5.94651008e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 320.902755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:193.50, Y:161.35, Z:59.46 [[-6.05280585e-01 7.96008372e-01 2.46699576e-03 1.93499133e+02] [-7.96002695e-01 -6.05285595e-01 3.00949032e-03 1.61345517e+02] [ 3.88881648e-03 -1.42149210e-04 9.99992428e-01 5.94645636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.78, Y:161.68, Z:59.46 [[-6.07697250e-01 7.94164940e-01 2.46978226e-03 1.93776530e+02] [-7.94159258e-01 -6.07702254e-01 3.00720179e-03 1.61680944e+02] [ 3.88910648e-03 -1.33932190e-04 9.99992428e-01 5.94645000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.79, Y:161.70, Z:59.46 [[-6.11658632e-01 7.91117933e-01 2.47680979e-03 1.93793717e+02] [-7.91112249e-01 -6.11663634e-01 3.00140256e-03 1.61702828e+02] [ 3.88943786e-03 -1.23600778e-04 9.99992428e-01 5.94644198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.79, Y:161.69, Z:59.46 [[-6.14315843e-01 7.89056337e-01 2.47835780e-03 1.93786581e+02] [-7.89050641e-01 -6.14320832e-01 3.00012377e-03 1.61694971e+02] [ 3.88977350e-03 -1.12526245e-04 9.99992428e-01 5.94643406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.79, Y:161.70, Z:59.46 [[-6.18475683e-01 7.85800025e-01 2.47998709e-03 1.93788859e+02] [-7.85794309e-01 -6.18480648e-01 2.99877634e-03 1.61697693e+02] [ 3.89026255e-03 -9.40894959e-05 9.99992428e-01 5.94623956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.78, Y:161.69, Z:59.46 [[-6.20971204e-01 7.83829449e-01 2.48151766e-03 1.93784218e+02] [-7.83823722e-01 -6.20976157e-01 2.99750925e-03 1.61692921e+02] [ 3.89049932e-03 -8.37054846e-05 9.99992428e-01 5.94622307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.78, Y:161.69, Z:59.46 [[-6.22528491e-01 7.82593198e-01 2.48304569e-03 1.93780648e+02] [-7.82587466e-01 -6.22533438e-01 2.99624294e-03 1.61691720e+02] [ 3.89061831e-03 -7.79538404e-05 9.99992428e-01 5.94635892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.04, Y:161.14, Z:60.64 [[-5.93726305e-01 8.04663223e-01 2.48457705e-03 1.94041264e+02] [-8.04657679e-01 -5.93731462e-01 2.99497255e-03 1.61141824e+02] [ 3.88511583e-03 -2.21040016e-04 9.99992428e-01 6.06412670e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 321.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.21, Y:161.36, Z:60.64 [[-5.95550070e-01 8.03314676e-01 2.37584513e-03 1.94206312e+02] [-8.03308780e-01 -5.95554804e-01 3.07887664e-03 1.61360666e+02] [ 3.88825277e-03 -7.49120538e-05 9.99992438e-01 6.06438542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.20, Y:161.36, Z:60.65 [[-5.96506708e-01 8.02604559e-01 2.38106061e-03 1.94200503e+02] [-8.02598672e-01 -5.96511456e-01 3.07483793e-03 1.61360701e+02] [ 3.88820887e-03 -7.68746301e-05 9.99992438e-01 6.06468497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.20, Y:161.36, Z:60.64 [[-5.94191574e-01 8.04320022e-01 2.38211470e-03 1.94198523e+02] [-8.04314153e-01 -5.94196343e-01 3.07402110e-03 1.61360981e+02] [ 3.88794056e-03 -8.94111273e-05 9.99992438e-01 6.06444344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.20, Y:161.37, Z:60.64 [[-5.90516506e-01 8.07022041e-01 2.38368995e-03 1.94204399e+02] [-8.07016198e-01 -5.90521307e-01 3.07279912e-03 1.61366120e+02] [ 3.88743632e-03 -1.09137805e-04 9.99992438e-01 6.06430234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.20, Y:161.36, Z:60.64 [[-5.87598054e-01 8.09149453e-01 2.38525569e-03 1.94201911e+02] [-8.09143633e-01 -5.87602882e-01 3.07158323e-03 1.61357343e+02] [ 3.88695301e-03 -1.25158128e-04 9.99992438e-01 6.06391405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.48, Y:160.79, Z:61.81 [[-5.75425506e-01 8.17850714e-01 2.38681747e-03 1.94482848e+02] [-8.17844972e-01 -5.75430426e-01 3.07036915e-03 1.60791633e+02] [ 3.88455099e-03 -1.85277942e-04 9.99992438e-01 6.18145412e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 321.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.66, Y:161.03, Z:61.81 [[-5.76577167e-01 8.17039362e-01 2.33461418e-03 1.94662181e+02] [-8.17033453e-01 -5.76581882e-01 3.10956262e-03 1.61028430e+02] [ 3.88673130e-03 -1.14555077e-04 9.99992440e-01 6.18140422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.66, Y:161.03, Z:61.81 [[-5.77348382e-01 8.16494562e-01 2.33982976e-03 1.94664597e+02] [-8.16488665e-01 -5.77353112e-01 3.10563313e-03 1.61027467e+02] [ 3.88664056e-03 -1.17412210e-04 9.99992440e-01 6.18143908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.66, Y:161.02, Z:61.82 [[-5.78207266e-01 8.15886558e-01 2.34140673e-03 1.94663378e+02] [-8.15880660e-01 -5.78211995e-01 3.10444376e-03 1.61022391e+02] [ 3.88670339e-03 -1.15296529e-04 9.99992440e-01 6.18155587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.66, Y:161.02, Z:61.82 [[-5.79070905e-01 8.15273819e-01 2.34245994e-03 1.94661872e+02] [-8.15267919e-01 -5.79075632e-01 3.10364886e-03 1.61018640e+02] [ 3.88678513e-03 -1.12499691e-04 9.99992440e-01 6.18154472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.66, Y:161.02, Z:61.82 [[-5.79208511e-01 8.15176058e-01 2.34425541e-03 1.94661877e+02] [-8.15170163e-01 -5.79213244e-01 3.10229210e-03 1.61016226e+02] [ 3.88673803e-03 -1.14093075e-04 9.99992440e-01 6.18159321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.66, Y:161.01, Z:61.82 [[-5.78762177e-01 8.15493004e-01 2.34593590e-03 1.94659795e+02] [-8.15487116e-01 -5.78766920e-01 3.10102081e-03 1.61011364e+02] [ 3.88661087e-03 -1.18326945e-04 9.99992440e-01 6.18166697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.66, Y:161.01, Z:61.82 [[-5.77107049e-01 8.16665135e-01 2.34761766e-03 1.94660834e+02] [-8.16659262e-01 -5.77111810e-01 3.09974711e-03 1.61012358e+02] [ 3.88629327e-03 -1.28317801e-04 9.99992440e-01 6.18157256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.66, Y:161.01, Z:61.81 [[-5.75664389e-01 8.17682698e-01 2.34868039e-03 1.94661394e+02] [-8.17676838e-01 -5.75669164e-01 3.09894167e-03 1.61012618e+02] [ 3.88601387e-03 -1.36511192e-04 9.99992440e-01 6.18137443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.66, Y:161.01, Z:61.81 [[-5.76335341e-01 8.17209919e-01 2.35025132e-03 1.94658360e+02] [-8.17204059e-01 -5.76340117e-01 3.09774982e-03 1.61007443e+02] [ 3.88605600e-03 -1.35292217e-04 9.99992440e-01 6.18139034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.66, Y:161.01, Z:61.81 [[-5.77355966e-01 8.16489165e-01 2.35193331e-03 1.94660570e+02] [-8.16483304e-01 -5.77360741e-01 3.09647225e-03 1.61007701e+02] [ 3.88615001e-03 -1.32547552e-04 9.99992440e-01 6.18127558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.66, Y:161.00, Z:61.81 [[-5.78691748e-01 8.15542961e-01 2.35350369e-03 1.94659596e+02] [-8.15537097e-01 -5.78696520e-01 3.09527821e-03 1.61004875e+02] [ 3.88629675e-03 -1.28157607e-04 9.99992440e-01 6.18119694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.66, Y:161.00, Z:61.81 [[-5.79635235e-01 8.14872657e-01 2.35517253e-03 1.94658894e+02] [-8.14866793e-01 -5.79640006e-01 3.09400789e-03 1.61002510e+02] [ 3.88637465e-03 -1.25755897e-04 9.99992440e-01 6.18115326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.65, Y:160.99, Z:61.81 [[-5.80629322e-01 8.14164625e-01 2.35684184e-03 1.94648577e+02] [-8.14158760e-01 -5.80634092e-01 3.09273577e-03 1.60989840e+02] [ 3.88645878e-03 -1.23110353e-04 9.99992440e-01 6.18067996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.522755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:194.51, Y:160.81, Z:61.81 [[-5.81583722e-01 8.13483135e-01 2.35852149e-03 1.94511702e+02] [-8.13477270e-01 -5.81588492e-01 3.09145434e-03 1.60808179e+02] [ 3.88653493e-03 -1.20664098e-04 9.99992440e-01 6.18096922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.64, Y:160.98, Z:61.81 [[-5.86721615e-01 8.09785271e-01 2.35828210e-03 1.94641881e+02] [-8.09779375e-01 -5.86726346e-01 3.09163695e-03 1.60978201e+02] [ 3.88722830e-03 -9.57579822e-05 9.99992440e-01 6.18143555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.65, Y:160.99, Z:61.82 [[-5.89535695e-01 8.07738870e-01 2.36284012e-03 1.94648167e+02] [-8.07732971e-01 -5.89540424e-01 3.08814946e-03 1.60985693e+02] [ 3.88740812e-03 -8.79695266e-05 9.99992440e-01 6.18154968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.46, Y:160.74, Z:61.82 [[-5.91710442e-01 8.06147109e-01 2.36453123e-03 1.94459545e+02] [-8.06141203e-01 -5.91715161e-01 3.08685407e-03 1.60739171e+02] [ 3.88758746e-03 -7.96222604e-05 9.99992440e-01 6.18175134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76275509600003 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:194.64, Y:160.98, Z:61.82 [[-5.94785818e-01 8.03880740e-01 2.36365532e-03 1.94641325e+02] [-8.03874813e-01 -5.94790511e-01 3.08752463e-03 1.60975345e+02] [ 3.88788134e-03 -6.36671176e-05 9.99992440e-01 6.18185533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.64, Y:160.98, Z:61.82 [[-5.94036176e-01 8.04434838e-01 2.36910771e-03 1.94643588e+02] [-8.04428932e-01 -5.94040896e-01 3.08333524e-03 1.60975798e+02] [ 3.88768915e-03 -7.41661070e-05 9.99992440e-01 6.18185858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.48, Y:160.76, Z:61.82 [[-5.94676950e-01 8.03961258e-01 2.37068971e-03 1.94475936e+02] [-8.03955354e-01 -5.94681671e-01 3.08211840e-03 1.60760903e+02] [ 3.88770950e-03 -7.30639111e-05 9.99992440e-01 6.18224452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.64, Y:160.97, Z:61.82 [[-5.92442125e-01 8.05609527e-01 2.37007836e-03 1.94638157e+02] [-8.05603634e-01 -5.92446860e-01 3.08258844e-03 1.60969662e+02] [ 3.88750810e-03 -8.30884960e-05 9.99992440e-01 6.18227464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.91, Y:160.44, Z:62.98 [[-5.66967813e-01 8.23736523e-01 2.37483811e-03 1.94909987e+02] [-8.23730796e-01 -5.66972747e-01 3.07891714e-03 1.60436017e+02] [ 3.88268499e-03 -2.10580365e-04 9.99992440e-01 6.29773448e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 323.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:160.66, Z:62.98 [[-5.66249582e-01 8.24230678e-01 2.28058592e-03 1.95073275e+02] [-8.24224675e-01 -5.66254166e-01 3.14721570e-03 1.60660586e+02] [ 3.88542301e-03 -9.76056162e-05 9.99992447e-01 6.29769430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:160.66, Z:62.98 [[-5.65504947e-01 8.24741736e-01 2.28547910e-03 1.95072758e+02] [-8.24735752e-01 -5.65509555e-01 3.14365830e-03 1.60658407e+02] [ 3.88516647e-03 -1.07162006e-04 9.99992447e-01 6.29755915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.08, Y:160.66, Z:62.97 [[-5.65429619e-01 8.24793379e-01 2.28655680e-03 1.95075545e+02] [-8.24787398e-01 -5.65434232e-01 3.14287423e-03 1.60658325e+02] [ 3.88511935e-03 -1.08849054e-04 9.99992447e-01 6.29742882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:160.65, Z:62.97 [[-5.65930058e-01 8.24450080e-01 2.28827016e-03 1.95071472e+02] [-8.24444101e-01 -5.65934673e-01 3.14162627e-03 1.60652624e+02] [ 3.88512546e-03 -1.08610103e-04 9.99992447e-01 6.29748088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:160.65, Z:62.98 [[-5.65154638e-01 8.24981806e-01 2.29239916e-03 1.95068039e+02] [-8.24975844e-01 -5.65159275e-01 3.13861051e-03 1.60647515e+02] [ 3.88486721e-03 -1.17373649e-04 9.99992447e-01 6.29765819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:160.64, Z:62.98 [[-5.63825481e-01 8.25890770e-01 2.29410900e-03 1.95066894e+02] [-8.25884821e-01 -5.63830134e-01 3.13736024e-03 1.60643974e+02] [ 3.88460464e-03 -1.25746152e-04 9.99992447e-01 6.29772459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:160.65, Z:62.98 [[-5.62898679e-01 8.26522722e-01 2.29518453e-03 1.95069826e+02] [-8.26516781e-01 -5.62903343e-01 3.13657321e-03 1.60646206e+02] [ 3.88441607e-03 -1.31435612e-04 9.99992447e-01 6.29774732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.06, Y:160.63, Z:62.98 [[-5.61751088e-01 8.27303112e-01 2.29689326e-03 1.95063255e+02] [-8.27297183e-01 -5.61755766e-01 3.13532142e-03 1.60632201e+02] [ 3.88415420e-03 -1.38943099e-04 9.99992447e-01 6.29778433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:160.64, Z:62.98 [[-5.61927921e-01 8.27183008e-01 2.29860778e-03 1.95072421e+02] [-8.27177082e-01 -5.61932604e-01 3.13406395e-03 1.60641995e+02] [ 3.88410710e-03 -1.40237635e-04 9.99992447e-01 6.29761731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:160.64, Z:62.97 [[-5.62070922e-01 8.27085841e-01 2.30021383e-03 1.95071502e+02] [-8.27079919e-01 -5.62075611e-01 3.13288476e-03 1.60638836e+02] [ 3.88405872e-03 -1.41557245e-04 9.99992447e-01 6.29747178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:160.64, Z:62.97 [[-5.63161665e-01 8.26343537e-01 2.30180681e-03 1.95072298e+02] [-8.26337614e-01 -5.63166352e-01 3.13171392e-03 1.60636223e+02] [ 3.88417170e-03 -1.38408323e-04 9.99992447e-01 6.29745407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:160.63, Z:62.97 [[-5.64644301e-01 8.25331150e-01 2.30350325e-03 1.95072316e+02] [-8.25325224e-01 -5.64648984e-01 3.13046562e-03 1.60633907e+02] [ 3.88434156e-03 -1.33539765e-04 9.99992447e-01 6.29742827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:160.63, Z:62.97 [[-5.66225155e-01 8.24247390e-01 2.30519822e-03 1.95071091e+02] [-8.24241460e-01 -5.66229833e-01 3.12921699e-03 1.60630403e+02] [ 3.88452094e-03 -1.28198571e-04 9.99992447e-01 6.29742829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:160.63, Z:62.97 [[-5.68348541e-01 8.22784671e-01 2.30678933e-03 1.95070227e+02] [-8.22778734e-01 -5.68353210e-01 3.12804362e-03 1.60627485e+02] [ 3.88477746e-03 -1.20158177e-04 9.99992447e-01 6.29735713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:160.62, Z:62.97 [[-5.69691204e-01 8.21855585e-01 2.30848458e-03 1.95068342e+02] [-8.21849645e-01 -5.69695869e-01 3.12679203e-03 1.60623687e+02] [ 3.88490562e-03 -1.15921321e-04 9.99992447e-01 6.29728593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.06, Y:160.61, Z:62.97 [[-5.69907507e-01 8.21705602e-01 2.31007715e-03 1.95058613e+02] [-8.21699666e-01 -5.69912177e-01 3.12561500e-03 1.60612602e+02] [ 3.88487645e-03 -1.16878168e-04 9.99992447e-01 6.29735475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.022755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:195.28, Y:160.05, Z:64.14 [[-5.55360193e-01 8.31606705e-01 2.31168160e-03 1.95282739e+02] [-8.31600857e-01 -5.55364973e-01 3.12442791e-03 1.60053517e+02] [ 3.88212218e-03 -1.87213512e-04 9.99992447e-01 6.41357785e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 324.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.48, Y:160.33, Z:64.13 [[-5.58959589e-01 8.29191832e-01 2.25461393e-03 1.95484462e+02] [-8.29185798e-01 -5.58964127e-01 3.16507952e-03 1.60332755e+02] [ 3.88470639e-03 -1.00342305e-04 9.99992449e-01 6.41348673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.48, Y:160.33, Z:64.13 [[-5.59509995e-01 8.28820521e-01 2.26032473e-03 1.95483241e+02] [-8.28814500e-01 -5.59514551e-01 3.16099592e-03 1.60329278e+02] [ 3.88458286e-03 -1.04781100e-04 9.99992449e-01 6.41348578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.48, Y:160.33, Z:64.14 [[-5.59043879e-01 8.29134986e-01 2.26193965e-03 1.95480948e+02] [-8.29128972e-01 -5.59048444e-01 3.15983989e-03 1.60326212e+02] [ 3.88446765e-03 -1.08950551e-04 9.99992449e-01 6.41351965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.48, Y:160.33, Z:64.13 [[-5.58475060e-01 8.29518224e-01 2.26366107e-03 1.95481536e+02] [-8.29512218e-01 -5.58479636e-01 3.15860621e-03 1.60325976e+02] [ 3.88433002e-03 -1.13731719e-04 9.99992450e-01 6.41346408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.48, Y:160.32, Z:64.13 [[-5.59398899e-01 8.28895494e-01 2.26538099e-03 1.95480145e+02] [-8.28889488e-01 -5.59403475e-01 3.15737219e-03 1.60323979e+02] [ 3.88439358e-03 -1.11519964e-04 9.99992450e-01 6.41338014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.46, Y:160.30, Z:64.13 [[-5.61432545e-01 8.27519400e-01 2.26709861e-03 1.95461927e+02] [-8.27513388e-01 -5.61437113e-01 3.15613839e-03 1.60299336e+02] [ 3.88459905e-03 -1.04095642e-04 9.99992450e-01 6.41336015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.70, Y:159.76, Z:65.30 [[-5.39112759e-01 8.42230543e-01 2.26819205e-03 1.95698766e+02] [-8.42224659e-01 -5.39117490e-01 3.15535239e-03 1.59762247e+02] [ 3.88035616e-03 -2.09236539e-04 9.99992450e-01 6.52996145e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 324.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.89, Y:160.04, Z:65.30 [[-5.42039144e-01 8.40350427e-01 2.17399972e-03 1.95886005e+02] [-8.40344266e-01 -5.42043498e-01 3.21896726e-03 1.60042685e+02] [ 3.88346292e-03 -8.21019379e-05 9.99992456e-01 6.52982879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.88, Y:160.04, Z:65.30 [[-5.41660450e-01 8.40594555e-01 2.17960542e-03 1.95880470e+02] [-8.40588411e-01 -5.41664828e-01 3.21516708e-03 1.60037310e+02] [ 3.88326754e-03 -9.06222063e-05 9.99992456e-01 6.52991249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.88, Y:160.04, Z:65.30 [[-5.40710781e-01 8.41205738e-01 2.18136994e-03 1.95881138e+02] [-8.41199604e-01 -5.40715172e-01 3.21396947e-03 1.60039448e+02] [ 3.88310939e-03 -9.71395856e-05 9.99992456e-01 6.53002346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.88, Y:160.04, Z:65.30 [[-5.37842998e-01 8.43042196e-01 2.18302563e-03 1.95882343e+02] [-8.43036081e-01 -5.37847417e-01 3.21284448e-03 1.60043509e+02] [ 3.88269817e-03 -1.12363465e-04 9.99992456e-01 6.53003047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.88, Y:160.04, Z:65.30 [[-5.34114576e-01 8.45409278e-01 2.18478764e-03 1.95880573e+02] [-8.45403187e-01 -5.34119028e-01 3.21164584e-03 1.60044720e+02] [ 3.88209184e-03 -1.31639580e-04 9.99992456e-01 6.53000070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.13, Y:159.49, Z:66.47 [[-5.31112694e-01 8.47298369e-01 2.18653277e-03 1.96134382e+02] [-8.47292299e-01 -5.31117174e-01 3.21045729e-03 1.59488904e+02] [ 3.88152033e-03 -1.47517762e-04 9.99992456e-01 6.64691137e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 324.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.32, Y:159.77, Z:66.47 [[-5.31936514e-01 8.46781393e-01 2.19480655e-03 1.96323512e+02] [-8.46775343e-01 -5.31941020e-01 3.20479098e-03 1.59769239e+02] [ 3.88126501e-03 -1.53762724e-04 9.99992456e-01 6.64709421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.58, Y:159.21, Z:67.64 [[-5.35465970e-01 8.44553938e-01 2.20039456e-03 1.96583525e+02] [-8.44547884e-01 -5.35470471e-01 3.20094968e-03 1.59213629e+02] [ 3.88162097e-03 -1.44338946e-04 9.99992456e-01 6.76438552e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 324.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.77, Y:159.49, Z:67.65 [[-5.38280805e-01 8.42762645e-01 2.21350840e-03 1.96770028e+02] [-8.42756613e-01 -5.38285336e-01 3.19185541e-03 1.59486520e+02] [ 3.88147562e-03 -1.47334342e-04 9.99992456e-01 6.76476256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.042755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:196.76, Y:159.48, Z:67.65 [[-5.42197112e-01 8.40248395e-01 2.21945374e-03 1.96764911e+02] [-8.40242360e-01 -5.42201637e-01 3.18771595e-03 1.59483827e+02] [ 3.88186467e-03 -1.36508664e-04 9.99992456e-01 6.76475932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.76, Y:159.48, Z:67.65 [[-5.47975991e-01 8.36491111e-01 2.22117448e-03 1.96758916e+02] [-8.36485050e-01 -5.47980481e-01 3.18651650e-03 1.59479196e+02] [ 3.88265299e-03 -1.11844705e-04 9.99992456e-01 6.76476328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.76, Y:159.48, Z:67.65 [[-5.52776166e-01 8.33326808e-01 2.22290064e-03 1.96756844e+02] [-8.33320725e-01 -5.52780628e-01 3.18531188e-03 1.59483266e+02] [ 3.88318220e-03 -9.16246881e-05 9.99992456e-01 6.76473597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.75, Y:159.47, Z:67.65 [[-5.58465024e-01 8.29525088e-01 2.22398412e-03 1.96747805e+02] [-8.29518978e-01 -5.58469448e-01 3.18455522e-03 1.59472995e+02] [ 3.88369563e-03 -6.63743255e-05 9.99992456e-01 6.76483216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.74, Y:159.46, Z:67.65 [[-5.64286084e-01 8.25576321e-01 2.22571573e-03 1.96740203e+02] [-8.25570184e-01 -5.64290472e-01 3.18334452e-03 1.59464735e+02] [ 3.88404404e-03 -4.11675248e-05 9.99992456e-01 6.76474259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.73, Y:159.47, Z:67.65 [[-5.66361580e-01 8.24153869e-01 2.22735768e-03 1.96734223e+02] [-8.24147726e-01 -5.66365959e-01 3.18219525e-03 1.59465877e+02] [ 3.88411809e-03 -3.33986375e-05 9.99992456e-01 6.76474954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.402755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:196.73, Y:159.47, Z:67.65 [[-5.66714684e-01 8.23911100e-01 2.22846015e-03 1.96730323e+02] [-8.23904958e-01 -5.66719065e-01 3.18142301e-03 1.59468171e+02] [ 3.88412059e-03 -3.30802265e-05 9.99992456e-01 6.76473108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.72, Y:159.45, Z:67.64 [[-5.65376366e-01 8.24830038e-01 2.23010694e-03 1.96721200e+02] [-8.24823908e-01 -5.65380762e-01 3.18026823e-03 1.59454069e+02] [ 3.88404033e-03 -4.13970334e-05 9.99992456e-01 6.76428599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.72, Y:159.45, Z:67.65 [[-5.67640298e-01 8.23273656e-01 2.23153922e-03 1.96718498e+02] [-8.23267518e-01 -5.67644683e-01 3.17926291e-03 1.59450300e+02] [ 3.88412477e-03 -3.24760148e-05 9.99992456e-01 6.76479401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.72, Y:159.46, Z:67.65 [[-5.70158846e-01 8.21531437e-01 2.23332138e-03 1.96721244e+02] [-8.21525291e-01 -5.70163220e-01 3.17801051e-03 1.59459361e+02] [ 3.88419325e-03 -2.27591896e-05 9.99992456e-01 6.76487949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64275509600003 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:196.93, Y:158.73, Z:68.82 [[-5.16159890e-01 8.56489332e-01 2.23443418e-03 1.96931661e+02] [-8.56483482e-01 -5.16164654e-01 3.17722792e-03 1.58726797e+02] [ 3.87459776e-03 -2.73798350e-04 9.99992456e-01 6.88158006e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 325.70275509600003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:197.20, Y:159.15, Z:68.81 [[-5.13560884e-01 8.58050761e-01 2.02720395e-03 1.97197877e+02] [-8.58044400e-01 -5.13564883e-01 3.30436239e-03 1.59154501e+02] [ 3.87641143e-03 -4.24397266e-05 9.99992486e-01 6.88138130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.20, Y:159.16, Z:68.81 [[-5.10590273e-01 8.59821738e-01 2.03762023e-03 1.97202926e+02] [-8.59815416e-01 -5.10594335e-01 3.29792671e-03 1.59162022e+02] [ 3.87602642e-03 -6.80879806e-05 9.99992486e-01 6.88145611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.20, Y:159.14, Z:68.81 [[-5.04056411e-01 8.63668325e-01 2.03937357e-03 1.97196703e+02] [-8.63662038e-01 -5.04060527e-01 3.29684212e-03 1.59140577e+02] [ 3.87534583e-03 -9.95351261e-05 9.99992486e-01 6.88120308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.20, Y:159.14, Z:68.81 [[-5.03905194e-01 8.63756557e-01 2.04083901e-03 1.97201444e+02] [-8.63750275e-01 -5.03909317e-01 3.29593472e-03 1.59143857e+02] [ 3.87528302e-03 -1.01936631e-04 9.99992486e-01 6.88121255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.20, Y:159.14, Z:68.82 [[-5.07730954e-01 8.61513265e-01 2.04265657e-03 1.97197828e+02] [-8.61506969e-01 -5.07735056e-01 3.29480790e-03 1.59143096e+02] [ 3.87564906e-03 -8.68869156e-05 9.99992486e-01 6.88156535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.21, Y:159.16, Z:68.81 [[-5.08412841e-01 8.61111029e-01 2.04435609e-03 1.97213132e+02] [-8.61104734e-01 -5.08416944e-01 3.29375305e-03 1.59155176e+02] [ 3.87567235e-03 -8.58183636e-05 9.99992486e-01 6.88122420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.21, Y:159.14, Z:68.81 [[-5.10599478e-01 8.59816253e-01 2.04547929e-03 1.97207512e+02] [-8.59809951e-01 -5.10603569e-01 3.29305537e-03 1.59141263e+02] [ 3.87585156e-03 -7.72910946e-05 9.99992486e-01 6.88114017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.21, Y:159.14, Z:68.81 [[-5.13716426e-01 8.57957600e-01 2.04726156e-03 1.97208752e+02] [-8.57951286e-01 -5.13720501e-01 3.29194698e-03 1.59139246e+02] [ 3.87607116e-03 -6.53234519e-05 9.99992486e-01 6.88136187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.20, Y:159.13, Z:68.81 [[-5.15837937e-01 8.56683736e-01 2.04905333e-03 1.97202246e+02] [-8.56677417e-01 -5.15842004e-01 3.29083132e-03 1.59130065e+02] [ 3.87618945e-03 -5.78420755e-05 9.99992486e-01 6.88132113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.18, Y:159.10, Z:68.81 [[-5.16007245e-01 8.56581764e-01 2.05085214e-03 1.97183332e+02] [-8.56575448e-01 -5.16011317e-01 3.28970992e-03 1.59102995e+02] [ 3.87616844e-03 -5.91954417e-05 9.99992486e-01 6.88139839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.18, Y:159.10, Z:68.81 [[-5.14308113e-01 8.57603026e-01 2.05268736e-03 1.97183463e+02] [-8.57596724e-01 -5.14312205e-01 3.28856439e-03 1.59102056e+02] [ 3.87600494e-03 -6.90426076e-05 9.99992486e-01 6.88105320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.20, Y:159.13, Z:68.81 [[-5.13381360e-01 8.58158119e-01 2.05455082e-03 1.97198402e+02] [-8.58151826e-01 -5.13385466e-01 3.28739978e-03 1.59134314e+02] [ 3.87588534e-03 -7.54267671e-05 9.99992486e-01 6.88105268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.20, Y:159.14, Z:68.81 [[-5.11161372e-01 8.59482300e-01 2.05637503e-03 1.97199846e+02] [-8.59476022e-01 -5.11165500e-01 3.28625828e-03 1.59139344e+02] [ 3.87562879e-03 -8.75967429e-05 9.99992486e-01 6.88090537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.51, Y:158.58, Z:69.99 [[-4.83468062e-01 8.75359582e-01 2.05815614e-03 1.97514145e+02] [-8.75353443e-01 -4.83472396e-01 3.28514240e-03 1.58579215e+02] [ 3.87074256e-03 -2.13352629e-04 9.99992486e-01 6.99869703e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 326.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.67, Y:158.86, Z:69.99 [[-4.82151113e-01 8.76085893e-01 1.95250929e-03 1.97672870e+02] [-8.76079506e-01 -4.82155057e-01 3.34677680e-03 1.58859050e+02] [ 3.87347617e-03 -9.69012125e-05 9.99992493e-01 6.99891660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.02, Y:158.30, Z:71.16 [[-4.61699385e-01 8.87034295e-01 1.95913656e-03 1.98019446e+02] [-8.87028017e-01 -4.61703501e-01 3.34289282e-03 1.58304392e+02] [ 3.86980078e-03 -1.94397456e-04 9.99992493e-01 7.11618539e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 326.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.02, Y:158.31, Z:71.16 [[-4.62725229e-01 8.86499752e-01 1.88477477e-03 1.98019973e+02] [-8.86493298e-01 -4.62729055e-01 3.38430612e-03 1.58308971e+02] [ 3.87232658e-03 -1.04836384e-04 9.99992497e-01 7.11632987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.722755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:198.17, Y:158.57, Z:71.16 [[-4.64782875e-01 8.85422673e-01 1.88904496e-03 1.98166749e+02] [-8.85416220e-01 -4.64786703e-01 3.38192091e-03 1.58573845e+02] [ 3.87243243e-03 -1.00732121e-04 9.99992497e-01 7.11586759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.782755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:158.57, Z:71.16 [[-4.67912324e-01 8.83772859e-01 1.89491642e-03 1.98164416e+02] [-8.83766406e-01 -4.67916152e-01 3.37862788e-03 1.58566529e+02] [ 3.87260162e-03 -9.37618554e-05 9.99992497e-01 7.11623043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:158.57, Z:71.17 [[-4.71797491e-01 8.81704900e-01 1.89666003e-03 1.98163871e+02] [-8.81698434e-01 -4.71801296e-01 3.37764879e-03 1.58569725e+02] [ 3.87293615e-03 -7.87159540e-05 9.99992497e-01 7.11654572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:158.55, Z:71.16 [[-4.71612729e-01 8.81803736e-01 1.89888505e-03 1.98155892e+02] [-8.81797275e-01 -4.71616545e-01 3.37639744e-03 1.58552592e+02] [ 3.87286548e-03 -8.20796561e-05 9.99992497e-01 7.11588902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:158.56, Z:71.16 [[-4.77211480e-01 8.78786431e-01 1.90075017e-03 1.98159142e+02] [-8.78779951e-01 -4.77215261e-01 3.37534714e-03 1.58562801e+02] [ 3.87327625e-03 -5.95867335e-05 9.99992497e-01 7.11620198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:158.56, Z:71.17 [[-4.80635833e-01 8.76918226e-01 1.90262778e-03 1.98158031e+02] [-8.76911736e-01 -4.80639597e-01 3.37428843e-03 1.58556697e+02] [ 3.87345327e-03 -4.66326973e-05 9.99992497e-01 7.11666332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:158.55, Z:71.17 [[-4.82019462e-01 8.76158439e-01 1.90448550e-03 1.98157000e+02] [-8.76151947e-01 -4.82023223e-01 3.37323958e-03 1.58554559e+02] [ 3.87349857e-03 -4.26515521e-05 9.99992497e-01 7.11667997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.03, Y:158.33, Z:71.17 [[-4.81346151e-01 8.76528522e-01 1.90635607e-03 1.98029883e+02] [-8.76522036e-01 -4.81349923e-01 3.37218211e-03 1.58331685e+02] [ 3.87343815e-03 -4.77762273e-05 9.99992497e-01 7.11663626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:158.55, Z:71.16 [[-4.82192445e-01 8.76063242e-01 1.90837292e-03 1.98155303e+02] [-8.76056757e-01 -4.82196219e-01 3.37104036e-03 1.58554125e+02] [ 3.87345475e-03 -4.63527924e-05 9.99992497e-01 7.11636467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.55, Y:158.05, Z:72.33 [[-4.38262424e-01 8.98845029e-01 1.91355070e-03 1.98546530e+02] [-8.98838752e-01 -4.38266534e-01 3.36809866e-03 1.58052273e+02] [ 3.86604397e-03 -2.43862442e-04 9.99992497e-01 7.23283789e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 327.32275509600004 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:198.53, Y:158.02, Z:72.33 [[-4.36464347e-01 8.99719855e-01 1.74837573e-03 1.98529440e+02] [-8.99713236e-01 -4.36467844e-01 3.45176263e-03 1.58021126e+02] [ 3.86872916e-03 -6.64654625e-05 9.99992514e-01 7.23286942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:158.28, Z:72.32 [[-4.37676834e-01 8.99130649e-01 1.75108651e-03 1.98660714e+02] [-8.99124030e-01 -4.37680332e-01 3.45038690e-03 1.58278803e+02] [ 3.86876473e-03 -6.42895439e-05 9.99992514e-01 7.23247679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:158.27, Z:72.33 [[-4.36571729e-01 8.99667721e-01 1.76569923e-03 1.98657421e+02] [-8.99661137e-01 -4.36575291e-01 3.44289271e-03 1.58274037e+02] [ 3.86832010e-03 -8.54613543e-05 9.99992514e-01 7.23282635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:158.27, Z:72.33 [[-4.34112525e-01 9.00856921e-01 1.76757505e-03 1.98657203e+02] [-9.00850351e-01 -4.34116112e-01 3.44192940e-03 1.58272847e+02] [ 3.86801873e-03 -9.81359462e-05 9.99992514e-01 7.23308040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:158.27, Z:72.33 [[-4.32476092e-01 9.01643665e-01 1.76969382e-03 1.98656376e+02] [-9.01637106e-01 -4.32479699e-01 3.44083967e-03 1.58270860e+02] [ 3.86776794e-03 -1.07540722e-04 9.99992514e-01 7.23327203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:158.27, Z:72.33 [[-4.31829139e-01 9.01953689e-01 1.77145269e-03 1.98655850e+02] [-9.01947136e-01 -4.31832758e-01 3.43993391e-03 1.58265625e+02] [ 3.86763238e-03 -1.12292985e-04 9.99992514e-01 7.23331976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.53, Y:158.03, Z:72.33 [[-4.32080634e-01 9.01833234e-01 1.77321329e-03 1.98534878e+02] [-9.01826684e-01 -4.32084258e-01 3.43902612e-03 1.58026739e+02] [ 3.86760560e-03 -1.13194471e-04 9.99992514e-01 7.23336455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.65, Y:158.25, Z:72.33 [[-4.35223309e-01 9.00320787e-01 1.77525879e-03 1.98652904e+02] [-9.00314229e-01 -4.35226917e-01 3.43796989e-03 1.58250178e+02] [ 3.86791617e-03 -1.02006122e-04 9.99992514e-01 7.23330443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:158.27, Z:72.33 [[-4.38917829e-01 8.98525440e-01 1.78134822e-03 1.98661439e+02] [-8.98518880e-01 -4.38921433e-01 3.43481182e-03 1.58265177e+02] [ 3.86813771e-03 -9.29748604e-05 9.99992514e-01 7.23320033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:158.25, Z:72.33 [[-4.39442817e-01 8.98268796e-01 1.78321920e-03 1.98660847e+02] [-8.98262238e-01 -4.39446426e-01 3.43384020e-03 1.58251425e+02] [ 3.86814081e-03 -9.28220600e-05 9.99992514e-01 7.23287985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:158.24, Z:72.33 [[-4.41784540e-01 8.97119409e-01 1.78489083e-03 1.98655568e+02] [-8.97112845e-01 -4.41788138e-01 3.43297108e-03 1.58241519e+02] [ 3.86832858e-03 -8.46149361e-05 9.99992514e-01 7.23337614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.67, Y:158.26, Z:72.33 [[-4.42126227e-01 8.96951062e-01 1.78676124e-03 1.98668210e+02] [-8.96944500e-01 -4.42129829e-01 3.43199731e-03 1.58264919e+02] [ 3.86831407e-03 -8.52496407e-05 9.99992514e-01 7.23316964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:158.24, Z:72.33 [[-4.43517780e-01 8.96263789e-01 1.78862101e-03 1.98657144e+02] [-8.96257225e-01 -4.43521379e-01 3.43102779e-03 1.58241812e+02] [ 3.86839763e-03 -8.13426762e-05 9.99992514e-01 7.23324343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.65, Y:158.23, Z:72.33 [[-4.43660384e-01 8.96193204e-01 1.79046636e-03 1.98654100e+02] [-8.96186643e-01 -4.43663989e-01 3.43006454e-03 1.58232624e+02] [ 3.86836597e-03 -8.28082893e-05 9.99992514e-01 7.23322966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.65, Y:158.23, Z:72.33 [[-4.43266826e-01 8.96387924e-01 1.79165174e-03 1.98654370e+02] [-8.96381368e-01 -4.43270439e-01 3.42944526e-03 1.58231437e+02] [ 3.86829957e-03 -8.58439268e-05 9.99992514e-01 7.23321416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.53, Y:157.99, Z:72.33 [[-4.42232851e-01 8.96898483e-01 1.79341616e-03 1.98525772e+02] [-8.96891935e-01 -4.42236478e-01 3.42852231e-03 1.57987918e+02] [ 3.86815051e-03 -9.22952969e-05 9.99992514e-01 7.23330337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.282755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:198.65, Y:158.22, Z:72.33 [[-4.41708218e-01 8.97156969e-01 1.79560570e-03 1.98650779e+02] [-8.97150427e-01 -4.41711857e-01 3.42737521e-03 1.58223746e+02] [ 3.86803388e-03 -9.70286222e-05 9.99992514e-01 7.23319121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.01, Y:157.71, Z:73.49 [[-4.19644204e-01 9.07686895e-01 1.80056750e-03 1.99013562e+02] [-9.07680456e-01 -4.19648021e-01 3.42476655e-03 1.57706096e+02] [ 3.86422030e-03 -1.97156501e-04 9.99992514e-01 7.34884817e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 328.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.15, Y:157.98, Z:73.49 [[-4.19708126e-01 9.07657498e-01 1.71893391e-03 1.99151957e+02] [-9.07650889e-01 -4.19711633e-01 3.46526070e-03 1.57984218e+02] [ 3.86672642e-03 -1.05793815e-04 9.99992519e-01 7.34880823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.15, Y:157.98, Z:73.49 [[-4.21361502e-01 9.06891123e-01 1.72506819e-03 1.99147814e+02] [-9.06884520e-01 -4.21365020e-01 3.46220426e-03 1.57983235e+02] [ 3.86672570e-03 -1.05598047e-04 9.99992519e-01 7.34889491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.15, Y:157.98, Z:73.48 [[-4.18137498e-01 9.08382106e-01 1.72684019e-03 1.99152310e+02] [-9.08375520e-01 -4.18141046e-01 3.46132021e-03 1.57979254e+02] [ 3.86626411e-03 -1.21311586e-04 9.99992519e-01 7.34849408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.01, Y:157.69, Z:73.49 [[-4.17657793e-01 9.08602763e-01 1.72838046e-03 1.99006156e+02] [-9.08596182e-01 -4.17661350e-01 3.46055092e-03 1.57689706e+02] [ 3.86614384e-03 -1.25073832e-04 9.99992519e-01 7.34895526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.15, Y:157.97, Z:73.49 [[-4.21575939e-01 9.06791455e-01 1.72781499e-03 1.99147347e+02] [-9.06784857e-01 -4.21579465e-01 3.46083323e-03 1.57973376e+02] [ 3.86666532e-03 -1.07752456e-04 9.99992519e-01 7.34889944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70275509600003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:198.94, Y:157.56, Z:73.49 [[-4.22017408e-01 9.06586069e-01 1.73372433e-03 1.98940101e+02] [-9.06579482e-01 -4.22020955e-01 3.45787037e-03 1.57556998e+02] [ 3.86652511e-03 -1.12477414e-04 9.99992519e-01 7.34905941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.14, Y:157.96, Z:73.49 [[-4.26273958e-01 9.04592458e-01 1.73123057e-03 1.99143693e+02] [-9.04585849e-01 -4.26277464e-01 3.45911846e-03 1.57962456e+02] [ 3.86707705e-03 -9.15145575e-05 9.99992519e-01 7.34891079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82275509600004 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:199.14, Y:157.96, Z:73.49 [[-4.28203156e-01 9.03680821e-01 1.74073151e-03 1.99140482e+02] [-9.03674224e-01 -4.28206684e-01 3.45433068e-03 1.57955358e+02] [ 3.86700525e-03 -9.38988984e-05 9.99992519e-01 7.34877554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.00, Y:157.68, Z:73.49 [[-4.31093131e-01 9.02305755e-01 1.74262161e-03 1.99001051e+02] [-9.02299150e-01 -4.31096645e-01 3.45337690e-03 1.57681621e+02] [ 3.86724019e-03 -8.36389398e-05 9.99992519e-01 7.34873660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.14, Y:157.95, Z:73.49 [[-4.30767657e-01 9.02461186e-01 1.74191678e-03 1.99137129e+02] [-9.02454581e-01 -4.30771171e-01 3.45373239e-03 1.57948390e+02] [ 3.86722696e-03 -8.42445682e-05 9.99992519e-01 7.34862941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.14, Y:157.96, Z:73.48 [[-4.28045730e-01 9.03755386e-01 1.74790963e-03 1.99143184e+02] [-9.03748804e-01 -4.28049286e-01 3.45069679e-03 1.57957284e+02] [ 3.86677728e-03 -1.02615217e-04 9.99992519e-01 7.34845559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.13, Y:157.95, Z:73.49 [[-4.30466811e-01 9.02604710e-01 1.74979193e-03 1.99134463e+02] [-9.02598123e-01 -4.30470357e-01 3.44974204e-03 1.57949844e+02] [ 3.86698697e-03 -9.43594552e-05 9.99992519e-01 7.34877009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.13, Y:157.94, Z:73.49 [[-4.32468714e-01 9.01647239e-01 1.75155376e-03 1.99128808e+02] [-9.01640647e-01 -4.32472252e-01 3.44884727e-03 1.57940600e+02] [ 3.86714201e-03 -8.77535238e-05 9.99992519e-01 7.34878152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.13, Y:157.94, Z:73.49 [[-4.35210823e-01 9.00326865e-01 1.75344580e-03 1.99126197e+02] [-9.00320267e-01 -4.35214349e-01 3.44788505e-03 1.57938589e+02] [ 3.86734831e-03 -7.81058960e-05 9.99992519e-01 7.34878608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.13, Y:157.94, Z:73.49 [[-4.36785491e-01 8.99563980e-01 1.75535599e-03 1.99128377e+02] [-8.99557379e-01 -4.36789012e-01 3.44691228e-03 1.57942612e+02] [ 3.86743834e-03 -7.34821583e-05 9.99992519e-01 7.34863548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.12, Y:157.94, Z:73.48 [[-4.39393843e-01 8.98292805e-01 1.75713406e-03 1.99124918e+02] [-8.98286198e-01 -4.39397351e-01 3.44600563e-03 1.57937733e+02] [ 3.86760212e-03 -6.42556198e-05 9.99992519e-01 7.34848114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.12, Y:157.94, Z:73.48 [[-4.40590847e-01 8.97706305e-01 1.75926758e-03 1.99123453e+02] [-8.97699698e-01 -4.40594355e-01 3.44491608e-03 1.57935235e+02] [ 3.86764625e-03 -6.14954864e-05 9.99992519e-01 7.34844003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.12, Y:157.93, Z:73.49 [[-4.40899373e-01 8.97554814e-01 1.76046442e-03 1.99121005e+02] [-8.97548207e-01 -4.40902883e-01 3.44430434e-03 1.57934879e+02] [ 3.86764578e-03 -6.15100612e-05 9.99992519e-01 7.34851141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.482755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:199.52, Y:157.44, Z:74.65 [[-4.02119970e-01 9.15585290e-01 1.76236530e-03 1.99516786e+02] [-9.15578844e-01 -4.02123766e-01 3.44333144e-03 1.57443244e+02] [ 3.86135259e-03 -2.28952055e-04 9.99992519e-01 7.46503509e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 329.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.52, Y:157.46, Z:74.65 [[-4.01935920e-01 9.15666363e-01 1.62123562e-03 1.99520833e+02] [-9.15659644e-01 -4.01939183e-01 3.50854498e-03 1.57455151e+02] [ 3.86429474e-03 -7.42897769e-05 9.99992531e-01 7.46510827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.63, Y:157.69, Z:74.65 [[-4.02987033e-01 9.15204245e-01 1.62502110e-03 1.99628189e+02] [-9.15197530e-01 -4.02990302e-01 3.50679082e-03 1.57691373e+02] [ 3.86429759e-03 -7.40240676e-05 9.99992531e-01 7.46513008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.63, Y:157.69, Z:74.65 [[-4.02838000e-01 9.15269843e-01 1.63093472e-03 1.99625896e+02] [-9.15263139e-01 -4.02841293e-01 3.50403836e-03 1.57690825e+02] [ 3.86414849e-03 -8.11746246e-05 9.99992531e-01 7.46504564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.62, Y:157.68, Z:74.65 [[-4.05140995e-01 9.14252760e-01 1.63273531e-03 1.99623197e+02] [-9.14246051e-01 -4.05144278e-01 3.50319915e-03 1.57683782e+02] [ 3.86430286e-03 -7.34322219e-05 9.99992531e-01 7.46496256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.62, Y:157.68, Z:74.65 [[-4.07725849e-01 9.13102930e-01 1.63453938e-03 1.99623932e+02] [-9.13096215e-01 -4.07729120e-01 3.50235720e-03 1.57682760e+02] [ 3.86446192e-03 -6.44901554e-05 9.99992531e-01 7.46488857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.61, Y:157.66, Z:74.65 [[-4.13404427e-01 9.10546045e-01 1.63671244e-03 1.99614026e+02] [-9.10539315e-01 -4.13407665e-01 3.50134140e-03 1.57658817e+02] [ 3.86476203e-03 -4.28209867e-05 9.99992531e-01 7.46491947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.61, Y:157.65, Z:74.65 [[-4.14989713e-01 9.09824603e-01 1.65244382e-03 1.99613270e+02] [-9.09817896e-01 -4.14993000e-01 3.49390123e-03 1.57654984e+02] [ 3.86458991e-03 -5.34898886e-05 9.99992531e-01 7.46483466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.61, Y:157.65, Z:74.65 [[-4.15792891e-01 9.09457825e-01 1.65424699e-03 1.99611144e+02] [-9.09451119e-01 -4.15796178e-01 3.49304728e-03 1.57649558e+02] [ 3.86460875e-03 -5.20725532e-05 9.99992531e-01 7.46485063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.61, Y:157.65, Z:74.65 [[-4.16298323e-01 9.09226574e-01 1.65617156e-03 1.99611082e+02] [-9.09219869e-01 -4.16301614e-01 3.49213453e-03 1.57647736e+02] [ 3.86460841e-03 -5.20543379e-05 9.99992531e-01 7.46491519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.61, Y:157.65, Z:74.65 [[-4.15911223e-01 9.09403709e-01 1.65809840e-03 1.99612631e+02] [-9.09397009e-01 -4.15914524e-01 3.49121941e-03 1.57647825e+02] [ 3.86455509e-03 -5.58323910e-05 9.99992531e-01 7.46485996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.61, Y:157.65, Z:74.65 [[-4.16205141e-01 9.09269227e-01 1.65930483e-03 1.99613515e+02] [-9.09262528e-01 -4.16208445e-01 3.49064593e-03 1.57649425e+02] [ 3.86455361e-03 -5.59189230e-05 9.99992531e-01 7.46474640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.60, Y:157.62, Z:74.65 [[-4.16980147e-01 9.08914076e-01 1.66122949e-03 1.99597577e+02] [-9.08907378e-01 -4.16983452e-01 3.48972973e-03 1.57615406e+02] [ 3.86456967e-03 -5.47557245e-05 9.99992531e-01 7.46474902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.61, Y:157.64, Z:74.65 [[-4.15802341e-01 9.09453489e-01 1.66305618e-03 1.99608835e+02] [-9.09446799e-01 -4.15805662e-01 3.48885898e-03 1.57638651e+02] [ 3.86446315e-03 -6.17853925e-05 9.99992531e-01 7.46466796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.61, Y:157.64, Z:74.65 [[-4.14335479e-01 9.10122705e-01 1.66501932e-03 1.99611061e+02] [-9.10116024e-01 -4.14338819e-01 3.48792184e-03 1.57640269e+02] [ 3.86431900e-03 -7.01909968e-05 9.99992531e-01 7.46458533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.61, Y:157.64, Z:74.64 [[-4.12716372e-01 9.10858067e-01 1.66693786e-03 1.99610587e+02] [-9.10851396e-01 -4.12719731e-01 3.48700470e-03 1.57638583e+02] [ 3.86414450e-03 -7.91887455e-05 9.99992531e-01 7.46448435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.61, Y:157.63, Z:74.65 [[-4.10597189e-01 9.11815312e-01 1.66885086e-03 1.99606675e+02] [-9.11808653e-01 -4.10600570e-01 3.48608891e-03 1.57631258e+02] [ 3.86390037e-03 -9.02943520e-05 9.99992531e-01 7.46463267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.60, Y:157.63, Z:74.65 [[-4.08552823e-01 9.12733142e-01 1.67388877e-03 1.99604990e+02] [-9.12726500e-01 -4.08556238e-01 3.48366822e-03 1.57628917e+02] [ 3.86353714e-03 -1.04540150e-04 9.99992531e-01 7.46450630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.61, Y:157.63, Z:74.65 [[-4.09332152e-01 9.12383900e-01 1.67579902e-03 1.99606691e+02] [-9.12377259e-01 -4.09335569e-01 3.48274906e-03 1.57625846e+02] [ 3.86356832e-03 -1.03359755e-04 9.99992531e-01 7.46466337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.60, Y:157.62, Z:74.65 [[-4.11011606e-01 9.11628568e-01 1.67756278e-03 1.99604737e+02] [-9.11621923e-01 -4.11015018e-01 3.48189929e-03 1.57623879e+02] [ 3.86370236e-03 -9.82019868e-05 9.99992531e-01 7.46454417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.60, Y:157.62, Z:74.64 [[-4.13085478e-01 9.10690709e-01 1.67947207e-03 1.99603574e+02] [-9.10684061e-01 -4.13088882e-01 3.48097811e-03 1.57621627e+02] [ 3.86386566e-03 -9.15269322e-05 9.99992531e-01 7.46444459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.742755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:199.60, Y:157.62, Z:74.64 [[-4.16615105e-01 9.09081420e-01 1.68138085e-03 1.99602909e+02] [-9.09074762e-01 -4.16618490e-01 3.48005589e-03 1.57618119e+02] [ 3.86414850e-03 -7.86570466e-05 9.99992531e-01 7.46424314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.60, Y:157.61, Z:74.64 [[-4.19975498e-01 9.07533882e-01 1.68317298e-03 1.99602796e+02] [-9.07527216e-01 -4.19978866e-01 3.47918889e-03 1.57609926e+02] [ 3.86437888e-03 -6.63511998e-05 9.99992531e-01 7.46414370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.00, Y:157.13, Z:75.82 [[-3.79752533e-01 9.25086575e-01 1.68608996e-03 2.00000414e+02] [-9.25080069e-01 -3.79756201e-01 3.47777468e-03 1.57134413e+02] [ 3.85754579e-03 -2.39074468e-04 9.99992531e-01 7.58222232e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 330.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.10, Y:157.37, Z:75.82 [[-3.83819264e-01 9.23406979e-01 1.52425074e-03 2.00101538e+02] [-9.23400167e-01 -3.83822288e-01 3.54731565e-03 1.57370933e+02] [ 3.86065744e-03 -4.59653071e-05 9.99992547e-01 7.58211582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.96, Y:157.04, Z:75.82 [[-3.83588382e-01 9.23502891e-01 1.53774184e-03 1.99958407e+02] [-9.23496102e-01 -3.83591459e-01 3.54145767e-03 1.57040323e+02] [ 3.86041103e-03 -6.16365779e-05 9.99992547e-01 7.58228975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.09, Y:157.35, Z:75.82 [[-3.89578951e-01 9.20991790e-01 1.53713989e-03 2.00094323e+02] [-9.20984981e-01 -3.89581982e-01 3.54171892e-03 1.57347428e+02] [ 3.86073605e-03 -3.59036113e-05 9.99992547e-01 7.58204522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.09, Y:157.34, Z:75.82 [[-3.91878920e-01 9.20015482e-01 1.55728805e-03 2.00092423e+02] [-9.20008700e-01 -3.91882012e-01 3.53283753e-03 1.57343423e+02] [ 3.86053840e-03 -4.82739935e-05 9.99992547e-01 7.58204875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.09, Y:157.34, Z:75.82 [[-3.92675588e-01 9.19675733e-01 1.55851535e-03 2.00092108e+02] [-9.19668951e-01 -3.92678678e-01 3.53229602e-03 1.57339662e+02] [ 3.86056268e-03 -4.62717609e-05 9.99992547e-01 7.58187577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.09, Y:157.34, Z:75.81 [[-3.91829233e-01 9.20036639e-01 1.56047377e-03 2.00094171e+02] [-9.20029863e-01 -3.91832336e-01 3.53143064e-03 1.57341622e+02] [ 3.86048966e-03 -5.19647087e-05 9.99992547e-01 7.58139641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.11, Y:157.37, Z:75.81 [[-3.91634392e-01 9.20119591e-01 1.56242747e-03 2.00106807e+02] [-9.20112819e-01 -3.91637505e-01 3.53056604e-03 1.57374717e+02] [ 3.86044818e-03 -5.49184617e-05 9.99992547e-01 7.58147402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.96, Y:157.03, Z:75.81 [[-3.86585854e-01 9.22252097e-01 1.56446728e-03 1.99959067e+02] [-9.22245346e-01 -3.86589012e-01 3.52966192e-03 1.57032753e+02] [ 3.86004397e-03 -7.83052977e-05 9.99992547e-01 7.58124081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.09, Y:157.33, Z:75.81 [[-3.87025422e-01 9.22067719e-01 1.56345860e-03 2.00094461e+02] [-9.22060965e-01 -3.87028572e-01 3.53010866e-03 1.57334331e+02] [ 3.86010239e-03 -7.53623548e-05 9.99992547e-01 7.58101070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.09, Y:157.31, Z:75.80 [[-3.90831736e-01 9.20460803e-01 1.57006453e-03 2.00087968e+02] [-9.20454047e-01 -3.90834884e-01 3.52716813e-03 1.57309422e+02] [ 3.86025600e-03 -6.66430032e-05 9.99992547e-01 7.58041537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.09, Y:157.31, Z:75.80 [[-3.90064524e-01 9.20786150e-01 1.59130338e-03 2.00092221e+02] [-9.20779436e-01 -3.90067759e-01 3.51755992e-03 1.57314434e+02] [ 3.85963661e-03 -9.31640913e-05 9.99992547e-01 7.58029642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.06, Y:157.24, Z:75.81 [[-3.91788081e-01 9.20054108e-01 1.59321407e-03 2.00059532e+02] [-9.20047391e-01 -3.91791310e-01 3.51669430e-03 1.57242122e+02] [ 3.85975647e-03 -8.80335389e-05 9.99992547e-01 7.58056396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.92, Y:156.92, Z:75.81 [[-3.91514865e-01 9.20170401e-01 1.59507388e-03 1.99916472e+02] [-9.20163688e-01 -3.91518104e-01 3.51585054e-03 1.56920187e+02] [ 3.85968190e-03 -9.12213087e-05 9.99992547e-01 7.58071882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.09, Y:157.29, Z:75.80 [[-3.94186697e-01 9.19029005e-01 1.59248901e-03 2.00089619e+02] [-9.19022278e-01 -3.94189907e-01 3.51702095e-03 1.57293923e+02] [ 3.85998736e-03 -7.71700072e-05 9.99992547e-01 7.58049432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.09, Y:157.29, Z:75.81 [[-3.95643018e-01 9.18402985e-01 1.59995902e-03 2.00091970e+02] [-9.18396267e-01 -3.95646245e-01 3.51361942e-03 1.57288794e+02] [ 3.85993634e-03 -7.92573975e-05 9.99992547e-01 7.58054129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.10, Y:157.29, Z:75.80 [[-3.96229249e-01 9.18150215e-01 1.60176208e-03 2.00095149e+02] [-9.18143498e-01 -3.96232479e-01 3.51279726e-03 1.57285062e+02] [ 3.85994572e-03 -7.87744155e-05 9.99992547e-01 7.58042692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.07, Y:157.23, Z:75.80 [[-3.92570402e-01 9.19720560e-01 1.60368331e-03 2.00071794e+02] [-9.19713859e-01 -3.92573666e-01 3.51191995e-03 1.57227900e+02] [ 3.85954882e-03 -9.62539354e-05 9.99992547e-01 7.58001470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.10, Y:157.28, Z:75.80 [[-3.92766830e-01 9.19636690e-01 1.60492643e-03 2.00096648e+02] [-9.19629991e-01 -3.92770098e-01 3.51135176e-03 1.57281981e+02] [ 3.85953502e-03 -9.67959789e-05 9.99992547e-01 7.58032170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.10, Y:157.28, Z:75.80 [[-3.92712823e-01 9.19659750e-01 1.60703840e-03 2.00097390e+02] [-9.19653056e-01 -3.92716098e-01 3.51038491e-03 1.57279895e+02] [ 3.85946956e-03 -9.93446120e-05 9.99992547e-01 7.58035841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.44, Y:156.81, Z:77.02 [[-3.67317249e-01 9.30094323e-01 1.60883287e-03 2.00442123e+02] [-9.30087725e-01 -3.67320714e-01 3.50956230e-03 1.56805641e+02] [ 3.85518161e-03 -2.07232938e-04 9.99992547e-01 7.70204757e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 332.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.56, Y:157.08, Z:77.02 [[-3.69799993e-01 9.29110164e-01 1.50597169e-03 2.00558628e+02] [-9.29103374e-01 -3.69803049e-01 3.55315903e-03 1.57081506e+02] [ 3.85818909e-03 -8.52451949e-05 9.99992554e-01 7.70219903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.56, Y:157.08, Z:77.02 [[-3.72343340e-01 9.28093827e-01 1.51178695e-03 2.00558798e+02] [-9.28087038e-01 -3.72346400e-01 3.55068305e-03 1.57077438e+02] [ 3.85827545e-03 -8.09966829e-05 9.99992554e-01 7.70229239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.46, Y:156.84, Z:77.03 [[-3.73544705e-01 9.27610943e-01 1.51386538e-03 2.00456985e+02] [-9.27604154e-01 -3.73547764e-01 3.54979667e-03 1.56839234e+02] [ 3.85833126e-03 -7.82600649e-05 9.99992554e-01 7.70262901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.55, Y:157.07, Z:77.03 [[-3.74489673e-01 9.27229846e-01 1.51611319e-03 2.00554500e+02] [-9.27223057e-01 -3.74492734e-01 3.54883637e-03 1.57070393e+02] [ 3.85836037e-03 -7.67725345e-05 9.99992554e-01 7.70262034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.55, Y:157.07, Z:77.03 [[-3.71278898e-01 9.28520148e-01 1.52155537e-03 2.00554242e+02] [-9.28513380e-01 -3.71282003e-01 3.54650151e-03 1.57072617e+02] [ 3.85792423e-03 -9.60433482e-05 9.99992554e-01 7.70269516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.55, Y:157.08, Z:77.03 [[-3.66213896e-01 9.30529452e-01 1.52349185e-03 2.00551647e+02] [-9.30522705e-01 -3.66217046e-01 3.54566945e-03 1.57078566e+02] [ 3.85727854e-03 -1.19170334e-04 9.99992554e-01 7.70316877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.88, Y:156.49, Z:78.23 [[-3.55903664e-01 9.34521404e-01 1.52541692e-03 2.00878840e+02] [-9.34514695e-01 -3.55906895e-01 3.54484105e-03 1.56487980e+02] [ 3.85563624e-03 -1.63902611e-04 9.99992554e-01 7.82285139e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 332.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.67, Y:156.96, Z:78.87 [[-3.98052386e-01 2.67975786e-01 8.77350145e-01 2.00671193e+02] [-9.16728957e-01 -1.51739833e-01 -3.69571430e-01 1.56958135e+02] [ 3.40927694e-02 -9.51401073e-01 3.06061566e-01 7.88748466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.00, Y:156.76, Z:78.20 [[-3.75239117e-01 9.26505325e-01 2.79908535e-02 2.01000566e+02] [-9.24394534e-01 -3.76273981e-01 6.25510725e-02 1.56762076e+02] [ 6.84861316e-02 -2.40298275e-03 9.97649175e-01 7.82005250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.00, Y:156.76, Z:78.20 [[-3.80243520e-01 9.24458624e-01 2.81268177e-02 2.00998899e+02] [-9.22346747e-01 -3.81276139e-01 6.24898756e-02 1.56761231e+02] [ 6.84933889e-02 -2.18130853e-03 9.97649186e-01 7.82003529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.00, Y:156.75, Z:78.20 [[-3.86692468e-01 9.21778729e-01 2.81586568e-02 2.00995981e+02] [-9.19660727e-01 -3.87712465e-01 6.24755253e-02 1.56754704e+02] [ 6.85060725e-02 -1.73759572e-03 9.97649186e-01 7.82023251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.98, Y:156.74, Z:78.21 [[-3.95609124e-01 9.17986163e-01 2.81926402e-02 2.00982944e+02] [-9.15859462e-01 -3.96610855e-01 6.24601863e-02 1.56744993e+02] [ 6.85190939e-02 -1.11067670e-03 9.97649187e-01 7.82114317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.99, Y:156.75, Z:78.20 [[-3.96085765e-01 9.17780077e-01 2.82098970e-02 2.00991774e+02] [-9.15653408e-01 -3.97087565e-01 6.24523913e-02 1.56747606e+02] [ 6.85193598e-02 -1.09398521e-03 9.97649187e-01 7.82049262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.99, Y:156.74, Z:78.21 [[-4.00190869e-01 9.15996603e-01 2.82398850e-02 2.00987737e+02] [-9.13866425e-01 -4.01185182e-01 6.24388284e-02 1.56742471e+02] [ 6.85231781e-02 -8.20033715e-04 9.97649188e-01 7.82053556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.99, Y:156.74, Z:78.21 [[-4.01519454e-01 9.15414014e-01 2.82720858e-02 2.00986819e+02] [-9.13283418e-01 -4.02512871e-01 6.24242446e-02 1.56743282e+02] [ 6.85239068e-02 -7.55878519e-04 9.97649188e-01 7.82059695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.98, Y:156.74, Z:78.21 [[-4.00586061e-01 9.15821793e-01 2.83063969e-02 2.00984412e+02] [-9.13693306e-01 -4.01583987e-01 6.24086824e-02 1.56744173e+02] [ 6.85226271e-02 -8.63317089e-04 9.97649189e-01 7.82059031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.98, Y:156.75, Z:78.21 [[-3.97850970e-01 9.17012287e-01 2.83385126e-02 2.00981830e+02] [-9.14887822e-01 -3.98857430e-01 6.23940959e-02 1.56746088e+02] [ 6.85191789e-02 -1.10300851e-03 9.97649190e-01 7.82052350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.98, Y:156.74, Z:78.21 [[-3.95657823e-01 9.17959694e-01 2.83705371e-02 2.00976604e+02] [-9.15838681e-01 -3.96671533e-01 6.23795310e-02 1.56739861e+02] [ 6.85156797e-02 -1.30188586e-03 9.97649190e-01 7.82076443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.98, Y:156.74, Z:78.21 [[-3.95524525e-01 9.18016080e-01 2.84046937e-02 2.00976735e+02] [-9.15896326e-01 -3.96540863e-01 6.23639739e-02 1.56743293e+02] [ 6.85147526e-02 -1.34927347e-03 9.97649191e-01 7.82068774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.98, Y:156.74, Z:78.21 [[-3.95225162e-01 9.18143945e-01 2.84388418e-02 2.00975716e+02] [-9.16025636e-01 -3.96244509e-01 6.23483981e-02 1.56742602e+02] [ 6.85135391e-02 -1.40905240e-03 9.97649192e-01 7.82051875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.97, Y:156.74, Z:78.20 [[-3.94894241e-01 9.18285333e-01 2.84707740e-02 2.00972269e+02] [-9.16168438e-01 -3.95916518e-01 6.23338132e-02 1.56740374e+02] [ 6.85122761e-02 -1.46876073e-03 9.97649192e-01 7.82034561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38275509600004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:200.97, Y:156.74, Z:78.20 [[-3.95113959e-01 9.18189761e-01 2.85047683e-02 2.00968386e+02] [-9.16073736e-01 -3.96138036e-01 6.23182640e-02 1.56735233e+02] [ 6.85118149e-02 -1.48965357e-03 9.97649193e-01 7.82034621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.97, Y:156.73, Z:78.20 [[-3.96015105e-01 9.17800463e-01 2.85367538e-02 2.00966961e+02] [-9.15684484e-01 -3.97039274e-01 6.23036138e-02 1.56734811e+02] [ 6.85124977e-02 -1.45749057e-03 9.97649194e-01 7.82020448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.97, Y:156.73, Z:78.20 [[-3.99417281e-01 9.16323928e-01 2.85708526e-02 2.00967571e+02] [-9.14205278e-01 -4.00435911e-01 6.22879731e-02 1.56733154e+02] [ 6.85167556e-02 -1.24073131e-03 9.97649194e-01 7.82021088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.97, Y:156.73, Z:78.20 [[-4.01852129e-01 9.15257407e-01 2.86137126e-02 2.00966341e+02] [-9.13137452e-01 -4.02868038e-01 6.22682780e-02 1.56730844e+02] [ 6.85190530e-02 -1.10561245e-03 9.97649195e-01 7.82028095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.97, Y:156.73, Z:78.20 [[-4.02945498e-01 9.14775511e-01 2.86476872e-02 2.00965073e+02] [-9.12655450e-01 -4.03961185e-01 6.22526435e-02 1.56727662e+02] [ 6.85197474e-02 -1.06104537e-03 9.97649196e-01 7.82039117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.96, Y:156.72, Z:78.21 [[-4.03490662e-01 9.14534115e-01 2.86816694e-02 2.00964749e+02] [-9.12414557e-01 -4.04507397e-01 6.22369830e-02 1.56721799e+02] [ 6.85197916e-02 -1.05753120e-03 9.97649197e-01 7.82051722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.97, Y:156.72, Z:78.21 [[-4.03994781e-01 9.14310326e-01 2.87201114e-02 2.00965690e+02] [-9.12191464e-01 -4.05012963e-01 6.22192384e-02 1.56719229e+02] [ 6.85197096e-02 -1.06199285e-03 9.97649198e-01 7.82068479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.97, Y:156.71, Z:78.21 [[-4.04494644e-01 9.14088622e-01 2.87414932e-02 2.00965384e+02] [-9.11969903e-01 -4.05513122e-01 6.22093598e-02 1.56713907e+02] [ 6.85199206e-02 -1.04802392e-03 9.97649198e-01 7.82078424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.97, Y:156.70, Z:78.20 [[-4.02355735e-01 9.15031053e-01 2.87755967e-02 2.00969111e+02] [-9.12915844e-01 -4.03381482e-01 6.21935809e-02 1.56704813e+02] [ 6.85166007e-02 -1.24575424e-03 9.97649199e-01 7.82023581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.97, Y:156.71, Z:78.21 [[-4.05326077e-01 9.13718292e-01 2.88037339e-02 2.00969229e+02] [-9.11600684e-01 -4.06346862e-01 6.21805470e-02 1.56709765e+02] [ 6.85198101e-02 -1.05410634e-03 9.97649199e-01 7.82066071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.97, Y:156.71, Z:78.21 [[-4.05154373e-01 9.13793499e-01 2.88335653e-02 2.00970367e+02] [-9.11677064e-01 -4.06177585e-01 6.21667109e-02 1.56709684e+02] [ 6.85190843e-02 -1.09978537e-03 9.97649200e-01 7.82065404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.97, Y:156.70, Z:78.21 [[-4.04923891e-01 9.13894981e-01 2.88549290e-02 2.00968864e+02] [-9.11779507e-01 -4.05949089e-01 6.21567933e-02 1.56703529e+02] [ 6.85184136e-02 -1.14056240e-03 9.97649200e-01 7.82054662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.97, Y:156.70, Z:78.21 [[-4.02905474e-01 9.14785617e-01 2.88869150e-02 2.00969969e+02] [-9.12673472e-01 -4.03937513e-01 6.21419246e-02 1.56704977e+02] [ 6.85150474e-02 -1.32699943e-03 9.97649201e-01 7.82063628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.97, Y:156.70, Z:78.21 [[-4.00953888e-01 9.15641675e-01 2.89188933e-02 2.00968806e+02] [-9.13532804e-01 -4.01992597e-01 6.21270394e-02 1.56703747e+02] [ 6.85112874e-02 -1.50827971e-03 9.97649201e-01 7.82075872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.97, Y:156.70, Z:78.21 [[-3.98192794e-01 9.16844780e-01 2.89507806e-02 2.00967667e+02] [-9.14740122e-01 -3.99240012e-01 6.21121766e-02 1.56703659e+02] [ 6.85055349e-02 -1.74981936e-03 9.97649202e-01 7.82075319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.97, Y:156.70, Z:78.21 [[-3.96218707e-01 9.17698547e-01 2.89847021e-02 2.00967764e+02] [-9.15597297e-01 -3.97272746e-01 6.20963431e-02 1.56702539e+02] [ 6.85005560e-02 -1.93458206e-03 9.97649202e-01 7.82075966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.97, Y:156.70, Z:78.21 [[-3.95718450e-01 9.17913303e-01 2.90185667e-02 2.00966397e+02] [-9.15813779e-01 -3.96775921e-01 6.20805137e-02 1.56701544e+02] [ 6.84983979e-02 -2.00919856e-03 9.97649203e-01 7.82084613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.96, Y:156.70, Z:78.21 [[-3.96398836e-01 9.17618615e-01 2.90523669e-02 2.00964819e+02] [-9.15519459e-01 -3.97457035e-01 6.20646919e-02 1.56698539e+02] [ 6.84987843e-02 -1.99563556e-03 9.97649204e-01 7.82089580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.96, Y:156.69, Z:78.21 [[-3.99567495e-01 9.16242623e-01 2.90735844e-02 2.00964207e+02] [-9.14140541e-01 -4.00619869e-01 6.20547512e-02 1.56693485e+02] [ 6.85046636e-02 -1.78228063e-03 9.97649204e-01 7.82097662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.96, Y:156.69, Z:78.21 [[-4.01322679e-01 9.15474186e-01 2.91053660e-02 2.00963410e+02] [-9.13371165e-01 -4.02373175e-01 6.20398412e-02 1.56690600e+02] [ 6.85070917e-02 -1.68600681e-03 9.97649205e-01 7.82097842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.96, Y:156.68, Z:78.21 [[-4.05896796e-01 9.13454331e-01 2.91371940e-02 2.00960740e+02] [-9.11347150e-01 -4.06938921e-01 6.20248896e-02 1.56680176e+02] [ 6.85139623e-02 -1.37839473e-03 9.97649205e-01 7.82100956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.96, Y:156.68, Z:78.21 [[-4.09174198e-01 9.11989865e-01 2.91712449e-02 2.00961241e+02] [-9.09880093e-01 -4.10211064e-01 6.20088708e-02 1.56680412e+02] [ 6.85178292e-02 -1.16990508e-03 9.97649206e-01 7.82089083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.96, Y:156.68, Z:78.21 [[-4.10339412e-01 9.11465086e-01 2.92055483e-02 2.00960394e+02] [-9.09355135e-01 -4.11375914e-01 6.19927102e-02 1.56679687e+02] [ 6.85186500e-02 -1.12016302e-03 9.97649207e-01 7.82086588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.96, Y:156.68, Z:78.21 [[-4.10692243e-01 9.11305068e-01 2.92396055e-02 2.00957930e+02] [-9.09195855e-01 -4.11730243e-01 6.19766425e-02 1.56676156e+02] [ 6.85184583e-02 -1.13120185e-03 9.97649208e-01 7.82088954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.96, Y:156.67, Z:78.21 [[-4.09874737e-01 9.11671896e-01 2.92754961e-02 2.00956319e+02] [-9.09564820e-01 -4.10917067e-01 6.19596845e-02 1.56673573e+02] [ 6.85167041e-02 -1.23225197e-03 9.97649208e-01 7.82104089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.92, Y:156.59, Z:78.22 [[-4.12013237e-01 9.10706343e-01 2.93095352e-02 2.00918886e+02] [-9.08597967e-01 -4.13052935e-01 6.19435785e-02 1.56594297e+02] [ 6.85187994e-02 -1.10900983e-03 9.97649209e-01 7.82178821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.79, Y:156.32, Z:78.24 [[-4.11585676e-01 9.10898508e-01 2.93451677e-02 2.00786011e+02] [-9.08791819e-01 -4.12628784e-01 6.19266934e-02 1.56316312e+02] [ 6.85175935e-02 -1.18050844e-03 9.97649210e-01 7.82386125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.95, Y:156.66, Z:78.21 [[-4.14926764e-01 9.09382933e-01 2.92995315e-02 2.00948437e+02] [-9.07270908e-01 -4.15959025e-01 6.19482779e-02 1.56655236e+02] [ 6.85221112e-02 -8.78614037e-04 9.97649211e-01 7.82121936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.95, Y:156.65, Z:78.21 [[-4.13742582e-01 9.09911469e-01 2.96343393e-02 2.00947142e+02] [-9.07812179e-01 -4.14800346e-01 6.17877042e-02 1.56650625e+02] [ 6.85136749e-02 -1.33820988e-03 9.97649280e-01 7.82121974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.95, Y:156.65, Z:78.21 [[-4.12743910e-01 9.10363874e-01 2.96661641e-02 2.00948358e+02] [-9.08266838e-01 -4.13806136e-01 6.17724204e-02 1.56648659e+02] [ 6.85114207e-02 -1.44860271e-03 9.97649280e-01 7.82114484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.35, Y:156.23, Z:79.42 [[-3.79979055e-01 9.24518563e-01 2.96874479e-02 2.01345503e+02] [-9.22461571e-01 -3.81116888e-01 6.17621898e-02 1.56232656e+02] [ 6.84146788e-02 -3.91719133e-03 9.97649281e-01 7.94239488e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 335.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.38, Y:156.31, Z:79.42 [[-3.81072537e-01 9.24138089e-01 2.74319790e-02 2.01379441e+02] [-9.22006370e-01 -3.82056129e-01 6.27484483e-02 1.56306246e+02] [ 6.84687868e-02 -1.38074902e-03 9.97652304e-01 7.94156693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.47, Y:156.51, Z:79.40 [[-3.81255733e-01 9.24061009e-01 2.74830277e-02 2.01467638e+02] [-9.21930698e-01 -3.82242366e-01 6.27260817e-02 1.56505539e+02] [ 6.84679039e-02 -1.42276867e-03 9.97652305e-01 7.94021199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.88, Y:156.11, Z:80.62 [[-3.46579120e-01 9.37616296e-01 2.75426109e-02 2.01880330e+02] [-9.35526233e-01 -3.47648370e-01 6.26999084e-02 1.56111115e+02] [ 6.83635996e-02 -4.03635597e-03 9.97652307e-01 8.06183347e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 335.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.99, Y:156.38, Z:80.60 [[-3.48085329e-01 9.37128834e-01 2.50230339e-02 2.01989820e+02] [-9.34962848e-01 -3.48981440e-01 6.36900879e-02 1.56382494e+02] [ 6.84183922e-02 -1.22602183e-03 9.97655963e-01 8.06014747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.99, Y:156.37, Z:80.60 [[-3.49660243e-01 9.36539653e-01 2.51235347e-02 2.01985751e+02] [-9.34374995e-01 -3.50559541e-01 6.36504195e-02 1.56374381e+02] [ 6.84184366e-02 -1.21878142e-03 9.97655969e-01 8.06041387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.98, Y:156.38, Z:80.60 [[-3.49882843e-01 9.36455263e-01 2.51701373e-02 2.01984172e+02] [-9.34291710e-01 -3.50784793e-01 6.36319856e-02 1.56376255e+02] [ 6.84178092e-02 -1.25251054e-03 9.97655970e-01 8.06045044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.98, Y:156.37, Z:80.61 [[-3.49690919e-01 9.36526065e-01 2.52029992e-02 2.01981062e+02] [-9.34363629e-01 -3.50595544e-01 6.36189672e-02 1.56368880e+02] [ 6.84168802e-02 -1.30179065e-03 9.97655971e-01 8.06054692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.42, Y:156.02, Z:81.81 [[-3.15036192e-01 9.48744032e-01 2.52380428e-02 2.02422877e+02] [-9.46617388e-01 -3.16022019e-01 6.36050622e-02 1.56017439e+02] [ 6.83207004e-02 -3.85287353e-03 9.97655971e-01 8.18102909e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 335.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.51, Y:156.26, Z:81.79 [[-3.15786578e-01 9.48550919e-01 2.30215491e-02 2.02512543e+02] [-9.46363511e-01 -3.16621303e-01 6.43976390e-02 1.56260473e+02] [ 6.83735525e-02 -1.45084402e-03 9.97658735e-01 8.17892603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.96, Y:155.92, Z:83.00 [[-2.88350053e-01 9.57243794e-01 2.32070230e-02 2.02961798e+02] [-9.55086544e-01 -2.89259833e-01 6.43307315e-02 1.55915949e+02] [ 6.82930531e-02 -3.61494557e-03 9.97658755e-01 8.30007084e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 335.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.95, Y:155.88, Z:83.00 [[-2.87400293e-01 9.57571092e-01 2.14166903e-02 2.02950546e+02] [-9.55369483e-01 -2.88191524e-01 6.49214654e-02 1.55877432e+02] [ 6.83390271e-02 -1.80240412e-03 9.97660528e-01 8.30035012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.05, Y:156.17, Z:82.98 [[-2.90921385e-01 9.56506145e-01 2.14648911e-02 2.03046454e+02] [-9.54302805e-01 -2.91707780e-01 6.49055250e-02 1.56169463e+02] [ 6.83440093e-02 -1.60160054e-03 9.97660529e-01 8.29827440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.05, Y:156.17, Z:82.98 [[-2.94171609e-01 9.55509289e-01 2.15653328e-02 2.03047911e+02] [-9.53305713e-01 -2.94957326e-01 6.48721357e-02 1.56174753e+02] [ 6.83467812e-02 -1.47481441e-03 9.97660535e-01 8.29795478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.04, Y:156.14, Z:82.98 [[-2.97062873e-01 9.54613360e-01 2.16097862e-02 2.03038101e+02] [-9.52408485e-01 -2.97844934e-01 6.48573244e-02 1.56140959e+02] [ 6.83500337e-02 -1.31464059e-03 9.97660536e-01 8.29801282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.04, Y:156.15, Z:82.98 [[-2.97583904e-01 9.54450257e-01 2.16454877e-02 2.03041351e+02] [-9.52245817e-01 -2.98367187e-01 6.48454073e-02 1.56146064e+02] [ 6.83500189e-02 -1.31487567e-03 9.97660536e-01 8.29777570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.04, Y:156.16, Z:82.98 [[-2.99046979e-01 9.53992039e-01 2.16816393e-02 2.03042171e+02] [-9.51787271e-01 -2.99829337e-01 6.48333174e-02 1.56156954e+02] [ 6.83512603e-02 -1.24810062e-03 9.97660537e-01 8.29834921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.04, Y:156.14, Z:82.98 [[-2.95675642e-01 9.55041502e-01 2.17173872e-02 2.03040251e+02] [-9.52840383e-01 -2.96468208e-01 6.48213407e-02 1.56143906e+02] [ 6.83455854e-02 -1.52711195e-03 9.97660538e-01 8.29792025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.04, Y:156.15, Z:82.99 [[-2.96096164e-01 9.54910446e-01 2.17509062e-02 2.03039361e+02] [-9.52709798e-01 -2.96890034e-01 6.48100915e-02 1.56149852e+02] [ 6.83454606e-02 -1.53228193e-03 9.97660539e-01 8.29854204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.03, Y:156.14, Z:82.99 [[-2.98257890e-01 9.54236694e-01 2.17844654e-02 2.03034879e+02] [-9.52035072e-01 -2.99049053e-01 6.47988093e-02 1.56142647e+02] [ 6.83480254e-02 -1.41281893e-03 9.97660539e-01 8.29869879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.49, Y:155.80, Z:84.19 [[-2.68158124e-01 9.63127769e-01 2.18201942e-02 2.03491852e+02] [-9.60953016e-01 -2.69020400e-01 6.47867760e-02 1.55798997e+02] [ 6.82680204e-02 -3.59508110e-03 9.97660540e-01 8.41939376e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 336.44275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.58, Y:156.07, Z:84.18 [[-2.70780189e-01 9.62432219e-01 2.00577442e-02 2.03577000e+02] [-9.60213773e-01 -2.71517511e-01 6.53280246e-02 1.56073519e+02] [ 6.83198245e-02 -1.57018740e-03 9.97662235e-01 8.41750628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.58, Y:156.07, Z:84.17 [[-2.72167773e-01 9.62038660e-01 2.01573792e-02 2.03576172e+02] [-9.59821407e-01 -2.72908655e-01 6.52972675e-02 1.56065746e+02] [ 6.83196190e-02 -1.57567218e-03 9.97662241e-01 8.41691365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.57, Y:156.06, Z:84.17 [[-2.74451401e-01 9.61388875e-01 2.01955308e-02 2.03574666e+02] [-9.59170730e-01 -2.75189606e-01 6.52854657e-02 1.56057925e+02] [ 6.83223206e-02 -1.45327447e-03 9.97662242e-01 8.41691296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.58, Y:156.06, Z:84.17 [[-2.77232024e-01 9.60589972e-01 2.02314340e-02 2.03576548e+02] [-9.58370506e-01 -2.77966246e-01 6.52743377e-02 1.56064840e+02] [ 6.83255300e-02 -1.29307292e-03 9.97662242e-01 8.41704134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.58, Y:156.06, Z:84.17 [[-2.79886018e-01 9.59819283e-01 2.02672545e-02 2.03575172e+02] [-9.57598596e-01 -2.80616538e-01 6.52632139e-02 1.56060718e+02] [ 6.83282179e-02 -1.14163337e-03 9.97662243e-01 8.41694656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.57, Y:156.06, Z:84.18 [[-2.82982919e-01 9.58910037e-01 2.03029244e-02 2.03572646e+02] [-9.56687796e-01 -2.83708693e-01 6.52521154e-02 1.56056804e+02] [ 6.83310245e-02 -9.58325977e-04 9.97662244e-01 8.41763408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.57, Y:156.05, Z:84.18 [[-2.82697246e-01 9.58993538e-01 2.03386814e-02 2.03569946e+02] [-9.56772310e-01 -2.83426115e-01 6.52409683e-02 1.56052497e+02] [ 6.83301804e-02 -1.01604518e-03 9.97662245e-01 8.41777438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.57, Y:156.07, Z:84.18 [[-2.82687740e-01 9.58995579e-01 2.03745259e-02 2.03571902e+02] [-9.56775161e-01 -2.83419069e-01 6.52297723e-02 1.56066509e+02] [ 6.83295924e-02 -1.05418335e-03 9.97662245e-01 8.41775018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.57, Y:156.05, Z:84.18 [[-2.79533119e-01 9.59919138e-01 2.04079208e-02 2.03568635e+02] [-9.57701894e-01 -2.80274012e-01 6.52193227e-02 1.56051702e+02] [ 6.83250859e-02 -1.31374367e-03 9.97662246e-01 8.41795403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.57, Y:156.05, Z:84.18 [[-2.77961132e-01 9.60374758e-01 2.04434324e-02 2.03570616e+02] [-9.58159542e-01 -2.78708064e-01 6.52081895e-02 1.56049384e+02] [ 6.83220487e-02 -1.46272769e-03 9.97662247e-01 8.41769882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.57, Y:156.05, Z:84.18 [[-2.79362900e-01 9.59965887e-01 2.05393673e-02 2.03570388e+02] [-9.57751784e-01 -2.80113109e-01 6.51779581e-02 1.56048311e+02] [ 6.83219624e-02 -1.46331229e-03 9.97662252e-01 8.41780689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.57, Y:156.04, Z:84.18 [[-2.80984658e-01 9.59491735e-01 2.05726339e-02 2.03569217e+02] [-9.57277130e-01 -2.81733384e-01 6.51674563e-02 1.56039909e+02] [ 6.83236334e-02 -1.38265656e-03 9.97662252e-01 8.41782267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.47, Y:155.75, Z:84.20 [[-2.83483590e-01 9.58755915e-01 2.05949130e-02 2.03474148e+02] [-9.56539875e-01 -2.84228057e-01 6.51604146e-02 1.55745299e+02] [ 6.83265851e-02 -1.22794726e-03 9.97662252e-01 8.41998463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.48, Y:155.75, Z:84.20 [[-2.87126604e-01 9.57671446e-01 2.05843173e-02 2.03475655e+02] [-9.55452353e-01 -2.87861920e-01 6.51637617e-02 1.55749962e+02] [ 6.83309150e-02 -9.57084833e-04 9.97662252e-01 8.41995546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.54, Y:155.95, Z:84.19 [[-2.90202940e-01 9.56740874e-01 2.07160203e-02 2.03536790e+02] [-9.54522398e-01 -2.90940086e-01 6.51218661e-02 1.55945730e+02] [ 6.83318718e-02 -8.75348328e-04 9.97662262e-01 8.41884472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.56, Y:156.02, Z:84.19 [[-2.90684277e-01 9.56593316e-01 2.07816799e-02 2.03559386e+02] [-9.54375960e-01 -2.91424775e-01 6.51009063e-02 1.56019796e+02] [ 6.83313882e-02 -9.09725858e-04 9.97662264e-01 8.41853144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.02, Y:155.67, Z:85.38 [[-2.44508791e-01 9.69423597e-01 2.08168546e-02 2.04020107e+02] [-9.67245189e-01 -2.45357049e-01 6.50896568e-02 1.55674535e+02] [ 6.82070112e-02 -4.22000922e-03 9.97662265e-01 8.53792189e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 337.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.09, Y:155.94, Z:85.36 [[-2.48334277e-01 9.68510378e-01 1.78251115e-02 2.04092065e+02] [-9.66266206e-01 -2.48971706e-01 6.58992343e-02 1.55936609e+02] [ 6.82620408e-02 -8.58764142e-04 9.97667057e-01 8.53602146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.09, Y:155.94, Z:85.36 [[-2.47576910e-01 9.68699713e-01 1.80704085e-02 2.04091742e+02] [-9.66460891e-01 -2.48232768e-01 6.58319043e-02 1.55937608e+02] [ 6.82570143e-02 -1.16588366e-03 9.97667089e-01 8.53615070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.09, Y:155.93, Z:85.36 [[-2.48067629e-01 9.68573530e-01 1.81044083e-02 2.04090586e+02] [-9.66335053e-01 -2.48724662e-01 6.58225527e-02 1.55934267e+02] [ 6.82569950e-02 -1.16647978e-03 9.97667090e-01 8.53615555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.06, Y:155.84, Z:85.37 [[-2.49703233e-01 9.68152475e-01 1.81405901e-02 2.04063298e+02] [-9.65913611e-01 -2.50358943e-01 6.58125796e-02 1.55836050e+02] [ 6.82582708e-02 -1.08862899e-03 9.97667090e-01 8.53652904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.09, Y:155.93, Z:85.36 [[-2.51549362e-01 9.67673731e-01 1.81787850e-02 2.04088808e+02] [-9.65434379e-01 -2.52203398e-01 6.58020278e-02 1.55927403e+02] [ 6.82596451e-02 -9.97965872e-04 9.97667091e-01 8.53603085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.09, Y:155.92, Z:85.36 [[-2.53420376e-01 9.67184467e-01 1.82296698e-02 2.04087578e+02] [-9.64944861e-01 -2.54073540e-01 6.57879278e-02 1.55921751e+02] [ 6.82607386e-02 -9.18624835e-04 9.97667093e-01 8.53614139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.01, Y:155.64, Z:85.38 [[-2.58470815e-01 9.65846362e-01 1.82659102e-02 2.04008814e+02] [-9.63604082e-01 -2.59114736e-01 6.57778642e-02 1.55643096e+02] [ 6.82642773e-02 -5.99447409e-04 9.97667093e-01 8.53796189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.08, Y:155.91, Z:85.36 [[-2.57028901e-01 9.66230271e-01 1.83086982e-02 2.04084678e+02] [-9.63989798e-01 -2.57679080e-01 6.57659525e-02 1.55910462e+02] [ 6.82628225e-02 -7.45647817e-04 9.97667094e-01 8.53620335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.09, Y:155.91, Z:85.36 [[-2.56611929e-01 9.66339408e-01 1.83974786e-02 2.04085211e+02] [-9.64100985e-01 -2.57269115e-01 6.57411078e-02 1.55912605e+02] [ 6.82613262e-02 -8.67074794e-04 9.97667099e-01 8.53608526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.97, Y:155.49, Z:85.39 [[-2.51751491e-01 9.67616341e-01 1.84337626e-02 2.03967424e+02] [-9.65381989e-01 -2.52422384e-01 6.57309323e-02 1.55493303e+02] [ 6.82554185e-02 -1.24776223e-03 9.97667099e-01 8.53896764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.08, Y:155.91, Z:85.36 [[-2.51666429e-01 9.67639364e-01 1.83866534e-02 2.04081363e+02] [-9.65404114e-01 -2.52334319e-01 6.57441074e-02 1.55907653e+02] [ 6.82561699e-02 -1.20496612e-03 9.97667100e-01 8.53624934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.08, Y:155.91, Z:85.36 [[-2.50091859e-01 9.68044473e-01 1.85461935e-02 2.04079913e+02] [-9.65813609e-01 -2.50774211e-01 6.56990718e-02 1.55907050e+02] [ 6.82505303e-02 -1.48136303e-03 9.97667114e-01 8.53626933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.08, Y:155.91, Z:85.36 [[-2.47485085e-01 9.68713494e-01 1.85822301e-02 2.04077840e+02] [-9.66485232e-01 -2.48175882e-01 6.56888777e-02 1.55906572e+02] [ 6.82453636e-02 -1.70243352e-03 9.97667115e-01 8.53632243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.00, Y:155.63, Z:85.38 [[-2.47920916e-01 9.68601611e-01 1.86048053e-02 2.03998528e+02] [-9.66373513e-01 -2.48612240e-01 6.56824832e-02 1.55629331e+02] [ 6.82455414e-02 -1.69512962e-03 9.97667115e-01 8.53818767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.07, Y:155.89, Z:85.36 [[-2.50545902e-01 9.67925423e-01 1.86313397e-02 2.04071262e+02] [-9.65696013e-01 -2.51232983e-01 6.56749557e-02 1.55885452e+02] [ 6.82492663e-02 -1.53761941e-03 9.97667116e-01 8.53637457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.07, Y:155.89, Z:85.36 [[-2.53384086e-01 9.67183715e-01 1.87661055e-02 2.04070004e+02] [-9.64955118e-01 -2.54073768e-01 6.56364255e-02 1.55889366e+02] [ 6.82504570e-02 -1.47722390e-03 9.97667125e-01 8.53618264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.07, Y:155.88, Z:85.36 [[-2.56599759e-01 9.66335110e-01 1.87887814e-02 2.04066702e+02] [-9.64104704e-01 -2.57283564e-01 6.56299338e-02 1.55881937e+02] [ 6.82545539e-02 -1.27372735e-03 9.97667126e-01 8.53596734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.99, Y:155.60, Z:85.38 [[-2.60282807e-01 9.65348936e-01 1.88226766e-02 2.03987998e+02] [-9.63116636e-01 -2.60960405e-01 6.56202112e-02 1.55603596e+02] [ 6.82583744e-02 -1.04862025e-03 9.97667126e-01 8.53785825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.06, Y:155.87, Z:85.36 [[-2.65173712e-01 9.64016080e-01 1.88653378e-02 2.04062523e+02] [-9.61781242e-01 -2.65842887e-01 6.56079442e-02 1.55874450e+02] [ 6.82623290e-02 -7.46825928e-04 9.97667127e-01 8.53598135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.06, Y:155.87, Z:85.36 [[-2.62780737e-01 9.64669100e-01 1.89686893e-02 2.04061695e+02] [-9.62438071e-01 -2.63462482e-01 6.55780498e-02 1.55872557e+02] [ 6.82586563e-02 -1.02354045e-03 9.97667133e-01 8.53623922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.06, Y:155.88, Z:85.36 [[-2.61955010e-01 9.64892938e-01 1.90050137e-02 2.04064657e+02] [-9.62663252e-01 -2.62641132e-01 6.55675211e-02 1.55881318e+02] [ 6.82571364e-02 -1.11968766e-03 9.97667134e-01 8.53604419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.06, Y:155.87, Z:85.36 [[-2.60496264e-01 9.65287340e-01 1.90275471e-02 2.04062909e+02] [-9.63059167e-01 -2.61187286e-01 6.55609813e-02 1.55871624e+02] [ 6.82549387e-02 -1.24626293e-03 9.97667134e-01 8.53637642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.07, Y:155.87, Z:85.36 [[-2.59715854e-01 9.65496943e-01 1.90611840e-02 2.04066750e+02] [-9.63270041e-01 -2.60410959e-01 6.55512003e-02 1.55870508e+02] [ 6.82532247e-02 -1.33638153e-03 9.97667135e-01 8.53611048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.07, Y:155.87, Z:85.36 [[-2.63756426e-01 9.64400069e-01 1.91064124e-02 2.04067439e+02] [-9.62171225e-01 -2.64445273e-01 6.55380149e-02 1.55865922e+02] [ 6.82574665e-02 -1.09756763e-03 9.97667136e-01 8.53608881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.07, Y:155.85, Z:85.36 [[-2.64599181e-01 9.64168518e-01 1.91400528e-02 2.04066158e+02] [-9.61939779e-01 -2.65288366e-01 6.55281890e-02 1.55850731e+02] [ 6.82578502e-02 -1.07287300e-03 9.97667136e-01 8.53578603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.07, Y:155.86, Z:85.36 [[-2.67707524e-01 9.63309377e-01 1.91761670e-02 2.04065457e+02] [-9.61079180e-01 -2.68391974e-01 6.55176189e-02 1.55855341e+02] [ 6.82604659e-02 -8.90255296e-04 9.97667137e-01 8.53612544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.06, Y:155.85, Z:85.36 [[-2.68088852e-01 9.63202691e-01 1.92078890e-02 2.04064363e+02] [-9.60972886e-01 -2.68774575e-01 6.55083176e-02 1.55854341e+02] [ 6.82603800e-02 -8.96210846e-04 9.97667138e-01 8.53606735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.53, Y:155.42, Z:86.57 [[-2.18616773e-01 9.75621020e-01 1.92439922e-02 2.04526817e+02] [-9.73429970e-01 -2.19417737e-01 6.54977101e-02 1.55420708e+02] [ 6.81234160e-02 -4.41378077e-03 9.97667138e-01 8.65704764e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 339.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.54, Y:155.47, Z:86.56 [[-2.16056994e-01 9.76251949e-01 1.58590032e-02 2.04540847e+02] [-9.73998156e-01 -2.16635356e-01 6.63077319e-02 1.55470250e+02] [ 6.81686733e-02 -1.12039069e-03 9.97673181e-01 8.65641635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:155.76, Z:86.54 [[-2.29534409e-01 9.73170114e-01 1.59337560e-02 2.04611625e+02] [-9.70909781e-01 -2.30086646e-01 6.62897641e-02 1.55755482e+02] [ 6.81773618e-02 -2.54457658e-04 9.97673184e-01 8.65439015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:155.75, Z:86.55 [[-2.28223906e-01 9.73462597e-01 1.68647850e-02 2.04609331e+02] [-9.71219982e-01 -2.28842456e-01 6.60520811e-02 1.55745761e+02] [ 6.81586092e-02 -1.30475230e-03 9.97673645e-01 8.65468607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:155.75, Z:86.55 [[-2.28499665e-01 9.73397237e-01 1.69032966e-02 2.04608529e+02] [-9.71155169e-01 -2.29120192e-01 6.60422242e-02 1.55746349e+02] [ 6.81582052e-02 -1.32509774e-03 9.97673646e-01 8.65457935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:155.74, Z:86.55 [[-2.26972942e-01 9.73753737e-01 1.69394273e-02 2.04606592e+02] [-9.71513328e-01 -2.27599433e-01 6.60329556e-02 1.55739682e+02] [ 6.81552414e-02 -1.46918522e-03 9.97673646e-01 8.65480824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:155.73, Z:86.55 [[-2.28895763e-01 9.73303147e-01 1.69621208e-02 2.04605885e+02] [-9.71061933e-01 -2.29519367e-01 6.60271258e-02 1.55734984e+02] [ 6.81575446e-02 -1.35794042e-03 9.97673647e-01 8.65470039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:155.73, Z:86.55 [[-2.33283968e-01 9.72259652e-01 1.70222903e-02 2.04605634e+02] [-9.70016771e-01 -2.33901541e-01 6.60116101e-02 1.55727614e+02] [ 6.81619651e-02 -1.11245665e-03 9.97673649e-01 8.65457074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.60, Y:155.72, Z:86.55 [[-2.35175996e-01 9.71802847e-01 1.70726975e-02 2.04604076e+02] [-9.69559708e-01 -2.35792625e-01 6.59985708e-02 1.55724138e+02] [ 6.81632151e-02 -1.03171995e-03 9.97673650e-01 8.65458927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.60, Y:155.72, Z:86.55 [[-2.35562969e-01 9.71708519e-01 1.71067522e-02 2.04603326e+02] [-9.69465771e-01 -2.36181016e-01 6.59897427e-02 1.55720416e+02] [ 6.81630853e-02 -1.03967105e-03 9.97673651e-01 8.65478107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.60, Y:155.72, Z:86.55 [[-2.39021005e-01 9.70863295e-01 1.71295502e-02 2.04600165e+02] [-9.68618783e-01 -2.39632613e-01 6.59838243e-02 1.55723226e+02] [ 6.81660719e-02 -8.20484118e-04 9.97673651e-01 8.65498662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:155.72, Z:86.55 [[-2.35770623e-01 9.71657111e-01 1.71660036e-02 2.04605656e+02] [-9.69415343e-01 -2.36392213e-01 6.59743394e-02 1.55716837e+02] [ 6.81623457e-02 -1.08617617e-03 9.97673651e-01 8.65493408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:155.71, Z:86.55 [[-2.36507420e-01 9.71477631e-01 1.71887364e-02 2.04606980e+02] [-9.69235820e-01 -2.37128854e-01 6.59684162e-02 1.55714271e+02] [ 6.81627861e-02 -1.05791909e-03 9.97673652e-01 8.65502156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.862755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:155.71, Z:86.55 [[-2.38124842e-01 9.71081838e-01 1.72227756e-02 2.04607337e+02] [-9.68839634e-01 -2.38744853e-01 6.59595282e-02 1.55709461e+02] [ 6.81639489e-02 -9.79505335e-04 9.97673652e-01 8.65480706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:155.71, Z:86.55 [[-2.40226681e-01 9.70563415e-01 1.72568413e-02 2.04608248e+02] [-9.68320511e-01 -2.40844151e-01 6.59506145e-02 1.55707445e+02] [ 6.81654630e-02 -8.67056121e-04 9.97673653e-01 8.65488924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.982755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:155.70, Z:86.55 [[-2.41491142e-01 9.70248964e-01 1.72909451e-02 2.04606188e+02] [-9.68005893e-01 -2.42108007e-01 6.59416720e-02 1.55701298e+02] [ 6.81661152e-02 -8.13407015e-04 9.97673654e-01 8.65459572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:155.70, Z:86.55 [[-2.40790343e-01 9.70422472e-01 1.73273224e-02 2.04605837e+02] [-9.68180531e-01 -2.41411299e-01 6.59321119e-02 1.55704715e+02] [ 6.81650145e-02 -9.00160370e-04 9.97673654e-01 8.65470864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:155.71, Z:86.54 [[-2.35951255e-01 9.71609791e-01 1.73614322e-02 2.04609604e+02] [-9.69371628e-01 -2.36585689e-01 6.59231288e-02 1.55710598e+02] [ 6.81590239e-02 -1.27503482e-03 9.97673655e-01 8.65399001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.52, Y:155.39, Z:86.57 [[-2.37734363e-01 9.71174432e-01 1.73952705e-02 2.04520767e+02] [-9.68935756e-01 -2.38366984e-01 6.59141987e-02 1.55393359e+02] [ 6.81606426e-02 -1.18482957e-03 9.97673656e-01 8.65671254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.222755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:204.60, Y:155.70, Z:86.55 [[-2.37466703e-01 9.71240107e-01 1.73844648e-02 2.04598294e+02] [-9.69001398e-01 -2.38099207e-01 6.59170485e-02 1.55697467e+02] [ 6.81605086e-02 -1.19246659e-03 9.97673656e-01 8.65457857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.60, Y:155.70, Z:86.55 [[-2.36557885e-01 9.71459961e-01 1.74903111e-02 2.04601916e+02] [-9.69223899e-01 -2.37199661e-01 6.58889519e-02 1.55698291e+02] [ 6.81571745e-02 -1.36547646e-03 9.97673662e-01 8.65460145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.60, Y:155.70, Z:86.55 [[-2.40222122e-01 9.70559955e-01 1.75130145e-02 2.04599217e+02] [-9.68321924e-01 -2.40856997e-01 6.58829169e-02 1.55695481e+02] [ 6.81614529e-02 -1.13170172e-03 9.97673662e-01 8.65460150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.60, Y:155.69, Z:86.55 [[-2.43055189e-01 9.69853742e-01 1.75469205e-02 2.04599038e+02] [-9.67614514e-01 -2.43685829e-01 6.58738854e-02 1.55691402e+02] [ 6.81639701e-02 -9.67665308e-04 9.97673662e-01 8.65456483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.09, Y:155.37, Z:87.76 [[-1.89721404e-01 9.81680550e-01 1.75808528e-02 2.05088608e+02] [-9.79479885e-01 -1.90475668e-01 6.58648281e-02 1.55371992e+02] [ 6.80069453e-02 -4.72412403e-03 9.97673663e-01 8.77612197e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 340.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.10, Y:155.40, Z:87.76 [[-1.92043265e-01 9.81293150e-01 1.35328321e-02 2.05100225e+02] [-9.79024668e-01 -1.92518980e-01 6.66868890e-02 1.55403095e+02] [ 6.80447144e-02 -4.42208600e-04 9.97682174e-01 8.77577227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.582755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:155.64, Z:87.74 [[-1.93483957e-01 9.81009441e-01 1.35806607e-02 2.05149948e+02] [-9.78740944e-01 -1.93959592e-01 6.66771475e-02 1.55636543e+02] [ 6.80450106e-02 -3.90990285e-04 9.97682176e-01 8.77425020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:155.63, Z:87.74 [[-1.91716468e-01 9.81355411e-01 1.36511194e-02 2.05150893e+02] [-9.79088794e-01 -1.92200975e-01 6.66627192e-02 1.55631756e+02] [ 6.80435786e-02 -5.85316920e-04 9.97682178e-01 8.77440918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:155.63, Z:87.74 [[-1.88574357e-01 9.81963518e-01 1.36879568e-02 2.05149891e+02] [-9.79699009e-01 -1.89068617e-01 6.66551545e-02 1.55634535e+02] [ 6.80408931e-02 -8.40624805e-04 9.97682179e-01 8.77446593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76275509600003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:155.64, Z:87.74 [[-1.83136137e-01 9.82991944e-01 1.37110457e-02 2.05149289e+02] [-9.80730557e-01 -1.83644489e-01 6.66504048e-02 1.55637662e+02] [ 6.80347689e-02 -1.24074383e-03 9.97682179e-01 8.77443465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:155.64, Z:87.74 [[-1.80258887e-01 9.83523125e-01 1.37476226e-02 2.05149720e+02] [-9.81263801e-01 -1.80776330e-01 6.66428594e-02 1.55636361e+02] [ 6.80300381e-02 -1.47707680e-03 9.97682180e-01 8.77441260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:155.63, Z:87.75 [[-1.80271912e-01 9.83520258e-01 1.37818466e-02 2.05147360e+02] [-9.81261461e-01 -1.80791643e-01 6.66357811e-02 1.55626715e+02] [ 6.80292834e-02 -1.51103529e-03 9.97682181e-01 8.77452247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.62, Z:87.74 [[-1.83141704e-01 9.82988379e-01 1.38911198e-02 2.05144554e+02] [-9.80729774e-01 -1.83662243e-01 6.66129943e-02 1.55617389e+02] [ 6.80310735e-02 -1.42381747e-03 9.97682187e-01 8.77427874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:155.62, Z:87.74 [[-1.84501137e-01 9.82733643e-01 1.39254179e-02 2.05148096e+02] [-9.80474854e-01 -1.85020876e-01 6.66058236e-02 1.55620459e+02] [ 6.80322767e-02 -1.36467187e-03 9.97682187e-01 8.77417066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:155.61, Z:87.74 [[-1.86865979e-01 9.82286227e-01 1.39597280e-02 2.05146194e+02] [-9.80026725e-01 -1.87382605e-01 6.65986319e-02 1.55605968e+02] [ 6.80347291e-02 -1.23588790e-03 9.97682188e-01 8.77423242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:155.63, Z:87.75 [[-1.90775317e-01 9.81534137e-01 1.39827365e-02 2.05146954e+02] [-9.79272947e-01 -1.91284504e-01 6.65938008e-02 1.55625091e+02] [ 6.80387696e-02 -9.88462155e-04 9.97682188e-01 8.77455566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.182755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:155.61, Z:87.74 [[-1.83955784e-01 9.82834414e-01 1.40279645e-02 2.05151090e+02] [-9.80577530e-01 -1.84483721e-01 6.65842723e-02 1.55614626e+02] [ 6.80292453e-02 -1.50694477e-03 9.97682189e-01 8.77405619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:155.61, Z:87.74 [[-1.82144497e-01 9.83171317e-01 1.40550462e-02 2.05150826e+02] [-9.80915842e-01 -1.82678424e-01 6.65785552e-02 1.55611731e+02] [ 6.80256795e-02 -1.65990008e-03 9.97682190e-01 8.77417484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.302755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:155.61, Z:87.74 [[-1.81642597e-01 9.83263647e-01 1.40913763e-02 2.05149666e+02] [-9.81009031e-01 -1.82180134e-01 6.65708651e-02 1.55609321e+02] [ 6.80238804e-02 -1.73166259e-03 9.97682190e-01 8.77414264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:155.60, Z:87.75 [[-1.83414648e-01 9.82934080e-01 1.41301527e-02 2.05146775e+02] [-9.80679122e-01 -1.83950745e-01 6.65626336e-02 1.55596434e+02] [ 6.80259331e-02 -1.64858373e-03 9.97682191e-01 8.77451261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:155.60, Z:87.74 [[-1.86212971e-01 9.82407111e-01 1.41773564e-02 2.05146883e+02] [-9.80151389e-01 -1.86745841e-01 6.65525781e-02 1.55600410e+02] [ 6.80292883e-02 -1.50300224e-03 9.97682192e-01 8.77449456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:155.59, Z:87.75 [[-1.91550906e-01 9.81379683e-01 1.42185557e-02 2.05145321e+02] [-9.79121744e-01 -1.92074298e-01 6.65437750e-02 1.55594787e+02] [ 6.80357279e-02 -1.17517665e-03 9.97682193e-01 8.77462687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.59, Z:87.75 [[-1.97285817e-01 9.80242402e-01 1.42527287e-02 2.05143481e+02] [-9.77981966e-01 -1.97798317e-01 6.65364549e-02 1.55590445e+02] [ 6.80410201e-02 -8.12212783e-04 9.97682194e-01 8.77466459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.602755096 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.58, Z:87.74 [[-2.01814678e-01 9.79319518e-01 1.42870029e-02 2.05139617e+02] [-9.77057256e-01 -2.02319052e-01 6.65290946e-02 1.55584687e+02] [ 6.80437737e-02 -5.32672097e-04 9.97682194e-01 8.77443544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.58, Z:87.75 [[-2.03109690e-01 9.79051182e-01 1.43260997e-02 2.05138178e+02] [-9.76788846e-01 -2.03613729e-01 6.65206746e-02 1.55580954e+02] [ 6.80441357e-02 -4.82580788e-04 9.97682195e-01 8.77464639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.722755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.58, Z:87.74 [[-2.03419256e-01 9.78986372e-01 1.43627971e-02 2.05137643e+02] [-9.76724434e-01 -2.03925072e-01 6.65127502e-02 1.55579737e+02] [ 6.80440105e-02 -4.98520725e-04 9.97682196e-01 8.77448418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.782755096 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.58, Z:87.74 [[-2.02588265e-01 9.79158133e-01 1.43995077e-02 2.05137272e+02] [-9.76897187e-01 -2.03098494e-01 6.65048018e-02 1.55578229e+02] [ 6.80432358e-02 -5.93746218e-04 9.97682197e-01 8.77449058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.57, Z:87.75 [[-2.02321681e-01 9.79212745e-01 1.44339301e-02 2.05137479e+02] [-9.76952467e-01 -2.02834864e-01 6.64973301e-02 1.55573036e+02] [ 6.80427373e-02 -6.47412042e-04 9.97682197e-01 8.77471857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.902755096 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.58, Z:87.74 [[-2.00286107e-01 9.79630582e-01 1.44706322e-02 2.05138835e+02] [-9.77371949e-01 -2.00806476e-01 6.64893423e-02 1.55575419e+02] [ 6.80407898e-02 -8.26298515e-04 9.97682198e-01 8.77435608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.962755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.58, Z:87.75 [[-1.99085302e-01 9.79874812e-01 1.45050308e-02 2.05139585e+02] [-9.77617361e-01 -1.99610773e-01 6.64818373e-02 1.55575217e+02] [ 6.80392382e-02 -9.44813333e-04 9.97682199e-01 8.77452823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.022755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.57, Z:87.75 [[-1.95986750e-01 9.80498920e-01 1.45279386e-02 2.05140850e+02] [-9.78243509e-01 -1.96520908e-01 6.64768310e-02 1.55574477e+02] [ 6.80355047e-02 -1.18328360e-03 9.97682199e-01 8.77459930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.57, Z:87.75 [[-1.94014902e-01 9.80890495e-01 1.45621353e-02 2.05140286e+02] [-9.78636718e-01 -1.94555909e-01 6.64693392e-02 1.55570301e+02] [ 6.80322925e-02 -1.35499799e-03 9.97682199e-01 8.77475885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.57, Z:87.75 [[-1.92057191e-01 9.81275149e-01 1.45985604e-02 2.05141539e+02] [-9.79023055e-01 -1.92605161e-01 6.64613383e-02 1.55572087e+02] [ 6.80286177e-02 -1.52794931e-03 9.97682200e-01 8.77461921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.57, Z:87.75 [[-1.89977966e-01 9.81679271e-01 1.46349209e-02 2.05142600e+02] [-9.79428950e-01 -1.90533166e-01 6.64533307e-02 1.55572293e+02] [ 6.80242951e-02 -1.70919658e-03 9.97682201e-01 8.77473878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.58, Z:87.75 [[-1.89963080e-01 9.81681611e-01 1.46711481e-02 2.05144873e+02] [-9.79431905e-01 -1.90520764e-01 6.64453318e-02 1.55575964e+02] [ 6.80233187e-02 -1.74723064e-03 9.97682202e-01 8.77459774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.56, Z:87.75 [[-1.92189685e-01 9.81247549e-01 1.47096312e-02 2.05143891e+02] [-9.78997225e-01 -1.92744868e-01 6.64368114e-02 1.55564899e+02] [ 6.80261642e-02 -1.63221829e-03 9.97682202e-01 8.77494021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.56, Z:87.75 [[-1.94446676e-01 9.80802284e-01 1.47434689e-02 2.05143938e+02] [-9.78551250e-01 -1.94998971e-01 6.64293014e-02 1.55560191e+02] [ 6.80289718e-02 -1.51028304e-03 9.97682203e-01 8.77503773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.442755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.56, Z:87.75 [[-1.96795676e-01 9.80333151e-01 1.47775096e-02 2.05143546e+02] [-9.78081362e-01 -1.97344882e-01 6.64217281e-02 1.55555086e+02] [ 6.80316879e-02 -1.38209784e-03 9.97682204e-01 8.77507102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.09, Y:155.31, Z:87.76 [[-1.97571816e-01 9.80176369e-01 1.48210530e-02 2.05090912e+02] [-9.77924866e-01 -1.98122189e-01 6.64120107e-02 1.55311446e+02] [ 6.80318629e-02 -1.37273470e-03 9.97682205e-01 8.77649248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.54, Z:87.75 [[-2.00192721e-01 9.79643880e-01 1.48574491e-02 2.05142960e+02] [-9.77391511e-01 -2.00739536e-01 6.64038673e-02 1.55544671e+02] [ 6.80346196e-02 -1.22797378e-03 9.97682205e-01 8.77523740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:155.54, Z:87.75 [[-2.00156522e-01 9.79650218e-01 1.49270666e-02 2.05141615e+02] [-9.77399022e-01 -2.00708137e-01 6.63882143e-02 1.55544894e+02] [ 6.80332124e-02 -1.30166624e-03 9.97682208e-01 8.77517239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.60, Y:155.15, Z:88.97 [[-1.61451390e-01 9.86767424e-01 1.49498822e-02 2.05597031e+02] [-9.84540119e-01 -1.62092694e-01 6.63830761e-02 1.55150690e+02] [ 6.79279237e-02 -4.00111886e-03 9.97682208e-01 8.89712453e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 342.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:155.52, Z:88.95 [[-1.63356691e-01 9.86490095e-01 1.23241088e-02 2.05667303e+02] [-9.84221993e-01 -1.63816472e-01 6.68672711e-02 1.55521436e+02] [ 6.79827927e-02 -1.20644283e-03 9.97685764e-01 8.89460724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:155.52, Z:88.95 [[-1.62777315e-01 9.86584128e-01 1.24620931e-02 2.05665255e+02] [-9.84318227e-01 -1.63247775e-01 6.68415457e-02 1.55520915e+02] [ 6.79792170e-02 -1.38637800e-03 9.97685774e-01 8.89459410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.66, Y:155.50, Z:88.95 [[-1.61908689e-01 9.86726588e-01 1.24986621e-02 2.05660744e+02] [-9.84461620e-01 -1.62383620e-01 6.68347070e-02 1.55501902e+02] [ 6.79771604e-02 -1.48333333e-03 9.97685775e-01 8.89461205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.66, Y:155.51, Z:88.95 [[-1.65639871e-01 9.86106634e-01 1.25355155e-02 2.05664942e+02] [-9.83840402e-01 -1.66108727e-01 6.68277941e-02 1.55510260e+02] [ 6.79815896e-02 -1.26359941e-03 9.97685776e-01 8.89458377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.66, Y:155.51, Z:88.95 [[-1.67666995e-01 9.85763546e-01 1.25702126e-02 2.05664379e+02] [-9.83496838e-01 -1.68133542e-01 6.68212670e-02 1.55508991e+02] [ 6.79834435e-02 -1.15904332e-03 9.97685776e-01 8.89450679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.66, Y:155.49, Z:88.94 [[-1.71740139e-01 9.85061617e-01 1.26069269e-02 2.05660112e+02] [-9.82793504e-01 -1.72199803e-01 6.68143396e-02 1.55494284e+02] [ 6.79871518e-02 -9.15301897e-04 9.97685777e-01 8.89436921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:155.51, Z:88.94 [[-1.70075595e-01 9.85349900e-01 1.26438661e-02 2.05666315e+02] [-9.83083080e-01 -1.70541594e-01 6.68073486e-02 1.55506643e+02] [ 6.79849193e-02 -1.06767128e-03 9.97685778e-01 8.89439241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:155.50, Z:88.95 [[-1.68770587e-01 9.85573960e-01 1.26671946e-02 2.05665817e+02] [-9.83308088e-01 -1.69241169e-01 6.68029251e-02 1.55498274e+02] [ 6.79830342e-02 -1.18138597e-03 9.97685778e-01 8.89459748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:155.50, Z:88.95 [[-1.67453568e-01 9.85798110e-01 1.27038988e-02 2.05667346e+02] [-9.83533390e-01 -1.67929663e-01 6.67959444e-02 1.55504475e+02] [ 6.79806771e-02 -1.30948944e-03 9.97685779e-01 8.89457513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.66, Y:155.51, Z:88.95 [[-1.68226157e-01 9.85666089e-01 1.27405383e-02 2.05663364e+02] [-9.83401519e-01 -1.68702959e-01 6.67889551e-02 1.55511034e+02] [ 6.79809747e-02 -1.29341541e-03 9.97685779e-01 8.89499452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:155.51, Z:88.95 [[-1.59935637e-01 9.87044813e-01 1.27722386e-02 2.05669212e+02] [-9.84784802e-01 -1.60433599e-01 6.67828925e-02 1.55506778e+02] [ 6.79668038e-02 -1.89694202e-03 9.97685780e-01 8.89468137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.402755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:155.50, Z:88.95 [[-1.57691882e-01 9.87405353e-01 1.28038544e-02 2.05668017e+02] [-9.85146957e-01 -1.58197116e-01 6.67768305e-02 1.55503454e+02] [ 6.79613327e-02 -2.08351409e-03 9.97685780e-01 8.89470770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.462755096 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:155.50, Z:88.95 [[-1.57015234e-01 9.87512708e-01 1.28401216e-02 2.05668773e+02] [-9.85255210e-01 -1.57524465e-01 6.67698562e-02 1.55504079e+02] [ 6.79587147e-02 -2.16691208e-03 9.97685781e-01 8.89460135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:155.50, Z:88.95 [[-1.58991132e-01 9.87196068e-01 1.28741292e-02 2.05668900e+02] [-9.84938072e-01 -1.59498142e-01 6.67632984e-02 1.55498777e+02] [ 6.79618654e-02 -2.06544759e-03 9.97685782e-01 8.89480521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:155.50, Z:88.95 [[-1.61991854e-01 9.86707638e-01 1.29103548e-02 2.05668906e+02] [-9.84448654e-01 -1.62494445e-01 6.67562926e-02 1.55504784e+02] [ 6.79668047e-02 -1.89560581e-03 9.97685782e-01 8.89483745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:155.50, Z:88.95 [[-1.64589346e-01 9.86277240e-01 1.29442525e-02 2.05670174e+02] [-9.84017446e-01 -1.65088280e-01 6.67497191e-02 1.55500500e+02] [ 6.79706731e-02 -1.75107769e-03 9.97685783e-01 8.89476943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70275509600003 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:155.48, Z:88.95 [[-1.68930849e-01 9.85542430e-01 1.29802426e-02 2.05665320e+02] [-9.83280990e-01 -1.69422263e-01 6.67427198e-02 1.55480387e+02] [ 6.79769243e-02 -1.48832149e-03 9.97685784e-01 8.89488863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:155.49, Z:88.95 [[-1.68635797e-01 9.85592480e-01 1.30165852e-02 2.05671926e+02] [-9.83331725e-01 -1.69130348e-01 6.67356313e-02 1.55493827e+02] [ 6.79756360e-02 -1.54560487e-03 9.97685784e-01 8.89470866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:155.49, Z:88.95 [[-1.69046732e-01 9.85521661e-01 1.30483423e-02 2.05671997e+02] [-9.83261170e-01 -1.69542489e-01 6.67294215e-02 1.55487603e+02] [ 6.79755387e-02 -1.54953769e-03 9.97685785e-01 8.89467386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88275509600004 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:155.48, Z:88.95 [[-1.70801543e-01 9.85218569e-01 1.30844901e-02 2.05665751e+02] [-9.82957734e-01 -1.71295721e-01 6.67223329e-02 1.55482072e+02] [ 6.79773985e-02 -1.46522335e-03 9.97685785e-01 8.89503712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.66, Y:155.48, Z:88.95 [[-1.67358882e-01 9.85808788e-01 1.31162933e-02 2.05663540e+02] [-9.83550173e-01 -1.67863106e-01 6.67160804e-02 1.55484055e+02] [ 6.79710402e-02 -1.73500386e-03 9.97685786e-01 8.89526722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.13, Y:155.09, Z:90.17 [[-1.41734078e-01 9.89817567e-01 1.31391022e-02 2.06125273e+02] [-9.87573174e-01 -1.42298246e-01 6.67115882e-02 1.55089575e+02] [ 6.79019731e-02 -3.52051938e-03 9.97685786e-01 9.01676053e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 344.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.12, Y:155.05, Z:90.17 [[-1.40896789e-01 9.89958008e-01 1.14558834e-02 2.06120280e+02] [-9.87689952e-01 -1.41349310e-01 6.69994932e-02 1.55052816e+02] [ 6.79459661e-02 -1.87484743e-03 9.97687241e-01 9.01698011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.19, Y:155.47, Z:90.14 [[-1.46229220e-01 9.89183652e-01 1.15203009e-02 2.06192908e+02] [-9.86914043e-01 -1.46673873e-01 6.69884152e-02 1.55472498e+02] [ 6.79535724e-02 -1.57388309e-03 9.97687243e-01 9.01421225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.182755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:206.19, Y:155.46, Z:90.14 [[-1.51804741e-01 9.88341817e-01 1.16522237e-02 2.06190248e+02] [-9.86071461e-01 -1.52245526e-01 6.69654608e-02 1.55464535e+02] [ 6.79587641e-02 -1.32425079e-03 9.97687252e-01 9.01413161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.242755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:206.19, Y:155.46, Z:90.14 [[-1.57464568e-01 9.87455485e-01 1.16865243e-02 2.06189628e+02] [-9.85183081e-01 -1.57894664e-01 6.69594743e-02 1.55462207e+02] [ 6.79647400e-02 -9.69621287e-04 9.97687253e-01 9.01418609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.19, Y:155.46, Z:90.14 [[-1.62042367e-01 9.86714189e-01 1.17209269e-02 2.06188815e+02] [-9.84440248e-01 -1.62464254e-01 6.69534518e-02 1.55455842e+02] [ 6.79681526e-02 -6.89256344e-04 9.97687253e-01 9.01441994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.362755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:206.19, Y:155.45, Z:90.14 [[-1.67446127e-01 9.85811001e-01 1.17671475e-02 2.06187753e+02] [-9.83535350e-01 -1.67858687e-01 6.69453276e-02 1.55449855e+02] [ 6.79706583e-02 -3.63669723e-04 9.97687254e-01 9.01440771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.19, Y:155.45, Z:90.14 [[-1.71584268e-01 9.85098727e-01 1.18041333e-02 2.06187106e+02] [-9.82821810e-01 -1.71989782e-01 6.69388055e-02 1.55452003e+02] [ 6.79715224e-02 -1.15713672e-04 9.97687255e-01 9.01444224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.19, Y:155.44, Z:90.15 [[-1.71721537e-01 9.85074422e-01 1.18362367e-02 2.06186165e+02] [-9.82797839e-01 -1.72128916e-01 6.69331284e-02 1.55442712e+02] [ 6.79714714e-02 -1.38768197e-04 9.97687256e-01 9.01461125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.542755096 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:155.44, Z:90.15 [[-1.69602396e-01 9.85441075e-01 1.18708063e-02 2.06183704e+02] [-9.83165800e-01 -1.70017018e-01 6.69269969e-02 1.55441836e+02] [ 6.79708508e-02 -3.19991749e-04 9.97687256e-01 9.01457920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:155.44, Z:90.15 [[-1.67429940e-01 9.85812228e-01 1.18939895e-02 2.06182061e+02] [-9.83538164e-01 -1.67851150e-01 6.69228766e-02 1.55440356e+02] [ 6.79698099e-02 -4.93299338e-04 9.97687256e-01 9.01496901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:155.44, Z:90.15 [[-1.65904373e-01 9.86069639e-01 1.19334026e-02 2.06181962e+02] [-9.83796732e-01 -1.66331775e-01 6.69158480e-02 1.55438888e+02] [ 6.79685901e-02 -6.38410685e-04 9.97687257e-01 9.01498880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.722755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:155.44, Z:90.15 [[-1.63188974e-01 9.86522377e-01 1.19565209e-02 2.06181599e+02] [-9.84250955e-01 -1.63624200e-01 6.69117170e-02 1.55440354e+02] [ 6.79662823e-02 -8.48962640e-04 9.97687257e-01 9.01489500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:155.44, Z:90.15 [[-1.60246243e-01 9.87004234e-01 1.19910320e-02 2.06180527e+02] [-9.84734577e-01 -1.60690580e-01 6.69055318e-02 1.55441662e+02] [ 6.79628890e-02 -1.08662373e-03 9.97687258e-01 9.01512212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.842755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:155.44, Z:90.15 [[-1.59066105e-01 9.87194694e-01 1.20254068e-02 2.06179954e+02] [-9.84926031e-01 -1.59515484e-01 6.68993529e-02 1.55439394e+02] [ 6.79609248e-02 -1.20271671e-03 9.97687259e-01 9.01531665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:155.44, Z:90.16 [[-1.58303403e-01 9.87316867e-01 1.20597472e-02 2.06180301e+02] [-9.85049016e-01 -1.58756860e-01 6.68931619e-02 1.55439388e+02] [ 6.79593146e-02 -1.29002699e-03 9.97687259e-01 9.01550411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.962755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:155.44, Z:90.16 [[-1.59600961e-01 9.87107498e-01 1.20962841e-02 2.06179548e+02] [-9.84839547e-01 -1.60053912e-01 6.68865543e-02 1.55435620e+02] [ 6.79602769e-02 -1.23774058e-03 9.97687260e-01 9.01560351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:155.43, Z:90.16 [[-1.60618761e-01 9.86941948e-01 1.21328000e-02 2.06178983e+02] [-9.84674025e-01 -1.61071847e-01 6.68799300e-02 1.55432069e+02] [ 6.79608609e-02 -1.20468148e-03 9.97687261e-01 9.01586727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:155.43, Z:90.16 [[-1.61058969e-01 9.86869783e-01 1.21671304e-02 2.06178203e+02] [-9.84602124e-01 -1.61513370e-01 6.68736839e-02 1.55428651e+02] [ 6.79607721e-02 -1.20917580e-03 9.97687261e-01 9.01602735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14275509600003 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:206.17, Y:155.37, Z:90.16 [[-1.81018505e-01 9.83404140e-01 1.21901130e-02 2.06170737e+02] [-9.81128021e-01 -1.81428435e-01 6.68694942e-02 1.55365366e+02] [ 6.79713706e-02 1.44554416e-04 9.97687262e-01 9.01638492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20275509600003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:206.11, Y:155.05, Z:90.19 [[-1.80649339e-01 9.83453708e-01 1.35874826e-02 2.06106336e+02] [-9.81197947e-01 -1.81154917e-01 6.65844119e-02 1.55047479e+02] [ 6.79441261e-02 -1.30358009e-03 9.97688276e-01 9.01865708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26275509600003 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:206.17, Y:155.35, Z:90.17 [[-1.80308414e-01 9.83515702e-01 1.36286383e-02 2.06171096e+02] [-9.81260744e-01 -1.80817559e-01 6.65759871e-02 1.55354986e+02] [ 6.79428258e-02 -1.36903710e-03 9.97688277e-01 9.01652800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.17, Y:155.36, Z:90.17 [[-1.78310471e-01 9.83878410e-01 1.37350004e-02 2.06172511e+02] [-9.81626148e-01 -1.78831387e-01 6.65540371e-02 1.55355318e+02] [ 6.79373294e-02 -1.61535385e-03 9.97688283e-01 9.01682555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38275509600004 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:206.17, Y:155.35, Z:90.17 [[-1.76817258e-01 9.84147315e-01 1.37738684e-02 2.06173230e+02] [-9.81896461e-01 -1.77344217e-01 6.65459922e-02 1.55348498e+02] [ 6.79337755e-02 -1.75803276e-03 9.97688284e-01 9.01663780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.12, Y:155.06, Z:90.19 [[-1.78207641e-01 9.83895720e-01 1.38293080e-02 2.06115148e+02] [-9.81644999e-01 -1.78735167e-01 6.65344691e-02 1.55058811e+02] [ 6.79347630e-02 -1.71852021e-03 9.97688285e-01 9.01890283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.502755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:155.34, Z:90.17 [[-1.80806165e-01 9.83420950e-01 1.38695910e-02 2.06177171e+02] [-9.81169478e-01 -1.81330466e-01 6.65260708e-02 1.55338704e+02] [ 6.79381112e-02 -1.58009568e-03 9.97688286e-01 9.01680487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.562755096 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:155.33, Z:90.17 [[-1.83713586e-01 9.82880951e-01 1.39411429e-02 2.06178698e+02] [-9.80629058e-01 -1.84236067e-01 6.65110732e-02 1.55332168e+02] [ 6.79409282e-02 -1.45210205e-03 9.97688289e-01 9.01672986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.622755096 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:155.33, Z:90.17 [[-1.85256408e-01 9.82590803e-01 1.39777303e-02 2.06179407e+02] [-9.80338665e-01 -1.85777829e-01 6.65033833e-02 1.55328167e+02] [ 6.79423652e-02 -1.38273161e-03 9.97688290e-01 9.01669628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:155.32, Z:90.17 [[-1.85697668e-01 9.82507018e-01 1.40119874e-02 2.06180497e+02] [-9.80255183e-01 -1.86220395e-01 6.64961648e-02 1.55322932e+02] [ 6.79422664e-02 -1.38714059e-03 9.97688290e-01 9.01678997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:155.32, Z:90.17 [[-1.85152115e-01 9.82609483e-01 1.40463149e-02 2.06180645e+02] [-9.80358481e-01 -1.85678414e-01 6.64889128e-02 1.55323903e+02] [ 6.79407337e-02 -1.45986116e-03 9.97688291e-01 9.01680856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:155.32, Z:90.17 [[-1.82920080e-01 9.83026673e-01 1.40997905e-02 2.06179799e+02] [-9.80777731e-01 -1.83455104e-01 6.64775709e-02 1.55322183e+02] [ 6.79359039e-02 -1.66867790e-03 9.97688292e-01 9.01680972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:155.32, Z:90.17 [[-1.81125996e-01 9.83358299e-01 1.41361252e-02 2.06177441e+02] [-9.81110927e-01 -1.81667577e-01 6.64698436e-02 1.55319828e+02] [ 6.79317479e-02 -1.82969023e-03 9.97688293e-01 9.01682097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.922755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:206.18, Y:155.32, Z:90.17 [[-1.80827615e-01 9.83412720e-01 1.41702290e-02 2.06175975e+02] [-9.81166071e-01 -1.81372182e-01 6.64625725e-02 1.55320705e+02] [ 6.79302246e-02 -1.88507939e-03 9.97688294e-01 9.01660245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.982755096 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:206.17, Y:155.32, Z:90.16 [[-1.82674417e-01 9.83070818e-01 1.42065127e-02 2.06172744e+02] [-9.80823740e-01 -1.83217214e-01 6.64548159e-02 1.55315015e+02] [ 6.79326679e-02 -1.79449016e-03 9.97688294e-01 9.01645647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.17, Y:155.30, Z:90.17 [[-1.90186687e-01 9.81644624e-01 1.42427922e-02 2.06167768e+02] [-9.79394037e-01 -1.90714739e-01 6.64470395e-02 1.55304934e+02] [ 6.79436895e-02 -1.31196345e-03 9.97688295e-01 9.01670182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.16, Y:155.30, Z:90.17 [[-1.99814891e-01 9.79729644e-01 1.42770787e-02 2.06163664e+02] [-9.77474504e-01 -2.00323148e-01 6.64396718e-02 1.55302232e+02] [ 6.79529453e-02 -6.79844589e-04 9.97688296e-01 9.01676297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.16, Y:155.30, Z:90.17 [[-2.08302070e-01 9.77959829e-01 1.43115262e-02 2.06159695e+02] [-9.75700876e-01 -2.08793095e-01 6.64322508e-02 1.55297095e+02] [ 6.79562205e-02 -1.25793272e-04 9.97688296e-01 9.01680377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.15, Y:155.29, Z:90.17 [[-2.20174144e-01 9.75355049e-01 1.43483150e-02 2.06151605e+02] [-9.73090809e-01 -2.20640179e-01 6.64243041e-02 1.55287602e+02] [ 6.79530952e-02 6.62700865e-04 9.97688297e-01 9.01696237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.14, Y:155.28, Z:90.17 [[-2.25659704e-01 9.74099972e-01 1.43855193e-02 2.06142634e+02] [-9.71833654e-01 -2.26115526e-01 6.64162459e-02 1.55282858e+02] [ 6.79488525e-02 1.00713859e-03 9.97688298e-01 9.01723278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.342755096 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:206.69, Y:155.18, Z:91.33 [[-1.31902553e-01 9.91084201e-01 1.88101795e-02 2.06692179e+02] [-9.88970653e-01 -1.32863554e-01 6.54547380e-02 1.55176068e+02] [ 6.73703440e-02 -9.96906843e-03 9.97678232e-01 9.13332743e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 346.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.70, Y:155.17, Z:91.34 [[-1.29938260e-01 9.91489766e-01 8.00571946e-03 2.06697632e+02] [-9.89240296e-01 -1.30182464e-01 6.67545026e-02 1.55169953e+02] [ 6.72286105e-02 7.54383644e-04 9.97737313e-01 9.13358862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.69, Y:155.13, Z:91.34 [[-1.20716173e-01 9.92654489e-01 8.04185398e-03 2.06694829e+02] [-9.90407674e-01 -1.20983706e-01 6.67501493e-02 1.55132815e+02] [ 6.72327686e-02 9.31086855e-05 9.97737313e-01 9.13400182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.522755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:206.68, Y:155.02, Z:91.35 [[-1.16448896e-01 9.93163856e-01 8.07530729e-03 2.06678718e+02] [-9.90918490e-01 -1.16728331e-01 6.67461020e-02 1.55021539e+02] [ 6.72324331e-02 -2.29461426e-04 9.97737314e-01 9.13512175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.70, Y:155.17, Z:91.35 [[-1.11402503e-01 9.93742239e-01 8.11445146e-03 2.06695093e+02] [-9.91498665e-01 -1.11695969e-01 6.67413429e-02 1.55170145e+02] [ 6.72300430e-02 -6.10315144e-04 9.97737315e-01 9.13461363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.66, Y:154.89, Z:91.36 [[-1.08444549e-01 9.94068918e-01 8.17111225e-03 2.06662319e+02] [-9.91826741e-01 -1.08748494e-01 6.67344053e-02 1.54889229e+02] [ 6.72271942e-02 -8.67345181e-04 9.97737316e-01 9.13648756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.70, Y:155.15, Z:91.34 [[-1.06694703e-01 9.94258071e-01 8.19321528e-03 2.06697098e+02] [-9.92016637e-01 -1.07004078e-01 6.67316915e-02 1.55149500e+02] [ 6.72252303e-02 -1.00788783e-03 9.97737316e-01 9.13408022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76275509600003 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:206.70, Y:155.16, Z:91.34 [[-1.03569660e-01 9.94587766e-01 8.27656125e-03 2.06698935e+02] [-9.92348116e-01 -1.03891666e-01 6.67213530e-02 1.55162511e+02] [ 6.72201071e-02 -1.30292212e-03 9.97737320e-01 9.13416483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.70, Y:155.16, Z:91.34 [[-1.00301115e-01 9.94922410e-01 8.31172679e-03 2.06700216e+02] [-9.92684178e-01 -1.00632835e-01 6.67169720e-02 1.55159690e+02] [ 6.72146432e-02 -1.55913299e-03 9.97737321e-01 9.13425932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.70, Y:155.16, Z:91.34 [[-9.67327567e-02 9.95275405e-01 8.34519912e-03 2.06700899e+02] [-9.93038720e-01 -9.70747432e-02 6.67127850e-02 1.55162389e+02] [ 6.72077021e-02 -1.83379425e-03 9.97737321e-01 9.13410336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.70, Y:155.13, Z:91.34 [[-9.38036958e-02 9.95555444e-01 8.37998744e-03 2.06698117e+02] [-9.93320140e-01 -9.41545912e-02 6.67084149e-02 1.55130023e+02] [ 6.72009399e-02 -2.06651444e-03 9.97737322e-01 9.13408660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.70, Y:155.16, Z:91.33 [[-9.18345715e-02 9.95738699e-01 8.41754174e-03 2.06704926e+02] [-9.93504495e-01 -9.21924001e-02 6.67036758e-02 1.55163980e+02] [ 6.71954647e-02 -2.23716207e-03 9.97737322e-01 9.13344356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.71, Y:155.16, Z:91.33 [[-9.06691721e-02 9.95845176e-01 8.45494765e-03 2.06707722e+02] [-9.93611798e-01 -9.10321176e-02 6.66989342e-02 1.55163075e+02] [ 6.71914837e-02 -2.35339859e-03 9.97737323e-01 9.13292982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.71, Y:155.16, Z:91.32 [[-9.04476004e-02 9.95865043e-01 8.48812953e-03 2.06708623e+02] [-9.93632108e-01 -9.08132622e-02 6.66947112e-02 1.55161747e+02] [ 6.71897662e-02 -2.40170145e-03 9.97737324e-01 9.13207216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.71, Y:155.16, Z:91.31 [[-9.04201301e-02 9.95867236e-01 8.52337115e-03 2.06711979e+02] [-9.93634700e-01 -9.07882104e-02 6.66902072e-02 1.55163770e+02] [ 6.71884139e-02 -2.43898012e-03 9.97737324e-01 9.13147713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.72, Y:155.16, Z:91.31 [[-9.07405993e-02 9.95837823e-01 8.55415476e-03 2.06720375e+02] [-9.93605509e-01 -9.11100199e-02 6.66862585e-02 1.55164168e+02] [ 6.71880677e-02 -2.44830423e-03 9.97737325e-01 9.13084065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.73, Y:155.16, Z:91.30 [[-9.43924047e-02 9.95498053e-01 8.58495001e-03 2.06728168e+02] [-9.93264733e-01 -9.47556960e-02 6.66822938e-02 1.55158385e+02] [ 6.71955665e-02 -2.23282602e-03 9.97737325e-01 9.13027784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.73, Y:155.16, Z:91.30 [[-9.80772537e-02 9.95141480e-01 8.61903136e-03 2.06733895e+02] [-9.92907195e-01 -9.84345559e-02 6.66778883e-02 1.55155928e+02] [ 6.72023430e-02 -2.01831408e-03 9.97737326e-01 9.12998398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.75, Y:155.15, Z:91.29 [[-1.03895878e-01 9.94550517e-01 8.65535531e-03 2.06745168e+02] [-9.92314557e-01 -1.04242540e-01 6.66731729e-02 1.55151468e+02] [ 6.72120948e-02 -1.66176726e-03 9.97737327e-01 9.12945596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.76, Y:155.14, Z:91.29 [[-1.07039647e-01 9.94216781e-01 8.68943197e-03 2.06755740e+02] [-9.91980085e-01 -1.07381523e-01 6.66687315e-02 1.55142866e+02] [ 6.72162560e-02 -1.48354596e-03 9.97737327e-01 9.12905709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.76, Y:155.13, Z:91.29 [[-1.08625323e-01 9.94044626e-01 8.70745699e-03 2.06761900e+02] [-9.91807571e-01 -1.08964839e-01 6.66663772e-02 1.55130295e+02] [ 6.72181607e-02 -1.39446500e-03 9.97737327e-01 9.12914355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.17, Y:154.94, Z:92.55 [[-7.20901310e-02 9.97359791e-01 8.74415560e-03 2.07172765e+02] [-9.95137160e-01 -7.25139193e-02 6.66615634e-02 1.54944458e+02] [ 6.71196359e-02 -3.89599333e-03 9.97737328e-01 9.25467584e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 347.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.59, Y:154.85, Z:93.80 [[-3.78473127e-02 9.99264162e-01 6.22211627e-03 2.07585782e+02] [-9.97029200e-01 -3.81792065e-02 6.68963580e-02 1.54854750e+02] [ 6.70846886e-02 -3.67178423e-03 9.97740529e-01 9.38001079e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 347.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.61, Y:155.21, Z:93.78 [[-3.73922441e-02 9.99293203e-01 3.86203589e-03 2.07609983e+02] [-9.97043305e-01 -3.75671210e-02 6.70325204e-02 1.55206334e+02] [ 6.71302276e-02 -1.34412066e-03 9.97743317e-01 9.37822201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.60, Y:154.95, Z:93.80 [[-3.68264210e-02 9.99313943e-01 3.93164922e-03 2.07596265e+02] [-9.97064518e-01 -3.70072390e-02 6.70284373e-02 1.54954769e+02] [ 6.71279515e-02 -1.45169048e-03 9.97743319e-01 9.38027667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.60, Y:155.18, Z:93.80 [[-3.91238854e-02 9.99226465e-01 3.97411710e-03 2.07603287e+02] [-9.96976855e-01 -3.93023788e-02 6.70259194e-02 1.55179194e+02] [ 6.71302647e-02 -1.33978838e-03 9.97743320e-01 9.37967820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.61, Y:155.21, Z:93.79 [[-3.59212643e-02 9.99346491e-01 4.03152347e-03 2.07607789e+02] [-9.97097788e-01 -3.61108146e-02 6.70224664e-02 1.55205059e+02] [ 6.71242482e-02 -1.61229140e-03 9.97743322e-01 9.37910967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.60, Y:155.17, Z:93.80 [[-3.53534308e-02 9.99366618e-01 4.06166218e-03 2.07599845e+02] [-9.97118196e-01 -3.55462787e-02 6.70206399e-02 1.55170998e+02] [ 6.71225672e-02 -1.68054771e-03 9.97743322e-01 9.37962044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.60, Y:155.20, Z:93.80 [[-3.70840705e-02 9.99303743e-01 4.09891211e-03 2.07595179e+02] [-9.97055201e-01 -3.72755211e-02 6.70183617e-02 1.55196474e+02] [ 6.71244888e-02 -1.60152799e-03 9.97743323e-01 9.37950878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.59, Y:155.20, Z:93.80 [[-3.92375616e-02 9.99221349e-01 4.13625965e-03 2.07589035e+02] [-9.96972610e-01 -3.94266696e-02 6.70160567e-02 1.55198084e+02] [ 6.71269535e-02 -1.49419093e-03 9.97743323e-01 9.37951516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.57, Y:155.17, Z:93.80 [[-4.56592996e-02 9.98948364e-01 4.17075007e-03 2.07572895e+02] [-9.96698637e-01 -4.58362630e-02 6.70139101e-02 1.55165214e+02] [ 6.71346074e-02 -1.09717271e-03 9.97743324e-01 9.37998678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.55, Y:154.92, Z:93.82 [[-4.76269500e-02 9.98856387e-01 4.19433867e-03 2.07549037e+02] [-9.96606438e-01 -4.78010637e-02 6.70124337e-02 1.54916024e+02] [ 6.71362912e-02 -9.88507099e-04 9.97743324e-01 9.38169358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.54, Y:154.85, Z:93.82 [[-5.25901169e-02 9.98607258e-01 4.22183401e-03 2.07536471e+02] [-9.96356606e-01 -5.27548924e-02 6.70107015e-02 1.54848718e+02] [ 6.71400952e-02 -6.82351579e-04 9.97743325e-01 9.38218898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.54, Y:155.19, Z:93.81 [[-5.94593354e-02 9.98221583e-01 4.27294151e-03 2.07544161e+02] [-9.95970083e-01 -5.96120531e-02 6.70074425e-02 1.55186038e+02] [ 6.71429942e-02 -2.71503914e-04 9.97743326e-01 9.38071915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.07, Y:154.90, Z:95.02 [[ 7.57148243e-03 9.99961737e-01 4.38153761e-03 2.08071768e+02] [-9.97726532e-01 7.26098222e-03 6.70003412e-02 1.54897543e+02] [ 6.69659633e-02 -4.87886823e-03 9.97743332e-01 9.50205443e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 348.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.67, Y:154.95, Z:96.22 [[ 7.50762645e-02 9.97177786e-01 -1.33907862e-04 2.08669633e+02] [-9.94936974e-01 7.49165528e-02 6.69919984e-02 1.54945616e+02] [ 6.68129646e-02 -4.89627911e-03 9.97753504e-01 9.62163985e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 348.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.26, Y:155.03, Z:97.41 [[ 1.42841521e-01 9.89734521e-01 -4.67740813e-03 2.09258231e+02] [-9.87498387e-01 1.42833891e-01 6.66739511e-02 1.55031982e+02] [ 6.66576035e-02 -4.90487559e-03 9.97763853e-01 9.74116623e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 348.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.27, Y:154.98, Z:97.42 [[ 1.44099610e-01 9.89520216e-01 -9.22198306e-03 2.09267842e+02] [-9.87314104e-01 1.44393813e-01 6.60400451e-02 1.54975351e+02] [ 6.66795570e-02 -4.11350782e-04 9.97774357e-01 9.74171379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.622755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:209.28, Y:154.92, Z:97.42 [[ 1.46404677e-01 9.89181588e-01 -9.24429005e-03 2.09275548e+02] [-9.86974992e-01 1.46695229e-01 6.60369224e-02 1.54918881e+02] [ 6.66786010e-02 -5.44231216e-04 9.97774357e-01 9.74226394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.28, Y:154.86, Z:97.43 [[ 1.51749060e-01 9.88375698e-01 -9.25761996e-03 2.09282965e+02] [-9.86167676e-01 1.52028571e-01 6.60350537e-02 1.54861676e+02] [ 6.66748650e-02 -8.91191726e-04 9.97774357e-01 9.74284762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.29, Y:154.80, Z:97.43 [[ 1.56835914e-01 9.87581073e-01 -9.28009160e-03 2.09291484e+02] [-9.85371825e-01 1.57105555e-01 6.60318955e-02 1.54803848e+02] [ 6.66698042e-02 -1.21183190e-03 9.97774358e-01 9.74308860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.30, Y:154.75, Z:97.44 [[ 1.64503953e-01 9.86332556e-01 -9.30259195e-03 2.09302428e+02] [-9.84121452e-01 1.64757927e-01 6.60287255e-02 1.54747380e+02] [ 6.66589574e-02 -1.70710605e-03 9.97774358e-01 9.74350884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.31, Y:154.69, Z:97.44 [[ 1.68154840e-01 9.85716482e-01 -9.32560049e-03 2.09310106e+02] [-9.83504625e-01 1.68402165e-01 6.60254758e-02 1.54691235e+02] [ 6.66528510e-02 -1.93073210e-03 9.97774358e-01 9.74382648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.91, Y:154.82, Z:98.62 [[ 1.87546377e-01 9.82211356e-01 -9.33853491e-03 2.09912795e+02] [-9.79995135e-01 1.87750935e-01 6.60236463e-02 1.54821550e+02] [ 6.66024938e-02 -3.23077687e-03 9.97774358e-01 9.86190796e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 348.982755096 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:209.93, Y:154.77, Z:98.62 [[ 1.91005344e-01 9.81532132e-01 -1.05656090e-02 2.09930781e+02] [-9.79324829e-01 1.91284390e-01 6.58267453e-02 1.54765912e+02] [ 6.66321017e-02 -2.22609693e-03 9.97775129e-01 9.86168756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.53, Y:154.91, Z:99.81 [[ 2.06126233e-01 9.78468140e-01 -1.05865916e-02 2.10525077e+02] [-9.76256951e-01 2.06372599e-01 6.58233706e-02 1.54907989e+02] [ 6.65908534e-02 -3.23268979e-03 9.97775129e-01 9.98083936e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 349.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.10, Y:155.06, Z:101.00 [[ 2.27547919e-01 9.73695258e-01 -1.18105876e-02 2.11104808e+02] [-9.71488869e-01 2.27828039e-01 6.56030657e-02 1.55058014e+02] [ 6.65681770e-02 -3.45398672e-03 9.97775901e-01 1.01004008e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 349.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.11, Y:155.00, Z:101.01 [[ 2.18192829e-01 9.75812752e-01 -1.34671173e-02 2.11112350e+02] [-9.73628655e-01 2.18605129e-01 6.52613269e-02 1.55000287e+02] [ 6.66268159e-02 -1.12758227e-03 9.97777328e-01 1.01014446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.13, Y:154.94, Z:101.02 [[ 2.20772820e-01 9.75232028e-01 -1.34852934e-02 2.11132241e+02] [-9.73047075e-01 2.21180558e-01 6.52575709e-02 1.54944246e+02] [ 6.66239579e-02 -1.28527268e-03 9.97777328e-01 1.01015540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.14, Y:154.89, Z:101.02 [[ 2.21911078e-01 9.74973376e-01 -1.35051773e-02 2.11144444e+02] [-9.72788196e-01 2.22317595e-01 6.52534556e-02 1.54887897e+02] [ 6.66228205e-02 -1.34278764e-03 9.97777328e-01 1.01019401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.16, Y:154.83, Z:101.02 [[ 2.25359438e-01 9.74181765e-01 -1.35282282e-02 2.11157456e+02] [-9.71995442e-01 2.25759764e-01 6.52486764e-02 1.54832110e+02] [ 6.66182004e-02 -1.55502889e-03 9.97777329e-01 1.01023316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.17, Y:154.78, Z:101.03 [[ 2.28004778e-01 9.73565809e-01 -1.35438686e-02 2.11169355e+02] [-9.71378596e-01 2.28400211e-01 6.52454297e-02 1.54775319e+02] [ 6.66141421e-02 -1.72004562e-03 9.97777329e-01 1.01027918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.73, Y:154.94, Z:102.21 [[ 2.58374726e-01 9.65949506e-01 -1.35665866e-02 2.11730792e+02] [-9.63751213e-01 2.58703014e-01 6.52407056e-02 1.54936223e+02] [ 6.65289443e-02 -3.78173510e-03 9.97777329e-01 1.02212784e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 349.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.27, Y:155.11, Z:103.40 [[ 2.88743579e-01 9.57275242e-01 -1.58510848e-02 2.12272980e+02] [-9.55094111e-01 2.89156707e-01 6.46810439e-02 1.55114738e+02] [ 6.65010094e-02 -3.53695838e-03 9.97780089e-01 1.03397988e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 349.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.29, Y:155.06, Z:103.40 [[ 2.89318573e-01 9.57070278e-01 -1.76421496e-02 2.12290856e+02] [-9.54916895e-01 2.89850840e-01 6.41888935e-02 1.55059368e+02] [ 6.65468740e-02 -1.72425238e-03 9.97781810e-01 1.03398171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.31, Y:155.00, Z:103.40 [[ 2.87571218e-01 9.57596394e-01 -1.76618647e-02 2.12306730e+02] [-9.55444315e-01 2.88108735e-01 6.41834683e-02 1.55004347e+02] [ 6.65503953e-02 -1.58238992e-03 9.97781810e-01 1.03397927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.86, Y:155.20, Z:104.60 [[ 3.20041830e-01 9.47238615e-01 -1.76701022e-02 2.12861595e+02] [-9.45069586e-01 3.20506241e-01 6.41812004e-02 1.55203644e+02] [ 6.64582895e-02 -3.84119270e-03 9.97781810e-01 1.04599882e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 349.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.88, Y:155.15, Z:104.60 [[ 3.22268570e-01 9.46436331e-01 -2.00309939e-02 2.12883487e+02] [-9.44309243e-01 3.22886880e-01 6.34359217e-02 1.55148998e+02] [ 6.65058061e-02 -1.52795103e-03 9.97784868e-01 1.04599939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82275509600004 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:213.44, Y:155.37, Z:105.80 [[ 3.58292145e-01 9.33394222e-01 -2.00490817e-02 2.13436539e+02] [-9.31245313e-01 3.58829732e-01 6.34302045e-02 1.55371696e+02] [ 6.63995929e-02 -4.05593069e-03 9.97784868e-01 1.05802469e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 349.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.00, Y:155.62, Z:107.00 [[ 3.99981667e-01 9.16240012e-01 -2.27795084e-02 2.13995867e+02] [-9.14119761e-01 4.00608316e-01 6.24342915e-02 1.55624845e+02] [ 6.63304565e-02 -4.14937326e-03 9.97789083e-01 1.06997722e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 349.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.02, Y:155.57, Z:107.00 [[ 3.97392320e-01 9.17290614e-01 -2.56373275e-02 2.14021636e+02] [-9.15244618e-01 3.98217490e-01 6.12382132e-02 1.55571883e+02] [ 6.63824705e-02 -8.71169587e-04 9.97793871e-01 1.06998847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.56, Y:155.85, Z:108.20 [[ 4.45902490e-01 8.94713851e-01 -2.56533441e-02 2.14564513e+02] [-8.92627009e-01 4.46618098e-01 6.12315030e-02 1.55847652e+02] [ 6.62419216e-02 -4.40441177e-03 9.97793871e-01 1.08195133e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 350.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.09, Y:156.15, Z:109.39 [[ 4.94975498e-01 8.68425824e-01 -2.89109705e-02 2.15094483e+02] [-8.66386155e-01 4.95798879e-01 5.96531737e-02 1.56153522e+02] [ 6.61383833e-02 -4.47879478e-03 9.97800408e-01 1.09386161e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 350.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.60, Y:156.49, Z:110.58 [[ 5.37299407e-01 8.42776444e-01 -3.22057707e-02 2.15601805e+02] [-8.40800249e-01 5.38248982e-01 5.78184580e-02 1.56487561e+02] [ 6.60627578e-02 -3.98720317e-03 9.97807504e-01 1.10577236e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 350.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.63, Y:156.44, Z:110.58 [[ 5.38842941e-01 8.41695809e-01 -3.45897516e-02 2.15634923e+02] [-8.39808089e-01 5.39950394e-01 5.63555278e-02 1.56438973e+02] [ 6.61109616e-02 -1.31802508e-03 9.97811407e-01 1.10582181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:156.78, Z:111.78 [[ 5.70003670e-01 8.20913073e-01 -3.46055289e-02 2.16113369e+02] [-8.18985762e-01 5.71040689e-01 5.63458380e-02 1.56784121e+02] [ 6.60162001e-02 -3.77589901e-03 9.97811407e-01 1.11775139e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 350.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:156.74, Z:111.78 [[ 5.70201480e-01 8.20689708e-01 -3.65879106e-02 2.16147927e+02] [-8.18844019e-01 5.71372378e-01 5.50279843e-02 1.56737613e+02] [ 6.60662219e-02 -1.41724639e-03 9.97814234e-01 1.11778992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.61, Y:157.10, Z:112.97 [[ 5.97762623e-01 8.00837063e-01 -3.66038887e-02 2.16608135e+02] [-7.98953290e-01 5.98871214e-01 5.50173539e-02 1.57097023e+02] [ 6.59809513e-02 -3.64252045e-03 9.97814234e-01 1.12972023e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 350.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.64, Y:157.05, Z:112.97 [[ 5.97916257e-01 8.00641739e-01 -3.83269520e-02 2.16644251e+02] [-7.98834300e-01 5.99141401e-01 5.37897976e-02 1.57051962e+02] [ 6.60296208e-02 -1.54491051e-03 9.97816467e-01 1.12974953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.08, Y:157.42, Z:114.17 [[ 6.22124593e-01 7.81978780e-01 -3.83429059e-02 2.17084766e+02] [-7.80135409e-01 6.23294975e-01 5.37784228e-02 1.57418793e+02] [ 6.59525260e-02 -3.54422085e-03 9.97816468e-01 1.14169627e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 350.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.51, Y:157.80, Z:115.36 [[ 6.42496970e-01 7.65250167e-01 -3.98726109e-02 2.17512244e+02] [-7.63446365e-01 6.43724198e-01 5.26194346e-02 1.57798037e+02] [ 6.59339956e-02 -3.36722743e-03 9.97818305e-01 1.15364401e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 350.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:157.75, Z:115.37 [[ 6.44049607e-01 7.63878877e-01 -4.10994478e-02 2.17549212e+02] [-7.62133634e-01 6.45356728e-01 5.16431785e-02 1.57753300e+02] [ 6.59729384e-02 -1.93749732e-03 9.97819532e-01 1.15369155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.97, Y:158.15, Z:116.57 [[ 6.58427371e-01 7.51520383e-01 -4.11158092e-02 2.17971972e+02] [-7.49751460e-01 6.59702264e-01 5.16301491e-02 1.58145047e+02] [ 6.59253019e-02 -3.16806540e-03 9.97819532e-01 1.16565211e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 350.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.01, Y:158.10, Z:116.57 [[ 6.63143663e-01 7.47311996e-01 -4.20150214e-02 2.18009147e+02] [-7.45581324e-01 6.64468903e-01 5.08877811e-02 1.58100610e+02] [ 6.59467245e-02 -2.42029430e-03 9.97820210e-01 1.16573195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.05, Y:158.05, Z:116.58 [[ 6.64719238e-01 7.45909866e-01 -4.20334064e-02 2.18045986e+02] [-7.44177356e-01 6.66042073e-01 5.08725906e-02 1.58054709e+02] [ 6.59423843e-02 -2.53568038e-03 9.97820210e-01 1.16578615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.08, Y:158.00, Z:116.59 [[ 6.62501437e-01 7.47879556e-01 -4.20477755e-02 2.18077319e+02] [-7.46151732e-01 6.63830386e-01 5.08607113e-02 1.58004816e+02] [ 6.59502772e-02 -2.32127383e-03 9.97820211e-01 1.16586782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.12, Y:157.96, Z:116.59 [[ 6.65378561e-01 7.45320746e-01 -4.20518241e-02 2.18119224e+02] [-7.43588024e-01 6.66701117e-01 5.08573637e-02 1.57962843e+02] [ 6.59410464e-02 -2.57016675e-03 9.97820211e-01 1.16587299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.16, Y:157.92, Z:116.59 [[ 6.62388230e-01 7.47979368e-01 -4.20558978e-02 2.18155501e+02] [-7.46252169e-01 6.63717992e-01 5.08539948e-02 1.57917865e+02] [ 6.59509949e-02 -2.30078266e-03 9.97820211e-01 1.16590231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.022755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:218.57, Y:158.32, Z:117.78 [[ 6.71725515e-01 7.39604463e-01 -4.20722059e-02 2.18568428e+02] [-7.37861546e-01 6.73034607e-01 5.08404993e-02 1.58316223e+02] [ 6.59179108e-02 -3.10739763e-03 9.97820211e-01 1.17778522e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 351.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.60, Y:158.27, Z:117.79 [[ 6.65097397e-01 7.45525161e-01 -4.28682593e-02 2.18602630e+02] [-7.43837275e-01 6.66475852e-01 5.01602184e-02 1.58268762e+02] [ 6.59663645e-02 -1.47442154e-03 9.97820758e-01 1.17785123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.64, Y:158.22, Z:117.79 [[ 6.63175528e-01 7.47234462e-01 -4.28821408e-02 2.18640359e+02] [-7.45550896e-01 6.64559255e-01 5.01483483e-02 1.58223564e+02] [ 6.59702976e-02 -1.28633884e-03 9.97820758e-01 1.17790087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.68, Y:158.18, Z:117.79 [[ 6.62403143e-01 7.47918381e-01 -4.28972254e-02 2.18675906e+02] [-7.46237079e-01 6.63789620e-01 5.01354416e-02 1.58178506e+02] [ 6.59719512e-02 -1.19837394e-03 9.97820758e-01 1.17794286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.71, Y:158.14, Z:117.80 [[ 6.60997930e-01 7.49160271e-01 -4.29025057e-02 2.18714616e+02] [-7.47481867e-01 6.62387914e-01 5.01309226e-02 1.58135496e+02] [ 6.59741968e-02 -1.06759108e-03 9.97820758e-01 1.17798271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.75, Y:158.09, Z:117.80 [[ 6.63568971e-01 7.46883641e-01 -4.29074416e-02 2.18753899e+02] [-7.45200742e-01 6.64953509e-01 5.01266975e-02 1.58092449e+02] [ 6.59702642e-02 -1.28786375e-03 9.97820758e-01 1.17803971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.80, Y:158.05, Z:117.81 [[ 6.67559147e-01 7.43318544e-01 -4.29223408e-02 2.18795302e+02] [-7.41629072e-01 6.68935657e-01 5.01139365e-02 1.58050289e+02] [ 6.59629025e-02 -1.62156100e-03 9.97820758e-01 1.17806483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.83, Y:158.01, Z:117.81 [[ 6.70433683e-01 7.40726044e-01 -4.29372120e-02 2.18833918e+02] [-7.39032065e-01 6.71804642e-01 5.01011917e-02 1.58006858e+02] [ 6.59566759e-02 -1.85754999e-03 9.97820759e-01 1.17809782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.87, Y:157.96, Z:117.81 [[ 6.72404631e-01 7.38936356e-01 -4.29543295e-02 2.18873775e+02] [-7.37239664e-01 6.73772231e-01 5.00865117e-02 1.57964254e+02] [ 6.59521789e-02 -2.01076694e-03 9.97820759e-01 1.17813350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.91, Y:157.92, Z:117.81 [[ 6.74115417e-01 7.37374977e-01 -4.29714834e-02 2.18914426e+02] [-7.35676054e-01 6.75480244e-01 5.00717903e-02 1.57922730e+02] [ 6.59480733e-02 -2.14107447e-03 9.97820759e-01 1.17813871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.95, Y:157.88, Z:117.82 [[ 6.72906663e-01 7.38477235e-01 -4.29883267e-02 2.18953170e+02] [-7.36781470e-01 6.74275411e-01 5.00573256e-02 1.57879749e+02] [ 6.59521671e-02 -2.01090539e-03 9.97820759e-01 1.17817067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.99, Y:157.84, Z:117.82 [[ 6.73577190e-01 7.37865236e-01 -4.29960694e-02 2.18991621e+02] [-7.36168651e-01 6.74944922e-01 5.00506743e-02 1.57835207e+02] [ 6.59506313e-02 -2.06063418e-03 9.97820759e-01 1.17824259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.03, Y:157.79, Z:117.83 [[ 6.73540017e-01 7.37898360e-01 -4.30099500e-02 2.19031340e+02] [-7.36202602e-01 6.74908773e-01 5.00387435e-02 1.57791798e+02] [ 6.59512993e-02 -2.03905902e-03 9.97820760e-01 1.17827465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.07, Y:157.75, Z:117.83 [[ 6.73352604e-01 7.38068511e-01 -4.30249118e-02 2.19070234e+02] [-7.36373920e-01 6.74722804e-01 5.00258755e-02 1.57748771e+02] [ 6.59524126e-02 -2.00263061e-03 9.97820760e-01 1.17830536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.11, Y:157.70, Z:117.84 [[ 6.72712161e-01 7.38651287e-01 -4.30421297e-02 2.19107632e+02] [-7.36958829e-01 6.74084994e-01 5.00110570e-02 1.57704929e+02] [ 6.59547853e-02 -1.92276871e-03 9.97820760e-01 1.17839938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.50, Y:158.10, Z:119.01 [[ 6.88348780e-01 7.24101402e-01 -4.30478536e-02 2.19502809e+02] [-7.22380288e-01 6.89685512e-01 5.00061295e-02 1.58101348e+02] [ 6.58989894e-02 -3.32473730e-03 9.97820760e-01 1.19012603e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 351.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.55, Y:158.06, Z:119.01 [[ 6.88937327e-01 7.23475080e-01 -4.41493906e-02 2.19546081e+02] [-7.21815369e-01 6.90347883e-01 4.90140173e-02 1.58061329e+02] [ 6.59388584e-02 -1.89987741e-03 9.97821857e-01 1.19012986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.58, Y:158.02, Z:119.02 [[ 6.86054120e-01 7.26208854e-01 -4.41638342e-02 2.19583355e+02] [-7.24555602e-01 6.87472241e-01 4.90009995e-02 1.58017354e+02] [ 6.59463698e-02 -1.61818416e-03 9.97821857e-01 1.19020175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.62, Y:157.97, Z:119.02 [[ 6.86013842e-01 7.26246594e-01 -4.41689103e-02 2.19622911e+02] [-7.24593714e-01 6.87432397e-01 4.89964235e-02 1.57974686e+02] [ 6.59466256e-02 -1.60770996e-03 9.97821857e-01 1.19024473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.01, Y:158.38, Z:120.20 [[ 7.06823062e-01 7.06009180e-01 -4.41836788e-02 2.20007300e+02] [-7.04316611e-01 7.08194018e-01 4.89831021e-02 1.58375752e+02] [ 6.58731367e-02 -3.50308729e-03 9.97821857e-01 1.20195099e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 352.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.05, Y:158.34, Z:120.20 [[ 7.08991627e-01 7.03746282e-01 -4.55197124e-02 2.20049420e+02] [-7.02129761e-01 7.10448939e-01 4.77085194e-02 1.58335517e+02] [ 6.59141246e-02 -1.86419599e-03 9.97823558e-01 1.20197618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.09, Y:158.30, Z:120.20 [[ 7.10466260e-01 7.02256574e-01 -4.55345836e-02 2.20089720e+02] [-7.00637906e-01 7.11921187e-01 4.76943217e-02 1.58295523e+02] [ 6.59106857e-02 -1.98195100e-03 9.97823558e-01 1.20201020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.13, Y:158.26, Z:120.21 [[ 7.11790778e-01 7.00913627e-01 -4.55409358e-02 2.20131026e+02] [-6.99292601e-01 7.13243078e-01 4.76882555e-02 1.58255505e+02] [ 6.59071053e-02 -2.09762104e-03 9.97823558e-01 1.20205706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.17, Y:158.22, Z:120.21 [[ 7.11027278e-01 7.01687167e-01 -4.55557867e-02 2.20174645e+02] [-7.00068629e-01 7.12482350e-01 4.76740645e-02 1.58216335e+02] [ 6.59099732e-02 -2.00538318e-03 9.97823558e-01 1.20207996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.22, Y:158.18, Z:120.21 [[ 7.07619590e-01 7.05122570e-01 -4.55705674e-02 2.20217669e+02] [-7.03512007e-01 7.09083484e-01 4.76599318e-02 1.58177132e+02] [ 6.59194303e-02 -1.66566006e-03 9.97823559e-01 1.20214268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.26, Y:158.14, Z:120.22 [[ 7.05119996e-01 7.07621168e-01 -4.55858974e-02 2.20259920e+02] [-7.06016740e-01 7.06590611e-01 4.76452644e-02 1.58137421e+02] [ 6.59253647e-02 -1.41122200e-03 9.97823559e-01 1.20217570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.61, Y:158.53, Z:121.39 [[ 7.31741949e-01 6.80054542e-01 -4.56019858e-02 2.20611148e+02] [-6.78395840e-01 7.33151063e-01 4.76298610e-02 1.58529322e+02] [ 6.58240476e-02 -3.91656988e-03 9.97823559e-01 1.21388225e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 352.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.94, Y:158.93, Z:122.56 [[ 7.55424634e-01 6.53514627e-01 -4.74579339e-02 2.20944343e+02] [-6.51924432e-01 7.56905392e-01 4.57029863e-02 1.58933006e+02] [ 6.57887361e-02 -3.58617506e-03 9.97827130e-01 1.22557465e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 352.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.99, Y:158.90, Z:122.56 [[ 7.56612131e-01 6.52039481e-01 -4.88118704e-02 2.20989014e+02] [-6.50541302e-01 7.58183120e-01 4.42082576e-02 1.58895758e+02] [ 6.58338655e-02 -1.69436622e-03 9.97829159e-01 1.22560024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.03, Y:158.86, Z:122.56 [[ 7.58053990e-01 6.50361577e-01 -4.88258864e-02 2.21030260e+02] [-6.48860917e-01 7.59622610e-01 4.41927722e-02 1.58857123e+02] [ 6.58305283e-02 -1.81929786e-03 9.97829160e-01 1.22562337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.34, Y:159.26, Z:123.74 [[ 7.69629594e-01 6.36620521e-01 -4.88323711e-02 2.21344007e+02] [-6.35092341e-01 7.71171415e-01 4.41856055e-02 1.59262375e+02] [ 6.57875919e-02 -2.99348469e-03 9.97829160e-01 1.23736615e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 352.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.65, Y:159.67, Z:124.91 [[ 7.75658380e-01 6.29218244e-01 -4.93809658e-02 2.21652757e+02] [-6.27714583e-01 7.77223648e-01 4.35637899e-02 1.59671253e+02] [ 6.57911857e-02 -2.79346634e-03 9.97829503e-01 1.24912644e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 352.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.70, Y:159.63, Z:124.92 [[ 7.79294374e-01 6.24687153e-01 -4.96612429e-02 2.21697270e+02] [-6.23194782e-01 7.80870284e-01 4.32419144e-02 1.59633710e+02] [ 6.57916572e-02 -2.74955322e-03 9.97829594e-01 1.24915991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.00, Y:160.04, Z:126.10 [[ 7.76447252e-01 6.28221301e-01 -4.96755578e-02 2.22000550e+02] [-6.26737155e-01 7.78030911e-01 4.32254635e-02 1.60042085e+02] [ 6.58042763e-02 -2.42877458e-03 9.97829594e-01 1.26096041e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 353.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.31, Y:160.45, Z:127.28 [[ 7.75842314e-01 6.28984214e-01 -4.94728370e-02 2.22306242e+02] [-6.27486919e-01 7.77413481e-01 4.34562559e-02 1.60451339e+02] [ 6.57941494e-02 -2.67164410e-03 9.97829641e-01 1.27276464e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 353.122755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:222.61, Y:160.85, Z:128.46 [[ 7.80615192e-01 6.23041138e-01 -4.95949805e-02 2.22605674e+02] [-6.21540729e-01 7.82183362e-01 4.33164098e-02 1.60852904e+02] [ 6.57802739e-02 -2.98814721e-03 9.97829658e-01 1.28456812e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 353.182755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:222.65, Y:160.82, Z:128.46 [[ 7.77601615e-01 6.26756107e-01 -5.01249550e-02 2.22650986e+02] [-6.25303018e-01 7.79213282e-01 4.26942297e-02 1.60816442e+02] [ 6.58168999e-02 -1.85581630e-03 9.97829991e-01 1.28462274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.69, Y:160.78, Z:128.47 [[ 7.74068262e-01 6.31113490e-01 -5.01406878e-02 2.22694899e+02] [-6.29670671e-01 7.75689130e-01 4.26757449e-02 1.60780920e+02] [ 6.58268248e-02 -1.46181912e-03 9.97829992e-01 1.28468108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.74, Y:160.75, Z:128.47 [[ 7.71157229e-01 6.34666657e-01 -5.01474075e-02 2.22739453e+02] [-6.33231821e-01 7.72785168e-01 4.26678473e-02 1.60745103e+02] [ 6.58330327e-02 -1.14868471e-03 9.97829992e-01 1.28471730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.78, Y:160.71, Z:128.48 [[ 7.70131121e-01 6.35910961e-01 -5.01528380e-02 2.22784320e+02] [-6.34479171e-01 7.71761738e-01 4.26614632e-02 1.60708976e+02] [ 6.58349335e-02 -1.03398939e-03 9.97829992e-01 1.28475880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.83, Y:160.67, Z:128.48 [[ 7.70622854e-01 6.35314006e-01 -5.01650335e-02 2.22828337e+02] [-6.33881887e-01 7.72253182e-01 4.26471179e-02 1.60672208e+02] [ 6.58344181e-02 -1.06613759e-03 9.97829992e-01 1.28481042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.87, Y:160.63, Z:128.48 [[ 7.74068283e-01 6.31110484e-01 -5.01781964e-02 2.22871665e+02] [-6.29670516e-01 7.75691682e-01 4.26316250e-02 1.60634037e+02] [ 6.58280750e-02 -1.40405793e-03 9.97829992e-01 1.28482788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.92, Y:160.60, Z:128.49 [[ 7.74498456e-01 6.30581445e-01 -5.01914642e-02 2.22915817e+02] [-6.29141380e-01 7.76121769e-01 4.26159986e-02 1.60595986e+02] [ 6.58275460e-02 -1.42849811e-03 9.97829992e-01 1.28486220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.21, Y:161.00, Z:129.66 [[ 7.94129068e-01 6.05671867e-01 -5.02057066e-02 2.23208819e+02] [-6.04182041e-01 7.95706836e-01 4.25992132e-02 1.61000824e+02] [ 6.57501689e-02 -3.49588724e-03 9.97829993e-01 1.29660758e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 353.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.25, Y:160.97, Z:129.66 [[ 7.96346161e-01 6.02657191e-01 -5.13527202e-02 2.23253521e+02] [-6.01252422e-01 7.97997912e-01 4.11686342e-02 1.60965565e+02] [ 6.57899369e-02 -1.90853640e-03 9.97831670e-01 1.29663070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.53, Y:161.38, Z:130.85 [[ 8.06245732e-01 5.89347189e-01 -5.13586538e-02 2.23534853e+02] [-5.87915650e-01 8.07874335e-01 4.11612306e-02 1.61378975e+02] [ 6.57495938e-02 -2.99151014e-03 9.97831670e-01 1.30845008e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 353.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.58, Y:161.34, Z:130.85 [[ 8.05364245e-01 5.90506713e-01 -5.18676675e-02 2.23579945e+02] [-5.89119203e-01 8.07030075e-01 4.05095352e-02 1.61343126e+02] [ 6.57799201e-02 -2.06869230e-03 9.97832011e-01 1.30848898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.62, Y:161.31, Z:130.86 [[ 8.03536875e-01 5.92989593e-01 -5.18828836e-02 2.23624816e+02] [-5.91608488e-01 8.05208019e-01 4.04900377e-02 1.61306216e+02] [ 6.57866849e-02 -1.84088411e-03 9.97832012e-01 1.30855067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.67, Y:161.27, Z:130.86 [[ 7.99128753e-01 5.98915578e-01 -5.18976527e-02 2.23667633e+02] [-5.97548098e-01 8.00811064e-01 4.04710988e-02 1.61269771e+02] [ 6.57989860e-02 -1.33027505e-03 9.97832012e-01 1.30864083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.71, Y:161.23, Z:130.87 [[ 7.92940215e-01 6.07084656e-01 -5.19040956e-02 2.23712219e+02] [-6.05735053e-01 7.94636901e-01 4.04628341e-02 1.61231951e+02] [ 6.58092754e-02 -6.44478221e-04 9.97832012e-01 1.30865366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.76, Y:161.20, Z:130.87 [[ 7.89953952e-01 6.10964955e-01 -5.19093212e-02 2.23757145e+02] [-6.09624127e-01 7.91657581e-01 4.04561291e-02 1.61197304e+02] [ 6.58116848e-02 -3.13304482e-04 9.97832012e-01 1.30871374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.80, Y:161.16, Z:130.87 [[ 7.85694242e-01 6.16432766e-01 -5.19153501e-02 2.23799991e+02] [-6.15104305e-01 7.87407532e-01 4.04483911e-02 1.61160470e+02] [ 6.58122513e-02 1.53287419e-04 9.97832012e-01 1.30874979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.84, Y:161.12, Z:130.88 [[ 7.82986277e-01 6.19868297e-01 -5.19209513e-02 2.23842822e+02] [-6.18547830e-01 7.84705736e-01 4.04411999e-02 1.61121465e+02] [ 6.58108860e-02 4.50687179e-04 9.97832012e-01 1.30878734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.89, Y:161.08, Z:130.88 [[ 7.82567156e-01 6.20396285e-01 -5.19335814e-02 2.23885347e+02] [-6.19078054e-01 7.84288330e-01 4.04249741e-02 1.61083409e+02] [ 6.58104056e-02 5.15683504e-04 9.97832012e-01 1.30881086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.93, Y:161.04, Z:130.88 [[ 7.83615511e-01 6.19071135e-01 -5.19390075e-02 2.23928615e+02] [-6.17750456e-01 7.85334807e-01 4.04180014e-02 1.61044357e+02] [ 6.58111284e-02 4.13172772e-04 9.97832012e-01 1.30884168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.97, Y:161.00, Z:130.89 [[ 7.86538085e-01 6.15352662e-01 -5.19513416e-02 2.23970292e+02] [-6.14024902e-01 7.88251918e-01 4.04021415e-02 1.61003390e+02] [ 6.58123100e-02 1.21594494e-04 9.97832012e-01 1.30886315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.01, Y:160.96, Z:130.89 [[ 7.89846815e-01 6.11098847e-01 -5.19635292e-02 2.24012700e+02] [-6.09762889e-01 7.91554264e-01 4.03864603e-02 1.60963093e+02] [ 6.58120724e-02 -2.13685399e-04 9.97832013e-01 1.30890763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.442755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:224.05, Y:160.92, Z:130.90 [[ 7.92753537e-01 6.07323050e-01 -5.19667438e-02 2.24053684e+02] [-6.05979231e-01 7.94454807e-01 4.03823235e-02 1.60921682e+02] [ 6.58103453e-02 -5.22462333e-04 9.97832013e-01 1.30895295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.09, Y:160.88, Z:130.90 [[ 7.94678247e-01 6.04801990e-01 -5.19715058e-02 2.24094740e+02] [-6.03453174e-01 7.96375558e-01 4.03761940e-02 1.60882061e+02] [ 6.58084394e-02 -7.23712938e-04 9.97832013e-01 1.30899142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.14, Y:160.84, Z:130.90 [[ 7.94787751e-01 6.04657344e-01 -5.19800692e-02 2.24138345e+02] [-6.03308941e-01 7.96485389e-01 4.03651665e-02 1.60844009e+02] [ 6.58084600e-02 -7.21699359e-04 9.97832013e-01 1.30901838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.18, Y:160.81, Z:130.90 [[ 7.94613138e-01 6.04885736e-01 -5.19923646e-02 2.24181604e+02] [-6.03538857e-01 7.96311986e-01 4.03493232e-02 1.60805845e+02] [ 6.58088732e-02 -6.82690066e-04 9.97832013e-01 1.30903946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.22, Y:160.77, Z:130.91 [[ 7.93058225e-01 6.06921897e-01 -5.20044556e-02 2.24223604e+02] [-6.05580402e-01 7.94761327e-01 4.03337336e-02 1.60765800e+02] [ 6.58105563e-02 -4.94120031e-04 9.97832013e-01 1.30908047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.27, Y:160.73, Z:130.91 [[ 7.90446034e-01 6.10319683e-01 -5.20091411e-02 2.24270321e+02] [-6.08985907e-01 7.92155188e-01 4.03276909e-02 1.60729985e+02] [ 6.58120945e-02 -2.04029339e-04 9.97832013e-01 1.30914840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.32, Y:160.69, Z:130.92 [[ 7.88048545e-01 6.13412068e-01 -5.20108272e-02 2.24315904e+02] [-6.12085142e-01 7.89763023e-01 4.03255163e-02 1.60694724e+02] [ 6.58123864e-02 5.65901207e-05 9.97832013e-01 1.30919935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.36, Y:160.66, Z:130.92 [[ 7.86140605e-01 6.15855009e-01 -5.20149652e-02 2.24361617e+02] [-6.14533764e-01 7.87859465e-01 4.03201780e-02 1.60659897e+02] [ 6.58118662e-02 2.67623182e-04 9.97832013e-01 1.30924802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.41, Y:160.62, Z:130.93 [[ 7.85274230e-01 6.16958938e-01 -5.20197413e-02 2.24409982e+02] [-6.15640517e-01 7.86995257e-01 4.03140151e-02 1.60620628e+02] [ 6.58113816e-02 3.67903270e-04 9.97832013e-01 1.30928597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.46, Y:160.58, Z:130.93 [[ 7.87301270e-01 6.14371151e-01 -5.20076810e-02 2.24456692e+02] [-6.13046046e-01 7.89017155e-01 4.03295677e-02 1.60584436e+02] [ 6.58122754e-02 1.31583309e-04 9.97832013e-01 1.30931480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.51, Y:160.55, Z:130.93 [[ 7.90099202e-01 6.10768666e-01 -5.20085273e-02 2.24505865e+02] [-6.09435809e-01 7.91809073e-01 4.03284763e-02 1.60547147e+02] [ 6.58121935e-02 -1.67638086e-04 9.97832013e-01 1.30932251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.55, Y:160.51, Z:130.94 [[ 7.92732160e-01 6.07347522e-01 -5.20068263e-02 2.24551242e+02] [-6.06007143e-01 7.94436140e-01 4.03306698e-02 1.60510812e+02] [ 6.58108347e-02 -4.54910781e-04 9.97832013e-01 1.30937844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.90, Y:161.03, Z:132.12 [[ 8.29305519e-01 5.56369827e-01 -5.20093372e-02 2.24899160e+02] [-5.54925294e-01 8.30922148e-01 4.03274315e-02 1.61031238e+02] [ 6.56526763e-02 -4.58246474e-03 9.97832013e-01 1.32115109e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 355.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.95, Y:161.00, Z:132.12 [[ 8.33335102e-01 5.50097316e-01 -5.42729228e-02 2.24949732e+02] [-5.48851993e-01 8.35099894e-01 3.70088588e-02 1.61002686e+02] [ 6.56817860e-02 -1.05297930e-03 9.97840064e-01 1.32119078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.00, Y:160.97, Z:132.12 [[ 8.35276036e-01 5.47145199e-01 -5.42777626e-02 2.24998709e+02] [-5.45894100e-01 8.37036738e-01 3.70017593e-02 1.60971314e+02] [ 6.56778163e-02 -1.27677245e-03 9.97840064e-01 1.32123739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.05, Y:160.94, Z:132.13 [[ 8.35115009e-01 5.47390590e-01 -5.42813411e-02 2.25049811e+02] [-5.46140349e-01 8.36876321e-01 3.69965089e-02 1.60942592e+02] [ 6.56783099e-02 -1.25110927e-03 9.97840065e-01 1.32126077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.10, Y:160.91, Z:132.13 [[ 8.34262578e-01 5.48688461e-01 -5.42855744e-02 2.25100100e+02] [-5.47441365e-01 8.36026118e-01 3.69902963e-02 1.60911499e+02] [ 6.56803068e-02 -1.14145104e-03 9.97840065e-01 1.32131768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.15, Y:160.88, Z:132.13 [[ 8.32855275e-01 5.50821990e-01 -5.42883622e-02 2.25150511e+02] [-5.49579678e-01 8.34622189e-01 3.69862044e-02 1.60879873e+02] [ 6.56830864e-02 -9.68374843e-04 9.97840065e-01 1.32134599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.20, Y:160.85, Z:132.14 [[ 8.31254706e-01 5.53234332e-01 -5.42898591e-02 2.25199300e+02] [-5.51997292e-01 8.33025314e-01 3.69840070e-02 1.60850774e+02] [ 6.56856493e-02 -7.75274652e-04 9.97840065e-01 1.32139433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.25, Y:160.82, Z:132.14 [[ 8.28394206e-01 5.57507968e-01 -5.42946137e-02 2.25246561e+02] [-5.56280520e-01 8.30171478e-01 3.69770257e-02 1.60817913e+02] [ 6.56888261e-02 -4.28517918e-04 9.97840065e-01 1.32143616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64275509600003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:225.30, Y:160.79, Z:132.15 [[ 8.27194213e-01 5.59285669e-01 -5.43072200e-02 2.25296830e+02] [-5.58063257e-01 8.28974952e-01 3.69585018e-02 1.60788427e+02] [ 6.56896855e-02 -2.64994774e-04 9.97840065e-01 1.32148757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70275509600003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:225.35, Y:160.76, Z:132.15 [[ 8.26098013e-01 5.60903191e-01 -5.43109830e-02 2.25345115e+02] [-5.59684629e-01 8.27881389e-01 3.69529713e-02 1.60758866e+02] [ 6.56900915e-02 -1.29753738e-04 9.97840065e-01 1.32154452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.39, Y:160.72, Z:132.16 [[ 8.26164114e-01 5.60804988e-01 -5.43196287e-02 2.25392252e+02] [-5.59587051e-01 8.27947915e-01 3.69402580e-02 1.60724064e+02] [ 6.56901043e-02 -1.22154674e-04 9.97840065e-01 1.32159938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.44, Y:160.69, Z:132.16 [[ 8.27227513e-01 5.59234891e-01 -5.43229170e-02 2.25441899e+02] [-5.58013885e-01 8.29009215e-01 3.69354218e-02 1.60694779e+02] [ 6.56897753e-02 -2.41055137e-04 9.97840065e-01 1.32163452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.49, Y:160.66, Z:132.17 [[ 8.28727485e-01 5.57009313e-01 -5.43266145e-02 2.25489982e+02] [-5.55783879e-01 8.30506144e-01 3.69299825e-02 1.60663102e+02] [ 6.56889313e-02 -4.11034945e-04 9.97840065e-01 1.32166767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.54, Y:160.63, Z:132.17 [[ 8.30283582e-01 5.54686357e-01 -5.43343302e-02 2.25539390e+02] [-5.53456689e-01 8.32059318e-01 3.69186271e-02 1.60631078e+02] [ 6.56876444e-02 -5.81231432e-04 9.97840065e-01 1.32168131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.002755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:225.83, Y:161.14, Z:133.34 [[ 8.61758471e-01 5.04399519e-01 -5.43457670e-02 2.25830874e+02] [-5.03067622e-01 8.63458873e-01 3.69017839e-02 1.61135864e+02] [ 6.55385768e-02 -4.46082913e-03 9.97840065e-01 1.33340380e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 356.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.88, Y:161.11, Z:133.34 [[ 8.63972520e-01 5.00383010e-01 -5.62879021e-02 2.25883080e+02] [-4.99250925e-01 8.65803611e-01 3.36544275e-02 1.61109328e+02] [ 6.55743726e-02 -9.74713301e-04 9.97847209e-01 1.33341111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.93, Y:161.08, Z:133.35 [[ 8.66037297e-01 4.96800402e-01 -5.62917473e-02 2.25933731e+02] [-4.95661161e-01 8.67863944e-01 3.36479947e-02 1.61079199e+02] [ 6.55699151e-02 -1.23878553e-03 9.97847209e-01 1.33346951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.98, Y:161.05, Z:133.36 [[ 8.66972535e-01 4.95166347e-01 -5.62930905e-02 2.25982369e+02] [-4.94023809e-01 8.68797122e-01 3.36457474e-02 1.61049592e+02] [ 6.55675168e-02 -1.35981195e-03 9.97847209e-01 1.33359284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.03, Y:161.02, Z:133.36 [[ 8.67344652e-01 4.94513919e-01 -5.62959900e-02 2.26032531e+02] [-4.93370324e-01 8.69168576e-01 3.36408951e-02 1.61020901e+02] [ 6.55665964e-02 -1.40347962e-03 9.97847209e-01 1.33363154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.09, Y:160.99, Z:133.36 [[ 8.67961974e-01 4.93428276e-01 -5.63076283e-02 2.26085871e+02] [-4.92283662e-01 8.69785259e-01 3.36214039e-02 1.60994663e+02] [ 6.55652964e-02 -1.46277464e-03 9.97847209e-01 1.33357341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.14, Y:160.96, Z:133.37 [[ 8.65720815e-01 4.97348792e-01 -5.63173950e-02 2.26135422e+02] [-4.96213501e-01 8.67549920e-01 3.36050363e-02 1.60963655e+02] [ 6.55715757e-02 -1.14712766e-03 9.97847209e-01 1.33372126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.19, Y:160.94, Z:133.38 [[ 8.63840363e-01 5.00607228e-01 -5.63225485e-02 2.26186132e+02] [-4.99479400e-01 8.65674079e-01 3.35963967e-02 1.60935556e+02] [ 6.55755693e-02 -8.89970755e-04 9.97847209e-01 1.33375736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.24, Y:160.91, Z:133.38 [[ 8.62583037e-01 5.02770026e-01 -5.63276637e-02 2.26237639e+02] [-5.01647356e-01 8.64419915e-01 3.35878184e-02 1.60908156e+02] [ 6.55777026e-02 -7.15658806e-04 9.97847209e-01 1.33381661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.29, Y:160.88, Z:133.39 [[ 8.61469706e-01 5.04674035e-01 -5.63388269e-02 2.26288886e+02] [-5.03556650e-01 8.63309803e-01 3.35690832e-02 1.60881257e+02] [ 6.55793063e-02 -5.48957293e-04 9.97847209e-01 1.33385842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.34, Y:160.85, Z:133.38 [[ 8.62884006e-01 5.02250813e-01 -5.63499201e-02 2.26340884e+02] [-5.01129476e-01 8.64721698e-01 3.35504517e-02 1.60854748e+02] [ 6.55777402e-02 -7.11542184e-04 9.97847210e-01 1.33383159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.39, Y:160.82, Z:133.39 [[ 8.64482075e-01 4.99493906e-01 -5.63611533e-02 2.26390154e+02] [-4.98367940e-01 8.66316934e-01 3.35315705e-02 1.60824434e+02] [ 6.55754366e-02 -8.98849796e-04 9.97847210e-01 1.33394099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.722755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:226.44, Y:160.80, Z:133.39 [[ 8.67604110e-01 4.94050832e-01 -5.63638594e-02 2.26442767e+02] [-4.92913651e-01 8.69432039e-01 3.35270211e-02 1.60798227e+02] [ 6.55685979e-02 -1.30566551e-03 9.97847210e-01 1.33393975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.49, Y:160.77, Z:133.40 [[ 8.68992806e-01 4.91602840e-01 -5.63750914e-02 2.26493042e+02] [-4.90461736e-01 8.70818288e-01 3.35081242e-02 1.60768084e+02] [ 6.55651496e-02 -1.46849371e-03 9.97847210e-01 1.33403305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.54, Y:160.74, Z:133.40 [[ 8.71402241e-01 4.87318882e-01 -5.63776673e-02 2.26544642e+02] [-4.86169085e-01 8.73222261e-01 3.35037896e-02 1.60740795e+02] [ 6.55572634e-02 -1.78619840e-03 9.97847210e-01 1.33403964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.60, Y:160.71, Z:133.40 [[ 8.74652949e-01 4.81458760e-01 -5.63886569e-02 2.26596192e+02] [-4.80297964e-01 8.76465973e-01 3.34852832e-02 1.60714475e+02] [ 6.55445220e-02 -2.20464462e-03 9.97847210e-01 1.33401340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.962755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:226.65, Y:160.69, Z:133.41 [[ 8.76139906e-01 4.78746630e-01 -5.63961804e-02 2.26645742e+02] [-4.77581037e-01 8.77949849e-01 3.34726074e-02 1.60686223e+02] [ 6.55379161e-02 -2.39294077e-03 9.97847210e-01 1.33414640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.022755096 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:226.70, Y:160.66, Z:133.42 [[ 8.76551631e-01 4.77991085e-01 -5.64071009e-02 2.26696778e+02] [-4.76825114e-01 8.78361331e-01 3.34541943e-02 1.60657852e+02] [ 6.55366229e-02 -2.42800624e-03 9.97847211e-01 1.33418980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.75, Y:160.63, Z:133.42 [[ 8.75817155e-01 4.79334286e-01 -5.64176675e-02 2.26747357e+02] [-4.78172238e-01 8.77629375e-01 3.34363652e-02 1.60630445e+02] [ 6.55409985e-02 -2.30677990e-03 9.97847211e-01 1.33423098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.80, Y:160.60, Z:133.42 [[ 8.73618436e-01 4.83328694e-01 -5.64287310e-02 2.26799355e+02] [-4.82176138e-01 8.75436709e-01 3.34176835e-02 1.60603814e+02] [ 6.55515079e-02 -1.98571686e-03 9.97847211e-01 1.33422571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.85, Y:160.58, Z:133.43 [[ 8.72615170e-01 4.85136572e-01 -5.64382135e-02 2.26850568e+02] [-4.83988818e-01 8.74436477e-01 3.34016611e-02 1.60575287e+02] [ 6.55560000e-02 -1.83133194e-03 9.97847211e-01 1.33430108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.90, Y:160.55, Z:133.43 [[ 8.70957655e-01 4.88104927e-01 -5.64477086e-02 2.26900094e+02] [-4.86964421e-01 8.72783509e-01 3.33856071e-02 1.60545115e+02] [ 6.55623085e-02 -1.58942432e-03 9.97847211e-01 1.33433315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.95, Y:160.52, Z:133.44 [[ 8.69364610e-01 4.90936230e-01 -5.64516865e-02 2.26951088e+02] [-4.89802108e-01 8.71194436e-01 3.33788795e-02 1.60518096e+02] [ 6.55672964e-02 -1.36826153e-03 9.97847212e-01 1.33436116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38275509600004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:227.00, Y:160.49, Z:133.44 [[ 8.68821243e-01 4.91896729e-01 -5.64557922e-02 2.27000631e+02] [-4.90765080e-01 8.70652600e-01 3.33719338e-02 1.60489451e+02] [ 6.55689273e-02 -1.28771358e-03 9.97847212e-01 1.33438444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.05, Y:160.46, Z:133.44 [[ 8.69297154e-01 4.91054650e-01 -5.64605028e-02 2.27052788e+02] [-4.89921745e-01 8.71127734e-01 3.33639623e-02 1.60461421e+02] [ 6.55678387e-02 -1.34196945e-03 9.97847212e-01 1.33440711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.502755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:227.10, Y:160.43, Z:133.45 [[ 8.69361750e-01 4.90939989e-01 -5.64630464e-02 2.27101127e+02] [-4.89807122e-01 8.71192353e-01 3.33596571e-02 1.60428615e+02] [ 6.55677639e-02 -1.34560757e-03 9.97847212e-01 1.33447982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.15, Y:160.40, Z:133.45 [[ 8.70018848e-01 4.89774259e-01 -5.64657332e-02 2.27150673e+02] [-4.88639235e-01 8.71848115e-01 3.33551086e-02 1.60398920e+02] [ 6.55660167e-02 -1.42820047e-03 9.97847212e-01 1.33451417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.20, Y:160.37, Z:133.45 [[ 8.71259731e-01 4.87563051e-01 -5.64690404e-02 2.27201388e+02] [-4.86423746e-01 8.73086336e-01 3.33495088e-02 1.60368437e+02] [ 6.55623358e-02 -1.58820189e-03 9.97847212e-01 1.33453723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.682755096 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:227.25, Y:160.34, Z:133.45 [[ 8.72529574e-01 4.85286609e-01 -5.64716723e-02 2.27251371e+02] [-4.84142827e-01 8.74353378e-01 3.33450514e-02 1.60337277e+02] [ 6.55581044e-02 -1.75418840e-03 9.97847212e-01 1.33450261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.742755096 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:227.30, Y:160.31, Z:133.46 [[ 8.75306110e-01 4.80260194e-01 -5.64744167e-02 2.27301275e+02] [-4.79106241e-01 8.77123496e-01 3.33404029e-02 1.60309781e+02] [ 6.55471061e-02 -2.12581287e-03 9.97847212e-01 1.33455049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.35, Y:160.28, Z:133.46 [[ 8.73694876e-01 4.83184605e-01 -5.64792187e-02 2.27350260e+02] [-4.82037262e-01 8.75516441e-01 3.33322661e-02 1.60277416e+02] [ 6.55541224e-02 -1.89714217e-03 9.97847212e-01 1.33459486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.862755096 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:227.40, Y:160.25, Z:133.46 [[ 8.74607634e-01 4.81529291e-01 -5.64891905e-02 2.27401369e+02] [-4.80379591e-01 8.76427713e-01 3.33153580e-02 1.60248262e+02] [ 6.55510128e-02 -2.00161220e-03 9.97847212e-01 1.33461165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.45, Y:160.22, Z:133.47 [[ 8.71863348e-01 4.86480146e-01 -5.64922177e-02 2.27449878e+02] [-4.85341115e-01 8.73690123e-01 3.33102242e-02 1.60217300e+02] [ 6.55614553e-02 -1.62396762e-03 9.97847212e-01 1.33466182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.50, Y:160.19, Z:133.47 [[ 8.70432588e-01 4.89035176e-01 -5.64951874e-02 2.27500566e+02] [-4.87901835e-01 8.72262898e-01 3.33051867e-02 1.60188361e+02] [ 6.55660637e-02 -1.42581423e-03 9.97847212e-01 1.33469240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.042755096 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:227.55, Y:160.15, Z:133.48 [[ 8.68325844e-01 4.92765066e-01 -5.65050335e-02 2.27546954e+02] [-4.91640676e-01 8.70161665e-01 3.32884735e-02 1.60154387e+02] [ 6.55719109e-02 -1.12506902e-03 9.97847212e-01 1.33482598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.102755096 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:227.60, Y:160.12, Z:133.49 [[ 8.66949440e-01 4.95182285e-01 -5.65081744e-02 2.27596455e+02] [-4.94063360e-01 8.68788598e-01 3.32831409e-02 1.60123737e+02] [ 6.55748794e-02 -9.36181830e-04 9.97847212e-01 1.33485153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.162755096 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:227.65, Y:160.09, Z:133.49 [[ 8.65296993e-01 4.98063751e-01 -5.65120618e-02 2.27645142e+02] [-4.96951383e-01 8.67140124e-01 3.32765392e-02 1.60093760e+02] [ 6.55777142e-02 -7.10342005e-04 9.97847212e-01 1.33489534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.222755096 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:227.69, Y:160.06, Z:133.49 [[ 8.64230096e-01 4.99912217e-01 -5.65165081e-02 2.27694091e+02] [-4.98804285e-01 8.66075897e-01 3.32689859e-02 1.60063692e+02] [ 6.55791580e-02 -5.61382510e-04 9.97847212e-01 1.33493722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.282755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:227.74, Y:160.03, Z:133.50 [[ 8.63170932e-01 5.01738379e-01 -5.65202726e-02 2.27743784e+02] [-5.00634771e-01 8.65019322e-01 3.32625892e-02 1.60033064e+02] [ 6.55802455e-02 -4.15286358e-04 9.97847212e-01 1.33496201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.342755096 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:227.79, Y:160.00, Z:133.50 [[ 8.63316170e-01 5.01488145e-01 -5.65228346e-02 2.27794183e+02] [-5.00384286e-01 8.65164410e-01 3.32582351e-02 1.60001796e+02] [ 6.55801555e-02 -4.29233884e-04 9.97847212e-01 1.33496676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.402755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:227.84, Y:159.97, Z:133.50 [[ 8.65037748e-01 4.98512339e-01 -5.65255904e-02 2.27842567e+02] [-4.97402429e-01 8.66882360e-01 3.32535506e-02 1.59969924e+02] [ 6.55783425e-02 -6.49610583e-04 9.97847212e-01 1.33501017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.89, Y:159.94, Z:133.51 [[ 8.66678394e-01 4.95654114e-01 -5.65292863e-02 2.27892448e+02] [-4.94538530e-01 8.68519581e-01 3.32472667e-02 1.59937930e+02] [ 6.55759365e-02 -8.58777586e-04 9.97847212e-01 1.33505003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.94, Y:159.91, Z:133.51 [[ 8.68940873e-01 4.91676624e-01 -5.65319008e-02 2.27941109e+02] [-4.90552902e-01 8.70777104e-01 3.32428205e-02 1.59906201e+02] [ 6.55714026e-02 -1.15415749e-03 9.97847212e-01 1.33508615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.99, Y:159.87, Z:133.51 [[ 8.69818915e-01 4.90121246e-01 -5.65351080e-02 2.27991765e+02] [-4.88994595e-01 8.71653351e-01 3.32373652e-02 1.59869571e+02] [ 6.55693552e-02 -1.26512668e-03 9.97847212e-01 1.33512713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.04, Y:159.84, Z:133.52 [[ 8.71906311e-01 4.86399257e-01 -5.65256393e-02 2.28043649e+02] [-4.85263734e-01 8.73735267e-01 3.32534605e-02 1.59839062e+02] [ 6.55629030e-02 -1.56405924e-03 9.97847212e-01 1.33518022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70275509600003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:228.09, Y:159.81, Z:133.52 [[ 8.72588499e-01 4.85174725e-01 -5.65225390e-02 2.28093679e+02] [-4.84036294e-01 8.74415647e-01 3.32587294e-02 1.59809411e+02] [ 6.55604874e-02 -1.66222446e-03 9.97847213e-01 1.33519145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76275509600003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:228.15, Y:159.78, Z:133.52 [[ 8.72927048e-01 4.84564060e-01 -5.65335399e-02 2.28145130e+02] [-4.83425561e-01 8.74754153e-01 3.32400195e-02 1.59779875e+02] [ 6.55598676e-02 -1.68635380e-03 9.97847213e-01 1.33517487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82275509600004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:228.19, Y:159.74, Z:133.53 [[ 8.70121344e-01 4.89583957e-01 -5.65366682e-02 2.28194190e+02] [-4.88456347e-01 8.71955189e-01 3.32346979e-02 1.59743331e+02] [ 6.55686161e-02 -1.30252565e-03 9.97847213e-01 1.33527266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88275509600004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:228.25, Y:159.71, Z:133.53 [[ 8.69328966e-01 4.90989722e-01 -5.65353094e-02 2.28245627e+02] [-4.89864927e-01 8.71164539e-01 3.32370091e-02 1.59710514e+02] [ 6.55705866e-02 -1.19922956e-03 9.97847213e-01 1.33532449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.30, Y:159.68, Z:133.53 [[ 8.69650018e-01 4.90421838e-01 -5.65266861e-02 2.28295979e+02] [-4.89294892e-01 8.71484271e-01 3.32516684e-02 1.59680325e+02] [ 6.55694622e-02 -1.25909523e-03 9.97847213e-01 1.33531988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.35, Y:159.65, Z:133.54 [[ 8.69951488e-01 4.89886577e-01 -5.65292091e-02 2.28349544e+02] [-4.88758780e-01 8.71785218e-01 3.32473787e-02 1.59648241e+02] [ 6.55687734e-02 -1.29445930e-03 9.97847213e-01 1.33536721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.40, Y:159.61, Z:133.54 [[ 8.68662484e-01 4.92169854e-01 -5.65183449e-02 2.28401686e+02] [-4.91045678e-01 8.70498436e-01 3.32658369e-02 1.59612807e+02] [ 6.55715729e-02 -1.14369561e-03 9.97847213e-01 1.33542493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.45, Y:159.58, Z:133.55 [[ 8.68909869e-01 4.91734206e-01 -5.65076084e-02 2.28450891e+02] [-4.90607924e-01 8.70744530e-01 3.32840648e-02 1.59582020e+02] [ 6.55706040e-02 -1.19777192e-03 9.97847213e-01 1.33549079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.182755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:228.50, Y:159.55, Z:133.55 [[ 8.69106293e-01 4.91386548e-01 -5.65111689e-02 2.28499820e+02] [-4.90259925e-01 8.70940744e-01 3.32780185e-02 1.59550555e+02] [ 6.55702501e-02 -1.21697383e-03 9.97847213e-01 1.33553033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.55, Y:159.52, Z:133.55 [[ 8.69754679e-01 4.90237488e-01 -5.65155090e-02 2.28550007e+02] [-4.89108921e-01 8.71587935e-01 3.32706461e-02 1.59515912e+02] [ 6.55687537e-02 -1.29506054e-03 9.97847213e-01 1.33553907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.60, Y:159.49, Z:133.56 [[ 8.69717492e-01 4.90304421e-01 -5.65071566e-02 2.28599735e+02] [-4.89175074e-01 8.71550267e-01 3.32848259e-02 1.59485798e+02] [ 6.55685247e-02 -1.30650282e-03 9.97847214e-01 1.33559320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.65, Y:159.45, Z:133.56 [[ 8.70226592e-01 4.89400016e-01 -5.65093137e-02 2.28648925e+02] [-4.88269002e-01 8.72058339e-01 3.32811633e-02 1.59453201e+02] [ 6.55672200e-02 -1.37040714e-03 9.97847214e-01 1.33559697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.422755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:228.70, Y:159.42, Z:133.57 [[ 8.70318533e-01 4.89236154e-01 -5.65122676e-02 2.28700035e+02] [-4.88105120e-01 8.72150268e-01 3.32761466e-02 1.59418671e+02] [ 6.55670833e-02 -1.37691992e-03 9.97847214e-01 1.33568012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.75, Y:159.38, Z:133.57 [[ 8.70100090e-01 4.89625691e-01 -5.65023499e-02 2.28752564e+02] [-4.88494385e-01 8.71931656e-01 3.32929782e-02 1.59384666e+02] [ 6.55672850e-02 -1.36714265e-03 9.97847214e-01 1.33572878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.80, Y:159.35, Z:133.58 [[ 8.68885926e-01 4.91778374e-01 -5.64913995e-02 2.28802654e+02] [-4.90650399e-01 8.70719545e-01 3.33115485e-02 1.59348392e+02] [ 6.55700649e-02 -1.22640798e-03 9.97847214e-01 1.33575355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.86, Y:159.32, Z:133.58 [[ 8.68894657e-01 4.91764117e-01 -5.64812191e-02 2.28857260e+02] [-4.90634991e-01 8.70727567e-01 3.33288009e-02 1.59316652e+02] [ 6.55696629e-02 -1.24755456e-03 9.97847214e-01 1.33579478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.91, Y:159.28, Z:133.58 [[ 8.66620273e-01 4.95762432e-01 -5.64704653e-02 2.28907200e+02] [-4.94640577e-01 8.68457643e-01 3.33470116e-02 1.59280790e+02] [ 6.55744028e-02 -9.66612754e-04 9.97847214e-01 1.33584679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.96, Y:159.25, Z:133.59 [[ 8.65729151e-01 4.97318066e-01 -5.64604173e-02 2.28960603e+02] [-4.96198403e-01 8.67567857e-01 3.33640154e-02 1.59247191e+02] [ 6.55757709e-02 -8.68631829e-04 9.97847215e-01 1.33590030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.01, Y:159.21, Z:133.59 [[ 8.64405371e-01 4.99616586e-01 -5.64501720e-02 2.29013113e+02] [-4.98500682e-01 8.66246360e-01 3.33813411e-02 1.59213301e+02] [ 6.55776277e-02 -7.14561289e-04 9.97847215e-01 1.33594040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.07, Y:159.18, Z:133.60 [[ 8.63087957e-01 5.01890183e-01 -5.64395512e-02 2.29066053e+02] [-5.00777955e-01 8.64931169e-01 3.33992886e-02 1.59183423e+02] [ 6.55791020e-02 -5.62840710e-04 9.97847215e-01 1.33600058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.12, Y:159.15, Z:133.60 [[ 8.60765320e-01 5.05863424e-01 -5.64381045e-02 2.29117215e+02] [-5.04759544e-01 8.62613544e-01 3.34017330e-02 1.59152219e+02] [ 6.55809884e-02 -2.63381452e-04 9.97847215e-01 1.33603775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.17, Y:159.12, Z:133.60 [[ 8.60115188e-01 5.06967885e-01 -5.64395817e-02 2.29166560e+02] [-5.05866543e-01 8.61964925e-01 3.33992367e-02 1.59119942e+02] [ 6.55812802e-02 -1.76294703e-04 9.97847215e-01 1.33604019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.22, Y:159.09, Z:133.61 [[ 8.60954745e-01 5.05540562e-01 -5.64417231e-02 2.29217940e+02] [-5.04436389e-01 8.62802794e-01 3.33956176e-02 1.59093556e+02] [ 6.55809157e-02 -2.80856454e-04 9.97847215e-01 1.33610019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.27, Y:159.06, Z:133.61 [[ 8.61330429e-01 5.04899819e-01 -5.64452360e-02 2.29267933e+02] [-5.03794661e-01 8.63177890e-01 3.33896790e-02 1.59062110e+02] [ 6.55807226e-02 -3.22737993e-04 9.97847215e-01 1.33613746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.32, Y:159.03, Z:133.62 [[ 8.62837259e-01 5.02320083e-01 -5.64481962e-02 2.29321312e+02] [-5.01209729e-01 8.64681601e-01 3.33846738e-02 1.59030543e+02] [ 6.55795088e-02 -5.13155343e-04 9.97847215e-01 1.33616996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.38, Y:159.00, Z:133.62 [[ 8.63877508e-01 5.00530078e-01 -5.64383869e-02 2.29375161e+02] [-4.99414820e-01 8.65718889e-01 3.34012486e-02 1.58999126e+02] [ 6.55781072e-02 -6.68420568e-04 9.97847215e-01 1.33620890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.43, Y:158.97, Z:133.63 [[ 8.65063006e-01 4.98479593e-01 -5.64277480e-02 2.29429483e+02] [-4.97358799e-01 8.66901022e-01 3.34192123e-02 1.58967034e+02] [ 6.55760677e-02 -8.44887278e-04 9.97847216e-01 1.33625380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.48, Y:158.93, Z:133.63 [[ 8.65156185e-01 4.98319091e-01 -5.64168416e-02 2.29482026e+02] [-4.97196756e-01 8.66993260e-01 3.34376140e-02 1.58934367e+02] [ 6.55756227e-02 -8.78487946e-04 9.97847216e-01 1.33631271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.54, Y:158.90, Z:133.63 [[ 8.66926180e-01 4.95234546e-01 -5.64069342e-02 2.29535619e+02] [-4.94104589e-01 8.68758576e-01 3.34543187e-02 1.58904322e+02] [ 6.55717422e-02 -1.13149967e-03 9.97847216e-01 1.33632197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.59, Y:158.87, Z:133.64 [[ 8.68422606e-01 4.92606789e-01 -5.63979398e-02 2.29590119e+02] [-4.91470304e-01 8.70250961e-01 3.34694747e-02 1.58874393e+02] [ 6.55676518e-02 -1.34773582e-03 9.97847216e-01 1.33639541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.65, Y:158.84, Z:133.64 [[ 8.69363037e-01 4.90946261e-01 -5.63886360e-02 2.29645893e+02] [-4.89805267e-01 8.71188582e-01 3.34851423e-02 1.58844216e+02] [ 6.55645412e-02 -1.49129406e-03 9.97847216e-01 1.33641792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.70, Y:158.82, Z:133.64 [[ 8.70279743e-01 4.89320715e-01 -5.63773675e-02 2.29700260e+02] [-4.88175084e-01 8.72102381e-01 3.35041038e-02 1.58816558e+02] [ 6.55610884e-02 -1.63591674e-03 9.97847217e-01 1.33642982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.622755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:229.76, Y:158.79, Z:133.65 [[ 8.70320451e-01 4.89248937e-01 -5.63718931e-02 2.29755997e+02] [-4.88102561e-01 8.72142619e-01 3.35133121e-02 1.58788592e+02] [ 6.55606829e-02 -1.65205553e-03 9.97847217e-01 1.33646994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.682755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:229.81, Y:158.76, Z:133.65 [[ 8.69322026e-01 4.91021943e-01 -5.63619205e-02 2.29811199e+02] [-4.89878197e-01 8.71145847e-01 3.35300755e-02 1.58758556e+02] [ 6.55634558e-02 -1.53795717e-03 9.97847217e-01 1.33653145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.87, Y:158.73, Z:133.66 [[ 8.67593453e-01 4.94071055e-01 -5.63506333e-02 2.29866382e+02] [-4.92932488e-01 8.69420511e-01 3.35490341e-02 1.58730827e+02] [ 6.55680030e-02 -1.32986441e-03 9.97847217e-01 1.33655886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.92, Y:158.70, Z:133.66 [[ 8.65517361e-01 4.97700187e-01 -5.63402322e-02 2.29919962e+02] [-4.96568146e-01 8.67348469e-01 3.35664920e-02 1.58698863e+02] [ 6.55726635e-02 -1.07561694e-03 9.97847217e-01 1.33660167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.97, Y:158.67, Z:133.66 [[ 8.64252216e-01 4.99895148e-01 -5.63289294e-02 2.29973529e+02] [-4.98766523e-01 8.66085431e-01 3.35854489e-02 1.58666788e+02] [ 6.55748680e-02 -9.31314321e-04 9.97847217e-01 1.33663927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.03, Y:158.63, Z:133.67 [[ 8.63622395e-01 5.00983715e-01 -5.63176450e-02 2.30026166e+02] [-4.99856167e-01 8.65456272e-01 3.36043605e-02 1.58634170e+02] [ 6.55756965e-02 -8.70756093e-04 9.97847218e-01 1.33666945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.07, Y:158.60, Z:133.68 [[ 8.63668625e-01 5.00905180e-01 -5.63072489e-02 2.30074315e+02] [-4.99776331e-01 8.65501702e-01 3.36217712e-02 1.58601602e+02] [ 6.55753391e-02 -8.97038686e-04 9.97847218e-01 1.33675457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.042755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:230.13, Y:158.57, Z:133.68 [[ 8.65754132e-01 4.97291659e-01 -5.63097564e-02 2.30125056e+02] [-4.96155433e-01 8.67582645e-01 3.36175711e-02 1.58567985e+02] [ 6.55711051e-02 -1.16615954e-03 9.97847218e-01 1.33679303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.18, Y:158.53, Z:133.68 [[ 8.65219111e-01 4.98222083e-01 -5.63084874e-02 2.30177314e+02] [-4.97087684e-01 8.67048759e-01 3.36196965e-02 1.58533829e+02] [ 6.55722793e-02 -1.09814831e-03 9.97847218e-01 1.33684973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.23, Y:158.50, Z:133.69 [[ 8.64178581e-01 5.00025146e-01 -5.63048337e-02 2.30228168e+02] [-4.98894167e-01 8.66010344e-01 3.36258145e-02 1.58500906e+02] [ 6.55743211e-02 -9.68555555e-04 9.97847218e-01 1.33689298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.28, Y:158.47, Z:133.69 [[ 8.65422847e-01 4.97869566e-01 -5.62955616e-02 2.30279822e+02] [-4.96733016e-01 8.67251159e-01 3.36413304e-02 1.58468546e+02] [ 6.55713856e-02 -1.15011187e-03 9.97847218e-01 1.33691454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.33, Y:158.43, Z:133.70 [[ 8.61700608e-01 5.04285133e-01 -5.62900166e-02 2.30331800e+02] [-5.03161591e-01 8.63536942e-01 3.36506060e-02 1.58434552e+02] [ 6.55780091e-02 -6.73773409e-04 9.97847218e-01 1.33700540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.38, Y:158.40, Z:133.70 [[ 8.61043369e-01 5.05407804e-01 -5.62784939e-02 2.30384500e+02] [-5.04285397e-01 8.62880397e-01 3.36698660e-02 1.58403869e+02] [ 6.55786221e-02 -6.10792266e-04 9.97847218e-01 1.33701619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.44, Y:158.38, Z:133.71 [[ 8.61324818e-01 5.04929105e-01 -5.62686162e-02 2.30435976e+02] [-5.03804599e-01 8.63160562e-01 3.36863654e-02 1.58377121e+02] [ 6.55780767e-02 -6.66514926e-04 9.97847219e-01 1.33705689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.49, Y:158.34, Z:133.71 [[ 8.61407710e-01 5.04787270e-01 -5.62722734e-02 2.30489580e+02] [-5.03662861e-01 8.63243513e-01 3.36802549e-02 1.58343777e+02] [ 6.55780390e-02 -6.70177020e-04 9.97847219e-01 1.33710460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.54, Y:158.31, Z:133.72 [[ 8.60713435e-01 5.05971358e-01 -5.62616002e-02 2.30540353e+02] [-5.04848309e-01 8.62550071e-01 3.36980747e-02 1.58307986e+02] [ 6.55787079e-02 -6.00811900e-04 9.97847219e-01 1.33716576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.59, Y:158.28, Z:133.72 [[ 8.63498983e-01 5.01203839e-01 -5.62513794e-02 2.30593728e+02] [-5.00069541e-01 8.65328692e-01 3.37151275e-02 1.58280359e+02] [ 6.55740839e-02 -9.83376836e-04 9.97847219e-01 1.33719957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.65, Y:158.25, Z:133.72 [[ 8.64938519e-01 4.98715574e-01 -5.62506494e-02 2.30647416e+02] [-4.97575933e-01 8.66764904e-01 3.37163454e-02 1.58247422e+02] [ 6.55709553e-02 -1.17359648e-03 9.97847219e-01 1.33724758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.70, Y:158.22, Z:133.73 [[ 8.65786473e-01 4.97243278e-01 -5.62397234e-02 2.30699999e+02] [-4.96099348e-01 8.67610175e-01 3.37345605e-02 1.58215055e+02] [ 6.55684397e-02 -1.30643606e-03 9.97847219e-01 1.33728683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.75, Y:158.18, Z:133.73 [[ 8.66033889e-01 4.96812995e-01 -5.62330033e-02 2.30754841e+02] [-4.95667433e-01 8.67856566e-01 3.37457587e-02 1.58183301e+02] [ 6.55675126e-02 -1.35210223e-03 9.97847219e-01 1.33732341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.81, Y:158.15, Z:133.74 [[ 8.66026501e-01 4.96826408e-01 -5.62282837e-02 2.30809359e+02] [-4.95680364e-01 8.67848875e-01 3.37536208e-02 1.58152717e+02] [ 6.55673429e-02 -1.36027396e-03 9.97847219e-01 1.33736364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.86, Y:158.12, Z:133.74 [[ 8.65389896e-01 4.97934973e-01 -5.62235680e-02 2.30862776e+02] [-4.96790754e-01 8.67213417e-01 3.37614739e-02 1.58121003e+02] [ 6.55688511e-02 -1.28548968e-03 9.97847219e-01 1.33740637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.92, Y:158.09, Z:133.74 [[ 8.64815636e-01 4.98932753e-01 -5.62140994e-02 2.30916848e+02] [-4.97789613e-01 8.66639833e-01 3.37772321e-02 1.58088813e+02] [ 6.55699451e-02 -1.22828362e-03 9.97847220e-01 1.33744607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.97, Y:158.06, Z:133.75 [[ 8.63779647e-01 5.00725343e-01 -5.62036606e-02 2.30971005e+02] [-4.99584860e-01 8.65605506e-01 3.37945929e-02 1.58057594e+02] [ 6.55720072e-02 -1.11258364e-03 9.97847220e-01 1.33747674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.02, Y:158.03, Z:133.75 [[ 8.63369749e-01 5.01433026e-01 -5.61925071e-02 2.31021380e+02] [-5.00292833e-01 8.65195789e-01 3.38131284e-02 1.58027429e+02] [ 6.55725398e-02 -1.08052352e-03 9.97847220e-01 1.33750641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.07, Y:158.00, Z:133.75 [[ 8.63395043e-01 5.01389303e-01 -5.61940027e-02 2.31072040e+02] [-5.00249180e-01 8.65221127e-01 3.38106427e-02 1.57997093e+02] [ 6.55725329e-02 -1.08093751e-03 9.97847220e-01 1.33754904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.12, Y:157.97, Z:133.76 [[ 8.63247959e-01 5.01642159e-01 -5.61970222e-02 2.31123368e+02] [-5.00502898e-01 8.65074580e-01 3.38056232e-02 1.57967298e+02] [ 6.55729412e-02 -1.05586280e-03 9.97847220e-01 1.33756210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.18, Y:157.94, Z:133.76 [[ 8.62466513e-01 5.02984156e-01 -5.62001112e-02 2.31175960e+02] [-5.01848071e-01 8.64295112e-01 3.38004872e-02 1.57935385e+02] [ 6.55745909e-02 -9.47870888e-04 9.97847220e-01 1.33760705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.23, Y:157.90, Z:133.77 [[ 8.63085066e-01 5.01923234e-01 -5.61892999e-02 2.31227993e+02] [-5.00783732e-01 8.64911537e-01 3.38184502e-02 1.57903402e+02] [ 6.55730396e-02 -1.04951200e-03 9.97847220e-01 1.33765612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.28, Y:157.87, Z:133.77 [[ 8.64206358e-01 4.99991198e-01 -5.61798298e-02 2.31282148e+02] [-4.98846592e-01 8.66029634e-01 3.38341748e-02 1.57871475e+02] [ 6.55701870e-02 -1.21459232e-03 9.97847220e-01 1.33769967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.34, Y:157.84, Z:133.77 [[ 8.66295898e-01 4.96363249e-01 -5.61688794e-02 2.31335267e+02] [-4.95209830e-01 8.68113612e-01 3.38523440e-02 1.57839517e+02] [ 6.55640282e-02 -1.51076552e-03 9.97847221e-01 1.33773771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.39, Y:157.81, Z:133.78 [[ 8.68756879e-01 4.92044384e-01 -5.61587874e-02 2.31385421e+02] [-4.90880849e-01 8.70568135e-01 3.38690777e-02 1.57808583e+02] [ 6.55551403e-02 -1.85672103e-03 9.97847221e-01 1.33776377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.44, Y:157.78, Z:133.77 [[ 8.69890013e-01 4.90037997e-01 -5.61616151e-02 2.31439039e+02] [-4.88870588e-01 8.71698773e-01 3.38643882e-02 1.57777614e+02] [ 6.55508480e-02 -2.00253125e-03 9.97847221e-01 1.33774711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.49, Y:157.74, Z:133.78 [[ 8.68338508e-01 4.92783271e-01 -5.61505324e-02 2.31489475e+02] [-4.91620395e-01 8.70150186e-01 3.38827544e-02 1.57742801e+02] [ 6.55562508e-02 -1.81695353e-03 9.97847221e-01 1.33783456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.54, Y:157.71, Z:133.79 [[ 8.68845855e-01 4.91889273e-01 -5.61411063e-02 2.31543077e+02] [-4.90723525e-01 8.70655686e-01 3.38983657e-02 1.57712758e+02] [ 6.55538158e-02 -1.90269295e-03 9.97847221e-01 1.33786598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.59, Y:157.68, Z:133.79 [[ 8.67740644e-01 4.93837076e-01 -5.61348049e-02 2.31592171e+02] [-4.92674717e-01 8.69552653e-01 3.39087974e-02 1.57683398e+02] [ 6.55575899e-02 -1.76784263e-03 9.97847221e-01 1.33787574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.782755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:231.65, Y:157.65, Z:133.79 [[ 8.65065706e-01 4.98507388e-01 -5.61400748e-02 2.31645408e+02] [-4.97355379e-01 8.66884313e-01 3.39000702e-02 1.57650842e+02] [ 6.55663856e-02 -1.40421999e-03 9.97847221e-01 1.33793056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.70, Y:157.62, Z:133.80 [[ 8.63987042e-01 5.00375749e-01 -5.61293290e-02 2.31698588e+02] [-4.99226518e-01 8.65807405e-01 3.39178530e-02 1.57618283e+02] [ 6.55688598e-02 -1.28333602e-03 9.97847222e-01 1.33798090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.75, Y:157.59, Z:133.81 [[ 8.61686954e-01 5.04327452e-01 -5.61196441e-02 2.31751046e+02] [-5.03185527e-01 8.63511909e-01 3.39338699e-02 1.57585065e+02] [ 6.55737632e-02 -1.00178027e-03 9.97847222e-01 1.33806436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.80, Y:157.55, Z:133.81 [[ 8.59945088e-01 5.07293084e-01 -5.61085761e-02 2.31801172e+02] [-5.06156260e-01 8.61773225e-01 3.39521606e-02 1.57554435e+02] [ 6.55765649e-02 -7.97286717e-04 9.97847222e-01 1.33812887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.85, Y:157.52, Z:133.82 [[ 8.58053761e-01 5.10485383e-01 -5.61107483e-02 2.31849490e+02] [-5.09355596e-01 8.59886255e-01 3.39485704e-02 1.57520979e+02] [ 6.55791102e-02 -5.49374878e-04 9.97847222e-01 1.33815942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.90, Y:157.49, Z:133.82 [[ 8.59163318e-01 5.08615440e-01 -5.61135206e-02 2.31901413e+02] [-5.07481964e-01 8.60993532e-01 3.39439875e-02 1.57492246e+02] [ 6.55778144e-02 -6.86829305e-04 9.97847222e-01 1.33817173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.95, Y:157.46, Z:133.82 [[ 8.58305009e-01 5.10062295e-01 -5.61156663e-02 2.31950213e+02] [-5.08932135e-01 8.60137273e-01 3.39404399e-02 1.57458850e+02] [ 6.55789148e-02 -5.72183657e-04 9.97847222e-01 1.33822132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.00, Y:157.43, Z:133.82 [[ 8.58855259e-01 5.09134902e-01 -5.61185913e-02 2.32003547e+02] [-5.08003080e-01 8.60686496e-01 3.39356029e-02 1.57426119e+02] [ 6.55783136e-02 -6.37353744e-04 9.97847222e-01 1.33822346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.06, Y:157.39, Z:133.83 [[ 8.59647622e-01 5.07797091e-01 -5.61077524e-02 2.32057012e+02] [-5.06661251e-01 8.61476370e-01 3.39535140e-02 1.57393120e+02] [ 6.55769985e-02 -7.60433598e-04 9.97847222e-01 1.33826502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.11, Y:157.36, Z:133.83 [[ 8.63235372e-01 5.01675030e-01 -5.60968505e-02 2.32112427e+02] [-5.00525053e-01 8.65055263e-01 3.39715162e-02 1.57362661e+02] [ 6.55695372e-02 -1.24753539e-03 9.97847223e-01 1.33831326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.16, Y:157.33, Z:133.83 [[ 8.62648715e-01 5.02684333e-01 -5.60861497e-02 2.32164670e+02] [-5.01535337e-01 8.64469225e-01 3.39891739e-02 1.57328325e+02] [ 6.55705756e-02 -1.19153113e-03 9.97847223e-01 1.33832404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.22, Y:157.30, Z:133.84 [[ 8.63156437e-01 5.01812760e-01 -5.60795688e-02 2.32218248e+02] [-5.00661222e-01 8.64975340e-01 3.40000283e-02 1.57295220e+02] [ 6.55690922e-02 -1.27047789e-03 9.97847223e-01 1.33840407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.27, Y:157.27, Z:133.84 [[ 8.64248237e-01 4.99931289e-01 -5.60686261e-02 2.32270470e+02] [-4.98774621e-01 8.66063883e-01 3.40180642e-02 1.57269991e+02] [ 6.55657067e-02 -1.43444428e-03 9.97847223e-01 1.33842610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.32, Y:157.24, Z:133.85 [[ 8.64434424e-01 4.99608960e-01 -5.60715165e-02 2.32321696e+02] [-4.98451924e-01 8.66249834e-01 3.40132993e-02 1.57241296e+02] [ 6.55652910e-02 -1.45331149e-03 9.97847223e-01 1.33848896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.37, Y:157.21, Z:133.85 [[ 8.63751856e-01 5.00787762e-01 -5.60744853e-02 2.32372896e+02] [-4.99633522e-01 8.65569046e-01 3.40084043e-02 1.57211796e+02] [ 6.55673314e-02 -1.35812975e-03 9.97847223e-01 1.33851797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.43, Y:157.18, Z:133.86 [[ 8.63122666e-01 5.01871085e-01 -5.60774195e-02 2.32427287e+02] [-5.00719439e-01 8.64941501e-01 3.40035653e-02 1.57180472e+02] [ 6.55690936e-02 -1.27019393e-03 9.97847223e-01 1.33857320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.48, Y:157.15, Z:133.86 [[ 8.63243506e-01 5.01664439e-01 -5.60663942e-02 2.32482194e+02] [-5.00511178e-01 8.65061317e-01 3.40217346e-02 1.57150146e+02] [ 6.55683632e-02 -1.30718446e-03 9.97847223e-01 1.33862403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.53, Y:157.12, Z:133.87 [[ 8.61188000e-01 5.05186116e-01 -5.60554871e-02 2.32534951e+02] [-5.04039121e-01 8.63009771e-01 3.40396960e-02 1.57116738e+02] [ 6.55728149e-02 -1.06041931e-03 9.97847224e-01 1.33866735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.59, Y:157.09, Z:133.87 [[ 8.62465393e-01 5.03003506e-01 -5.60438949e-02 2.32588676e+02] [-5.01850662e-01 8.64283468e-01 3.40587710e-02 1.57085692e+02] [ 6.55694931e-02 -1.24884557e-03 9.97847224e-01 1.33869520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.64, Y:157.05, Z:133.87 [[ 8.63240756e-01 5.01672484e-01 -5.60367381e-02 2.32642988e+02] [-5.00516073e-01 8.65056564e-01 3.40705421e-02 1.57054382e+02] [ 6.55672016e-02 -1.36379247e-03 9.97847224e-01 1.33872556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.69, Y:157.03, Z:133.87 [[ 8.65049045e-01 4.98549176e-01 -5.60256114e-02 2.32694098e+02] [-4.97385026e-01 8.66859901e-01 3.40888290e-02 1.57026451e+02] [ 6.55613136e-02 -1.62220878e-03 9.97847224e-01 1.33874025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.75, Y:157.00, Z:133.87 [[ 8.66815701e-01 4.95470707e-01 -5.60296243e-02 2.32746626e+02] [-4.94300553e-01 8.68622683e-01 3.40822321e-02 1.56998272e+02] [ 6.55553502e-02 -1.84753965e-03 9.97847224e-01 1.33872643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.102755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:232.80, Y:156.97, Z:133.88 [[ 8.68296651e-01 4.92870444e-01 -5.60325937e-02 2.32797254e+02] [-4.91695193e-01 8.70100323e-01 3.40773494e-02 1.56966154e+02] [ 6.55496962e-02 -2.03829138e-03 9.97847224e-01 1.33876654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.85, Y:156.93, Z:133.88 [[ 8.67699921e-01 4.93920231e-01 -5.60325937e-02 2.32845071e+02] [-4.92747163e-01 8.69505013e-01 3.40773494e-02 1.56933369e+02] [ 6.55521135e-02 -1.95901180e-03 9.97847224e-01 1.33884597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.90, Y:156.91, Z:133.89 [[ 8.66832346e-01 4.95441031e-01 -5.60345256e-02 2.32895480e+02] [-4.94271336e-01 8.68639625e-01 3.40741726e-02 1.56905418e+02] [ 6.55555525e-02 -1.84033514e-03 9.97847224e-01 1.33886663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.94, Y:156.87, Z:133.90 [[ 8.64868478e-01 4.98860951e-01 -5.60380808e-02 2.32944304e+02] [-4.97698781e-01 8.66680606e-01 3.40683246e-02 1.56874039e+02] [ 6.55624747e-02 -1.57453552e-03 9.97847224e-01 1.33895378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.00, Y:156.84, Z:133.89 [[ 8.63955239e-01 5.00440389e-01 -5.60425043e-02 2.32995354e+02] [-4.99282004e-01 8.65769788e-01 3.40610464e-02 1.56844236e+02] [ 6.55654304e-02 -1.44620559e-03 9.97847224e-01 1.33894226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.05, Y:156.82, Z:133.90 [[ 8.62601080e-01 5.02770718e-01 -5.60444617e-02 2.33047631e+02] [-5.01617444e-01 8.64418882e-01 3.40578254e-02 1.56816677e+02] [ 6.55691683e-02 -1.26543737e-03 9.97847224e-01 1.33897853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.10, Y:156.78, Z:133.91 [[ 8.60867642e-01 5.05732764e-01 -5.60470661e-02 2.33097455e+02] [-5.04586025e-01 8.62689573e-01 3.40535390e-02 1.56780877e+02] [ 6.55732099e-02 -1.03502351e-03 9.97847224e-01 1.33906983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.15, Y:156.75, Z:133.91 [[ 8.60574839e-01 5.06231891e-01 -5.60376539e-02 2.33149750e+02] [-5.05085200e-01 8.62396801e-01 3.40690205e-02 1.56748119e+02] [ 6.55735181e-02 -1.01515219e-03 9.97847224e-01 1.33913407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.20, Y:156.72, Z:133.91 [[ 8.60973271e-01 5.05555154e-01 -5.60268911e-02 2.33198613e+02] [-5.04405881e-01 8.62793604e-01 3.40867108e-02 1.56715066e+02] [ 6.55723556e-02 -1.08745353e-03 9.97847225e-01 1.33914144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.25, Y:156.69, Z:133.92 [[ 8.61398703e-01 5.04829659e-01 -5.60293665e-02 2.33249213e+02] [-5.03679117e-01 8.63218235e-01 3.40826415e-02 1.56687691e+02] [ 6.55714991e-02 -1.13792136e-03 9.97847225e-01 1.33917971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.30, Y:156.66, Z:133.92 [[ 8.61475997e-01 5.04696602e-01 -5.60396860e-02 2.33298093e+02] [-5.03546882e-01 8.63296049e-01 3.40656654e-02 1.56655580e+02] [ 6.55716650e-02 -1.12814394e-03 9.97847225e-01 1.33921609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.35, Y:156.62, Z:133.93 [[ 8.61538211e-01 5.04590045e-01 -5.60428100e-02 2.33350590e+02] [-5.03440435e-01 8.63358332e-01 3.40605252e-02 1.56621905e+02] [ 6.55716289e-02 -1.13022726e-03 9.97847225e-01 1.33926279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.40, Y:156.59, Z:133.93 [[ 8.61870645e-01 5.04023456e-01 -5.60298752e-02 2.33403001e+02] [-5.02871268e-01 8.63689134e-01 3.40817898e-02 1.56590738e+02] [ 6.55704159e-02 -1.19827976e-03 9.97847225e-01 1.33927986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.46, Y:156.56, Z:133.93 [[ 8.63097527e-01 5.01920757e-01 -5.60197549e-02 2.33456525e+02] [-5.00763060e-01 8.64912514e-01 3.40984163e-02 1.56558711e+02] [ 6.55668899e-02 -1.37763490e-03 9.97847225e-01 1.33930675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.51, Y:156.53, Z:133.94 [[ 8.63166322e-01 5.01803704e-01 -5.60084274e-02 2.33509028e+02] [-5.00644555e-01 8.64980381e-01 3.41170122e-02 1.56526395e+02] [ 6.55662340e-02 -1.40834173e-03 9.97847226e-01 1.33939770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.002755096 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:233.56, Y:156.49, Z:133.94 [[ 8.63217965e-01 5.01716062e-01 -5.59976668e-02 2.33560154e+02] [-5.00555584e-01 8.65031174e-01 3.41346650e-02 1.56494748e+02] [ 6.55656371e-02 -1.43571119e-03 9.97847226e-01 1.33940843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.61, Y:156.46, Z:133.95 [[ 8.62239702e-01 5.03395285e-01 -5.59989582e-02 2.33610659e+02] [-5.02238476e-01 8.64055254e-01 3.41325462e-02 1.56464501e+02] [ 6.55683569e-02 -1.30560510e-03 9.97847226e-01 1.33947781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.66, Y:156.43, Z:133.95 [[ 8.60561543e-01 5.06258632e-01 -5.60002582e-02 2.33663998e+02] [-5.05108003e-01 8.62381018e-01 3.41304133e-02 1.56430489e+02] [ 6.55723760e-02 -1.08514250e-03 9.97847226e-01 1.33948831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.72, Y:156.40, Z:133.95 [[ 8.59403476e-01 5.08223317e-01 -5.59886162e-02 2.33716895e+02] [-5.07075605e-01 8.61224792e-01 3.41495004e-02 1.56399479e+02] [ 6.55743568e-02 -9.57737950e-04 9.97847226e-01 1.33953662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.77, Y:156.37, Z:133.96 [[ 8.58958071e-01 5.08976531e-01 -5.59814547e-02 2.33766344e+02] [-5.07829651e-01 8.60779911e-01 3.41612364e-02 1.56367907e+02] [ 6.55749792e-02 -9.14027131e-04 9.97847226e-01 1.33955510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.82, Y:156.34, Z:133.96 [[ 8.59909664e-01 5.07366956e-01 -5.59834055e-02 2.33816969e+02] [-5.06216874e-01 8.61729485e-01 3.41580390e-02 1.56338641e+02] [ 6.55732115e-02 -1.03308331e-03 9.97847226e-01 1.33962713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.87, Y:156.31, Z:133.96 [[ 8.60864230e-01 5.05745388e-01 -5.59855405e-02 2.33866988e+02] [-5.04592106e-01 8.62682024e-01 3.41545394e-02 1.56307983e+02] [ 6.55712202e-02 -1.15255949e-03 9.97847226e-01 1.33964327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.92, Y:156.28, Z:133.97 [[ 8.62329485e-01 5.03242639e-01 -5.59884396e-02 2.33917762e+02] [-5.02084390e-01 8.64144119e-01 3.41497863e-02 1.56276920e+02] [ 6.55677094e-02 -1.33744613e-03 9.97847226e-01 1.33970682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.97, Y:156.24, Z:133.97 [[ 8.62127525e-01 5.03588473e-01 -5.59891002e-02 2.33967661e+02] [-5.02431023e-01 8.63942668e-01 3.41487033e-02 1.56243007e+02] [ 6.55682660e-02 -1.30987616e-03 9.97847226e-01 1.33969098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.02, Y:156.22, Z:133.97 [[ 8.62234762e-01 5.03404699e-01 -5.59903884e-02 2.34020660e+02] [-5.02246999e-01 8.64049745e-01 3.41465910e-02 1.56216127e+02] [ 6.55680352e-02 -1.32137319e-03 9.97847226e-01 1.33972799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.07, Y:156.18, Z:133.98 [[ 8.60750672e-01 5.05937951e-01 -5.59917017e-02 2.34074698e+02] [-5.04785732e-01 8.62569140e-01 3.41444374e-02 1.56183380e+02] [ 6.55716807e-02 -1.12603528e-03 9.97847226e-01 1.33977677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.662755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:234.13, Y:156.15, Z:133.98 [[ 8.58615848e-01 5.09553724e-01 -5.59806136e-02 2.34127387e+02] [-5.08407979e-01 8.60438402e-01 3.41626069e-02 1.56152483e+02] [ 6.55755533e-02 -8.71565038e-04 9.97847226e-01 1.33979889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.722755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:234.18, Y:156.12, Z:133.98 [[ 8.56480834e-01 5.13134834e-01 -5.59752083e-02 2.34179009e+02] [-5.11996132e-01 8.58307796e-01 3.41714612e-02 1.56120667e+02] [ 6.55785247e-02 -6.08111423e-04 9.97847226e-01 1.33984915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.782755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:234.23, Y:156.09, Z:133.99 [[ 8.56801168e-01 5.12599780e-01 -5.59752083e-02 2.34229775e+02] [-5.11459937e-01 8.58627419e-01 3.41714612e-02 1.56090709e+02] [ 6.55781321e-02 -6.49071332e-04 9.97847226e-01 1.33987437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.28, Y:156.06, Z:133.99 [[ 8.58460507e-01 5.09815742e-01 -5.59773786e-02 2.34278537e+02] [-5.08670208e-01 8.60283194e-01 3.41679056e-02 1.56060006e+02] [ 6.55757342e-02 -8.57772712e-04 9.97847226e-01 1.33993400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.33, Y:156.03, Z:134.00 [[ 8.60330233e-01 5.06653643e-01 -5.59819252e-02 2.34327639e+02] [-5.05501895e-01 8.62149000e-01 3.41604546e-02 1.56028723e+02] [ 6.55722796e-02 -1.09030264e-03 9.97847226e-01 1.33997939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.38, Y:156.00, Z:134.00 [[ 8.61443174e-01 5.04758506e-01 -5.59866876e-02 2.34375350e+02] [-5.03603264e-01 8.63259723e-01 3.41526476e-02 1.55997567e+02] [ 6.55698918e-02 -1.22548648e-03 9.97847227e-01 1.34001798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.43, Y:155.96, Z:134.00 [[ 8.62407910e-01 5.03107832e-01 -5.59920226e-02 2.34427614e+02] [-5.01949682e-01 8.64222605e-01 3.41438989e-02 1.55962942e+02] [ 6.55676346e-02 -1.34079058e-03 9.97847227e-01 1.34002090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.48, Y:155.93, Z:134.01 [[ 8.62230500e-01 5.03412876e-01 -5.59825050e-02 2.34480658e+02] [-5.02254355e-01 8.64044959e-01 3.41594969e-02 1.55930931e+02] [ 6.55677318e-02 -1.33590321e-03 9.97847227e-01 1.34008760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.53, Y:155.90, Z:134.01 [[ 8.61403447e-01 5.04827812e-01 -5.59730453e-02 2.34533486e+02] [-5.03671265e-01 8.63219165e-01 3.41749904e-02 1.55898406e+02] [ 6.55694910e-02 -1.24643998e-03 9.97847227e-01 1.34013886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.58, Y:155.87, Z:134.02 [[ 8.60616214e-01 5.06169780e-01 -5.59632565e-02 2.34584279e+02] [-5.05015023e-01 8.62433071e-01 3.41910124e-02 1.55868773e+02] [ 6.55710204e-02 -1.16305436e-03 9.97847227e-01 1.34016573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.63, Y:155.84, Z:134.02 [[ 8.59414538e-01 5.08207074e-01 -5.59662523e-02 2.34632543e+02] [-5.07056944e-01 8.61234327e-01 3.41861080e-02 1.55839454e+02] [ 6.55736796e-02 -1.00196135e-03 9.97847227e-01 1.34021689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.68, Y:155.81, Z:134.03 [[ 8.58483433e-01 5.09777783e-01 -5.59714944e-02 2.34682431e+02] [-5.08631541e-01 8.60305674e-01 3.41775232e-02 1.55810571e+02] [ 6.55755362e-02 -8.71970004e-04 9.97847227e-01 1.34025020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38275509600004 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:234.73, Y:155.78, Z:134.03 [[ 8.58009896e-01 5.10573982e-01 -5.59752328e-02 2.34734964e+02] [-5.09429831e-01 8.59833451e-01 3.41713995e-02 1.55778133e+02] [ 6.55764050e-02 -8.03945571e-04 9.97847227e-01 1.34026767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.79, Y:155.74, Z:134.03 [[ 8.56781881e-01 5.12633043e-01 -5.59658053e-02 2.34787077e+02] [-5.11492267e-01 8.58607548e-01 3.41868328e-02 1.55743945e+02] [ 6.55779630e-02 -6.64582314e-04 9.97847227e-01 1.34032909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.502755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:234.84, Y:155.71, Z:134.04 [[ 8.57595607e-01 5.11271784e-01 -5.59547856e-02 2.34839298e+02] [-5.10126934e-01 8.59418721e-01 3.42048597e-02 1.55710664e+02] [ 6.55765699e-02 -7.89894181e-04 9.97847228e-01 1.34039140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.89, Y:155.68, Z:134.04 [[ 8.59353537e-01 5.08312600e-01 -5.59446040e-02 2.34893134e+02] [-5.07160389e-01 8.61172008e-01 3.42215044e-02 1.55679828e+02] [ 6.55731489e-02 -1.03548367e-03 9.97847228e-01 1.34044158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.94, Y:155.65, Z:134.05 [[ 8.61045370e-01 5.05442493e-01 -5.59353024e-02 2.34943382e+02] [-5.04283234e-01 8.62859356e-01 3.42367011e-02 1.55649242e+02] [ 6.55689826e-02 -1.27211774e-03 9.97847228e-01 1.34049000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.00, Y:155.62, Z:134.05 [[ 8.61813746e-01 5.04131170e-01 -5.59359561e-02 2.34996190e+02] [-5.02969221e-01 8.63626010e-01 3.42356331e-02 1.55615594e+02] [ 6.55669964e-02 -1.37067495e-03 9.97847228e-01 1.34053657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.05, Y:155.58, Z:134.06 [[ 8.62711645e-01 5.02594366e-01 -5.59242402e-02 2.35049295e+02] [-5.01427950e-01 8.64521037e-01 3.42547605e-02 1.55583438e+02] [ 6.55639318e-02 -1.51000364e-03 9.97847228e-01 1.34057942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.10, Y:155.55, Z:134.06 [[ 8.61675399e-01 5.04370095e-01 -5.59134535e-02 2.35102850e+02] [-5.03206266e-01 8.63486456e-01 3.42723585e-02 1.55549914e+02] [ 6.55664625e-02 -1.39564798e-03 9.97847228e-01 1.34062344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.16, Y:155.52, Z:134.06 [[ 8.61673997e-01 5.04373729e-01 -5.59022752e-02 2.35158236e+02] [-5.03208726e-01 8.63484299e-01 3.42905819e-02 1.55520430e+02] [ 6.55660056e-02 -1.41679016e-03 9.97847229e-01 1.34064825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.21, Y:155.49, Z:134.07 [[ 8.60712289e-01 5.06014352e-01 -5.58912390e-02 2.35212354e+02] [-5.04851633e-01 8.62524059e-01 3.43085607e-02 1.55487413e+02] [ 6.55681624e-02 -1.31301657e-03 9.97847229e-01 1.34067057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.27, Y:155.46, Z:134.07 [[ 8.60395769e-01 5.06553597e-01 -5.58799933e-02 2.35266882e+02] [-5.05390825e-01 8.62207504e-01 3.43268674e-02 1.55455248e+02] [ 6.55685477e-02 -1.29345559e-03 9.97847229e-01 1.34069521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.32, Y:155.43, Z:134.07 [[ 8.59737764e-01 5.07670822e-01 -5.58687207e-02 2.35321094e+02] [-5.06509213e-01 8.61550244e-01 3.43452043e-02 1.55425316e+02] [ 6.55697681e-02 -1.22984738e-03 9.97847229e-01 1.34071217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.37, Y:155.39, Z:134.08 [[ 8.58860225e-01 5.09155143e-01 -5.58583376e-02 2.35373619e+02] [-5.07995570e-01 8.60674008e-01 3.43620830e-02 1.55390830e+02] [ 6.55714506e-02 -1.13643835e-03 9.97847229e-01 1.34080161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.43, Y:155.36, Z:134.09 [[ 8.59173668e-01 5.08627277e-01 -5.58471204e-02 2.35425716e+02] [-5.07465405e-01 8.60985980e-01 3.43803041e-02 1.55356326e+02] [ 6.55703482e-02 -1.19817037e-03 9.97847230e-01 1.34085564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.48, Y:155.32, Z:134.09 [[ 8.59244609e-01 5.08508643e-01 -5.58360214e-02 2.35478320e+02] [-5.07345351e-01 8.61056009e-01 3.43983203e-02 1.55324408e+02] [ 6.55697849e-02 -1.22842546e-03 9.97847230e-01 1.34090013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.53, Y:155.29, Z:134.09 [[ 8.59589504e-01 5.07926163e-01 -5.58291899e-02 2.35531427e+02] [-5.06760923e-01 8.61399652e-01 3.44094044e-02 1.55293211e+02] [ 6.55686815e-02 -1.28591101e-03 9.97847230e-01 1.34094254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.58, Y:155.26, Z:134.10 [[ 8.59652013e-01 5.07820508e-01 -5.58278460e-02 2.35583678e+02] [-5.06654904e-01 8.61461927e-01 3.44115847e-02 1.55261290e+02] [ 6.55684722e-02 -1.29653617e-03 9.97847230e-01 1.34098994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.63, Y:155.23, Z:134.10 [[ 8.59046702e-01 5.08843951e-01 -5.58264993e-02 2.35633816e+02] [-5.07680362e-01 8.60857911e-01 3.44137693e-02 1.55231872e+02] [ 6.55699219e-02 -1.22101768e-03 9.97847230e-01 1.34101904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.68, Y:155.20, Z:134.10 [[ 8.58358316e-01 5.10004152e-01 -5.58280045e-02 2.35684850e+02] [-5.08843170e-01 8.60171198e-01 3.44113273e-02 1.55202090e+02] [ 6.55715613e-02 -1.12955023e-03 9.97847230e-01 1.34104495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.74, Y:155.17, Z:134.10 [[ 8.57697910e-01 5.11113724e-01 -5.58306079e-02 2.35739667e+02] [-5.09955362e-01 8.59512466e-01 3.44071029e-02 1.55170705e+02] [ 6.55730460e-02 -1.03978233e-03 9.97847230e-01 1.34104638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.79, Y:155.14, Z:134.11 [[ 8.57380704e-01 5.11646877e-01 -5.58193650e-02 2.35790032e+02] [-5.10488457e-01 8.59195224e-01 3.44253328e-02 1.55137801e+02] [ 6.55733458e-02 -1.02047462e-03 9.97847230e-01 1.34110786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64275509600003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:235.84, Y:155.11, Z:134.11 [[ 8.57445532e-01 5.11538303e-01 -5.58186722e-02 2.35843118e+02] [-5.10379580e-01 8.59259858e-01 3.44264561e-02 1.55106088e+02] [ 6.55731953e-02 -1.03010046e-03 9.97847230e-01 1.34114106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.90, Y:155.07, Z:134.12 [[ 8.58046312e-01 5.10530977e-01 -5.58090247e-02 2.35896350e+02] [-5.09369108e-01 8.59858625e-01 3.44420887e-02 1.55073249e+02] [ 6.55716244e-02 -1.12551409e-03 9.97847230e-01 1.34117646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.95, Y:155.04, Z:134.12 [[ 8.58738352e-01 5.09366453e-01 -5.58055467e-02 2.35949874e+02] [-5.08201760e-01 8.60548851e-01 3.44477231e-02 1.55039609e+02] [ 6.55699137e-02 -1.22110389e-03 9.97847230e-01 1.34121978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.00, Y:155.01, Z:134.13 [[ 8.59995114e-01 5.07242934e-01 -5.57943492e-02 2.36001937e+02] [-5.06072596e-01 8.61801969e-01 3.44658499e-02 1.55007513e+02] [ 6.55662389e-02 -1.40447137e-03 9.97847231e-01 1.34126890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.05, Y:154.98, Z:134.13 [[ 8.61077045e-01 5.05405093e-01 -5.57854345e-02 2.36053184e+02] [-5.04229964e-01 8.62880788e-01 3.44802731e-02 1.54975579e+02] [ 6.55626853e-02 -1.56148402e-03 9.97847231e-01 1.34128170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.11, Y:154.94, Z:134.13 [[ 8.61483433e-01 5.04712076e-01 -5.57854345e-02 2.36105296e+02] [-5.03535497e-01 8.63286230e-01 3.44802731e-02 1.54944437e+02] [ 6.55614076e-02 -1.61423757e-03 9.97847231e-01 1.34133091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.16, Y:154.91, Z:134.14 [[ 8.60770870e-01 5.05926523e-01 -5.57840707e-02 2.36156687e+02] [-5.04752345e-01 8.62575231e-01 3.44824793e-02 1.54913971e+02] [ 6.55635586e-02 -1.52437318e-03 9.97847231e-01 1.34135732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.21, Y:154.88, Z:134.14 [[ 8.60037531e-01 5.07171994e-01 -5.57854153e-02 2.36208714e+02] [-5.06000570e-01 8.61843682e-01 3.44803040e-02 1.54881882e+02] [ 6.55657522e-02 -1.42690357e-03 9.97847231e-01 1.34138440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.26, Y:154.85, Z:134.14 [[ 8.58486421e-01 5.09793297e-01 -5.57840405e-02 2.36261687e+02] [-5.08627243e-01 8.60296044e-01 3.44825279e-02 1.54848811e+02] [ 6.55697510e-02 -1.22949926e-03 9.97847231e-01 1.34142486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.31, Y:154.82, Z:134.15 [[ 8.56851099e-01 5.12538217e-01 -5.57742804e-02 2.36311707e+02] [-5.11376933e-01 8.58663787e-01 3.44983074e-02 1.54817603e+02] [ 6.55730558e-02 -1.03823208e-03 9.97847231e-01 1.34146120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.36, Y:154.79, Z:134.15 [[ 8.56233297e-01 5.13569467e-01 -5.57758370e-02 2.36361266e+02] [-5.12410531e-01 8.58047486e-01 3.44957905e-02 1.54787063e+02] [ 6.55743015e-02 -9.56318181e-04 9.97847231e-01 1.34150447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.41, Y:154.76, Z:134.15 [[ 8.56527180e-01 5.13078893e-01 -5.57784788e-02 2.36410670e+02] [-5.11919196e-01 8.58340883e-01 3.44915184e-02 1.54755535e+02] [ 6.55738188e-02 -9.88848988e-04 9.97847231e-01 1.34154046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.46, Y:154.72, Z:134.16 [[ 8.57354883e-01 5.11694314e-01 -5.57811175e-02 2.36462481e+02] [-5.10531966e-01 8.59166888e-01 3.44872504e-02 1.54721899e+02] [ 6.55722191e-02 -1.08976893e-03 9.97847231e-01 1.34156860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.51, Y:154.69, Z:134.16 [[ 8.57503579e-01 5.11446147e-01 -5.57714209e-02 2.36513531e+02] [-5.10282255e-01 8.59314592e-01 3.45029243e-02 1.54687560e+02] [ 6.55715835e-02 -1.12721460e-03 9.97847231e-01 1.34160522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.56, Y:154.66, Z:134.16 [[ 8.57886719e-01 5.10803366e-01 -5.57700515e-02 2.36563821e+02] [-5.09637973e-01 8.59696767e-01 3.45051376e-02 1.54657369e+02] [ 6.55706734e-02 -1.17896327e-03 9.97847231e-01 1.34164215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.62, Y:154.62, Z:134.17 [[ 8.57476619e-01 5.11491274e-01 -5.57720688e-02 2.36617030e+02] [-5.10327546e-01 8.59287738e-01 3.45018766e-02 1.54623330e+02] [ 6.55716637e-02 -1.12252946e-03 9.97847231e-01 1.34166889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.67, Y:154.59, Z:134.17 [[ 8.56584187e-01 5.12985627e-01 -5.57608930e-02 2.36669143e+02] [-5.11823883e-01 8.58396579e-01 3.45199292e-02 1.54588943e+02] [ 6.55731873e-02 -1.02946868e-03 9.97847231e-01 1.34169065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.72, Y:154.56, Z:134.17 [[ 8.56130814e-01 5.13742959e-01 -5.57512463e-02 2.36719614e+02] [-5.12581805e-01 8.57943583e-01 3.45355021e-02 1.54556276e+02] [ 6.55737951e-02 -9.89833016e-04 9.97847232e-01 1.34172185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.77, Y:154.53, Z:134.17 [[ 8.55756550e-01 5.14366141e-01 -5.57512463e-02 2.36774085e+02] [-5.13206307e-01 8.57570164e-01 3.45355021e-02 1.54525442e+02] [ 6.55744983e-02 -9.42090876e-04 9.97847232e-01 1.34171847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.82, Y:154.49, Z:134.18 [[ 8.54487761e-01 5.16472229e-01 -5.57414030e-02 2.36824674e+02] [-5.15315829e-01 8.56303567e-01 3.45513822e-02 1.54492901e+02] [ 6.55763916e-02 -7.99305886e-04 9.97847232e-01 1.34178047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.88, Y:154.46, Z:134.18 [[ 8.55839466e-01 5.14229309e-01 -5.57407133e-02 2.36876216e+02] [-5.13068078e-01 8.57652186e-01 3.45524948e-02 1.54463808e+02] [ 6.55740501e-02 -9.72608053e-04 9.97847232e-01 1.34177233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.93, Y:154.43, Z:134.19 [[ 8.54411891e-01 5.16597517e-01 -5.57433891e-02 2.36925482e+02] [-5.15441593e-01 8.56228000e-01 3.45481774e-02 1.54431684e+02] [ 6.55765532e-02 -7.85912302e-04 9.97847232e-01 1.34185297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.98, Y:154.40, Z:134.18 [[ 8.55480137e-01 5.14826267e-01 -5.57463057e-02 2.36978355e+02] [-5.13666889e-01 8.57294043e-01 3.45434706e-02 1.54404563e+02] [ 6.55748618e-02 -9.16221543e-04 9.97847232e-01 1.34183492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.03, Y:154.37, Z:134.19 [[ 8.54801218e-01 5.15952394e-01 -5.57494826e-02 2.37030286e+02] [-5.14795741e-01 8.56616862e-01 3.45383427e-02 1.54373284e+02] [ 6.55760874e-02 -8.23821270e-04 9.97847232e-01 1.34188688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.08, Y:154.34, Z:134.19 [[ 8.55587827e-01 5.14647942e-01 -5.57401653e-02 2.37083510e+02] [-5.13487541e-01 8.57401078e-01 3.45533730e-02 1.54340912e+02] [ 6.55745002e-02 -9.41564919e-04 9.97847232e-01 1.34192667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.14, Y:154.31, Z:134.20 [[ 8.56117764e-01 5.13766973e-01 -5.57303499e-02 2.37135560e+02] [-5.12603677e-01 8.57929159e-01 3.45691969e-02 1.54311505e+02] [ 6.55732038e-02 -1.02772123e-03 9.97847232e-01 1.34198584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.19, Y:154.28, Z:134.20 [[ 8.57667977e-01 5.11174740e-01 -5.57317363e-02 2.37185232e+02] [-5.10006114e-01 8.59475938e-01 3.45669615e-02 1.54282395e+02] [ 6.55698439e-02 -1.22344968e-03 9.97847232e-01 1.34201292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.24, Y:154.25, Z:134.20 [[ 8.57656086e-01 5.11194291e-01 -5.57353978e-02 2.37235045e+02] [-5.10026090e-01 8.59464322e-01 3.45610568e-02 1.54250685e+02] [ 6.55700008e-02 -1.21499361e-03 9.97847232e-01 1.34204952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.28, Y:154.22, Z:134.21 [[ 8.59330892e-01 5.08373529e-01 -5.57384413e-02 2.37283488e+02] [-5.07199711e-01 8.61135486e-01 3.45561477e-02 1.54220864e+02] [ 6.55657805e-02 -1.42464391e-03 9.97847232e-01 1.34208098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.33, Y:154.19, Z:134.21 [[ 8.58202109e-01 5.10275848e-01 -5.57467337e-02 2.37332715e+02] [-5.09106900e-01 8.60009862e-01 3.45427650e-02 1.54189221e+02] [ 6.55690795e-02 -1.26362705e-03 9.97847232e-01 1.34210939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.38, Y:154.16, Z:134.22 [[ 8.57072688e-01 5.12170278e-01 -5.57495620e-02 2.37383229e+02] [-5.11005622e-01 8.58883209e-01 3.45381998e-02 1.54158641e+02] [ 6.55718021e-02 -1.11340817e-03 9.97847232e-01 1.34215762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.43, Y:154.13, Z:134.22 [[ 8.55782906e-01 5.14322150e-01 -5.57525269e-02 2.37432785e+02] [-5.13162359e-01 8.57596547e-01 3.45334131e-02 1.54128825e+02] [ 6.55744738e-02 -9.43006434e-04 9.97847232e-01 1.34219434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.48, Y:154.10, Z:134.22 [[ 8.53983385e-01 5.17304279e-01 -5.57553605e-02 2.37482211e+02] [-5.16151120e-01 8.55801251e-01 3.45288376e-02 1.54098188e+02] [ 6.55774226e-02 -7.08861854e-04 9.97847232e-01 1.34222382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.53, Y:154.07, Z:134.23 [[ 8.53311153e-01 5.18411172e-01 -5.57667710e-02 2.37532428e+02] [-5.17261576e-01 8.55131273e-01 3.45103988e-02 1.54067731e+02] [ 6.55784862e-02 -6.02100384e-04 9.97847233e-01 1.34225725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.58, Y:154.04, Z:134.23 [[ 8.53872688e-01 5.17485426e-01 -5.57697617e-02 2.37581554e+02] [-5.16334172e-01 8.55691760e-01 3.45055651e-02 1.54037979e+02] [ 6.55778526e-02 -6.67525863e-04 9.97847233e-01 1.34228421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.63, Y:154.01, Z:134.23 [[ 8.54861953e-01 5.15849198e-01 -5.57731695e-02 2.37632520e+02] [-5.14694822e-01 8.56679045e-01 3.45000561e-02 1.54006684e+02] [ 6.55765318e-02 -7.86623802e-04 9.97847233e-01 1.34231561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.68, Y:153.98, Z:134.24 [[ 8.56808921e-01 5.12608694e-01 -5.57745475e-02 2.37682411e+02] [-5.11447592e-01 8.58621722e-01 3.44978282e-02 1.53977161e+02] [ 6.55731246e-02 -1.03228896e-03 9.97847233e-01 1.34236928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.73, Y:153.95, Z:134.24 [[ 8.58225908e-01 5.10232411e-01 -5.57779306e-02 2.37733403e+02] [-5.09066645e-01 8.60035714e-01 3.44923574e-02 1.53947993e+02] [ 6.55701310e-02 -1.20755080e-03 9.97847233e-01 1.34239847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.78, Y:153.92, Z:134.24 [[ 8.58918588e-01 5.09065202e-01 -5.57806405e-02 2.37782755e+02] [-5.07897261e-01 8.60726990e-01 3.44879743e-02 1.53918320e+02] [ 6.55685305e-02 -1.29152768e-03 9.97847233e-01 1.34242382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.83, Y:153.89, Z:134.25 [[ 8.59370728e-01 5.08301118e-01 -5.57846295e-02 2.37832965e+02] [-5.07131987e-01 8.61178363e-01 3.44815209e-02 1.53888739e+02] [ 6.55675115e-02 -1.34223977e-03 9.97847233e-01 1.34245123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.88, Y:153.86, Z:134.25 [[ 8.59402650e-01 5.08246715e-01 -5.57885486e-02 2.37881984e+02] [-5.07077881e-01 8.61210476e-01 3.44751790e-02 1.53860059e+02] [ 6.55675789e-02 -1.33892114e-03 9.97847233e-01 1.34247471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.93, Y:153.83, Z:134.25 [[ 8.58547243e-01 5.09689875e-01 -5.57930439e-02 2.37933507e+02] [-5.08524553e-01 8.60357334e-01 3.44679025e-02 1.53831083e+02] [ 6.55698954e-02 -1.22018993e-03 9.97847233e-01 1.34249637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.98, Y:153.80, Z:134.25 [[ 8.58200190e-01 5.10273686e-01 -5.57960589e-02 2.37983191e+02] [-5.09109913e-01 8.60011277e-01 3.44630211e-02 1.53802371e+02] [ 6.55708127e-02 -1.16984460e-03 9.97847233e-01 1.34253549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.222755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:238.03, Y:153.77, Z:134.25 [[ 8.57856145e-01 5.10851296e-01 -5.58013346e-02 2.38033293e+02] [-5.09689297e-01 8.59668372e-01 3.44544767e-02 1.53773127e+02] [ 6.55717565e-02 -1.11564156e-03 9.97847233e-01 1.34254908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.08, Y:153.74, Z:134.26 [[ 8.58725447e-01 5.09387379e-01 -5.58131145e-02 2.38081959e+02] [-5.08223532e-01 8.60536487e-01 3.44353838e-02 1.53744105e+02] [ 6.55701714e-02 -1.20500217e-03 9.97847233e-01 1.34258394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.13, Y:153.71, Z:134.26 [[ 8.59264312e-01 5.08477262e-01 -5.58185991e-02 2.38131340e+02] [-5.07312074e-01 8.61074490e-01 3.44264911e-02 1.53713363e+02] [ 6.55690597e-02 -1.26400596e-03 9.97847233e-01 1.34264981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.18, Y:153.68, Z:134.27 [[ 8.59376602e-01 5.08286973e-01 -5.58230203e-02 2.38181120e+02] [-5.07121850e-01 8.61186821e-01 3.44193206e-02 1.53682510e+02] [ 6.55689417e-02 -1.27008545e-03 9.97847233e-01 1.34268663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.23, Y:153.65, Z:134.27 [[ 8.58652722e-01 5.09508572e-01 -5.58257854e-02 2.38230771e+02] [-5.08346316e-01 8.60464783e-01 3.44148353e-02 1.53652450e+02] [ 6.55707759e-02 -1.17155973e-03 9.97847233e-01 1.34272722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.28, Y:153.62, Z:134.28 [[ 8.58394830e-01 5.09942563e-01 -5.58291857e-02 2.38279607e+02] [-5.08781582e-01 8.60207708e-01 3.44093183e-02 1.53622248e+02] [ 6.55714718e-02 -1.13191949e-03 9.97847233e-01 1.34276465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.33, Y:153.59, Z:134.28 [[ 8.58247022e-01 5.10190856e-01 -5.58331437e-02 2.38328438e+02] [-5.09030816e-01 8.60060503e-01 3.44028948e-02 1.53589692e+02] [ 6.55719240e-02 -1.10539128e-03 9.97847233e-01 1.34280495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64275509600003 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:238.38, Y:153.56, Z:134.28 [[ 8.58331917e-01 5.10047714e-01 -5.58359228e-02 2.38376998e+02] [-5.08887666e-01 8.60145392e-01 3.43983837e-02 1.53559570e+02] [ 6.55718287e-02 -1.11101822e-03 9.97847233e-01 1.34282906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.43, Y:153.53, Z:134.29 [[ 8.56289878e-01 5.13467220e-01 -5.58485339e-02 2.38427186e+02] [-5.12315749e-01 8.58108812e-01 3.43778964e-02 1.53530983e+02] [ 6.55760420e-02 -8.25361236e-04 9.97847234e-01 1.34286993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.48, Y:153.50, Z:134.29 [[ 8.55752454e-01 5.14360993e-01 -5.58614913e-02 2.38477251e+02] [-5.13212797e-01 8.57573456e-01 3.43568287e-02 1.53501907e+02] [ 6.55771447e-02 -7.32108217e-04 9.97847234e-01 1.34289339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.53, Y:153.47, Z:134.29 [[ 8.53848045e-01 5.17515804e-01 -5.58650973e-02 2.38528028e+02] [-5.16374721e-01 8.55673512e-01 3.43509643e-02 1.53474342e+02] [ 6.55794509e-02 -4.83179698e-04 9.97847234e-01 1.34291296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88275509600004 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:238.58, Y:153.44, Z:134.30 [[ 8.53014037e-01 5.18888819e-01 -5.58699066e-02 2.38577277e+02] [-5.17751186e-01 8.54841657e-01 3.43431405e-02 1.53443207e+02] [ 6.55801951e-02 -3.68470522e-04 9.97847234e-01 1.34297059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.63, Y:153.41, Z:134.30 [[ 8.52853999e-01 5.19151586e-01 -5.58720649e-02 2.38627667e+02] [-5.18014746e-01 8.54682112e-01 3.43396288e-02 1.53413950e+02] [ 6.55803272e-02 -3.44136205e-04 9.97847234e-01 1.34300522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.68, Y:153.38, Z:134.30 [[ 8.53864420e-01 5.17487732e-01 -5.58748561e-02 2.38677945e+02] [-5.16347627e-01 8.55690499e-01 3.43350866e-02 1.53384075e+02] [ 6.55795696e-02 -4.66659453e-04 9.97847234e-01 1.34303808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.062755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:238.73, Y:153.35, Z:134.31 [[ 8.55606523e-01 5.14601953e-01 -5.58776199e-02 2.38728133e+02] [-5.13455983e-01 8.57428926e-01 3.43305881e-02 1.53353707e+02] [ 6.55776753e-02 -6.82776883e-04 9.97847234e-01 1.34306657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.78, Y:153.32, Z:134.31 [[ 8.59474560e-01 5.08115006e-01 -5.58804193e-02 2.38776972e+02] [-5.06955580e-01 8.61288432e-01 3.43260309e-02 1.53323415e+02] [ 6.55707301e-02 -1.17345989e-03 9.97847234e-01 1.34309198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.83, Y:153.29, Z:134.31 [[ 8.63120944e-01 5.01895638e-01 -5.58838539e-02 2.38827070e+02] [-5.00723506e-01 8.64926632e-01 3.43204383e-02 1.53292698e+02] [ 6.55607118e-02 -1.64032991e-03 9.97847234e-01 1.34310151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.88, Y:153.26, Z:134.32 [[ 8.62983233e-01 5.02132083e-01 -5.58865884e-02 2.38875628e+02] [-5.00960734e-01 8.64789429e-01 3.43159849e-02 1.53260928e+02] [ 6.55612879e-02 -1.61713321e-03 9.97847234e-01 1.34320954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.93, Y:153.23, Z:134.32 [[ 8.63423644e-01 5.01374102e-01 -5.58893648e-02 2.38925157e+02] [-5.00201460e-01 8.65229000e-01 3.43114625e-02 1.53231940e+02] [ 6.55599780e-02 -1.66938614e-03 9.97847234e-01 1.34323869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.97, Y:153.20, Z:134.33 [[ 8.62382679e-01 5.03162084e-01 -5.58930408e-02 2.38974741e+02] [-5.01993573e-01 8.64190712e-01 3.43054733e-02 1.53202713e+02] [ 6.55634602e-02 -1.52649874e-03 9.97847234e-01 1.34328965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.03, Y:153.17, Z:134.33 [[ 8.61323906e-01 5.04971069e-01 -5.59048121e-02 2.39028803e+02] [-5.03807600e-01 8.63135188e-01 3.42862799e-02 1.53170470e+02] [ 6.55669899e-02 -1.36632329e-03 9.97847234e-01 1.34329757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.08, Y:153.14, Z:134.34 [[ 8.60511235e-01 5.06355997e-01 -5.58929310e-02 2.39080829e+02] [-5.05194187e-01 8.62323580e-01 3.43056373e-02 1.53141813e+02] [ 6.55686576e-02 -1.28360250e-03 9.97847235e-01 1.34336752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.13, Y:153.11, Z:134.34 [[ 8.60145840e-01 5.06976363e-01 -5.58936587e-02 2.39131377e+02] [-5.05815937e-01 8.61959072e-01 3.43044517e-02 1.53111834e+02] [ 6.55695924e-02 -1.23492812e-03 9.97847235e-01 1.34339877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.19, Y:153.08, Z:134.35 [[ 8.60314287e-01 5.06690161e-01 -5.58964142e-02 2.39185111e+02] [-5.05529424e-01 8.62127319e-01 3.42999613e-02 1.53079198e+02] [ 6.55692786e-02 -1.25146471e-03 9.97847235e-01 1.34347707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.24, Y:153.05, Z:134.35 [[ 8.60459691e-01 5.06444510e-01 -5.58845176e-02 2.39237114e+02] [-5.05281997e-01 8.62271585e-01 3.43193334e-02 1.53047117e+02] [ 6.55684695e-02 -1.29296236e-03 9.97847235e-01 1.34352170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.29, Y:153.01, Z:134.36 [[ 8.60003338e-01 5.07219227e-01 -5.58830497e-02 2.39285558e+02] [-5.06058191e-01 8.61816179e-01 3.43217234e-02 1.53014191e+02] [ 6.55695544e-02 -1.23672159e-03 9.97847235e-01 1.34357098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.34, Y:152.99, Z:134.36 [[ 8.60509357e-01 5.06360040e-01 -5.58852035e-02 2.39339358e+02] [-5.05197422e-01 8.62321184e-01 3.43182160e-02 1.52985258e+02] [ 6.55683681e-02 -1.29808528e-03 9.97847235e-01 1.34358024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.39, Y:152.95, Z:134.36 [[ 8.57903763e-01 5.10762315e-01 -5.58837388e-02 2.39387528e+02] [-5.09608840e-01 8.59721424e-01 3.43206010e-02 1.52952503e+02] [ 6.55741171e-02 -9.64925396e-04 9.97847235e-01 1.34362703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.44, Y:152.92, Z:134.37 [[ 8.57130935e-01 5.12057934e-01 -5.58858857e-02 2.39436294e+02] [-5.10907435e-01 8.58950482e-01 3.43171047e-02 1.52921382e+02] [ 6.55755542e-02 -8.61737562e-04 9.97847235e-01 1.34366297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.48, Y:152.89, Z:134.37 [[ 8.55432022e-01 5.14890705e-01 -5.58893458e-02 2.39484150e+02] [-5.13746599e-01 8.57255595e-01 3.43114687e-02 1.52888605e+02] [ 6.55781107e-02 -6.38167687e-04 9.97847235e-01 1.34370254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.53, Y:152.86, Z:134.37 [[ 8.54305370e-01 5.16757447e-01 -5.58934383e-02 2.39532769e+02] [-5.15617762e-01 8.56131710e-01 3.43048006e-02 1.52856658e+02] [ 6.55794061e-02 -4.87125775e-04 9.97847235e-01 1.34371360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.082755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:239.58, Y:152.82, Z:134.38 [[ 8.53483983e-01 5.18112458e-01 -5.58978763e-02 2.39583846e+02] [-5.16976146e-01 8.55312423e-01 3.42975677e-02 1.52821659e+02] [ 6.55801451e-02 -3.74556037e-04 9.97847235e-01 1.34375822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.64, Y:152.79, Z:134.38 [[ 8.53614393e-01 5.17898673e-01 -5.58876814e-02 2.39635573e+02] [-5.16760816e-01 8.55441872e-01 3.43141722e-02 1.52793560e+02] [ 6.55799270e-02 -4.10507447e-04 9.97847235e-01 1.34377719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.20275509600003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:239.69, Y:152.76, Z:134.38 [[ 8.53990678e-01 5.17277729e-01 -5.58898310e-02 2.39688245e+02] [-5.16138773e-01 8.55817472e-01 3.43106706e-02 1.52763733e+02] [ 6.55796396e-02 -4.54084065e-04 9.97847235e-01 1.34380094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.74, Y:152.73, Z:134.38 [[ 8.55159477e-01 5.15343182e-01 -5.58898310e-02 2.39737821e+02] [-5.14200094e-01 8.56983688e-01 3.43106706e-02 1.52732518e+02] [ 6.55784437e-02 -6.02538771e-04 9.97847235e-01 1.34384686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.79, Y:152.70, Z:134.39 [[ 8.59670793e-01 5.07781724e-01 -5.58913912e-02 2.39792930e+02] [-5.06622758e-01 8.61484958e-01 3.43081289e-02 1.52703071e+02] [ 6.55706337e-02 -1.17784560e-03 9.97847235e-01 1.34385328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.84, Y:152.67, Z:134.39 [[ 8.62396203e-01 5.03140234e-01 -5.58810707e-02 2.39843005e+02] [-5.01970417e-01 8.64203390e-01 3.43249307e-02 1.52672498e+02] [ 6.55628644e-02 -1.55104554e-03 9.97847235e-01 1.34390132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.89, Y:152.64, Z:134.40 [[ 8.62356434e-01 5.03208131e-01 -5.58834202e-02 2.39891782e+02] [-5.02038705e-01 8.64163874e-01 3.43211051e-02 1.52639975e+02] [ 6.55630921e-02 -1.54138595e-03 9.97847235e-01 1.34398924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.94, Y:152.61, Z:134.40 [[ 8.62801901e-01 5.02443594e-01 -5.58866215e-02 2.39944060e+02] [-5.01272903e-01 8.64608522e-01 3.43158915e-02 1.52608950e+02] [ 6.55618491e-02 -1.59336741e-03 9.97847235e-01 1.34404060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.99, Y:152.58, Z:134.41 [[ 8.61715414e-01 5.04305744e-01 -5.58772026e-02 2.39993402e+02] [-5.03137964e-01 8.63523918e-01 3.43312217e-02 1.52578269e+02] [ 6.55647332e-02 -1.46980094e-03 9.97847236e-01 1.34407223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.04, Y:152.55, Z:134.41 [[ 8.61098532e-01 5.05358029e-01 -5.58800553e-02 2.40043517e+02] [-5.04192761e-01 8.62908655e-01 3.43265778e-02 1.52546973e+02] [ 6.55665950e-02 -1.38424637e-03 9.97847236e-01 1.34410930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.10, Y:152.52, Z:134.41 [[ 8.60832993e-01 5.05809892e-01 -5.58830117e-02 2.40098834e+02] [-5.04645886e-01 8.62643928e-01 3.43217641e-02 1.52515903e+02] [ 6.55674285e-02 -1.34417501e-03 9.97847236e-01 1.34407279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.15, Y:152.48, Z:134.42 [[ 8.58790007e-01 5.09272160e-01 -5.58712016e-02 2.40147286e+02] [-5.08114206e-01 8.60604817e-01 3.43409787e-02 1.52481872e+02] [ 6.55719296e-02 -1.10273812e-03 9.97847236e-01 1.34420074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.20, Y:152.45, Z:134.43 [[ 8.58326149e-01 5.10053629e-01 -5.58705450e-02 2.40196607e+02] [-5.08897258e-01 8.60141968e-01 3.43420468e-02 1.52450024e+02] [ 6.55728862e-02 -1.04430964e-03 9.97847236e-01 1.34425877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.24, Y:152.42, Z:134.43 [[ 8.58530510e-01 5.09709273e-01 -5.58732569e-02 2.40244618e+02] [-5.08552460e-01 8.60346048e-01 3.43376342e-02 1.52419749e+02] [ 6.55725463e-02 -1.06542429e-03 9.97847236e-01 1.34429961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.29, Y:152.39, Z:134.43 [[ 8.58637684e-01 5.09528198e-01 -5.58779266e-02 2.40293669e+02] [-5.08371497e-01 8.60453293e-01 3.43300335e-02 1.52388008e+02] [ 6.55724660e-02 -1.07031533e-03 9.97847236e-01 1.34433045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.34, Y:152.36, Z:134.44 [[ 8.58316955e-01 5.10067993e-01 -5.58806564e-02 2.40342702e+02] [-5.08912723e-01 8.60133475e-01 3.43255894e-02 1.52357351e+02] [ 6.55732077e-02 -1.02385829e-03 9.97847236e-01 1.34435751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.39, Y:152.33, Z:134.44 [[ 8.56928146e-01 5.12397313e-01 -5.58851184e-02 2.40392139e+02] [-5.11247454e-01 8.58748096e-01 3.43183233e-02 1.52328632e+02] [ 6.55758557e-02 -8.37212659e-04 9.97847236e-01 1.34437493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.44, Y:152.30, Z:134.44 [[ 8.56699087e-01 5.12779304e-01 -5.58932797e-02 2.40441094e+02] [-5.11631125e-01 8.58520097e-01 3.43050262e-02 1.52297660e+02] [ 6.55764114e-02 -7.92343056e-04 9.97847236e-01 1.34440680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.49, Y:152.27, Z:134.44 [[ 8.59371983e-01 5.08286529e-01 -5.58981223e-02 2.40491970e+02] [-5.07129343e-01 8.61187283e-01 3.42971336e-02 1.52269745e+02] [ 6.55715230e-02 -1.12641759e-03 9.97847236e-01 1.34443006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.54, Y:152.24, Z:134.45 [[ 8.61458942e-01 5.04741069e-01 -5.59012115e-02 2.40541003e+02] [-5.03576739e-01 8.63269668e-01 3.42920977e-02 1.52239483e+02] [ 6.55664504e-02 -1.39068432e-03 9.97847236e-01 1.34446737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.59, Y:152.21, Z:134.45 [[ 8.63312152e-01 5.01563470e-01 -5.59125551e-02 2.40591723e+02] [-5.00393674e-01 8.65119351e-01 3.42735922e-02 1.52210273e+02] [ 6.55614153e-02 -1.61051978e-03 9.97847236e-01 1.34448947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.64, Y:152.18, Z:134.46 [[ 8.63834001e-01 5.00663641e-01 -5.59172258e-02 2.40641128e+02] [-4.99492456e-01 8.65640300e-01 3.42659704e-02 1.52179965e+02] [ 6.55599296e-02 -1.66987791e-03 9.97847236e-01 1.34456814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.69, Y:152.15, Z:134.46 [[ 8.64117141e-01 5.00174183e-01 -5.59227389e-02 2.40690288e+02] [-4.99002556e-01 8.65923154e-01 3.42569706e-02 1.52151079e+02] [ 6.55592467e-02 -1.69644584e-03 9.97847236e-01 1.34461225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.74, Y:152.12, Z:134.47 [[ 8.63101374e-01 5.01924446e-01 -5.59273544e-02 2.40741400e+02] [-5.00756970e-01 8.64910073e-01 3.42494336e-02 1.52123071e+02] [ 6.55627602e-02 -1.55472072e-03 9.97847236e-01 1.34465670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.79, Y:152.09, Z:134.47 [[ 8.61134223e-01 5.05291529e-01 -5.59313925e-02 2.40791622e+02] [-5.04131554e-01 8.62947741e-01 3.42428379e-02 1.52094823e+02] [ 6.55684848e-02 -1.29089983e-03 9.97847237e-01 1.34468855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.84, Y:152.07, Z:134.47 [[ 8.59278180e-01 5.08440980e-01 -5.59354869e-02 2.40840931e+02] [-5.07288088e-01 8.61096210e-01 3.42361485e-02 1.52065240e+02] [ 6.55728966e-02 -1.04296916e-03 9.97847237e-01 1.34472086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.89, Y:152.04, Z:134.47 [[ 8.56812286e-01 5.12585093e-01 -5.59395155e-02 2.40890018e+02] [-5.11441425e-01 8.58636131e-01 3.42295647e-02 1.52036538e+02] [ 6.55772538e-02 -7.18526090e-04 9.97847237e-01 1.34474395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.94, Y:152.01, Z:134.48 [[ 8.55557384e-01 5.14676420e-01 -5.59441367e-02 2.40939117e+02] [-5.13537704e-01 8.57384325e-01 3.42220102e-02 1.52006128e+02] [ 6.55788876e-02 -5.49469997e-04 9.97847237e-01 1.34476930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.99, Y:151.97, Z:134.48 [[ 8.56261912e-01 5.13503023e-01 -5.59480433e-02 2.40987051e+02] [-5.12362220e-01 8.58087552e-01 3.42156224e-02 1.51974166e+02] [ 6.55781450e-02 -6.31870581e-04 9.97847237e-01 1.34479553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.03, Y:151.94, Z:134.49 [[ 8.56099196e-01 5.13773046e-01 -5.59591280e-02 2.41034779e+02] [-5.12634005e-01 8.57925934e-01 3.41974839e-02 1.51941914e+02] [ 6.55785327e-02 -5.89886556e-04 9.97847237e-01 1.34487389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.08, Y:151.91, Z:134.49 [[ 8.57623839e-01 5.11223378e-01 -5.59643454e-02 2.41082317e+02] [-5.10079463e-01 8.59447530e-01 3.41889435e-02 1.51908901e+02] [ 6.55766056e-02 -7.74989766e-04 9.97847237e-01 1.34489840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.13, Y:151.88, Z:134.49 [[ 8.58332812e-01 5.10031669e-01 -5.59685553e-02 2.41131386e+02] [-5.08885672e-01 8.60155195e-01 3.41820503e-02 1.51880194e+02] [ 6.55755718e-02 -8.57979468e-04 9.97847237e-01 1.34494294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.18, Y:151.85, Z:134.50 [[ 8.56946001e-01 5.12357807e-01 -5.59734662e-02 2.41180007e+02] [-5.11217282e-01 8.58771814e-01 3.41740068e-02 1.51848923e+02] [ 6.55777543e-02 -6.70675248e-04 9.97847237e-01 1.34497721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.23, Y:151.82, Z:134.50 [[ 8.57625472e-01 5.11219147e-01 -5.59779726e-02 2.41229025e+02] [-5.10076680e-01 8.59450070e-01 3.41666236e-02 1.51819849e+02] [ 6.55769046e-02 -7.49108264e-04 9.97847237e-01 1.34499300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.28, Y:151.79, Z:134.50 [[ 8.58158895e-01 5.10321883e-01 -5.59900629e-02 2.41278912e+02] [-5.09178801e-01 8.59983107e-01 3.41467993e-02 1.51790476e+02] [ 6.55763672e-02 -7.94426505e-04 9.97847237e-01 1.34503190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.33, Y:151.76, Z:134.51 [[ 8.58914170e-01 5.09048289e-01 -5.60025777e-02 2.41330584e+02] [-5.07903841e-01 8.60737525e-01 3.41262621e-02 1.51762037e+02] [ 6.55754354e-02 -8.67605805e-04 9.97847238e-01 1.34505140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.38, Y:151.73, Z:134.51 [[ 8.59206292e-01 5.08554769e-01 -5.60053095e-02 2.41380795e+02] [-5.07409566e-01 8.61029173e-01 3.41217783e-02 1.51732982e+02] [ 6.55749984e-02 -9.00016817e-04 9.97847238e-01 1.34509041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.43, Y:151.71, Z:134.51 [[ 8.59558810e-01 5.07958272e-01 -5.60093367e-02 2.41430131e+02] [-5.06812235e-01 8.61381167e-01 3.41151665e-02 1.51705248e+02] [ 6.55744688e-02 -9.37774852e-04 9.97847238e-01 1.34512991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.48, Y:151.68, Z:134.52 [[ 8.60319051e-01 5.06669091e-01 -5.60139514e-02 2.41480892e+02] [-5.05520816e-01 8.62139999e-01 3.41075880e-02 1.51676758e+02] [ 6.55731286e-02 -1.02718934e-03 9.97847238e-01 1.34517708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.53, Y:151.65, Z:134.52 [[ 8.60193057e-01 5.06881722e-01 -5.60252096e-02 2.41530599e+02] [-5.05735101e-01 8.62015047e-01 3.40890852e-02 1.51647817e+02] [ 6.55737079e-02 -9.89279326e-04 9.97847238e-01 1.34523228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.58, Y:151.62, Z:134.53 [[ 8.60069697e-01 5.07089737e-01 -5.60367287e-02 2.41579658e+02] [-5.05944791e-01 8.61892739e-01 3.40701393e-02 1.51620074e+02] [ 6.55742675e-02 -9.51203438e-04 9.97847238e-01 1.34528777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.63, Y:151.59, Z:134.53 [[ 8.60228154e-01 5.06820384e-01 -5.60412421e-02 2.41628370e+02] [-5.05675351e-01 8.62051142e-01 3.40627137e-02 1.51591035e+02] [ 6.55740943e-02 -9.63030519e-04 9.97847238e-01 1.34533561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.602755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:241.68, Y:151.56, Z:134.54 [[ 8.60255697e-01 5.06773109e-01 -5.60459823e-02 2.41677922e+02] [-5.05628484e-01 8.62078941e-01 3.40549124e-02 1.51561657e+02] [ 6.55741749e-02 -9.57487333e-04 9.97847238e-01 1.34538832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.73, Y:151.53, Z:134.54 [[ 8.59749988e-01 5.07629363e-01 -5.60570104e-02 2.41728014e+02] [-5.06487737e-01 8.61575111e-01 3.40367496e-02 1.51533552e+02] [ 6.55753785e-02 -8.70906743e-04 9.97847238e-01 1.34542584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.78, Y:151.51, Z:134.55 [[ 8.59843203e-01 5.07471024e-01 -5.60609145e-02 2.41777965e+02] [-5.06329482e-01 8.61668378e-01 3.40303181e-02 1.51506798e+02] [ 6.55753176e-02 -8.75443875e-04 9.97847238e-01 1.34546657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.83, Y:151.48, Z:134.55 [[ 8.58301731e-01 5.10073290e-01 -5.60658290e-02 2.41827461e+02] [-5.08937811e-01 8.60130684e-01 3.40222194e-02 1.51476373e+02] [ 6.55777653e-02 -6.67309532e-04 9.97847239e-01 1.34548441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.842755096 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:241.88, Y:151.45, Z:134.55 [[ 8.58780323e-01 5.09265748e-01 -5.60781129e-02 2.41877612e+02] [-5.08129871e-01 8.60609029e-01 3.40019601e-02 1.51447904e+02] [ 6.55773639e-02 -7.05250011e-04 9.97847239e-01 1.34550419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.12, Y:151.93, Z:135.77 [[ 8.86154859e-01 4.59982073e-01 -5.60897309e-02 2.42121562e+02] [-4.58745996e-01 8.87917384e-01 3.39827842e-02 1.51933625e+02] [ 6.54345187e-02 -4.38306985e-03 9.97847239e-01 1.35770329e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 374.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.17, Y:151.91, Z:135.77 [[ 8.86600764e-01 4.58909811e-01 -5.78002581e-02 2.42173828e+02] [-4.57877767e-01 8.88482481e-01 3.07706115e-02 1.51909198e+02] [ 6.54754522e-02 -8.15794571e-04 9.97853847e-01 1.35773562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.22, Y:151.88, Z:135.78 [[ 8.86754116e-01 4.58612928e-01 -5.78041548e-02 2.42224480e+02] [-4.57580731e-01 8.88635749e-01 3.07632896e-02 1.51881934e+02] [ 6.54752807e-02 -8.29406201e-04 9.97853847e-01 1.35777204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.27, Y:151.86, Z:135.78 [[ 8.87829470e-01 4.56527150e-01 -5.78082546e-02 2.42274913e+02] [-4.55491035e-01 8.89708948e-01 3.07555835e-02 1.51856209e+02] [ 6.54732803e-02 -9.74571687e-04 9.97853847e-01 1.35780210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.33, Y:151.83, Z:135.78 [[ 8.88452725e-01 4.55311650e-01 -5.78191737e-02 2.42325768e+02] [-4.54274299e-01 8.90331522e-01 3.07350425e-02 1.51829292e+02] [ 6.54722558e-02 -1.04086760e-03 9.97853847e-01 1.35783352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.38, Y:151.80, Z:135.79 [[ 8.89864090e-01 4.52545624e-01 -5.78304334e-02 2.42376490e+02] [-4.51503811e-01 8.91740416e-01 3.07138418e-02 1.51802747e+02] [ 6.54691495e-02 -1.22048384e-03 9.97853847e-01 1.35787388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.43, Y:151.78, Z:135.79 [[ 8.90411772e-01 4.51466466e-01 -5.78351635e-02 2.42426809e+02] [-4.50422957e-01 8.92287155e-01 3.07049323e-02 1.51777015e+02] [ 6.54678208e-02 -1.28974787e-03 9.97853848e-01 1.35790408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.48, Y:151.75, Z:135.79 [[ 8.90102229e-01 4.52075108e-01 -5.78456501e-02 2.42478040e+02] [-4.51034166e-01 8.91979037e-01 3.06851638e-02 1.51750344e+02] [ 6.54691060e-02 -1.22256813e-03 9.97853848e-01 1.35791248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.53, Y:151.72, Z:135.80 [[ 8.89654187e-01 4.52954809e-01 -5.78564528e-02 2.42528868e+02] [-4.51917047e-01 8.91532755e-01 3.06647820e-02 1.51722659e+02] [ 6.54706832e-02 -1.13473438e-03 9.97853848e-01 1.35795955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.58, Y:151.69, Z:135.80 [[ 8.89994516e-01 4.52284353e-01 -5.78673111e-02 2.42579422e+02] [-4.51246509e-01 8.91873038e-01 3.06442776e-02 1.51694664e+02] [ 6.54702219e-02 -1.16081689e-03 9.97853848e-01 1.35800043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.63, Y:151.67, Z:135.80 [[ 8.90495027e-01 4.51297681e-01 -5.78706374e-02 2.42629351e+02] [-4.50258164e-01 8.92372624e-01 3.06379947e-02 1.51667147e+02] [ 6.54690285e-02 -1.22625495e-03 9.97853848e-01 1.35803544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.68, Y:151.64, Z:135.81 [[ 8.92145858e-01 4.48024797e-01 -5.78752963e-02 2.42679640e+02] [-4.46978963e-01 8.94019943e-01 3.06291915e-02 1.51639237e+02] [ 6.54643065e-02 -1.45666640e-03 9.97853848e-01 1.35807876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.73, Y:151.61, Z:135.81 [[ 8.92968561e-01 4.46382282e-01 -5.78792510e-02 2.42731162e+02] [-4.45333485e-01 8.94840990e-01 3.06217166e-02 1.51612085e+02] [ 6.54617180e-02 -1.56866158e-03 9.97853848e-01 1.35811648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.78, Y:151.58, Z:135.82 [[ 8.91596915e-01 4.49115294e-01 -5.78825861e-02 2.42782069e+02] [-4.48072646e-01 8.93472775e-01 3.06154112e-02 1.51584599e+02] [ 6.54663642e-02 -1.36100264e-03 9.97853848e-01 1.35821041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.83, Y:151.56, Z:135.82 [[ 8.89687719e-01 4.52885228e-01 -5.78855211e-02 2.42833505e+02] [-4.51850891e-01 8.91568174e-01 3.06098608e-02 1.51558133e+02] [ 6.54716422e-02 -1.07759290e-03 9.97853848e-01 1.35823964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.89, Y:151.53, Z:135.83 [[ 8.87423844e-01 4.57304955e-01 -5.78886751e-02 2.42885107e+02] [-4.56280373e-01 8.89309633e-01 3.06038950e-02 1.51533520e+02] [ 6.54762692e-02 -7.45159882e-04 9.97853848e-01 1.35829288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.94, Y:151.51, Z:135.83 [[ 8.85254077e-01 4.61490638e-01 -5.78930924e-02 2.42937249e+02] [-4.60475520e-01 8.87144976e-01 3.05955365e-02 1.51507510e+02] [ 6.54791197e-02 -4.26471572e-04 9.97853849e-01 1.35830942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.99, Y:151.48, Z:135.83 [[ 8.84497928e-01 4.62937751e-01 -5.78969337e-02 2.42988995e+02] [-4.61926202e-01 8.86390739e-01 3.05882657e-02 1.51481606e+02] [ 6.54797688e-02 -3.11146946e-04 9.97853849e-01 1.35831448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.04, Y:151.45, Z:135.84 [[ 8.83895512e-01 4.64085629e-01 -5.79072688e-02 2.43040396e+02] [-4.63077821e-01 8.85790318e-01 3.05686876e-02 1.51453377e+02] [ 6.54801867e-02 -2.03953892e-04 9.97853849e-01 1.35839026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.09, Y:151.43, Z:135.84 [[ 8.86026555e-01 4.60003679e-01 -5.79099280e-02 2.43090224e+02] [-4.58987470e-01 8.87916869e-01 3.05636491e-02 1.51426314e+02] [ 6.54785930e-02 -5.00273365e-04 9.97853849e-01 1.35843948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.14, Y:151.40, Z:135.85 [[ 8.89963572e-01 4.52339202e-01 -5.79144754e-02 2.43140564e+02] [-4.51307277e-01 8.91845352e-01 3.05550300e-02 1.51399134e+02] [ 6.54719936e-02 -1.05563947e-03 9.97853849e-01 1.35850890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.19, Y:151.37, Z:135.85 [[ 8.93237397e-01 4.45839085e-01 -5.79177170e-02 2.43192772e+02] [-4.44793867e-01 8.95111826e-01 3.05488842e-02 1.51373036e+02] [ 6.54627200e-02 -1.52596044e-03 9.97853849e-01 1.35854539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.24, Y:151.35, Z:135.86 [[ 8.95596776e-01 4.41079924e-01 -5.79216234e-02 2.43243815e+02] [-4.40025226e-01 8.97465887e-01 3.05414758e-02 1.51347927e+02] [ 6.54539130e-02 -1.86587183e-03 9.97853849e-01 1.35858304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.30, Y:151.32, Z:135.86 [[ 8.97145617e-01 4.37920436e-01 -5.79261021e-02 2.43297155e+02] [-4.36859704e-01 8.99011310e-01 3.05329789e-02 1.51321950e+02] [ 6.54472364e-02 -2.08694835e-03 9.97853849e-01 1.35858354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.35, Y:151.29, Z:135.86 [[ 8.99119606e-01 4.33852734e-01 -5.79287464e-02 2.43350364e+02] [-4.32783885e-01 9.00980661e-01 3.05279612e-02 1.51294836e+02] [ 6.54373197e-02 -2.37766048e-03 9.97853849e-01 1.35864895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.40, Y:151.27, Z:135.87 [[ 8.98827453e-01 4.34457509e-01 -5.79299852e-02 2.43403473e+02] [-4.33390064e-01 9.00689313e-01 3.05256103e-02 1.51269283e+02] [ 6.54389992e-02 -2.33097657e-03 9.97853849e-01 1.35867606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.46, Y:151.24, Z:135.87 [[ 8.98851414e-01 4.34407657e-01 -5.79320519e-02 2.43455348e+02] [-4.33340361e-01 9.00713361e-01 3.05216876e-02 1.51243089e+02] [ 6.54390279e-02 -2.33016575e-03 9.97853849e-01 1.35872568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.51, Y:151.22, Z:135.88 [[ 8.98376657e-01 4.35388078e-01 -5.79362089e-02 2.43507253e+02] [-4.34323322e-01 9.00240057e-01 3.05137948e-02 1.51217644e+02] [ 6.54418384e-02 -2.24983424e-03 9.97853849e-01 1.35876221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.56, Y:151.19, Z:135.88 [[ 8.98357417e-01 4.35427341e-01 -5.79394729e-02 2.43560515e+02] [-4.34363066e-01 9.00221091e-01 3.05075959e-02 1.51193564e+02] [ 6.54421768e-02 -2.23995792e-03 9.97853849e-01 1.35877662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.61, Y:151.17, Z:135.88 [[ 8.98183556e-01 4.35784543e-01 -5.79493856e-02 2.43612411e+02] [-4.34722223e-01 9.00048346e-01 3.04887550e-02 1.51168470e+02] [ 6.54437768e-02 -2.19261263e-03 9.97853849e-01 1.35881933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.66, Y:151.14, Z:135.89 [[ 8.97338843e-01 4.37519862e-01 -5.79600766e-02 2.43664491e+02] [-4.36462461e-01 8.99206426e-01 3.04684174e-02 1.51143200e+02] [ 6.54486111e-02 -2.04309680e-03 9.97853850e-01 1.35887229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.72, Y:151.12, Z:135.89 [[ 8.96454896e-01 4.39326750e-01 -5.79709086e-02 2.43716532e+02] [-4.38274446e-01 8.98325354e-01 3.04477939e-02 1.51117082e+02] [ 6.54532674e-02 -1.88790610e-03 9.97853850e-01 1.35891556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.77, Y:151.09, Z:135.89 [[ 8.94421527e-01 4.43451339e-01 -5.79744946e-02 2.43768735e+02] [-4.42408103e-01 8.96297059e-01 3.04409644e-02 1.51093220e+02] [ 6.54614555e-02 -1.57866770e-03 9.97853850e-01 1.35893447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.82, Y:151.07, Z:135.90 [[ 8.92465484e-01 4.47374001e-01 -5.79815742e-02 2.43820111e+02] [-4.46339885e-01 8.94346060e-01 3.04274738e-02 1.51066428e+02] [ 6.54680532e-02 -1.27598098e-03 9.97853850e-01 1.35895463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:151.04, Z:135.90 [[ 8.90320980e-01 4.51625372e-01 -5.79920309e-02 2.43871173e+02] [-4.50601536e-01 8.92207172e-01 3.04075313e-02 1.51038087e+02] [ 6.54737185e-02 -9.41164875e-04 9.97853850e-01 1.35899111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:151.01, Z:135.90 [[ 8.89267327e-01 4.53695206e-01 -5.80024220e-02 2.43921760e+02] [-4.52677054e-01 8.91156593e-01 3.03876973e-02 1.51008872e+02] [ 6.54759934e-02 -7.66420854e-04 9.97853850e-01 1.35899758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:150.98, Z:135.91 [[ 8.89738913e-01 4.52768451e-01 -5.80120416e-02 2.43972088e+02] [-4.51749529e-01 8.91627763e-01 3.03693219e-02 1.50979692e+02] [ 6.54754177e-02 -8.13854966e-04 9.97853851e-01 1.35906474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.02, Y:150.95, Z:135.91 [[ 8.89871541e-01 4.52506320e-01 -5.80230278e-02 2.44019969e+02] [-4.51488210e-01 8.91760829e-01 3.03483173e-02 1.50947603e+02] [ 6.54754688e-02 -8.09390858e-04 9.97853851e-01 1.35912876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.182755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:244.07, Y:150.92, Z:135.91 [[ 8.92906404e-01 4.46486550e-01 -5.80337298e-02 2.44070455e+02] [-4.45457036e-01 8.94789501e-01 3.03278387e-02 1.50918338e+02] [ 6.54689442e-02 -1.22838812e-03 9.97853851e-01 1.35915000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.12, Y:150.89, Z:135.92 [[ 8.93473164e-01 4.45349989e-01 -5.80438890e-02 2.44119479e+02] [-4.44319342e-01 8.95355641e-01 3.03083827e-02 1.50886957e+02] [ 6.54677613e-02 -1.28970403e-03 9.97853851e-01 1.35917630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.17, Y:150.86, Z:135.92 [[ 8.94324268e-01 4.43636917e-01 -5.80550454e-02 2.44169359e+02] [-4.42604052e-01 8.96205529e-01 3.02869977e-02 1.50856378e+02] [ 6.54656830e-02 -1.39099869e-03 9.97853852e-01 1.35922583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:150.82, Z:135.92 [[ 8.93493886e-01 4.45306652e-01 -5.80573887e-02 2.44222006e+02] [-4.44277595e-01 8.95377233e-01 3.02825051e-02 1.50820373e+02] [ 6.54682651e-02 -1.26363617e-03 9.97853852e-01 1.35924703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:150.79, Z:135.93 [[ 8.93143802e-01 4.46009732e-01 -5.80471191e-02 2.44274922e+02] [-4.44980879e-01 8.95027260e-01 3.03021778e-02 1.50788653e+02] [ 6.54688201e-02 -1.23434422e-03 9.97853852e-01 1.35926613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:150.76, Z:135.93 [[ 8.90951049e-01 4.50375245e-01 -5.80376422e-02 2.44326013e+02] [-4.49354440e-01 8.92838880e-01 3.03203180e-02 1.50761990e+02] [ 6.54737841e-02 -9.34446971e-04 9.97853852e-01 1.35930269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:150.73, Z:135.93 [[ 8.89214580e-01 4.53793660e-01 -5.80408940e-02 2.44374925e+02] [-4.52780519e-01 8.91106536e-01 3.03140920e-02 1.50733614e+02] [ 6.54769627e-02 -6.75946466e-04 9.97853852e-01 1.35933838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:150.70, Z:135.94 [[ 8.88549204e-01 4.55094538e-01 -5.80454485e-02 2.44427078e+02] [-4.54084737e-01 8.90442944e-01 3.03053686e-02 1.50702315e+02] [ 6.54779677e-02 -5.70258911e-04 9.97853852e-01 1.35938909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:150.67, Z:135.95 [[ 8.87972956e-01 4.56218034e-01 -5.80442444e-02 2.44480548e+02] [-4.55210478e-01 8.89867892e-01 3.03076745e-02 1.50671893e+02] [ 6.54786171e-02 -4.90047102e-04 9.97853852e-01 1.35948212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.53, Y:150.64, Z:135.95 [[ 8.88703430e-01 4.54794594e-01 -5.80352567e-02 2.44534931e+02] [-4.53782880e-01 8.90596149e-01 3.03248752e-02 1.50642543e+02] [ 6.54775654e-02 -6.14414663e-04 9.97853852e-01 1.35951950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.59, Y:150.62, Z:135.95 [[ 8.90078840e-01 4.52098076e-01 -5.80257576e-02 2.44591434e+02] [-4.51079444e-01 8.91967844e-01 3.03430405e-02 1.50616141e+02] [ 6.54751402e-02 -8.33471859e-04 9.97853853e-01 1.35953208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.65, Y:150.59, Z:135.96 [[ 8.91048561e-01 4.50184920e-01 -5.80172320e-02 2.44646453e+02] [-4.49161172e-01 8.92934798e-01 3.03593331e-02 1.50586111e+02] [ 6.54729193e-02 -9.92552157e-04 9.97853853e-01 1.35959408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.70, Y:150.56, Z:135.96 [[ 8.91090200e-01 4.50103829e-01 -5.80068893e-02 2.44701118e+02] [-4.49078624e-01 8.92975644e-01 3.03790819e-02 1.50556927e+02] [ 6.54724804e-02 -1.02084821e-03 9.97853853e-01 1.35963786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.76, Y:150.53, Z:135.96 [[ 8.92139266e-01 4.48022137e-01 -5.79973732e-02 2.44757934e+02] [-4.46991353e-01 8.94021665e-01 3.03972384e-02 1.50529081e+02] [ 6.54695439e-02 -1.19424565e-03 9.97853853e-01 1.35964941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.81, Y:150.50, Z:135.97 [[ 8.91953187e-01 4.48393840e-01 -5.79868735e-02 2.44813355e+02] [-4.47362539e-01 8.93835303e-01 3.04172549e-02 1.50499165e+02] [ 6.54696244e-02 -1.18961247e-03 9.97853854e-01 1.35969018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.87, Y:150.47, Z:135.97 [[ 8.91842254e-01 4.48615773e-01 -5.79765613e-02 2.44868030e+02] [-4.47583664e-01 8.93723928e-01 3.04368978e-02 1.50469689e+02] [ 6.54695125e-02 -1.19554984e-03 9.97853854e-01 1.35973427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.92, Y:150.44, Z:135.98 [[ 8.92327761e-01 4.47650518e-01 -5.79670574e-02 2.44924237e+02] [-4.46615199e-01 8.94207670e-01 3.04549873e-02 1.50441314e+02] [ 6.54677781e-02 -1.28686173e-03 9.97853854e-01 1.35975559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.98, Y:150.41, Z:135.98 [[ 8.92018850e-01 4.48267074e-01 -5.79569053e-02 2.44975960e+02] [-4.47231800e-01 8.93898783e-01 3.04742948e-02 1.50412581e+02] [ 6.54682301e-02 -1.26347427e-03 9.97853854e-01 1.35979592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.03, Y:150.38, Z:135.99 [[ 8.90937143e-01 4.50413055e-01 -5.79576370e-02 2.45026714e+02] [-4.49382401e-01 8.92819612e-01 3.04729031e-02 1.50383500e+02] [ 6.54711084e-02 -1.10429915e-03 9.97853854e-01 1.35989444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.08, Y:150.36, Z:135.99 [[ 8.90925378e-01 4.50435948e-01 -5.79605753e-02 2.45082459e+02] [-4.49405705e-01 8.92808073e-01 3.04673134e-02 1.50357212e+02] [ 6.54712427e-02 -1.09628947e-03 9.97853854e-01 1.35988978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.13, Y:150.33, Z:135.99 [[ 8.91104771e-01 4.50082004e-01 -5.79523727e-02 2.45134702e+02] [-4.49050000e-01 8.92986501e-01 3.04829078e-02 1.50330738e+02] [ 6.54704947e-02 -1.13995161e-03 9.97853854e-01 1.35990821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.19, Y:150.31, Z:136.00 [[ 8.90415594e-01 4.51443561e-01 -5.79550009e-02 2.45187055e+02] [-4.50414759e-01 8.92299077e-01 3.04779100e-02 1.50305075e+02] [ 6.54722500e-02 -1.03421854e-03 9.97853854e-01 1.35995605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.24, Y:150.28, Z:136.00 [[ 8.91609179e-01 4.49081257e-01 -5.79577106e-02 2.45241845e+02] [-4.48047800e-01 8.93490112e-01 3.04727563e-02 1.50283249e+02] [ 6.54693851e-02 -1.20196450e-03 9.97853854e-01 1.35995780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.29, Y:150.26, Z:136.00 [[ 8.93426021e-01 4.45455423e-01 -5.79604277e-02 2.45293805e+02] [-4.44414669e-01 8.95302925e-01 3.04675875e-02 1.50255405e+02] [ 6.54640925e-02 -1.46207121e-03 9.97853855e-01 1.35999097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.622755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:245.35, Y:150.22, Z:136.01 [[ 8.92216015e-01 4.47873829e-01 -5.79621878e-02 2.45345875e+02] [-4.46838380e-01 8.94095852e-01 3.04642387e-02 1.50223008e+02] [ 6.54678869e-02 -1.28095152e-03 9.97853855e-01 1.36008542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.40, Y:150.20, Z:136.01 [[ 8.92784206e-01 4.46741261e-01 -5.79534907e-02 2.45400596e+02] [-4.45702354e-01 8.94662134e-01 3.04807745e-02 1.50196121e+02] [ 6.54658133e-02 -1.38274685e-03 9.97853855e-01 1.36010108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.45, Y:150.17, Z:136.01 [[ 8.92925424e-01 4.46459966e-01 -5.79455478e-02 2.45452225e+02] [-4.45419488e-01 8.94802482e-01 3.04958670e-02 1.50167318e+02] [ 6.54650037e-02 -1.42045867e-03 9.97853855e-01 1.36013953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.50, Y:150.14, Z:136.02 [[ 8.92397259e-01 4.47514403e-01 -5.79481759e-02 2.45504519e+02] [-4.46476468e-01 8.94275724e-01 3.04908723e-02 1.50139934e+02] [ 6.54667514e-02 -1.33747403e-03 9.97853855e-01 1.36020140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.56, Y:150.11, Z:136.02 [[ 8.91573713e-01 4.49152555e-01 -5.79508195e-02 2.45561120e+02] [-4.48118398e-01 8.93454260e-01 3.04858470e-02 1.50111440e+02] [ 6.54692026e-02 -1.21155136e-03 9.97853855e-01 1.36022898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.61, Y:150.08, Z:136.03 [[ 8.91563916e-01 4.49173331e-01 -5.79405185e-02 2.45611943e+02] [-4.48137946e-01 8.93443787e-01 3.05054123e-02 1.50084603e+02] [ 6.54688139e-02 -1.23217982e-03 9.97853855e-01 1.36026723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.66, Y:150.06, Z:136.03 [[ 8.91523970e-01 4.49252256e-01 -5.79432567e-02 2.45662688e+02] [-4.48217376e-01 8.93404120e-01 3.05002103e-02 1.50057866e+02] [ 6.54690325e-02 -1.22049411e-03 9.97853855e-01 1.36031428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.72, Y:150.03, Z:136.04 [[ 8.92338652e-01 4.47631383e-01 -5.79471735e-02 2.45715262e+02] [-4.46593571e-01 8.94217185e-01 3.04927670e-02 1.50030933e+02] [ 6.54668778e-02 -1.33103943e-03 9.97853855e-01 1.36035040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.77, Y:150.00, Z:136.04 [[ 8.93331720e-01 4.45646053e-01 -5.79485415e-02 2.45768902e+02] [-4.44604236e-01 8.95208034e-01 3.04901671e-02 1.50002553e+02] [ 6.54638225e-02 -1.47366642e-03 9.97853855e-01 1.36039188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.82, Y:149.98, Z:136.04 [[ 8.93891717e-01 4.44521727e-01 -5.79485415e-02 2.45822047e+02] [-4.43477549e-01 8.95766718e-01 3.04901671e-02 1.49975172e+02] [ 6.54619165e-02 -1.55603068e-03 9.97853855e-01 1.36043227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.88, Y:149.95, Z:136.04 [[ 8.93824648e-01 4.44656415e-01 -5.79497310e-02 2.45877970e+02] [-4.43612666e-01 8.95699888e-01 3.04879061e-02 1.49946976e+02] [ 6.54622106e-02 -1.54360727e-03 9.97853855e-01 1.36044369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.93, Y:149.92, Z:136.05 [[ 8.92879858e-01 4.46551728e-01 -5.79406014e-02 2.45932172e+02] [-4.45510836e-01 8.94756685e-01 3.05052466e-02 1.49919362e+02] [ 6.54649110e-02 -1.42435449e-03 9.97853855e-01 1.36051304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.98, Y:149.89, Z:136.05 [[ 8.92126489e-01 4.48055579e-01 -5.79355241e-02 2.45984184e+02] [-4.47017225e-01 8.94004722e-01 3.05148863e-02 1.49893204e+02] [ 6.54669972e-02 -1.32496115e-03 9.97853855e-01 1.36053708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.04, Y:149.87, Z:136.06 [[ 8.91994529e-01 4.48317822e-01 -5.79386837e-02 2.46036564e+02] [-4.47280409e-01 8.93873282e-01 3.05088861e-02 1.49865872e+02] [ 6.54675187e-02 -1.29892138e-03 9.97853855e-01 1.36056621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.09, Y:149.84, Z:136.06 [[ 8.91088629e-01 4.50115493e-01 -5.79404785e-02 2.46088075e+02] [-4.49082092e-01 8.92969591e-01 3.05054772e-02 1.49836855e+02] [ 6.54700732e-02 -1.16305255e-03 9.97853855e-01 1.36060608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.14, Y:149.81, Z:136.07 [[ 8.91306323e-01 4.49684012e-01 -5.79424479e-02 2.46140155e+02] [-4.48649944e-01 8.93186919e-01 3.05017359e-02 1.49809750e+02] [ 6.54695795e-02 -1.19051412e-03 9.97853855e-01 1.36067452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.19, Y:149.78, Z:136.07 [[ 8.90985460e-01 4.50319055e-01 -5.79453046e-02 2.46191432e+02] [-4.49286680e-01 8.92866986e-01 3.04963081e-02 1.49782769e+02] [ 6.54705180e-02 -1.13771357e-03 9.97853855e-01 1.36069856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.24, Y:149.75, Z:136.07 [[ 8.91217621e-01 4.49859077e-01 -5.79479397e-02 2.46241547e+02] [-4.48826056e-01 8.93098792e-01 3.04913001e-02 1.49753975e+02] [ 6.54700230e-02 -1.16583872e-03 9.97853855e-01 1.36074515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.29, Y:149.72, Z:136.08 [[ 8.91944631e-01 4.48415398e-01 -5.79517534e-02 2.46294169e+02] [-4.47379803e-01 8.93824387e-01 3.04840501e-02 1.49724655e+02] [ 6.54682078e-02 -1.26364079e-03 9.97853856e-01 1.36080646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.35, Y:149.69, Z:136.08 [[ 8.92145481e-01 4.48015664e-01 -5.79517534e-02 2.46348392e+02] [-4.46979227e-01 8.94024772e-01 3.04840501e-02 1.49694463e+02] [ 6.54676350e-02 -1.29297757e-03 9.97853856e-01 1.36084374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.40, Y:149.66, Z:136.09 [[ 8.91693768e-01 4.48915143e-01 -5.79432295e-02 2.46402356e+02] [-4.47879550e-01 8.93573525e-01 3.05002434e-02 1.49664952e+02] [ 6.54685569e-02 -1.24528945e-03 9.97853856e-01 1.36088174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.46, Y:149.64, Z:136.09 [[ 8.90832193e-01 4.50622598e-01 -5.79420220e-02 2.46458107e+02] [-4.49590459e-01 8.92713848e-01 3.05025371e-02 1.49635558e+02] [ 6.54707780e-02 -1.12246172e-03 9.97853856e-01 1.36091858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.51, Y:149.61, Z:136.09 [[ 8.89265147e-01 4.53708457e-01 -5.79321464e-02 2.46512503e+02] [-4.52681627e-01 8.91149704e-01 3.05212819e-02 1.49606156e+02] [ 6.54739789e-02 -9.16693943e-04 9.97853856e-01 1.36094771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.57, Y:149.58, Z:136.10 [[ 8.87667143e-01 4.56828094e-01 -5.79235313e-02 2.46565201e+02] [-4.55806821e-01 8.89554718e-01 3.05376231e-02 1.49579003e+02] [ 6.54765946e-02 -7.05304000e-04 9.97853856e-01 1.36098163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.62, Y:149.55, Z:136.10 [[ 8.86395860e-01 4.59289859e-01 -5.79241354e-02 2.46617777e+02] [-4.58273904e-01 8.88286301e-01 3.05364771e-02 1.49553679e+02] [ 6.54783103e-02 -5.22287223e-04 9.97853856e-01 1.36101588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.67, Y:149.53, Z:136.11 [[ 8.85983263e-01 4.60084968e-01 -5.79264980e-02 2.46670655e+02] [-4.59071002e-01 8.87874773e-01 3.05319947e-02 1.49526798e+02] [ 6.54787881e-02 -4.58460793e-04 9.97853856e-01 1.36106394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.72, Y:149.50, Z:136.11 [[ 8.86543397e-01 4.59004562e-01 -5.79276933e-02 2.46722801e+02] [-4.57988439e-01 8.88433749e-01 3.05297268e-02 1.49501228e+02] [ 6.54782015e-02 -5.35713870e-04 9.97853856e-01 1.36110549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.78, Y:149.47, Z:136.11 [[ 8.86857726e-01 4.58396571e-01 -5.79306314e-02 2.46775240e+02] [-4.57379516e-01 8.88747576e-01 3.05241507e-02 1.49474103e+02] [ 6.54778742e-02 -5.74294719e-04 9.97853856e-01 1.36114698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.83, Y:149.45, Z:136.12 [[ 8.88134251e-01 4.55918112e-01 -5.79329608e-02 2.46826323e+02] [-4.54896072e-01 8.90021410e-01 3.05197290e-02 1.49447713e+02] [ 6.54760726e-02 -7.52140283e-04 9.97853856e-01 1.36119684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.88, Y:149.42, Z:136.12 [[ 8.89659760e-01 4.52933716e-01 -5.79358280e-02 2.46878616e+02] [-4.51905701e-01 8.91543670e-01 3.05142851e-02 1.49421160e+02] [ 6.54732693e-02 -9.65800628e-04 9.97853856e-01 1.36124339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.93, Y:149.40, Z:136.13 [[ 8.91376996e-01 4.49544469e-01 -5.79380823e-02 2.46929459e+02] [-4.48509570e-01 8.93257133e-01 3.05100043e-02 1.49395130e+02] [ 6.54692090e-02 -1.21013164e-03 9.97853856e-01 1.36127754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.98, Y:149.36, Z:136.13 [[ 8.92249859e-01 4.47809020e-01 -5.79419596e-02 2.46984846e+02] [-4.46770941e-01 8.94128243e-01 3.05026391e-02 1.49364833e+02] [ 6.54668994e-02 -1.32919167e-03 9.97853856e-01 1.36132990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.04, Y:149.34, Z:136.14 [[ 8.93463561e-01 4.45383812e-01 -5.79320743e-02 2.47038448e+02] [-4.44339419e-01 8.95338441e-01 3.05214023e-02 1.49335821e+02] [ 6.54625516e-02 -1.52825654e-03 9.97853856e-01 1.36138575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.09, Y:149.30, Z:136.14 [[ 8.92910953e-01 4.46490811e-01 -5.79308605e-02 2.47093013e+02] [-4.45448594e-01 8.94787044e-01 3.05237059e-02 1.49303779e+02] [ 6.54643376e-02 -1.44973102e-03 9.97853856e-01 1.36143541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.15, Y:149.28, Z:136.15 [[ 8.93844599e-01 4.44620086e-01 -5.79207439e-02 2.47145645e+02] [-4.43572700e-01 8.95717808e-01 3.05428907e-02 1.49278826e+02] [ 6.54606245e-02 -1.60853711e-03 9.97853857e-01 1.36147050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.20, Y:149.25, Z:136.15 [[ 8.93691287e-01 4.44927815e-01 -5.79234262e-02 2.47196831e+02] [-4.43881403e-01 8.95565041e-01 3.05378031e-02 1.49253151e+02] [ 6.54613135e-02 -1.58023683e-03 9.97853857e-01 1.36151748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.25, Y:149.23, Z:136.16 [[ 8.92267596e-01 4.47775483e-01 -5.79280143e-02 2.47250146e+02] [-4.46735617e-01 8.94144990e-01 3.05290973e-02 1.49225482e+02] [ 6.54662250e-02 -1.36161702e-03 9.97853857e-01 1.36155867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.30, Y:149.20, Z:136.16 [[ 8.90956167e-01 4.50379234e-01 -5.79280143e-02 2.47302003e+02] [-4.49344854e-01 8.92836590e-01 3.05290973e-02 1.49198199e+02] [ 6.54699222e-02 -1.17043234e-03 9.97853857e-01 1.36159490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.36, Y:149.17, Z:136.16 [[ 8.88495669e-01 4.55213779e-01 -5.79298044e-02 2.47355233e+02] [-4.54189854e-01 8.90381805e-01 3.05257000e-02 1.49172216e+02] [ 6.54753631e-02 -8.10822806e-04 9.97853857e-01 1.36163248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.41, Y:149.15, Z:136.17 [[ 8.87307816e-01 4.57524593e-01 -5.79317371e-02 2.47407186e+02] [-4.56505820e-01 8.89196740e-01 3.05220317e-02 1.49146329e+02] [ 6.54772919e-02 -6.36262162e-04 9.97853857e-01 1.36171478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.46, Y:149.12, Z:136.18 [[ 8.87693738e-01 4.56775038e-01 -5.79343805e-02 2.47459800e+02] [-4.55754997e-01 8.89581977e-01 3.05170135e-02 1.49117927e+02] [ 6.54767907e-02 -6.85878413e-04 9.97853857e-01 1.36176625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.51, Y:149.09, Z:136.18 [[ 8.89232680e-01 4.53771647e-01 -5.79355907e-02 2.47512634e+02] [-4.52745379e-01 8.91117542e-01 3.05147158e-02 1.49089348e+02] [ 6.54741340e-02 -9.04611496e-04 9.97853857e-01 1.36181806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.57, Y:149.06, Z:136.19 [[ 8.91804886e-01 4.48695345e-01 -5.79355907e-02 2.47565028e+02] [-4.47658349e-01 8.93683867e-01 3.05147158e-02 1.49064295e+02] [ 6.54679137e-02 -1.27782173e-03 9.97853857e-01 1.36187041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.62, Y:149.04, Z:136.19 [[ 8.94306037e-01 4.43689051e-01 -5.79373747e-02 2.47618711e+02] [-4.42641757e-01 8.96179298e-01 3.05113282e-02 1.49036791e+02] [ 6.54598180e-02 -1.64096361e-03 9.97853857e-01 1.36191905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.67, Y:149.01, Z:136.20 [[ 8.94722553e-01 4.42848523e-01 -5.79373747e-02 2.47672628e+02] [-4.41799470e-01 8.96594829e-01 3.05113282e-02 1.49005520e+02] [ 6.54582472e-02 -1.70247197e-03 9.97853857e-01 1.36197253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.73, Y:148.98, Z:136.20 [[ 8.95079059e-01 4.42128814e-01 -5.79274560e-02 2.47727495e+02] [-4.41077039e-01 8.96949807e-01 3.05301479e-02 1.48979154e+02] [ 6.54562785e-02 -1.77642532e-03 9.97853857e-01 1.36200705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.78, Y:148.96, Z:136.20 [[ 8.95747285e-01 4.40773423e-01 -5.79274560e-02 2.47782400e+02] [-4.39718817e-01 8.97616439e-01 3.05301479e-02 1.48958277e+02] [ 6.54535145e-02 -1.87550467e-03 9.97853857e-01 1.36201163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.84, Y:148.93, Z:136.20 [[ 8.94618025e-01 4.43060552e-01 -5.79304440e-02 2.47836208e+02] [-4.42011091e-01 8.96490073e-01 3.05244771e-02 1.48933694e+02] [ 6.54582596e-02 -1.70184865e-03 9.97853857e-01 1.36203346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.502755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:247.89, Y:148.91, Z:136.21 [[ 8.93072442e-01 4.46167461e-01 -5.79328127e-02 2.47889075e+02] [-4.45124805e-01 8.94948288e-01 3.05199809e-02 1.48911304e+02] [ 6.54638939e-02 -1.46922192e-03 9.97853857e-01 1.36205861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.94, Y:148.89, Z:136.21 [[ 8.92248028e-01 4.47813327e-01 -5.79368750e-02 2.47941255e+02] [-4.46774632e-01 8.94126070e-01 3.05122673e-02 1.48886752e+02] [ 6.54666703e-02 -1.33978428e-03 9.97853857e-01 1.36209390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.99, Y:148.86, Z:136.21 [[ 8.91595379e-01 4.49110904e-01 -5.79402789e-02 2.47994025e+02] [-4.48075363e-01 8.93475162e-01 3.05058021e-02 1.48863110e+02] [ 6.54686885e-02 -1.23722070e-03 9.97853857e-01 1.36213900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.05, Y:148.84, Z:136.22 [[ 8.91534439e-01 4.49231433e-01 -5.79436346e-02 2.48046536e+02] [-4.48196560e-01 8.93414590e-01 3.04994270e-02 1.48839465e+02] [ 6.54689898e-02 -1.22115185e-03 9.97853857e-01 1.36217053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.10, Y:148.82, Z:136.22 [[ 8.91735415e-01 4.48831943e-01 -5.79468494e-02 2.48099651e+02] [-4.47796625e-01 8.93615320e-01 3.04933178e-02 1.48815611e+02] [ 6.54685675e-02 -1.24356786e-03 9.97853857e-01 1.36223526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.15, Y:148.79, Z:136.23 [[ 8.91828419e-01 4.48646609e-01 -5.79507757e-02 2.48151499e+02] [-4.47611385e-01 8.93708376e-01 3.04858544e-02 1.48789749e+02] [ 6.54684688e-02 -1.24872435e-03 9.97853857e-01 1.36228058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.20, Y:148.77, Z:136.23 [[ 8.92683987e-01 4.46941364e-01 -5.79544361e-02 2.48203176e+02] [-4.45903000e-01 8.94562212e-01 3.04788942e-02 1.48766166e+02] [ 6.54661271e-02 -1.36596393e-03 9.97853857e-01 1.36231105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.25, Y:148.74, Z:136.24 [[ 8.92138732e-01 4.48027422e-01 -5.79647448e-02 2.48254428e+02] [-4.46992618e-01 8.94018921e-01 3.04592766e-02 1.48739988e+02] [ 6.54681698e-02 -1.26408741e-03 9.97853857e-01 1.36235885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.31, Y:148.71, Z:136.24 [[ 8.92143377e-01 4.48016820e-01 -5.79751921e-02 2.48305841e+02] [-4.46983287e-01 8.94024264e-01 3.04393785e-02 1.48712855e+02] [ 6.54685821e-02 -1.24234795e-03 9.97853858e-01 1.36236065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.36, Y:148.68, Z:136.24 [[ 8.92080899e-01 4.48139832e-01 -5.79858659e-02 2.48355343e+02] [-4.47107880e-01 8.93962654e-01 3.04190319e-02 1.48684192e+02] [ 6.54691783e-02 -1.21029977e-03 9.97853858e-01 1.36237391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.41, Y:148.66, Z:136.24 [[ 8.92625799e-01 4.47052886e-01 -5.79905223e-02 2.48405723e+02] [-4.46019220e-01 8.94506612e-01 3.04101523e-02 1.48656060e+02] [ 6.54678520e-02 -1.27999903e-03 9.97853858e-01 1.36240667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.46, Y:148.63, Z:136.24 [[ 8.92637935e-01 4.47027299e-01 -5.80009653e-02 2.48456640e+02] [-4.45994872e-01 8.94519429e-01 3.03902214e-02 1.48628698e+02] [ 6.54682489e-02 -1.25933138e-03 9.97853858e-01 1.36244426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.51, Y:148.60, Z:136.25 [[ 8.93023393e-01 4.46256313e-01 -5.80045078e-02 2.48506250e+02] [-4.45222702e-01 8.94904236e-01 3.03834585e-02 1.48599466e+02] [ 6.54672899e-02 -1.30821553e-03 9.97853858e-01 1.36246736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.56, Y:148.57, Z:136.25 [[ 8.93115465e-01 4.46071689e-01 -5.80070138e-02 2.48556271e+02] [-4.45038000e-01 8.94996265e-01 3.03786735e-02 1.48570307e+02] [ 6.54671269e-02 -1.31633771e-03 9.97853858e-01 1.36253737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.61, Y:148.54, Z:136.26 [[ 8.92837922e-01 4.46626542e-01 -5.80101425e-02 2.48608516e+02] [-4.45594409e-01 8.94719577e-01 3.03726978e-02 1.48542655e+02] [ 6.54680631e-02 -1.26890119e-03 9.97853858e-01 1.36258171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.66, Y:148.51, Z:136.26 [[ 8.91738828e-01 4.48816670e-01 -5.80125847e-02 2.48658415e+02] [-4.47789462e-01 8.93623176e-01 3.03680324e-02 1.48514303e+02] [ 6.54710693e-02 -1.10292958e-03 9.97853858e-01 1.36262813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.71, Y:148.49, Z:136.27 [[ 8.91024611e-01 4.50232452e-01 -5.80162160e-02 2.48707378e+02] [-4.49208690e-01 8.92910834e-01 3.03610934e-02 1.48485588e+02] [ 6.54728573e-02 -9.91093040e-04 9.97853858e-01 1.36266737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.76, Y:148.46, Z:136.27 [[ 8.89134266e-01 4.53953626e-01 -5.80203674e-02 2.48757839e+02] [-4.52938277e-01 8.91025030e-01 3.03531580e-02 1.48455709e+02] [ 6.54765257e-02 -7.08387599e-04 9.97853858e-01 1.36270853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.81, Y:148.43, Z:136.27 [[ 8.87409084e-01 4.57316604e-01 -5.80227568e-02 2.48807116e+02] [-4.56308719e-01 8.89303838e-01 3.03485898e-02 1.48426449e+02] [ 6.54787743e-02 -4.55324507e-04 9.97853858e-01 1.36274921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.86, Y:148.40, Z:136.28 [[ 8.86939508e-01 4.58226285e-01 -5.80256947e-02 2.48856665e+02] [-4.57220710e-01 8.88835489e-01 3.03429716e-02 1.48397223e+02] [ 6.54792438e-02 -3.81831007e-04 9.97853858e-01 1.36279507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.91, Y:148.37, Z:136.28 [[ 8.86682715e-01 4.58722212e-01 -5.80318473e-02 2.48905436e+02] [-4.57718468e-01 8.88579666e-01 3.03312000e-02 1.48365813e+02] [ 6.54795146e-02 -3.31902473e-04 9.97853859e-01 1.36281918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.95, Y:148.34, Z:136.28 [[ 8.88584966e-01 4.55025935e-01 -5.80358136e-02 2.48954684e+02] [-4.54014797e-01 8.90477986e-01 3.03236090e-02 1.48336122e+02] [ 6.54776429e-02 -5.95984974e-04 9.97853859e-01 1.36284145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.00, Y:148.30, Z:136.29 [[ 8.89449048e-01 4.53334169e-01 -5.80389748e-02 2.49004612e+02] [-4.52319825e-01 8.91340351e-01 3.03175573e-02 1.48304902e+02] [ 6.54764648e-02 -7.13743561e-04 9.97853859e-01 1.36289916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.06, Y:148.27, Z:136.29 [[ 8.89433461e-01 4.53364461e-01 -5.80412220e-02 2.49055429e+02] [-4.52350462e-01 8.91324950e-01 3.03132544e-02 1.48274502e+02] [ 6.54765416e-02 -7.06649202e-04 9.97853859e-01 1.36291177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.11, Y:148.25, Z:136.30 [[ 8.90838118e-01 4.50597809e-01 -5.80436132e-02 2.49106529e+02] [-4.49578235e-01 8.92726607e-01 3.03086751e-02 1.48245442e+02] [ 6.54741005e-02 -9.04977942e-04 9.97853859e-01 1.36297166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.16, Y:148.22, Z:136.30 [[ 8.89360262e-01 4.53507390e-01 -5.80462866e-02 2.49159095e+02] [-4.52494328e-01 8.91252252e-01 3.03035542e-02 1.48220193e+02] [ 6.54767695e-02 -6.85161466e-04 9.97853859e-01 1.36300662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.21, Y:148.19, Z:136.30 [[ 8.88182547e-01 4.55809374e-01 -5.80480625e-02 2.49211359e+02] [-4.54801438e-01 8.90077273e-01 3.03001520e-02 1.48192208e+02] [ 6.54783545e-02 -5.11723862e-04 9.97853859e-01 1.36302882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.26, Y:148.17, Z:136.31 [[ 8.87628426e-01 4.56887364e-01 -5.80492415e-02 2.49264053e+02] [-4.55881877e-01 8.89524453e-01 3.02978931e-02 1.48165520e+02] [ 6.54789443e-02 -4.29673931e-04 9.97853859e-01 1.36307116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.32, Y:148.14, Z:136.31 [[ 8.88036848e-01 4.56092869e-01 -5.80504199e-02 2.49317310e+02] [-4.55085833e-01 8.89932053e-01 3.02956351e-02 1.48141724e+02] [ 6.54785525e-02 -4.85716626e-04 9.97853859e-01 1.36309759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.37, Y:148.11, Z:136.31 [[ 8.89957699e-01 4.52332959e-01 -5.80533156e-02 2.49370593e+02] [-4.51318279e-01 8.91848822e-01 3.02900854e-02 1.48113553e+02] [ 6.54759851e-02 -7.56372291e-04 9.97853859e-01 1.36313956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.42, Y:148.09, Z:136.32 [[ 8.91618609e-01 4.49050184e-01 -5.80533156e-02 2.49423824e+02] [-4.48028542e-01 8.93505980e-01 3.02900854e-02 1.48085779e+02] [ 6.54727531e-02 -9.97661543e-04 9.97853859e-01 1.36317603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.362755096 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:249.48, Y:148.06, Z:136.32 [[ 8.93448143e-01 4.45398954e-01 -5.80533156e-02 2.49475905e+02] [-4.44369599e-01 8.95331319e-01 3.02900854e-02 1.48060009e+02] [ 6.54681239e-02 -1.26549204e-03 9.97853859e-01 1.36321081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.53, Y:148.03, Z:136.32 [[ 8.93960331e-01 4.44369127e-01 -5.80603615e-02 2.49526964e+02] [-4.43338480e-01 8.95842800e-01 3.02765737e-02 1.48034965e+02] [ 6.54669314e-02 -1.32566347e-03 9.97853859e-01 1.36323302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.58, Y:148.01, Z:136.33 [[ 8.94662882e-01 4.42951954e-01 -5.80680190e-02 2.49579795e+02] [-4.41919278e-01 8.96544238e-01 3.02618801e-02 1.48008547e+02] [ 6.54651068e-02 -1.41280389e-03 9.97853859e-01 1.36328967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.63, Y:147.98, Z:136.33 [[ 8.94454036e-01 4.43373165e-01 -5.80707730e-02 2.49631540e+02] [-4.42341718e-01 8.96336066e-01 3.02565944e-02 1.47982960e+02] [ 6.54658902e-02 -1.37600746e-03 9.97853859e-01 1.36332393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.68, Y:147.96, Z:136.33 [[ 8.94200980e-01 4.43882786e-01 -5.80747740e-02 2.49683757e+02] [-4.42852910e-01 8.96083871e-01 3.02489129e-02 1.47956427e+02] [ 6.54668400e-02 -1.33002490e-03 9.97853859e-01 1.36334914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.74, Y:147.93, Z:136.34 [[ 8.93339627e-01 4.45613436e-01 -5.80773387e-02 2.49735616e+02] [-4.44587528e-01 8.95224682e-01 3.02439880e-02 1.47931290e+02] [ 6.54693944e-02 -1.19769256e-03 9.97853859e-01 1.36335908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.79, Y:147.90, Z:136.34 [[ 8.93978895e-01 4.44329141e-01 -5.80805441e-02 2.49787908e+02] [-4.43300925e-01 8.95862692e-01 3.02378310e-02 1.47902408e+02] [ 6.54677421e-02 -1.28482384e-03 9.97853859e-01 1.36344910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.84, Y:147.88, Z:136.35 [[ 8.93302216e-01 4.45688009e-01 -5.80805441e-02 2.49839162e+02] [-4.44662659e-01 8.95187574e-01 3.02378310e-02 1.47875269e+02] [ 6.54696201e-02 -1.18527229e-03 9.97853859e-01 1.36347944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.89, Y:147.85, Z:136.35 [[ 8.91622029e-01 4.49039374e-01 -5.80844001e-02 2.49889771e+02] [-4.48021593e-01 8.93511485e-01 3.02304222e-02 1.47846980e+02] [ 6.54737284e-02 -9.31044918e-04 9.97853859e-01 1.36350955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.94, Y:147.82, Z:136.35 [[ 8.90871769e-01 4.50525521e-01 -5.80882657e-02 2.49940733e+02] [-4.49511376e-01 8.92763179e-01 3.02229925e-02 1.47819187e+02] [ 6.54752942e-02 -8.13474499e-04 9.97853859e-01 1.36354037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.99, Y:147.79, Z:136.36 [[ 8.88624765e-01 4.54941004e-01 -5.80922535e-02 2.49992519e+02] [-4.53936759e-01 8.90521450e-01 3.02153255e-02 1.47790295e+02] [ 6.54785884e-02 -4.79877288e-04 9.97853859e-01 1.36356502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.04, Y:147.76, Z:136.36 [[ 8.86905154e-01 4.58283766e-01 -5.80968004e-02 2.50042723e+02] [-4.57287243e-01 8.88805907e-01 3.02065805e-02 1.47761706e+02] [ 6.54799648e-02 -2.23446231e-04 9.97853859e-01 1.36362140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.09, Y:147.73, Z:136.37 [[ 8.87709422e-01 4.56723423e-01 -5.81007418e-02 2.50094930e+02] [-4.55724055e-01 8.89608681e-01 3.01989975e-02 1.47734457e+02] [ 6.54795138e-02 -3.30028961e-04 9.97853859e-01 1.36366288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.15, Y:147.70, Z:136.37 [[ 8.87794250e-01 4.56558168e-01 -5.81034355e-02 2.50148497e+02] [-4.55558786e-01 8.89693501e-01 3.01938139e-02 1.47702246e+02] [ 6.54794813e-02 -3.36363861e-04 9.97853859e-01 1.36368691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.20, Y:147.68, Z:136.38 [[ 8.87495713e-01 4.57139373e-01 -5.80943485e-02 2.50199919e+02] [-4.56140091e-01 8.89395017e-01 3.02112876e-02 1.47675268e+02] [ 6.54795931e-02 -3.13226859e-04 9.97853859e-01 1.36377657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.25, Y:147.65, Z:136.38 [[ 8.87181321e-01 4.57748894e-01 -5.80969292e-02 2.50252342e+02] [-4.56751242e-01 8.89081482e-01 3.02063241e-02 1.47648332e+02] [ 6.54798153e-02 -2.62641973e-04 9.97853859e-01 1.36380935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.30, Y:147.62, Z:136.38 [[ 8.88028001e-01 4.56103839e-01 -5.80995508e-02 2.50303525e+02] [-4.55102997e-01 8.89926483e-01 3.02012807e-02 1.47622288e+02] [ 6.54792490e-02 -3.78303200e-04 9.97853859e-01 1.36383446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.36, Y:147.60, Z:136.39 [[ 8.88617249e-01 4.54954258e-01 -5.81034268e-02 2.50355574e+02] [-4.53951447e-01 8.90514692e-01 3.01938220e-02 1.47596951e+02] [ 6.54787631e-02 -4.54616328e-04 9.97853860e-01 1.36389030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.442755096 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:250.41, Y:147.57, Z:136.39 [[ 8.90909386e-01 4.50448672e-01 -5.81073086e-02 2.50408067e+02] [-4.49436754e-01 8.92801987e-01 3.01863497e-02 1.47572678e+02] [ 6.54757218e-02 -7.77742082e-04 9.97853860e-01 1.36390108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.46, Y:147.55, Z:136.39 [[ 8.93066519e-01 4.46155752e-01 -5.81139982e-02 2.50460409e+02] [-4.45135575e-01 8.94954682e-01 3.01734655e-02 1.47545852e+02] [ 6.54714600e-02 -1.07830378e-03 9.97853860e-01 1.36394733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.52, Y:147.52, Z:136.39 [[ 8.94993120e-01 4.42277903e-01 -5.81168755e-02 2.50516695e+02] [-4.41249905e-01 8.96877036e-01 3.01679226e-02 1.47518107e+02] [ 6.54662966e-02 -1.35601733e-03 9.97853860e-01 1.36393743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.57, Y:147.49, Z:136.40 [[ 8.96972187e-01 4.38251578e-01 -5.81072326e-02 2.50572625e+02] [-4.37213923e-01 8.98850801e-01 3.01864846e-02 1.47491055e+02] [ 6.54590071e-02 -1.67114600e-03 9.97853860e-01 1.36396863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.63, Y:147.46, Z:136.40 [[ 8.96543413e-01 4.39129229e-01 -5.80984370e-02 2.50626911e+02] [-4.38092318e-01 8.98422437e-01 3.02034036e-02 1.47462368e+02] [ 6.54601367e-02 -1.62618361e-03 9.97853860e-01 1.36401335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.68, Y:147.44, Z:136.41 [[ 8.96047988e-01 4.40140326e-01 -5.80904174e-02 2.50679510e+02] [-4.39104536e-01 8.97927631e-01 3.02188200e-02 1.47436065e+02] [ 6.54615121e-02 -1.56974708e-03 9.97853860e-01 1.36405186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.73, Y:147.41, Z:136.41 [[ 8.94675252e-01 4.42923799e-01 -5.80921823e-02 2.50734538e+02] [-4.41894077e-01 8.96558226e-01 3.02154268e-02 1.47407002e+02] [ 6.54661555e-02 -1.36240332e-03 9.97853860e-01 1.36411387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.79, Y:147.38, Z:136.42 [[ 8.92629233e-01 4.47034176e-01 -5.80818181e-02 2.50788711e+02] [-4.46011831e-01 8.94516222e-01 3.02353363e-02 1.47377978e+02] [ 6.54713572e-02 -1.08376698e-03 9.97853860e-01 1.36419198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.84, Y:147.35, Z:136.42 [[ 8.91343878e-01 4.49592816e-01 -5.80722936e-02 2.50839349e+02] [-4.48574697e-01 8.93233150e-01 3.02536187e-02 1.47350779e+02] [ 6.54739074e-02 -9.16616309e-04 9.97853861e-01 1.36423687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.89, Y:147.32, Z:136.43 [[ 8.90499579e-01 4.51262423e-01 -5.80751646e-02 2.50891355e+02] [-4.50248206e-01 8.92390949e-01 3.02481066e-02 1.47323370e+02] [ 6.54755851e-02 -7.87687494e-04 9.97853861e-01 1.36427128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.95, Y:147.29, Z:136.43 [[ 8.90527983e-01 4.51206079e-01 -5.80774111e-02 2.50946974e+02] [-4.50192024e-01 8.92419439e-01 3.02437926e-02 1.47294813e+02] [ 6.54755937e-02 -7.86956325e-04 9.97853861e-01 1.36427917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.00, Y:147.26, Z:136.43 [[ 8.91170191e-01 4.49937639e-01 -5.80672944e-02 2.51000201e+02] [-4.48919627e-01 8.93059520e-01 3.02632041e-02 1.47263702e+02] [ 6.54741047e-02 -9.02117247e-04 9.97853861e-01 1.36433709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.05, Y:147.24, Z:136.43 [[ 8.93152684e-01 4.45990535e-01 -5.80579606e-02 2.51051738e+02] [-4.44963011e-01 8.95036856e-01 3.02810998e-02 1.47235503e+02] [ 6.54690984e-02 -1.21200060e-03 9.97853861e-01 1.36433592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.10, Y:147.21, Z:136.44 [[ 8.93890817e-01 4.44508922e-01 -5.80605363e-02 2.51102756e+02] [-4.43478596e-01 8.95773459e-01 3.02761604e-02 1.47207084e+02] [ 6.54671108e-02 -1.31497665e-03 9.97853861e-01 1.36439725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.16, Y:147.18, Z:136.44 [[ 8.95191690e-01 4.41882918e-01 -5.80631157e-02 2.51155092e+02] [-4.40847390e-01 8.97071476e-01 3.02712127e-02 1.47180462e+02] [ 6.54630967e-02 -1.50156503e-03 9.97853861e-01 1.36442736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.21, Y:147.16, Z:136.44 [[ 8.95004257e-01 4.42261865e-01 -5.80674054e-02 2.51206938e+02] [-4.41227667e-01 8.96884774e-01 3.02629819e-02 1.47155118e+02] [ 6.54639346e-02 -1.46455185e-03 9.97853861e-01 1.36444856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.26, Y:147.13, Z:136.45 [[ 8.93632406e-01 4.45026702e-01 -5.80720116e-02 2.51257018e+02] [-4.43998897e-01 8.95516425e-01 3.02541403e-02 1.47126417e+02] [ 6.54683405e-02 -1.25217112e-03 9.97853861e-01 1.36449028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.31, Y:147.10, Z:136.46 [[ 8.91297557e-01 4.49684291e-01 -5.80749833e-02 2.51310801e+02] [-4.48666704e-01 8.93187114e-01 3.02484349e-02 1.47096366e+02] [ 6.54740728e-02 -9.04044783e-04 9.97853861e-01 1.36455745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.37, Y:147.07, Z:136.46 [[ 8.89769619e-01 4.52701181e-01 -5.80660468e-02 2.51366597e+02] [-4.51688882e-01 8.91662015e-01 3.02655801e-02 1.47067333e+02] [ 6.54765521e-02 -7.01605961e-04 9.97853861e-01 1.36460849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.42, Y:147.04, Z:136.47 [[ 8.88285242e-01 4.55608247e-01 -5.80556174e-02 2.51418747e+02] [-4.54600835e-01 8.90180243e-01 3.02855726e-02 1.47037066e+02] [ 6.54783203e-02 -5.10095045e-04 9.97853862e-01 1.36469038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.47, Y:147.01, Z:136.48 [[ 8.88870631e-01 4.54466183e-01 -5.80473175e-02 2.51472168e+02] [-4.53455297e-01 8.90763781e-01 3.03014724e-02 1.47006932e+02] [ 6.54774426e-02 -6.12225285e-04 9.97853862e-01 1.36475728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.53, Y:146.98, Z:136.48 [[ 8.90476115e-01 4.51313500e-01 -5.80380327e-02 2.51528167e+02] [-4.50294755e-01 8.92365047e-01 3.03192458e-02 1.46980393e+02] [ 6.54745967e-02 -8.64342490e-04 9.97853862e-01 1.36476842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.58, Y:146.95, Z:136.48 [[ 8.91167309e-01 4.49948225e-01 -5.80294964e-02 2.51582542e+02] [-4.48925523e-01 8.93054101e-01 3.03355750e-02 1.46950749e+02] [ 6.54729179e-02 -9.83150725e-04 9.97853862e-01 1.36481272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.64, Y:146.92, Z:136.49 [[ 8.91526588e-01 4.49236709e-01 -5.80234532e-02 2.51638046e+02] [-4.48211749e-01 8.93412156e-01 3.03471296e-02 1.46920994e+02] [ 6.54719030e-02 -1.04847945e-03 9.97853862e-01 1.36486348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.69, Y:146.89, Z:136.49 [[ 8.91594329e-01 4.49103535e-01 -5.80135178e-02 2.51689227e+02] [-4.48077058e-01 8.93479070e-01 3.03661109e-02 1.46893263e+02] [ 6.54713917e-02 -1.07972590e-03 9.97853863e-01 1.36488649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.74, Y:146.87, Z:136.50 [[ 8.91857087e-01 4.48581168e-01 -5.80161376e-02 2.51740842e+02] [-4.47553913e-01 8.93741405e-01 3.03611047e-02 1.46865757e+02] [ 6.54708442e-02 -1.11241702e-03 9.97853863e-01 1.36495367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.79, Y:146.84, Z:136.50 [[ 8.90916941e-01 4.50445135e-01 -5.80188261e-02 2.51792940e+02] [-4.49422157e-01 8.92803584e-01 3.03559664e-02 1.46837486e+02] [ 6.54731132e-02 -9.69698726e-04 9.97853863e-01 1.36501658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.85, Y:146.81, Z:136.50 [[ 8.89674238e-01 4.52894482e-01 -5.80201463e-02 2.51848828e+02] [-4.51876863e-01 8.91563777e-01 3.03534428e-02 1.46808941e+02] [ 6.54755676e-02 -7.86714372e-04 9.97853863e-01 1.36500504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.90, Y:146.78, Z:136.51 [[ 8.88949216e-01 4.54317152e-01 -5.80104829e-02 2.51903422e+02] [-4.53301353e-01 8.90839734e-01 3.03718999e-02 1.46780083e+02] [ 6.54765182e-02 -7.02846276e-04 9.97853863e-01 1.36505003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.96, Y:146.75, Z:136.51 [[ 8.88615982e-01 4.54969685e-01 -5.80019187e-02 2.51958511e+02] [-4.53954206e-01 8.90506672e-01 3.03882464e-02 1.46748992e+02] [ 6.54768265e-02 -6.73266488e-04 9.97853863e-01 1.36509696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.01, Y:146.72, Z:136.51 [[ 8.89262378e-01 4.53706205e-01 -5.79922562e-02 2.52013848e+02] [-4.52686839e-01 8.91150975e-01 3.04066750e-02 1.46719260e+02] [ 6.54755528e-02 -7.87180965e-04 9.97853863e-01 1.36514286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.07, Y:146.69, Z:136.52 [[ 8.90636988e-01 4.51003063e-01 -5.79826900e-02 2.52069985e+02] [-4.49976779e-01 8.92521834e-01 3.04249059e-02 1.46694173e+02] [ 6.54725426e-02 -1.00668253e-03 9.97853863e-01 1.36520720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.13, Y:146.67, Z:136.52 [[ 8.91568389e-01 4.49160037e-01 -5.79747232e-02 2.52126006e+02] [-4.48128870e-01 8.93450568e-01 3.04400791e-02 1.46665258e+02] [ 6.54700164e-02 -1.15926503e-03 9.97853864e-01 1.36523697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.18, Y:146.64, Z:136.53 [[ 8.92157225e-01 4.47990789e-01 -5.79632509e-02 2.52178963e+02] [-4.46955737e-01 8.94037270e-01 3.04619088e-02 1.46637060e+02] [ 6.54679612e-02 -1.26980453e-03 9.97853864e-01 1.36526233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.24, Y:146.61, Z:136.53 [[ 8.92832694e-01 4.46643173e-01 -5.79625351e-02 2.52235719e+02] [-4.45605196e-01 8.94711126e-01 3.04632708e-02 1.46611297e+02] [ 6.54659369e-02 -1.37019738e-03 9.97853864e-01 1.36528012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.29, Y:146.58, Z:136.53 [[ 8.93999744e-01 4.44303871e-01 -5.79528158e-02 2.52287704e+02] [-4.43259781e-01 8.95874784e-01 3.04817494e-02 1.46584630e+02] [ 6.54616256e-02 -1.56252363e-03 9.97853864e-01 1.36532844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.34, Y:146.56, Z:136.54 [[ 8.94035914e-01 4.44230812e-01 -5.79548980e-02 2.52344451e+02] [-4.43186826e-01 8.95911012e-01 3.04777901e-02 1.46556529e+02] [ 6.54616047e-02 -1.56339164e-03 9.97853864e-01 1.36535926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.40, Y:146.53, Z:136.54 [[ 8.94695054e-01 4.42903048e-01 -5.79452297e-02 2.52399136e+02] [-4.41855091e-01 8.96567936e-01 3.04961606e-02 1.46528302e+02] [ 6.54586775e-02 -1.68136934e-03 9.97853864e-01 1.36538792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.46, Y:146.50, Z:136.54 [[ 8.95419998e-01 4.41436599e-01 -5.79375246e-02 2.52455033e+02] [-4.40384629e-01 8.97290628e-01 3.05107920e-02 1.46499224e+02] [ 6.54553781e-02 -1.80517805e-03 9.97853864e-01 1.36544130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.51, Y:146.47, Z:136.55 [[ 8.95499609e-01 4.41276377e-01 -5.79276311e-02 2.52508616e+02] [-4.40222858e-01 8.97369367e-01 3.05295643e-02 1.46470868e+02] [ 6.54544571e-02 -1.83814556e-03 9.97853865e-01 1.36547092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.56, Y:146.44, Z:136.55 [[ 8.94720136e-01 4.42855237e-01 -5.79233829e-02 2.52563796e+02] [-4.41804497e-01 8.96591457e-01 3.05376222e-02 1.46442118e+02] [ 6.54573561e-02 -1.73181450e-03 9.97853865e-01 1.36553528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.62, Y:146.42, Z:136.56 [[ 8.93009446e-01 4.46296108e-01 -5.79129856e-02 2.52620891e+02] [-4.45251302e-01 8.94884086e-01 3.05573274e-02 1.46416649e+02] [ 6.54630255e-02 -1.50214981e-03 9.97853865e-01 1.36556564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.68, Y:146.39, Z:136.56 [[ 8.91999458e-01 4.48312618e-01 -5.79030577e-02 2.52675523e+02] [-4.47270831e-01 8.93875777e-01 3.05761282e-02 1.46389574e+02] [ 6.54658048e-02 -1.37554097e-03 9.97853865e-01 1.36560788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.73, Y:146.36, Z:136.56 [[ 8.89794221e-01 4.52674781e-01 -5.78946262e-02 2.52728368e+02] [-4.51641155e-01 8.91675048e-01 3.05920847e-02 1.46364262e+02] [ 6.54714588e-02 -1.07306435e-03 9.97853865e-01 1.36562005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.78, Y:146.34, Z:136.57 [[ 8.90456660e-01 4.51369970e-01 -5.78972144e-02 2.52780958e+02] [-4.50333906e-01 8.92336146e-01 3.05871855e-02 1.46338930e+02] [ 6.54699142e-02 -1.16348427e-03 9.97853865e-01 1.36567490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.84, Y:146.31, Z:136.57 [[ 8.90669561e-01 4.50949339e-01 -5.79001385e-02 2.52835530e+02] [-4.49912748e-01 8.92548756e-01 3.05816493e-02 1.46310954e+02] [ 6.54694712e-02 -1.18813374e-03 9.97853865e-01 1.36573176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.88, Y:146.28, Z:136.57 [[ 8.89067728e-01 4.54099928e-01 -5.78949996e-02 2.52884661e+02] [-4.53069364e-01 8.90950234e-01 3.05913748e-02 1.46281116e+02] [ 6.54731046e-02 -9.67353416e-04 9.97853865e-01 1.36574916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.94, Y:146.25, Z:136.58 [[ 8.91137262e-01 4.50024603e-01 -5.78985068e-02 2.52936867e+02] [-4.48985862e-01 8.93015269e-01 3.05847356e-02 1.46254673e+02] [ 6.54681341e-02 -1.25958653e-03 9.97853865e-01 1.36581381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.99, Y:146.23, Z:136.58 [[ 8.90688318e-01 4.50912211e-01 -5.79007685e-02 2.52987837e+02] [-4.49875619e-01 8.92567512e-01 3.05804533e-02 1.46227023e+02] [ 6.54694447e-02 -1.18950846e-03 9.97853866e-01 1.36583591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.04, Y:146.20, Z:136.59 [[ 8.93009353e-01 4.46297458e-01 -5.79040032e-02 2.53036634e+02] [-4.45251554e-01 8.94883380e-01 3.05743272e-02 1.46196170e+02] [ 6.54625746e-02 -1.52131281e-03 9.97853866e-01 1.36587825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.09, Y:146.17, Z:136.59 [[ 8.93627340e-01 4.45058342e-01 -5.79072469e-02 2.53088932e+02] [-4.44010237e-01 8.95500137e-01 3.05681825e-02 1.46167184e+02] [ 6.54605721e-02 -1.60515321e-03 9.97853866e-01 1.36590694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.14, Y:146.14, Z:136.59 [[ 8.93726437e-01 4.44859159e-01 -5.79084168e-02 2.53143413e+02] [-4.43810780e-01 8.95599081e-01 3.05659660e-02 1.46138579e+02] [ 6.54602748e-02 -1.61723221e-03 9.97853866e-01 1.36593564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.20, Y:146.11, Z:136.60 [[ 8.93859601e-01 4.44591686e-01 -5.79072151e-02 2.53196783e+02] [-4.43542600e-01 8.95731849e-01 3.05682424e-02 1.46110903e+02] [ 6.54597233e-02 -1.63940020e-03 9.97853866e-01 1.36597541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.25, Y:146.08, Z:136.60 [[ 8.94152428e-01 4.44002467e-01 -5.79072151e-02 2.53249141e+02] [-4.42952146e-01 8.96023983e-01 3.05682424e-02 1.46084270e+02] [ 6.54586286e-02 -1.68254290e-03 9.97853866e-01 1.36604857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.30, Y:146.06, Z:136.61 [[ 8.94773737e-01 4.42748710e-01 -5.79097563e-02 2.53301903e+02] [-4.41696079e-01 8.96643994e-01 3.05634275e-02 1.46056712e+02] [ 6.54563533e-02 -1.76883995e-03 9.97853866e-01 1.36608780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.36, Y:146.03, Z:136.61 [[ 8.96797945e-01 4.38633949e-01 -5.79111886e-02 2.53358148e+02] [-4.37572913e-01 8.98663446e-01 3.05607134e-02 1.46029608e+02] [ 6.54476347e-02 -2.06641754e-03 9.97853866e-01 1.36610337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.41, Y:146.00, Z:136.61 [[ 8.98069651e-01 4.36025571e-01 -5.79016683e-02 2.53412930e+02] [-4.34957957e-01 8.99931395e-01 3.05787403e-02 1.46003305e+02] [ 6.54406419e-02 -2.27704725e-03 9.97853866e-01 1.36614588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.47, Y:145.98, Z:136.62 [[ 8.98714618e-01 4.34694804e-01 -5.79004614e-02 2.53467465e+02] [-4.33624286e-01 9.00574694e-01 3.05810254e-02 1.45976243e+02] [ 6.54371032e-02 -2.37656829e-03 9.97853866e-01 1.36620518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.52, Y:145.95, Z:136.63 [[ 8.98425304e-01 4.35292603e-01 -5.78992513e-02 2.53518883e+02] [-4.34223176e-01 9.00286007e-01 3.05833163e-02 1.45947525e+02] [ 6.54385772e-02 -2.33562843e-03 9.97853866e-01 1.36630696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.57, Y:145.92, Z:136.63 [[ 8.98272533e-01 4.35607850e-01 -5.78986788e-02 2.53572464e+02] [-4.34539006e-01 9.00133572e-01 3.05844002e-02 1.45922748e+02] [ 6.54393493e-02 -2.31389231e-03 9.97853866e-01 1.36631995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.042755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:253.63, Y:145.90, Z:136.63 [[ 8.97545933e-01 4.37102701e-01 -5.79010050e-02 2.53627345e+02] [-4.36037240e-01 8.99408911e-01 3.05799957e-02 1.45898086e+02] [ 6.54432785e-02 -2.19995634e-03 9.97853866e-01 1.36634719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.68, Y:145.87, Z:136.64 [[ 8.96269743e-01 4.39713567e-01 -5.79010050e-02 2.53681361e+02] [-4.38653534e-01 8.98135814e-01 3.05799957e-02 1.45873001e+02] [ 6.54494053e-02 -2.00944443e-03 9.97853866e-01 1.36638736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.73, Y:145.85, Z:136.64 [[ 8.95942903e-01 4.40378984e-01 -5.79022088e-02 2.53732135e+02] [-4.39320484e-01 8.97809844e-01 3.05777162e-02 1.45847995e+02] [ 6.54509566e-02 -1.95826145e-03 9.97853866e-01 1.36644502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.78, Y:145.82, Z:136.65 [[ 8.93985026e-01 4.44339558e-01 -5.79062181e-02 2.53783629e+02] [-4.43289822e-01 8.95856909e-01 3.05701218e-02 1.45819617e+02] [ 6.54591999e-02 -1.65999400e-03 9.97853866e-01 1.36647772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.84, Y:145.79, Z:136.65 [[ 8.93128288e-01 4.46058717e-01 -5.79092546e-02 2.53837506e+02] [-4.45012957e-01 8.95002395e-01 3.05643686e-02 1.45789538e+02] [ 6.54624246e-02 -1.52753355e-03 9.97853866e-01 1.36651699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.89, Y:145.76, Z:136.65 [[ 8.93195762e-01 4.45924840e-01 -5.78996319e-02 2.53888712e+02] [-4.44877619e-01 8.95069053e-01 3.05825865e-02 1.45761393e+02] [ 6.54617037e-02 -1.55798628e-03 9.97853866e-01 1.36653900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.94, Y:145.73, Z:136.66 [[ 8.93862348e-01 4.44586843e-01 -5.79020013e-02 2.53940847e+02] [-4.43537108e-01 8.95734231e-01 3.05780998e-02 1.45731480e+02] [ 6.54594255e-02 -1.65092589e-03 9.97853866e-01 1.36656511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.99, Y:145.70, Z:136.66 [[ 8.94067758e-01 4.44173459e-01 -5.79032128e-02 2.53993814e+02] [-4.43123007e-01 8.95939240e-01 3.05758055e-02 1.45701271e+02] [ 6.54587218e-02 -1.67859610e-03 9.97853866e-01 1.36660451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.05, Y:145.67, Z:136.66 [[ 8.94000037e-01 4.44309908e-01 -5.79019856e-02 2.54045954e+02] [-4.43259592e-01 8.95871594e-01 3.05781294e-02 1.45671925e+02] [ 6.54589100e-02 -1.67123830e-03 9.97853866e-01 1.36663511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.10, Y:145.64, Z:136.67 [[ 8.92796995e-01 4.46722302e-01 -5.79025881e-02 2.54097725e+02] [-4.45677117e-01 8.94671423e-01 3.05769885e-02 1.45641968e+02] [ 6.54632136e-02 -1.49318490e-03 9.97853866e-01 1.36665452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.15, Y:145.61, Z:136.67 [[ 8.91427011e-01 4.49449703e-01 -5.79037923e-02 2.54148524e+02] [-4.48410401e-01 8.93304707e-01 3.05747079e-02 1.45614453e+02] [ 6.54675236e-02 -1.29045771e-03 9.97853866e-01 1.36667463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.20, Y:145.58, Z:136.67 [[ 8.89796107e-01 4.52669523e-01 -5.79067464e-02 2.54203556e+02] [-4.51637380e-01 8.91677748e-01 3.05691120e-02 1.45584381e+02] [ 6.54718625e-02 -1.04742559e-03 9.97853866e-01 1.36670058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.26, Y:145.55, Z:136.68 [[ 8.87808614e-01 4.56556541e-01 -5.78963721e-02 2.54256993e+02] [-4.55531357e-01 8.89694055e-01 3.05887479e-02 1.45553116e+02] [ 6.54755509e-02 -7.83340910e-04 9.97853866e-01 1.36675311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.31, Y:145.52, Z:136.68 [[ 8.86852990e-01 4.58411272e-01 -5.78867904e-02 2.54308281e+02] [-4.57388849e-01 8.88739929e-01 3.06068697e-02 1.45523687e+02] [ 6.54768360e-02 -6.67021530e-04 9.97853867e-01 1.36682713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.36, Y:145.49, Z:136.69 [[ 8.86948954e-01 4.58225493e-01 -5.78873946e-02 2.54361852e+02] [-4.57202748e-01 8.88835720e-01 3.06057269e-02 1.45494522e+02] [ 6.54767083e-02 -6.79441529e-04 9.97853867e-01 1.36687193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.42, Y:145.47, Z:136.69 [[ 8.87506065e-01 4.57145682e-01 -5.78861799e-02 2.54417439e+02] [-4.56120493e-01 8.89391503e-01 3.06080242e-02 1.45466315e+02] [ 6.54758026e-02 -7.61734210e-04 9.97853867e-01 1.36691817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.47, Y:145.44, Z:136.70 [[ 8.87731889e-01 4.56708255e-01 -5.78762674e-02 2.54470684e+02] [-4.55680916e-01 8.89616156e-01 3.06267562e-02 1.45438747e+02] [ 6.54751549e-02 -8.15237651e-04 9.97853867e-01 1.36697540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.52, Y:145.41, Z:136.70 [[ 8.88282726e-01 4.55636047e-01 -5.78756616e-02 2.54522152e+02] [-4.54606358e-01 8.90165710e-01 3.06279009e-02 1.45412790e+02] [ 6.54741050e-02 -8.95591515e-04 9.97853867e-01 1.36699778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.57, Y:145.39, Z:136.70 [[ 8.88919532e-01 4.54392018e-01 -5.78788254e-02 2.54573193e+02] [-4.53360084e-01 8.90801287e-01 3.06219209e-02 1.45388032e+02] [ 6.54728886e-02 -9.80474440e-04 9.97853867e-01 1.36703794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.63, Y:145.36, Z:136.70 [[ 8.89082039e-01 4.54073404e-01 -5.78832566e-02 2.54626296e+02] [-4.53041341e-01 8.90963722e-01 3.06135425e-02 1.45363258e+02] [ 6.54726772e-02 -9.94442570e-04 9.97853867e-01 1.36704834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.68, Y:145.34, Z:136.71 [[ 8.89369893e-01 4.53508902e-01 -5.78866929e-02 2.54679087e+02] [-4.52476067e-01 8.91251153e-01 3.06070436e-02 1.45337990e+02] [ 6.54721485e-02 -1.02864001e-03 9.97853867e-01 1.36707273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.73, Y:145.31, Z:136.71 [[ 8.90148876e-01 4.51977517e-01 -5.78904341e-02 2.54730137e+02] [-4.50941906e-01 8.92028609e-01 3.05999657e-02 1.45313135e+02] [ 6.54704200e-02 -1.13330238e-03 9.97853867e-01 1.36710528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.78, Y:145.29, Z:136.71 [[ 8.90966021e-01 4.50364011e-01 -5.78947981e-02 2.54781610e+02] [-4.49325532e-01 8.92844171e-01 3.05917068e-02 1.45287746e+02] [ 6.54684368e-02 -1.24256029e-03 9.97853867e-01 1.36714917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.422755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:254.83, Y:145.26, Z:136.72 [[ 8.89308855e-01 4.53627125e-01 -5.78981077e-02 2.54834620e+02] [-4.52595946e-01 8.91191023e-01 3.05854418e-02 1.45255678e+02] [ 6.54726599e-02 -9.95455343e-04 9.97853867e-01 1.36723890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.89, Y:145.23, Z:136.72 [[ 8.90682588e-01 4.50925013e-01 -5.78892101e-02 2.54891418e+02] [-4.49887030e-01 8.92561012e-01 3.06022731e-02 1.45232570e+02] [ 6.54689824e-02 -1.21330700e-03 9.97853867e-01 1.36724253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.94, Y:145.21, Z:136.73 [[ 8.90485315e-01 4.51315055e-01 -5.78845859e-02 2.54943302e+02] [-4.50277327e-01 8.92363880e-01 3.06110174e-02 1.45205622e+02] [ 6.54693266e-02 -1.19454480e-03 9.97853867e-01 1.36729006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.00, Y:145.18, Z:136.73 [[ 8.92267658e-01 4.47780671e-01 -5.78869267e-02 2.54995308e+02] [-4.46735790e-01 8.94142254e-01 3.06065902e-02 1.45180024e+02] [ 6.54641866e-02 -1.44910868e-03 9.97853867e-01 1.36729981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.05, Y:145.15, Z:136.74 [[ 8.90929140e-01 4.50437657e-01 -5.78894236e-02 2.55045380e+02] [-4.49398673e-01 8.92807011e-01 3.06018669e-02 1.45151816e+02] [ 6.54683164e-02 -1.24866476e-03 9.97853867e-01 1.36736751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.10, Y:145.12, Z:136.74 [[ 8.91204362e-01 4.49892492e-01 -5.78924036e-02 2.55096915e+02] [-4.48852726e-01 8.93081800e-01 3.05962282e-02 1.45124495e+02] [ 6.54676654e-02 -1.28232890e-03 9.97853867e-01 1.36740756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.15, Y:145.10, Z:136.74 [[ 8.91430775e-01 4.49443394e-01 -5.78948049e-02 2.55149016e+02] [-4.48402977e-01 8.93307853e-01 3.05916838e-02 1.45096968e+02] [ 6.54671140e-02 -1.31016559e-03 9.97853867e-01 1.36744219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.20, Y:145.07, Z:136.75 [[ 8.92612562e-01 4.47091408e-01 -5.78972036e-02 2.55200313e+02] [-4.46046340e-01 8.94487054e-01 3.05871434e-02 1.45069449e+02] [ 6.54635481e-02 -1.47763268e-03 9.97853867e-01 1.36746365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.25, Y:145.04, Z:136.75 [[ 8.92891318e-01 4.46534061e-01 -5.79001472e-02 2.55251851e+02] [-4.45488184e-01 8.94765358e-01 3.05815702e-02 1.45037751e+02] [ 6.54627587e-02 -1.51218712e-03 9.97853867e-01 1.36751088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.31, Y:145.01, Z:136.75 [[ 8.94512117e-01 4.43278294e-01 -5.79001472e-02 2.55307635e+02] [-4.42225596e-01 8.96382334e-01 3.05815702e-02 1.45011211e+02] [ 6.54568154e-02 -1.75065802e-03 9.97853867e-01 1.36753069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.36, Y:144.99, Z:136.76 [[ 8.93422364e-01 4.45470755e-01 -5.78989193e-02 2.55360325e+02] [-4.44422497e-01 8.95295074e-01 3.05838948e-02 1.44987430e+02] [ 6.54608479e-02 -1.59275336e-03 9.97853867e-01 1.36757101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.41, Y:144.96, Z:136.76 [[ 8.92194033e-01 4.47925377e-01 -5.79021886e-02 2.55413703e+02] [-4.46882673e-01 8.94069841e-01 3.05777040e-02 1.44960246e+02] [ 6.54651301e-02 -1.40576029e-03 9.97853867e-01 1.36760611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.47, Y:144.93, Z:136.76 [[ 8.91053571e-01 4.50189657e-01 -5.79034161e-02 2.55465734e+02] [-4.49151872e-01 8.92932104e-01 3.05753794e-02 1.44934840e+02] [ 6.54685387e-02 -1.23687333e-03 9.97853867e-01 1.36764408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.52, Y:144.91, Z:136.77 [[ 8.91260361e-01 4.49779736e-01 -5.79064631e-02 2.55519810e+02] [-4.48741461e-01 8.93138623e-01 3.05696076e-02 1.44911359e+02] [ 6.54680888e-02 -1.26044865e-03 9.97853867e-01 1.36765443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.57, Y:144.89, Z:136.77 [[ 8.92217200e-01 4.47878366e-01 -5.79088731e-02 2.55571836e+02] [-4.46836385e-01 8.94093409e-01 3.05650416e-02 1.44885855e+02] [ 6.54653626e-02 -1.39486431e-03 9.97853867e-01 1.36768696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.62, Y:144.86, Z:136.77 [[ 8.93058941e-01 4.46197206e-01 -5.79118465e-02 2.55622560e+02] [-4.45152058e-01 8.94933387e-01 3.05594069e-02 1.44856878e+02] [ 6.54627669e-02 -1.51177386e-03 9.97853867e-01 1.36774515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.67, Y:144.83, Z:136.78 [[ 8.94010917e-01 4.44286395e-01 -5.79144151e-02 2.55674435e+02] [-4.43237556e-01 8.95883301e-01 3.05545382e-02 1.44830320e+02] [ 6.54595230e-02 -1.64624687e-03 9.97853867e-01 1.36781469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.73, Y:144.81, Z:136.79 [[ 8.95165973e-01 4.41954185e-01 -5.79170099e-02 2.55727700e+02] [-4.40900786e-01 8.97035795e-01 3.05496189e-02 1.44805335e+02] [ 6.54551629e-02 -1.81132417e-03 9.97853867e-01 1.36786643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.78, Y:144.78, Z:136.79 [[ 8.95892550e-01 4.40479161e-01 -5.79193144e-02 2.55778391e+02] [-4.39422966e-01 8.97760795e-01 3.05452491e-02 1.44777819e+02] [ 6.54522354e-02 -1.91418416e-03 9.97853867e-01 1.36792691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.83, Y:144.75, Z:136.79 [[ 8.96229334e-01 4.39792272e-01 -5.79287361e-02 2.55832391e+02] [-4.38735800e-01 8.98097421e-01 3.05273706e-02 1.44754502e+02] [ 6.54513502e-02 -1.94411464e-03 9.97853868e-01 1.36792971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.622755096 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:255.88, Y:144.73, Z:136.80 [[ 8.93579072e-01 4.45151234e-01 -5.79380787e-02 2.55883254e+02] [-4.44107117e-01 8.95454092e-01 3.05096289e-02 1.44725251e+02] [ 6.54622886e-02 -1.53205277e-03 9.97853868e-01 1.36801200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.682755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:255.93, Y:144.70, Z:136.81 [[ 8.90360028e-01 4.51555003e-01 -5.79404854e-02 2.55934107e+02] [-4.50524670e-01 8.92242659e-01 3.05050577e-02 1.44700593e+02] [ 6.54716842e-02 -1.05686599e-03 9.97853868e-01 1.36806787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.99, Y:144.67, Z:136.81 [[ 8.89054413e-01 4.54119669e-01 -5.79445971e-02 2.55986251e+02] [-4.53095278e-01 8.90940283e-01 3.04972455e-02 1.44673488e+02] [ 6.54745748e-02 -8.59287376e-04 9.97853868e-01 1.36809976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.04, Y:144.65, Z:136.81 [[ 8.88820743e-01 4.54576536e-01 -5.79470318e-02 2.56038579e+02] [-4.53553416e-01 8.90707303e-01 3.04926187e-02 1.44647771e+02] [ 6.54750734e-02 -8.20397806e-04 9.97853868e-01 1.36810026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.09, Y:144.62, Z:136.82 [[ 8.89548829e-01 4.53149564e-01 -5.79513007e-02 2.56087815e+02] [-4.52123945e-01 8.91434032e-01 3.04845034e-02 1.44620571e+02] [ 6.54738011e-02 -9.16283648e-04 9.97853868e-01 1.36817297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.14, Y:144.59, Z:136.82 [[ 8.91852124e-01 4.48598772e-01 -5.79562800e-02 2.56139906e+02] [-4.47564150e-01 8.93732401e-01 3.04750339e-02 1.44593529e+02] [ 6.54684681e-02 -1.24007053e-03 9.97853868e-01 1.36822489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.19, Y:144.57, Z:136.83 [[ 8.94501105e-01 4.43292866e-01 -5.79586804e-02 2.56192206e+02] [-4.42247388e-01 8.96375367e-01 3.04704682e-02 1.44566071e+02] [ 6.54600746e-02 -1.62379248e-03 9.97853868e-01 1.36828434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.24, Y:144.54, Z:136.83 [[ 8.95878001e-01 4.40503256e-01 -5.79610996e-02 2.56243899e+02] [-4.39452240e-01 8.97749163e-01 3.04658656e-02 1.44538191e+02] [ 6.54548417e-02 -1.82256375e-03 9.97853868e-01 1.36833000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.30, Y:144.51, Z:136.83 [[ 8.95879576e-01 4.40499737e-01 -5.79635053e-02 2.56296845e+02] [-4.39449010e-01 8.97750900e-01 3.04612879e-02 1.44511784e+02] [ 6.54549784e-02 -1.81764067e-03 9.97853868e-01 1.36832881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.35, Y:144.49, Z:136.84 [[ 8.94609710e-01 4.43072654e-01 -5.79662808e-02 2.56348373e+02] [-4.42027652e-01 8.96484237e-01 3.04560053e-02 1.44485669e+02] [ 6.54600802e-02 -1.62353911e-03 9.97853868e-01 1.36838596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.40, Y:144.46, Z:136.84 [[ 8.92633618e-01 4.47039967e-01 -5.79697498e-02 2.56399231e+02] [-4.46003725e-01 8.94513002e-01 3.04494011e-02 1.44458952e+02] [ 6.54667942e-02 -1.32543466e-03 9.97853868e-01 1.36842134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.45, Y:144.43, Z:136.84 [[ 8.90732382e-01 4.50815779e-01 -5.79737582e-02 2.56451227e+02] [-4.49788001e-01 8.92616409e-01 3.04417675e-02 1.44433085e+02] [ 6.54719569e-02 -1.03956723e-03 9.97853868e-01 1.36844296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.50, Y:144.41, Z:136.85 [[ 8.89482952e-01 4.53275535e-01 -5.79773103e-02 2.56502623e+02] [-4.52253408e-01 8.91370050e-01 3.04350008e-02 1.44405421e+02] [ 6.54746792e-02 -8.50978176e-04 9.97853868e-01 1.36847245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.55, Y:144.38, Z:136.85 [[ 8.90194264e-01 4.51876142e-01 -5.79838346e-02 2.56553249e+02] [-4.50851859e-01 8.92080192e-01 3.04225659e-02 1.44378626e+02] [ 6.54734620e-02 -9.39873993e-04 9.97853868e-01 1.36849389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.60, Y:144.35, Z:136.85 [[ 8.91039173e-01 4.50206881e-01 -5.79910045e-02 2.56602665e+02] [-4.49179954e-01 8.92923663e-01 3.04088927e-02 1.44350827e+02] [ 6.54718328e-02 -1.04711787e-03 9.97853868e-01 1.36853769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.65, Y:144.32, Z:136.86 [[ 8.92225190e-01 4.47851294e-01 -5.79950756e-02 2.56653513e+02] [-4.46819897e-01 8.94107237e-01 3.04011263e-02 1.44323126e+02] [ 6.54690006e-02 -1.21129693e-03 9.97853868e-01 1.36858703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.70, Y:144.30, Z:136.86 [[ 8.92945467e-01 4.46413004e-01 -5.79984683e-02 2.56704682e+02] [-4.45378996e-01 8.94826081e-01 3.03946525e-02 1.44295081e+02] [ 6.54671102e-02 -1.30946759e-03 9.97853868e-01 1.36861945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.76, Y:144.27, Z:136.86 [[ 8.93368494e-01 4.45565395e-01 -5.80018334e-02 2.56755996e+02] [-4.44530019e-01 8.95248355e-01 3.03882295e-02 1.44266436e+02] [ 6.54659894e-02 -1.36433067e-03 9.97853868e-01 1.36864871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.81, Y:144.24, Z:136.87 [[ 8.93439357e-01 4.45422976e-01 -5.80042031e-02 2.56807584e+02] [-4.44387595e-01 8.95319215e-01 3.03837056e-02 1.44239060e+02] [ 6.54658782e-02 -1.36965009e-03 9.97853868e-01 1.36868539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.86, Y:144.21, Z:136.87 [[ 8.92707721e-01 4.46887186e-01 -5.80066251e-02 2.56858099e+02] [-4.45855188e-01 8.94589438e-01 3.03790811e-02 1.44211701e+02] [ 6.54681362e-02 -1.25708552e-03 9.97853869e-01 1.36870733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.91, Y:144.18, Z:136.87 [[ 8.91679648e-01 4.48934620e-01 -5.80095895e-02 2.56909454e+02] [-4.47907311e-01 8.93563929e-01 3.03734194e-02 1.44184061e+02] [ 6.54709562e-02 -1.10044068e-03 9.97853869e-01 1.36873846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.96, Y:144.15, Z:136.88 [[ 8.89851901e-01 4.52546361e-01 -5.80119486e-02 2.56959238e+02] [-4.51526994e-01 8.91740491e-01 3.03689130e-02 1.44154618e+02] [ 6.54749445e-02 -8.29874179e-04 9.97853869e-01 1.36877364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.01, Y:144.13, Z:136.88 [[ 8.89821336e-01 4.52606033e-01 -5.80152412e-02 2.57008364e+02] [-4.51587204e-01 8.91710216e-01 3.03626216e-02 1.44126284e+02] [ 6.54750890e-02 -8.18367969e-04 9.97853869e-01 1.36881236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.06, Y:144.10, Z:136.89 [[ 8.89884691e-01 4.52480865e-01 -5.80198529e-02 2.57059446e+02] [-4.51462344e-01 8.91773737e-01 3.03538065e-02 1.44097481e+02] [ 6.54750977e-02 -8.17608957e-04 9.97853869e-01 1.36885578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.11, Y:144.07, Z:136.89 [[ 8.89944683e-01 4.52362560e-01 -5.80221932e-02 2.57110187e+02] [-4.51344080e-01 8.91833751e-01 3.03493324e-02 1.44068149e+02] [ 6.54750519e-02 -8.21253633e-04 9.97853869e-01 1.36890051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.16, Y:144.04, Z:136.89 [[ 8.90145901e-01 4.51966175e-01 -5.80245762e-02 2.57161222e+02] [-4.50947150e-01 8.92034676e-01 3.03447757e-02 1.44037477e+02] [ 6.54747462e-02 -8.45260450e-04 9.97853869e-01 1.36893777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.21, Y:144.01, Z:136.89 [[ 8.90528174e-01 4.51212346e-01 -5.80257700e-02 2.57213990e+02] [-4.50191872e-01 8.92416165e-01 3.03424927e-02 1.44008037e+02] [ 6.54740424e-02 -8.98114577e-04 9.97853869e-01 1.36893054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.27, Y:143.98, Z:136.90 [[ 8.90397649e-01 4.51469862e-01 -5.80257700e-02 2.57265290e+02] [-4.50449933e-01 8.92285936e-01 3.03424927e-02 1.43978166e+02] [ 6.54742994e-02 -8.79179913e-04 9.97853869e-01 1.36899808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.32, Y:143.95, Z:136.90 [[ 8.90441336e-01 4.51383538e-01 -5.80269625e-02 2.57317930e+02] [-4.50363575e-01 8.92329604e-01 3.03402119e-02 1.43945654e+02] [ 6.54742487e-02 -8.82948591e-04 9.97853869e-01 1.36902030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.37, Y:143.92, Z:136.91 [[ 8.89965994e-01 4.52320173e-01 -5.80257668e-02 2.57369536e+02] [-4.51302048e-01 8.91855254e-01 3.03424986e-02 1.43917464e+02] [ 6.54751092e-02 -8.16644507e-04 9.97853869e-01 1.36905131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.42, Y:143.89, Z:136.91 [[ 8.89485447e-01 4.53264212e-01 -5.80275292e-02 2.57424525e+02] [-4.52248312e-01 8.91375904e-01 3.03391277e-02 1.43887415e+02] [ 6.54759821e-02 -7.43360388e-04 9.97853869e-01 1.36907099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.48, Y:143.86, Z:136.91 [[ 8.88973706e-01 4.54268326e-01 -5.80175653e-02 2.57477079e+02] [-4.53253319e-01 8.90864642e-01 3.03581697e-02 1.43858609e+02] [ 6.54765525e-02 -6.90960585e-04 9.97853869e-01 1.36914784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.53, Y:143.83, Z:136.92 [[ 8.88743808e-01 4.54718020e-01 -5.80169456e-02 2.57531194e+02] [-4.53703892e-01 8.90635216e-01 3.03593541e-02 1.43830461e+02] [ 6.54768802e-02 -6.59173952e-04 9.97853869e-01 1.36918948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.58, Y:143.81, Z:136.92 [[ 8.88073753e-01 4.56025419e-01 -5.80157486e-02 2.57584111e+02] [-4.55013926e-01 8.89966571e-01 3.03616414e-02 1.43806169e+02] [ 6.54777570e-02 -5.65403291e-04 9.97853869e-01 1.36923240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.64, Y:143.78, Z:136.93 [[ 8.87015727e-01 4.58079762e-01 -5.80175131e-02 2.57637308e+02] [-4.57072874e-01 8.88910999e-01 3.03582691e-02 1.43781745e+02] [ 6.54789142e-02 -4.10030747e-04 9.97853869e-01 1.36927211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.69, Y:143.76, Z:136.93 [[ 8.86717127e-01 4.58657212e-01 -5.80198221e-02 2.57690125e+02] [-4.57651846e-01 8.88613207e-01 3.03538556e-02 1.43756030e+02] [ 6.54791949e-02 -3.62404889e-04 9.97853869e-01 1.36930144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.74, Y:143.73, Z:136.93 [[ 8.87735770e-01 4.56682195e-01 -5.80222011e-02 2.57743435e+02] [-4.55672908e-01 8.89629766e-01 3.03493075e-02 1.43732240e+02] [ 6.54782655e-02 -5.03020717e-04 9.97853869e-01 1.36933652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.79, Y:143.71, Z:136.94 [[ 8.87930854e-01 4.56302307e-01 -5.80258879e-02 2.57794825e+02] [-4.55292671e-01 8.89824663e-01 3.03422568e-02 1.43706485e+02] [ 6.54781080e-02 -5.23064469e-04 9.97853869e-01 1.36938714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.85, Y:143.68, Z:136.94 [[ 8.90278737e-01 4.51703805e-01 -5.80296696e-02 2.57847925e+02] [-4.50684859e-01 8.92167554e-01 3.03350227e-02 1.43678514e+02] [ 6.54746335e-02 -8.53532230e-04 9.97853869e-01 1.36941806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.90, Y:143.65, Z:136.94 [[ 8.92778442e-01 4.46742736e-01 -5.80308684e-02 2.57898805e+02] [-4.45713445e-01 8.94661640e-01 3.03327292e-02 1.43649807e+02] [ 6.54689183e-02 -1.21526840e-03 9.97853869e-01 1.36943074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.95, Y:143.62, Z:136.95 [[ 8.93310674e-01 4.45677195e-01 -5.80334170e-02 2.57950618e+02] [-4.44645974e-01 8.95192817e-01 3.03278523e-02 1.43621848e+02] [ 6.54675302e-02 -1.28786890e-03 9.97853869e-01 1.36949349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.00, Y:143.59, Z:136.95 [[ 8.93026620e-01 4.46245759e-01 -5.80360194e-02 2.58002337e+02] [-4.45216059e-01 8.94909595e-01 3.03228715e-02 1.43594544e+02] [ 6.54684434e-02 -1.24056355e-03 9.97853869e-01 1.36953504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.06, Y:143.57, Z:136.96 [[ 8.91957740e-01 4.48378120e-01 -5.80383687e-02 2.58056433e+02] [-4.47353215e-01 8.93843329e-01 3.03183743e-02 1.43565762e+02] [ 6.54713044e-02 -1.07905774e-03 9.97853869e-01 1.36958015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.11, Y:143.54, Z:136.96 [[ 8.89965119e-01 4.52320436e-01 -5.80371531e-02 2.58108159e+02] [-4.51303732e-01 8.91855143e-01 3.03207011e-02 1.43538170e+02] [ 6.54754062e-02 -7.91982558e-04 9.97853869e-01 1.36960584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.16, Y:143.51, Z:136.96 [[ 8.89186129e-01 4.53849550e-01 -5.80397558e-02 2.58158872e+02] [-4.52836422e-01 8.91078073e-01 3.03157181e-02 1.43513324e+02] [ 6.54767288e-02 -6.73800638e-04 9.97853869e-01 1.36963919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.21, Y:143.49, Z:136.97 [[ 8.88969451e-01 4.54273235e-01 -5.80443100e-02 2.58210587e+02] [-4.53261579e-01 8.90862182e-01 3.03069959e-02 1.43487293e+02] [ 6.54771377e-02 -6.32737896e-04 9.97853869e-01 1.36965121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38275509600004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:258.26, Y:143.46, Z:136.97 [[ 8.89176342e-01 4.53867821e-01 -5.80468243e-02 2.58263056e+02] [-4.52855616e-01 8.91068779e-01 3.03021796e-02 1.43461316e+02] [ 6.54768971e-02 -6.57150828e-04 9.97853869e-01 1.36971771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.32, Y:143.43, Z:136.97 [[ 8.89584196e-01 4.53067574e-01 -5.80493826e-02 2.58319465e+02] [-4.52053986e-01 8.91475893e-01 3.02972778e-02 1.43432503e+02] [ 6.54763394e-02 -7.10524719e-04 9.97853869e-01 1.36974533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.37, Y:143.40, Z:136.98 [[ 8.90212279e-01 4.51833566e-01 -5.80390074e-02 2.58374139e+02] [-4.50816061e-01 8.92101872e-01 3.03171402e-02 1.43403559e+02] [ 6.54750087e-02 -8.23773745e-04 9.97853869e-01 1.36982435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.43, Y:143.38, Z:136.99 [[ 8.90515157e-01 4.51237562e-01 -5.80294651e-02 2.58427283e+02] [-4.50217603e-01 8.92403426e-01 3.03353938e-02 1.43375706e+02] [ 6.54741626e-02 -8.88241302e-04 9.97853870e-01 1.36986716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.48, Y:143.35, Z:136.99 [[ 8.91490732e-01 4.49307084e-01 -5.80294651e-02 2.58483801e+02] [-4.48283037e-01 8.93376787e-01 3.03353938e-02 1.43347262e+02] [ 6.54720844e-02 -1.03009760e-03 9.97853870e-01 1.36986216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.54, Y:143.32, Z:136.99 [[ 8.91390243e-01 4.49507747e-01 -5.80191274e-02 2.58536499e+02] [-4.48482838e-01 8.93275830e-01 3.03551527e-02 1.43316082e+02] [ 6.54719605e-02 -1.03770403e-03 9.97853870e-01 1.36994932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.59, Y:143.29, Z:137.00 [[ 8.91751929e-01 4.48791027e-01 -5.80095805e-02 2.58590049e+02] [-4.47763417e-01 8.93636045e-01 3.03733863e-02 1.43287167e+02] [ 6.54707553e-02 -1.11095784e-03 9.97853870e-01 1.36998568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.64, Y:143.26, Z:137.00 [[ 8.91904682e-01 4.48487534e-01 -5.80083645e-02 2.58642128e+02] [-4.47459131e-01 8.93788365e-01 3.03757084e-02 1.43259504e+02] [ 6.54703279e-02 -1.13586416e-03 9.97853870e-01 1.37002346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.69, Y:143.23, Z:137.00 [[ 8.91513990e-01 4.49263583e-01 -5.80089619e-02 2.58693341e+02] [-4.48236894e-01 8.93398608e-01 3.03745677e-02 1.43230813e+02] [ 6.54713128e-02 -1.07759509e-03 9.97853870e-01 1.37004657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.75, Y:143.20, Z:137.01 [[ 8.91443446e-01 4.49403190e-01 -5.80116898e-02 2.58745102e+02] [-4.48377136e-01 8.93328409e-01 3.03693568e-02 1.43202760e+02] [ 6.54715763e-02 -1.06144880e-03 9.97853870e-01 1.37009022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.80, Y:143.18, Z:137.01 [[ 8.91693106e-01 4.48907264e-01 -5.80144219e-02 2.58799034e+02] [-4.47880502e-01 8.93577683e-01 3.03641368e-02 1.43175523e+02] [ 6.54710743e-02 -1.09196309e-03 9.97853870e-01 1.37012651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.85, Y:143.15, Z:137.02 [[ 8.91966889e-01 4.48363018e-01 -5.80144219e-02 2.58853575e+02] [-4.47335105e-01 8.93850839e-01 3.03641368e-02 1.43147456e+02] [ 6.54703957e-02 -1.13191713e-03 9.97853870e-01 1.37017675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.91, Y:143.12, Z:137.02 [[ 8.91981249e-01 4.48334605e-01 -5.80132143e-02 2.58905166e+02] [-4.47306483e-01 8.93865085e-01 3.03664437e-02 1.43120889e+02] [ 6.54703143e-02 -1.13661155e-03 9.97853870e-01 1.37022054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.96, Y:143.09, Z:137.03 [[ 8.91834150e-01 4.48626915e-01 -5.80149923e-02 2.58959879e+02] [-4.47599631e-01 8.93718443e-01 3.03630465e-02 1.43093583e+02] [ 6.54707485e-02 -1.11131267e-03 9.97853870e-01 1.37027391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.01, Y:143.07, Z:137.03 [[ 8.92224667e-01 4.47849915e-01 -5.80137754e-02 2.59013110e+02] [-4.46820839e-01 8.94107981e-01 3.03653714e-02 1.43066262e+02] [ 6.54697086e-02 -1.17096954e-03 9.97853870e-01 1.37030480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.06, Y:143.04, Z:137.03 [[ 8.93114720e-01 4.46072224e-01 -5.80143735e-02 2.59064596e+02] [-4.45039474e-01 8.94996023e-01 3.03642288e-02 1.43038819e+02] [ 6.54672726e-02 -1.30005344e-03 9.97853870e-01 1.37034093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.12, Y:143.01, Z:137.04 [[ 8.93171134e-01 4.45959079e-01 -5.80157272e-02 2.59117167e+02] [-4.44926258e-01 8.95052398e-01 3.03616421e-02 1.43011289e+02] [ 6.54671657e-02 -1.30542193e-03 9.97853870e-01 1.37038487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.17, Y:142.98, Z:137.04 [[ 8.92913594e-01 4.46474357e-01 -5.80169121e-02 2.59169224e+02] [-4.45442768e-01 8.94795534e-01 3.03593777e-02 1.42983927e+02] [ 6.54679575e-02 -1.26508715e-03 9.97853870e-01 1.37043234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.22, Y:142.96, Z:137.05 [[ 8.92388460e-01 4.47522817e-01 -5.80186575e-02 2.59222587e+02] [-4.46493657e-01 8.94271729e-01 3.03560418e-02 1.42956323e+02] [ 6.54694665e-02 -1.18441886e-03 9.97853870e-01 1.37047137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.28, Y:142.93, Z:137.05 [[ 8.92378928e-01 4.47541824e-01 -5.80186575e-02 2.59275052e+02] [-4.46512703e-01 8.94262219e-01 3.03560418e-02 1.42928950e+02] [ 6.54694917e-02 -1.18302444e-03 9.97853870e-01 1.37049362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.33, Y:142.90, Z:137.05 [[ 8.91304172e-01 4.49678202e-01 -5.80205854e-02 2.59326679e+02] [-4.48653835e-01 8.93190053e-01 3.03523564e-02 1.42901419e+02] [ 6.54722028e-02 -1.02202375e-03 9.97853870e-01 1.37054932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.38, Y:142.87, Z:137.06 [[ 8.90870545e-01 4.50536319e-01 -5.80232434e-02 2.59381335e+02] [-4.49514100e-01 8.92757591e-01 3.03472744e-02 1.42874806e+02] [ 6.54732403e-02 -9.53226877e-04 9.97853870e-01 1.37058038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.44, Y:142.85, Z:137.06 [[ 8.90993845e-01 4.50292430e-01 -5.80232434e-02 2.59435605e+02] [-4.49269694e-01 8.92880611e-01 3.03472744e-02 1.42846633e+02] [ 6.54729769e-02 -9.71149879e-04 9.97853870e-01 1.37060687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.49, Y:142.82, Z:137.06 [[ 8.92094497e-01 4.48108083e-01 -5.80220197e-02 2.59488544e+02] [-4.47080576e-01 8.93978668e-01 3.03496139e-02 1.42819700e+02] [ 6.54703552e-02 -1.13420551e-03 9.97853870e-01 1.37061069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.54, Y:142.79, Z:137.07 [[ 8.92781456e-01 4.46737552e-01 -5.80244011e-02 2.59538282e+02] [-4.45707448e-01 8.94664210e-01 3.03450602e-02 1.42791560e+02] [ 6.54686329e-02 -1.22959933e-03 9.97853870e-01 1.37069915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.59, Y:142.76, Z:137.07 [[ 8.92929820e-01 4.46440448e-01 -5.80281136e-02 2.59592457e+02] [-4.45410180e-01 8.94812483e-01 3.03379593e-02 1.42764182e+02] [ 6.54683726e-02 -1.24335600e-03 9.97853870e-01 1.37073621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.65, Y:142.74, Z:137.08 [[ 8.92493265e-01 4.47312620e-01 -5.80275050e-02 2.59646078e+02] [-4.46284116e-01 8.94376892e-01 3.03391234e-02 1.42735245e+02] [ 6.54695323e-02 -1.18070955e-03 9.97853870e-01 1.37077973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.002755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:259.70, Y:142.71, Z:137.08 [[ 8.91277281e-01 4.49730762e-01 -5.80262898e-02 2.59697847e+02] [-4.48707217e-01 8.93163608e-01 3.03414473e-02 1.42707834e+02] [ 6.54724526e-02 -1.00582768e-03 9.97853870e-01 1.37081642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.062755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:259.75, Y:142.68, Z:137.08 [[ 8.89976197e-01 4.52299848e-01 -5.80277218e-02 2.59750309e+02] [-4.51281927e-01 8.91865565e-01 3.03387085e-02 1.42681498e+02] [ 6.54751200e-02 -8.13866292e-04 9.97853870e-01 1.37082535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.80, Y:142.65, Z:137.09 [[ 8.90054838e-01 4.52144834e-01 -5.80296060e-02 2.59801442e+02] [-4.51126819e-01 8.91944155e-01 3.03351040e-02 1.42654906e+02] [ 6.54750284e-02 -8.21194532e-04 9.97853870e-01 1.37085795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.85, Y:142.63, Z:137.09 [[ 8.89495695e-01 4.53243342e-01 -5.80334490e-02 2.59850957e+02] [-4.52228140e-01 8.91386525e-01 3.03277502e-02 1.42626464e+02] [ 6.54760853e-02 -7.32044581e-04 9.97853870e-01 1.37092897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.90, Y:142.60, Z:137.10 [[ 8.89653414e-01 4.52933286e-01 -5.80365467e-02 2.59901729e+02] [-4.51917812e-01 8.91544098e-01 3.03218213e-02 1.42600926e+02] [ 6.54759028e-02 -7.48162621e-04 9.97853870e-01 1.37097464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.95, Y:142.57, Z:137.10 [[ 8.90619521e-01 4.51030133e-01 -5.80404091e-02 2.59953444e+02] [-4.50011100e-01 8.92508289e-01 3.03144263e-02 1.42574049e+02] [ 6.54742659e-02 -8.79791445e-04 9.97853870e-01 1.37102208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.362755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:260.01, Y:142.55, Z:137.11 [[ 8.89850172e-01 4.52545822e-01 -5.80426637e-02 2.60010096e+02] [-4.51530288e-01 8.91740823e-01 3.03101087e-02 1.42545835e+02] [ 6.54757258e-02 -7.63434790e-04 9.97853870e-01 1.37105993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.07, Y:142.52, Z:137.11 [[ 8.90815879e-01 4.50643244e-01 -5.80322018e-02 2.60065449e+02] [-4.49622369e-01 8.92703651e-01 3.03301260e-02 1.42518449e+02] [ 6.54736248e-02 -9.25981786e-04 9.97853871e-01 1.37113392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.12, Y:142.49, Z:137.11 [[ 8.91604398e-01 4.49082375e-01 -5.80225603e-02 2.60121853e+02] [-4.48056995e-01 8.93489728e-01 3.03485594e-02 1.42492939e+02] [ 6.54715647e-02 -1.06149505e-03 9.97853871e-01 1.37113313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.18, Y:142.47, Z:137.12 [[ 8.91646195e-01 4.49000531e-01 -5.80136752e-02 2.60175660e+02] [-4.47973874e-01 8.93530829e-01 3.03655345e-02 1.42466475e+02] [ 6.54711484e-02 -1.08670245e-03 9.97853871e-01 1.37118706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.23, Y:142.44, Z:137.13 [[ 8.90501542e-01 4.51266278e-01 -5.80150831e-02 2.60226826e+02] [-4.50244592e-01 8.92388875e-01 3.03628444e-02 1.42439270e+02] [ 6.54737426e-02 -9.17182320e-04 9.97853871e-01 1.37126243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.28, Y:142.41, Z:137.13 [[ 8.90119043e-01 4.52019834e-01 -5.80186026e-02 2.60279662e+02] [-4.51000184e-01 8.92007478e-01 3.03561177e-02 1.42413263e+02] [ 6.54745946e-02 -8.54158022e-04 9.97853871e-01 1.37129485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.33, Y:142.39, Z:137.13 [[ 8.89931987e-01 4.52387700e-01 -5.80209192e-02 2.60332612e+02] [-4.51369120e-01 8.91820998e-01 3.03516893e-02 1.42387012e+02] [ 6.54750050e-02 -8.22087930e-04 9.97853871e-01 1.37133347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.38, Y:142.36, Z:137.14 [[ 8.90584213e-01 4.51102054e-01 -5.80232399e-02 2.60384469e+02] [-4.50081035e-01 8.92471908e-01 3.03472522e-02 1.42361356e+02] [ 6.54738194e-02 -9.11623859e-04 9.97853871e-01 1.37138253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.44, Y:142.34, Z:137.14 [[ 8.91053764e-01 4.50173028e-01 -5.80295897e-02 2.60437431e+02] [-4.49150833e-01 8.92940822e-01 3.03351053e-02 1.42336079e+02] [ 6.54730357e-02 -9.66171271e-04 9.97853871e-01 1.37144042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.49, Y:142.31, Z:137.15 [[ 8.91911446e-01 4.48471005e-01 -5.80321398e-02 2.60490643e+02] [-4.47445526e-01 8.93796721e-01 3.03302261e-02 1.42310424e+02] [ 6.54711632e-02 -1.08565458e-03 9.97853871e-01 1.37148331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.54, Y:142.29, Z:137.15 [[ 8.93873722e-01 4.44546663e-01 -5.80347651e-02 2.60544260e+02] [-4.43513234e-01 8.95754650e-01 3.03252018e-02 1.42285651e+02] [ 6.54658780e-02 -1.36771464e-03 9.97853871e-01 1.37150705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.60, Y:142.26, Z:137.16 [[ 8.95246380e-01 4.41775518e-01 -5.80371498e-02 2.60598226e+02] [-4.40736563e-01 8.97124262e-01 3.03206373e-02 1.42261404e+02] [ 6.54614504e-02 -1.56534682e-03 9.97853871e-01 1.37156794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.65, Y:142.24, Z:137.16 [[ 8.96022063e-01 4.40199443e-01 -5.80423376e-02 2.60652178e+02] [-4.39157828e-01 8.97898471e-01 3.03107031e-02 1.42239103e+02] [ 6.54588808e-02 -1.66931185e-03 9.97853871e-01 1.37159895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.14275509600003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:260.70, Y:142.22, Z:137.16 [[ 8.96724915e-01 4.38765357e-01 -5.80464374e-02 2.60704784e+02] [-4.37721249e-01 8.98599936e-01 3.03028497e-02 1.42215974e+02] [ 6.54563657e-02 -1.76516128e-03 9.97853871e-01 1.37161681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.76, Y:142.19, Z:137.16 [[ 8.97703705e-01 4.36758647e-01 -5.80512114e-02 2.60758106e+02] [-4.35710939e-01 8.99576717e-01 3.02937016e-02 1.42193765e+02] [ 6.54525542e-02 -1.90122034e-03 9.97853871e-01 1.37164237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.81, Y:142.17, Z:137.17 [[ 8.97528215e-01 4.37117709e-01 -5.80621376e-02 2.60811919e+02] [-4.36072104e-01 8.99402402e-01 3.02727454e-02 1.42171298e+02] [ 6.54539792e-02 -1.85136465e-03 9.97853872e-01 1.37167121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.87, Y:142.15, Z:137.17 [[ 8.97439051e-01 4.37300220e-01 -5.80660571e-02 2.60865139e+02] [-4.36255482e-01 8.99313722e-01 3.02652255e-02 1.42148512e+02] [ 6.54545917e-02 -1.82955953e-03 9.97853872e-01 1.37171899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38275509600004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:260.92, Y:142.12, Z:137.18 [[ 8.97479242e-01 4.37217198e-01 -5.80700593e-02 2.60916688e+02] [-4.36172783e-01 8.99354093e-01 3.02575446e-02 1.42124183e+02] [ 6.54546644e-02 -1.82693882e-03 9.97853872e-01 1.37177061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.97, Y:142.10, Z:137.18 [[ 8.97630186e-01 4.36906608e-01 -5.80746474e-02 2.60970648e+02] [-4.35862114e-01 8.99504992e-01 3.02487358e-02 1.42102278e+02] [ 6.54543079e-02 -1.83963974e-03 9.97853872e-01 1.37181102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.02, Y:142.08, Z:137.18 [[ 8.97950586e-01 4.36246363e-01 -5.80849008e-02 2.61024827e+02] [-4.35201763e-01 8.99825333e-01 3.02290341e-02 1.42079831e+02] [ 6.54535714e-02 -1.86552768e-03 9.97853872e-01 1.37183325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.562755096 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:261.08, Y:142.06, Z:137.19 [[ 8.97366843e-01 4.37444587e-01 -5.80945921e-02 2.61077101e+02] [-4.36403696e-01 8.99243652e-01 3.02103978e-02 1.42055734e+02] [ 6.54565681e-02 -1.75711457e-03 9.97853872e-01 1.37188405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.622755096 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:261.13, Y:142.03, Z:137.19 [[ 8.97042669e-01 4.38107570e-01 -5.81051326e-02 2.61130396e+02] [-4.37069379e-01 8.98920972e-01 3.01901111e-02 1.42033001e+02] [ 6.54584385e-02 -1.68584358e-03 9.97853872e-01 1.37191298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.18, Y:142.01, Z:137.19 [[ 8.95595407e-01 4.41057131e-01 -5.81160402e-02 2.61183321e+02] [-4.40026490e-01 8.97477863e-01 3.01690994e-02 1.42008375e+02] [ 6.54641560e-02 -1.44670967e-03 9.97853873e-01 1.37193529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.24, Y:141.98, Z:137.20 [[ 8.94237460e-01 4.43802432e-01 -5.81271506e-02 2.61235980e+02] [-4.42778962e-01 8.96123824e-01 3.01476777e-02 1.41983721e+02] [ 6.54687372e-02 -1.22170337e-03 9.97853873e-01 1.37197546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.29, Y:141.96, Z:137.20 [[ 8.93713334e-01 4.44855541e-01 -5.81379751e-02 2.61288360e+02] [-4.43835651e-01 8.95601637e-01 3.01267888e-02 1.41958044e+02] [ 6.54705346e-02 -1.12100686e-03 9.97853873e-01 1.37200726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.34, Y:141.93, Z:137.20 [[ 8.93362322e-01 4.45558657e-01 -5.81484722e-02 2.61337926e+02] [-4.44541573e-01 8.95252137e-01 3.01065146e-02 1.41930361e+02] [ 6.54717621e-02 -1.04661250e-03 9.97853874e-01 1.37203513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.39, Y:141.90, Z:137.21 [[ 8.93983375e-01 4.44310323e-01 -5.81555048e-02 2.61387732e+02] [-4.43291484e-01 8.95872243e-01 3.00929238e-02 1.41901713e+02] [ 6.54704992e-02 -1.12273351e-03 9.97853874e-01 1.37209196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.44, Y:141.87, Z:137.21 [[ 8.95565238e-01 4.41111832e-01 -5.81657686e-02 2.61437882e+02] [-4.40087536e-01 8.97451153e-01 3.00730722e-02 1.41873473e+02] [ 6.54665240e-02 -1.33436829e-03 9.97853874e-01 1.37211601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.49, Y:141.85, Z:137.22 [[ 8.95669300e-01 4.40899169e-01 -5.81758264e-02 2.61488329e+02] [-4.39875689e-01 8.97555658e-01 3.00536029e-02 1.41845367e+02] [ 6.54666507e-02 -1.32795776e-03 9.97853874e-01 1.37216659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.54, Y:141.82, Z:137.22 [[ 8.95617500e-01 4.41002995e-01 -5.81863536e-02 2.61539220e+02] [-4.39981058e-01 8.97504694e-01 3.00332076e-02 1.41817332e+02] [ 6.54672600e-02 -1.29737289e-03 9.97853874e-01 1.37219868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.59, Y:141.79, Z:137.22 [[ 8.96482343e-01 4.39240905e-01 -5.81965278e-02 2.61590374e+02] [-4.38216539e-01 8.98368219e-01 3.00134797e-02 1.41791407e+02] [ 6.54650590e-02 -1.40387366e-03 9.97853875e-01 1.37221289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.64, Y:141.76, Z:137.23 [[ 8.94625485e-01 4.43009248e-01 -5.82069413e-02 2.61640097e+02] [-4.41994140e-01 8.96516360e-01 2.99932707e-02 1.41762164e+02] [ 6.54707714e-02 -1.10561736e-03 9.97853875e-01 1.37225056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.69, Y:141.73, Z:137.23 [[ 8.94099941e-01 4.44067565e-01 -5.82176305e-02 2.61690943e+02] [-4.43056047e-01 8.95992739e-01 2.99725084e-02 1.41734936e+02] [ 6.54723930e-02 -1.00474475e-03 9.97853875e-01 1.37228306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.74, Y:141.71, Z:137.23 [[ 8.94984145e-01 4.42281491e-01 -5.82276808e-02 2.61741585e+02] [-4.41267466e-01 8.96875601e-01 2.99529708e-02 1.41705785e+02] [ 6.54706308e-02 -1.11345285e-03 9.97853875e-01 1.37232148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.79, Y:141.68, Z:137.24 [[ 8.95158385e-01 4.41927399e-01 -5.82377819e-02 2.61791976e+02] [-4.40913904e-01 8.97050125e-01 2.99333184e-02 1.41677146e+02] [ 6.54705630e-02 -1.11721322e-03 9.97853876e-01 1.37238692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.84, Y:141.65, Z:137.24 [[ 8.95049709e-01 4.42146136e-01 -5.82478572e-02 2.61843541e+02] [-4.41134380e-01 8.96942378e-01 2.99136999e-02 1.41649044e+02] [ 6.54711983e-02 -1.07911602e-03 9.97853876e-01 1.37239508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.89, Y:141.62, Z:137.25 [[ 8.94751348e-01 4.42748533e-01 -5.82560000e-02 2.61893373e+02] [-4.41739083e-01 8.96645249e-01 2.98978335e-02 1.41620151e+02] [ 6.54721875e-02 -1.01717480e-03 9.97853876e-01 1.37245212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.94, Y:141.59, Z:137.25 [[ 8.94095775e-01 4.44069560e-01 -5.82663828e-02 2.61942715e+02] [-4.43064228e-01 8.95991864e-01 2.98775854e-02 1.41589976e+02] [ 6.54739311e-02 -8.97672984e-04 9.97853876e-01 1.37248290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.99, Y:141.56, Z:137.25 [[ 8.93673616e-01 4.44918122e-01 -5.82694808e-02 2.61994546e+02] [-4.43914984e-01 8.95570867e-01 2.98715421e-02 1.41561607e+02] [ 6.54748399e-02 -8.28713397e-04 9.97853876e-01 1.37253724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.05, Y:141.53, Z:137.26 [[ 8.92748687e-01 4.46770798e-01 -5.82720920e-02 2.62045080e+02] [-4.45771930e-01 8.94648189e-01 2.98664474e-02 1.41533132e+02] [ 6.54764782e-02 -6.87168793e-04 9.97853876e-01 1.37256872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.10, Y:141.50, Z:137.26 [[ 8.91971228e-01 4.48320501e-01 -5.82757035e-02 2.62095505e+02] [-4.47325393e-01 8.93872703e-01 2.98593991e-02 1.41502897e+02] [ 6.54776413e-02 -5.65522867e-04 9.97853876e-01 1.37259188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.15, Y:141.47, Z:137.26 [[ 8.91864094e-01 4.48533276e-01 -5.82781033e-02 2.62146422e+02] [-4.47538928e-01 8.93765967e-01 2.98547146e-02 1.41472630e+02] [ 6.54778182e-02 -5.44628099e-04 9.97853876e-01 1.37261751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.20, Y:141.44, Z:137.27 [[ 8.92798261e-01 4.46670629e-01 -5.82804750e-02 2.62196591e+02] [-4.45672616e-01 8.94698213e-01 2.98500839e-02 1.41441906e+02] [ 6.54765926e-02 -6.76091271e-04 9.97853876e-01 1.37265054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.25, Y:141.41, Z:137.27 [[ 8.93776139e-01 4.44710385e-01 -5.82828212e-02 2.62246785e+02] [-4.43708504e-01 8.95674053e-01 2.98455022e-02 1.41411971e+02] [ 6.54750155e-02 -8.14614328e-04 9.97853876e-01 1.37268531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.29, Y:141.38, Z:137.27 [[ 8.94542666e-01 4.43165997e-01 -5.82865247e-02 2.62294745e+02] [-4.42161310e-01 8.96439097e-01 2.98382678e-02 1.41381258e+02] [ 6.54736252e-02 -9.19557477e-04 9.97853876e-01 1.37272917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.34, Y:141.35, Z:137.28 [[ 8.94366055e-01 4.43521744e-01 -5.82908446e-02 2.62344393e+02] [-4.42518362e-01 8.96263176e-01 2.98298263e-02 1.41351310e+02] [ 6.54741141e-02 -8.84014969e-04 9.97853877e-01 1.37275989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.39, Y:141.32, Z:137.28 [[ 8.92896062e-01 4.46473351e-01 -5.82938245e-02 2.62394647e+02] [-4.45476620e-01 8.94796686e-01 2.98240017e-02 1.41319900e+02] [ 6.54767430e-02 -6.61197781e-04 9.97853877e-01 1.37281176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.45, Y:141.29, Z:137.28 [[ 8.94469783e-01 4.43311875e-01 -5.82956995e-02 2.62445378e+02] [-4.42308666e-01 8.96366996e-01 2.98203362e-02 1.41289122e+02] [ 6.54740502e-02 -8.88696629e-04 9.97853877e-01 1.37283385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.50, Y:141.26, Z:137.29 [[ 8.93818005e-01 4.44624213e-01 -5.82982294e-02 2.62495516e+02] [-4.43624112e-01 8.95716858e-01 2.98153896e-02 1.41258060e+02] [ 6.54753510e-02 -7.87031784e-04 9.97853877e-01 1.37286879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.55, Y:141.23, Z:137.29 [[ 8.92495465e-01 4.47272737e-01 -5.83004627e-02 2.62545352e+02] [-4.46278556e-01 8.94397425e-01 2.98110219e-02 1.41227548e+02] [ 6.54774411e-02 -5.87955528e-04 9.97853877e-01 1.37289491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.60, Y:141.20, Z:137.29 [[ 8.91093415e-01 4.50059176e-01 -5.83032095e-02 2.62596268e+02] [-4.49071295e-01 8.92998654e-01 2.98056490e-02 1.41199895e+02] [ 6.54789934e-02 -3.77319756e-04 9.97853877e-01 1.37294453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.65, Y:141.17, Z:137.30 [[ 8.89348498e-01 4.53497066e-01 -5.83065970e-02 2.62649139e+02] [-4.52516985e-01 8.91257761e-01 2.97990208e-02 1.41173851e+02] [ 6.54799756e-02 -1.16988937e-04 9.97853877e-01 1.37297225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.70, Y:141.14, Z:137.30 [[ 8.88207097e-01 4.55728212e-01 -5.83090860e-02 2.62704379e+02] [-4.54753246e-01 8.90118978e-01 2.97941495e-02 1.41144110e+02] [ 6.54800585e-02 5.28710618e-05 9.97853877e-01 1.37298829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.76, Y:141.12, Z:137.30 [[ 8.88964299e-01 4.54250711e-01 -5.82989387e-02 2.62758567e+02] [-4.53271266e-01 8.90873889e-01 2.98139919e-02 1.41115885e+02] [ 6.54800292e-02 -7.83407314e-05 9.97853877e-01 1.37302934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.82, Y:141.09, Z:137.30 [[ 8.90768196e-01 4.50704114e-01 -5.82908479e-02 2.62815662e+02] [-4.49716031e-01 8.92673330e-01 2.98298022e-02 1.41089562e+02] [ 6.54790999e-02 -3.57110274e-04 9.97853877e-01 1.37304513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.87, Y:141.06, Z:137.31 [[ 8.93354044e-01 4.45557955e-01 -5.82808796e-02 2.62869636e+02] [-4.44557629e-01 8.95252778e-01 2.98492654e-02 1.41060036e+02] [ 6.54756970e-02 -7.56752338e-04 9.97853877e-01 1.37311201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.93, Y:141.03, Z:137.32 [[ 8.95229997e-01 4.41777844e-01 -5.82716828e-02 2.62925197e+02] [-4.40768334e-01 8.97123863e-01 2.98672087e-02 1.41033737e+02] [ 6.54715882e-02 -1.05370867e-03 9.97853878e-01 1.37315334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.98, Y:141.01, Z:137.32 [[ 8.96722311e-01 4.38741823e-01 -5.82641305e-02 2.62977651e+02] [-4.37724944e-01 8.98612232e-01 2.98819343e-02 1.41007565e+02] [ 6.54673146e-02 -1.29213392e-03 9.97853878e-01 1.37319062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.03, Y:140.98, Z:137.32 [[ 8.96780096e-01 4.38623529e-01 -5.82654272e-02 2.63033195e+02] [-4.37606565e-01 8.98669970e-01 2.98794055e-02 1.40978523e+02] [ 6.54672001e-02 -1.29792268e-03 9.97853878e-01 1.37324201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.09, Y:140.95, Z:137.33 [[ 8.95613544e-01 4.41001850e-01 -5.82558910e-02 2.63090674e+02] [-4.39988696e-01 8.97505464e-01 2.98979868e-02 1.40952083e+02] [ 6.54700480e-02 -1.14510837e-03 9.97853878e-01 1.37328104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.15, Y:140.93, Z:137.33 [[ 8.93593343e-01 4.45082366e-01 -5.82462502e-02 2.63145323e+02] [-4.44076629e-01 8.95489215e-01 2.99167570e-02 1.40927001e+02] [ 6.54743099e-02 -8.67616487e-04 9.97853878e-01 1.37332404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.20, Y:140.90, Z:137.34 [[ 8.92148887e-01 4.47970765e-01 -5.82456593e-02 2.63196661e+02] [-4.46971092e-01 8.94047964e-01 2.99179074e-02 1.40901233e+02] [ 6.54767610e-02 -6.57101894e-04 9.97853878e-01 1.37336090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.25, Y:140.87, Z:137.34 [[ 8.91100770e-01 4.50051698e-01 -5.82484997e-02 2.63249409e+02] [-4.49056821e-01 8.93002363e-01 2.99123763e-02 1.40874195e+02] [ 6.54781636e-02 -4.98055431e-04 9.97853878e-01 1.37340564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.30, Y:140.85, Z:137.34 [[ 8.91772860e-01 4.48718333e-01 -5.82496695e-02 2.63301189e+02] [-4.47720761e-01 8.93673042e-01 2.99100981e-02 1.40848196e+02] [ 6.54773687e-02 -5.93427392e-04 9.97853878e-01 1.37343732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.36, Y:140.82, Z:137.34 [[ 8.93462809e-01 4.45343401e-01 -5.82534427e-02 2.63355156e+02] [-4.44339131e-01 8.95359460e-01 2.99027474e-02 1.40820865e+02] [ 6.54747623e-02 -8.32708601e-04 9.97853878e-01 1.37344859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.41, Y:140.79, Z:137.35 [[ 8.94229044e-01 4.43802832e-01 -5.82534427e-02 2.63406515e+02] [-4.42795296e-01 8.96123960e-01 2.99027474e-02 1.40791788e+02] [ 6.54732298e-02 -9.45554854e-04 9.97853878e-01 1.37352008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.46, Y:140.76, Z:137.36 [[ 8.95301107e-01 4.41636034e-01 -5.82541131e-02 2.63458467e+02] [-4.40623997e-01 8.97193623e-01 2.99014414e-02 1.40764662e+02] [ 6.54707728e-02 -1.10263350e-03 9.97853878e-01 1.37356940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.51, Y:140.74, Z:137.36 [[ 8.96398050e-01 4.39404945e-01 -5.82565934e-02 2.63510344e+02] [-4.38388511e-01 8.98288209e-01 2.98966083e-02 1.40738066e+02] [ 6.54679285e-02 -1.26024016e-03 9.97853878e-01 1.37359796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.57, Y:140.71, Z:137.36 [[ 8.96904353e-01 4.38370267e-01 -5.82588274e-02 2.63566506e+02] [-4.37351935e-01 8.98793490e-01 2.98922543e-02 1.40709225e+02] [ 6.54665303e-02 -1.33088205e-03 9.97853878e-01 1.37362312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.62, Y:140.68, Z:137.37 [[ 8.96757192e-01 4.38672497e-01 -5.82492791e-02 2.63622542e+02] [-4.37653595e-01 8.98646022e-01 2.99108490e-02 1.40680232e+02] [ 6.54665498e-02 -1.32976252e-03 9.97853878e-01 1.37365096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.68, Y:140.65, Z:137.37 [[ 8.97145267e-01 4.37879550e-01 -5.82397565e-02 2.63677802e+02] [-4.36857776e-01 8.99032544e-01 2.99293791e-02 1.40650755e+02] [ 6.54648995e-02 -1.40851025e-03 9.97853879e-01 1.37369521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.73, Y:140.62, Z:137.37 [[ 8.97840737e-01 4.36453063e-01 -5.82300158e-02 2.63733230e+02] [-4.35427063e-01 8.99725720e-01 2.99483186e-02 1.40621470e+02] [ 6.54620782e-02 -1.53389564e-03 9.97853879e-01 1.37374591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.79, Y:140.59, Z:137.38 [[ 8.97615924e-01 4.36916516e-01 -5.82203696e-02 2.63788412e+02] [-4.35890274e-01 8.99500775e-01 2.99670594e-02 1.40592666e+02] [ 6.54623707e-02 -1.52121685e-03 9.97853879e-01 1.37379680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.84, Y:140.56, Z:137.39 [[ 8.96125283e-01 4.39966541e-01 -5.82144358e-02 2.63842627e+02] [-4.38945967e-01 8.98013209e-01 2.99785820e-02 1.40564238e+02] [ 6.54669053e-02 -1.31157353e-03 9.97853879e-01 1.37385387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.90, Y:140.54, Z:137.39 [[ 8.93921882e-01 4.44426465e-01 -5.82132786e-02 2.63895167e+02] [-4.43415165e-01 8.95814792e-01 2.99808288e-02 1.40537885e+02] [ 6.54725898e-02 -9.87868378e-04 9.97853879e-01 1.37387912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.95, Y:140.51, Z:137.39 [[ 8.93123163e-01 4.46029161e-01 -5.82151545e-02 2.63946565e+02] [-4.45021495e-01 8.95018009e-01 2.99771858e-02 1.40512841e+02] [ 6.54743108e-02 -8.66323874e-04 9.97853879e-01 1.37393793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.00, Y:140.49, Z:137.40 [[ 8.91964742e-01 4.48340864e-01 -5.82182827e-02 2.63999960e+02] [-4.47338506e-01 8.93862402e-01 2.99711094e-02 1.40485806e+02] [ 6.54764071e-02 -6.89893273e-04 9.97853879e-01 1.37398459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.05, Y:140.46, Z:137.41 [[ 8.89754856e-01 4.52710497e-01 -5.82194315e-02 2.64049980e+02] [-4.51717605e-01 8.91657486e-01 2.99688777e-02 1.40458364e+02] [ 6.54790174e-02 -3.66212312e-04 9.97853879e-01 1.37406447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.10, Y:140.43, Z:137.41 [[ 8.91424639e-01 4.49413264e-01 -5.82222575e-02 2.64104209e+02] [-4.48413693e-01 8.93323768e-01 2.99633864e-02 1.40433125e+02] [ 6.54772698e-02 -6.02443351e-04 9.97853879e-01 1.37405688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.16, Y:140.40, Z:137.41 [[ 8.93135945e-01 4.46002489e-01 -5.82233964e-02 2.64156160e+02] [-4.44995810e-01 8.95031316e-01 2.99611732e-02 1.40404210e+02] [ 6.54745210e-02 -8.50233279e-04 9.97853879e-01 1.37409016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.21, Y:140.37, Z:137.41 [[ 8.94524509e-01 4.43210793e-01 -5.82245234e-02 2.64210595e+02] [-4.42198342e-01 8.96416804e-01 2.99589829e-02 1.40374942e+02] [ 6.54715858e-02 -1.05225681e-03 9.97853879e-01 1.37413353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.26, Y:140.35, Z:137.42 [[ 8.95495470e-01 4.41246782e-01 -5.82163191e-02 2.64264271e+02] [-4.40229146e-01 8.97384981e-01 2.99749171e-02 1.40345323e+02] [ 6.54687861e-02 -1.21388212e-03 9.97853879e-01 1.37422309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.32, Y:140.32, Z:137.43 [[ 8.96456487e-01 4.39292230e-01 -5.82074132e-02 2.64318263e+02] [-4.38269352e-01 8.98343166e-01 2.99922013e-02 1.40315828e+02] [ 6.54655728e-02 -1.37617818e-03 9.97853880e-01 1.37425372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.37, Y:140.28, Z:137.43 [[ 8.95881577e-01 4.40464589e-01 -5.81991957e-02 2.64372450e+02] [-4.39443146e-01 8.97769031e-01 3.00081388e-02 1.40284577e+02] [ 6.54669580e-02 -1.30850105e-03 9.97853880e-01 1.37430473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.43, Y:140.26, Z:137.43 [[ 8.94928882e-01 4.42398395e-01 -5.81889694e-02 2.64428747e+02] [-4.41379742e-01 8.96817844e-01 3.00279555e-02 1.40255642e+02] [ 6.54692254e-02 -1.18945236e-03 9.97853880e-01 1.37433668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.462755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:264.48, Y:140.23, Z:137.44 [[ 8.94527591e-01 4.43210603e-01 -5.81786080e-02 2.64484132e+02] [-4.42192361e-01 8.96416774e-01 3.00480172e-02 1.40230692e+02] [ 6.54698799e-02 -1.15264444e-03 9.97853880e-01 1.37436175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.54, Y:140.20, Z:137.44 [[ 8.93260329e-01 4.45759808e-01 -5.81736870e-02 2.64535682e+02] [-4.44746337e-01 8.95152076e-01 3.00575413e-02 1.40203756e+02] [ 6.54727406e-02 -9.76674973e-04 9.97853880e-01 1.37437625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.59, Y:140.18, Z:137.45 [[ 8.92858234e-01 4.46564323e-01 -5.81762773e-02 2.64587892e+02] [-4.45552884e-01 8.94751068e-01 3.00525270e-02 1.40178685e+02] [ 6.54736726e-02 -9.12038044e-04 9.97853880e-01 1.37447922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.64, Y:140.15, Z:137.45 [[ 8.92728774e-01 4.46822647e-01 -5.81795325e-02 2.64643472e+02] [-4.45812166e-01 8.94622120e-01 3.00462239e-02 1.40151001e+02] [ 6.54740300e-02 -8.85985257e-04 9.97853880e-01 1.37453533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.70, Y:140.12, Z:137.46 [[ 8.92990901e-01 4.46299622e-01 -5.81712797e-02 2.64698427e+02] [-4.45286992e-01 8.94883098e-01 3.00621934e-02 1.40121979e+02] [ 6.54732405e-02 -9.42351018e-04 9.97853880e-01 1.37457679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.75, Y:140.09, Z:137.47 [[ 8.93881441e-01 4.44514405e-01 -5.81628157e-02 2.64753901e+02] [-4.43496932e-01 8.95771038e-01 3.00785601e-02 1.40094742e+02] [ 6.54709190e-02 -1.09163636e-03 9.97853881e-01 1.37465150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.81, Y:140.07, Z:137.47 [[ 8.94976632e-01 4.42306408e-01 -5.81538457e-02 2.64808117e+02] [-4.41283147e-01 8.96863101e-01 3.00958928e-02 1.40068953e+02] [ 6.54676446e-02 -1.27280870e-03 9.97853881e-01 1.37468950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.86, Y:140.04, Z:137.47 [[ 8.95568857e-01 4.41105906e-01 -5.81549781e-02 2.64864449e+02] [-4.40080258e-01 8.97454030e-01 3.00937044e-02 1.40040229e+02] [ 6.54659302e-02 -1.35812666e-03 9.97853881e-01 1.37473206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.92, Y:140.01, Z:137.48 [[ 8.96199478e-01 4.39824532e-01 -5.81453094e-02 2.64915380e+02] [-4.38794979e-01 8.98082519e-01 3.01123743e-02 1.40013030e+02] [ 6.54634468e-02 -1.47282429e-03 9.97853881e-01 1.37475231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.97, Y:139.99, Z:137.48 [[ 8.98177405e-01 4.35770778e-01 -5.81479017e-02 2.64968612e+02] [-4.34733051e-01 9.00055954e-01 3.01073675e-02 1.39987056e+02] [ 6.54562761e-02 -1.76294245e-03 9.97853881e-01 1.37479401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.02, Y:139.96, Z:137.48 [[ 8.97396810e-01 4.37375419e-01 -5.81524508e-02 2.65023811e+02] [-4.36341620e-01 8.99277525e-01 3.00985784e-02 1.39956344e+02] [ 6.54595703e-02 -1.63603362e-03 9.97853881e-01 1.37482275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.08, Y:139.93, Z:137.48 [[ 8.96499158e-01 4.39213708e-01 -5.81427453e-02 2.65079769e+02] [-4.38182551e-01 8.98381322e-01 3.01173152e-02 1.39929995e+02] [ 6.54622941e-02 -1.52301125e-03 9.97853881e-01 1.37484883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.13, Y:139.90, Z:137.48 [[ 8.95741904e-01 4.40757123e-01 -5.81343176e-02 2.65133103e+02] [-4.39728155e-01 8.97625266e-01 3.01335743e-02 1.39903107e+02] [ 6.54644198e-02 -1.42860902e-03 9.97853882e-01 1.37484397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.18, Y:139.88, Z:137.49 [[ 8.93854490e-01 4.44572145e-01 -5.81356833e-02 2.65184902e+02] [-4.43551387e-01 8.95742314e-01 3.01309392e-02 1.39876929e+02] [ 6.54699678e-02 -1.14651229e-03 9.97853882e-01 1.37490573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.24, Y:139.85, Z:137.49 [[ 8.92374530e-01 4.47534964e-01 -5.81390975e-02 2.65236676e+02] [-4.46520903e-01 8.94265960e-01 3.01243500e-02 1.39849453e+02] [ 6.54735156e-02 -9.21880312e-04 9.97853882e-01 1.37494508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.29, Y:139.82, Z:137.50 [[ 8.92233179e-01 4.47816479e-01 -5.81408226e-02 2.65292204e+02] [-4.46803233e-01 8.94125045e-01 3.01210201e-02 1.39821385e+02] [ 6.54738547e-02 -8.97466036e-04 9.97853882e-01 1.37498493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.35, Y:139.79, Z:137.50 [[ 8.92762382e-01 4.46761637e-01 -5.81323399e-02 2.65347979e+02] [-4.45745090e-01 8.94652476e-01 3.01373824e-02 1.39792933e+02] [ 6.54724681e-02 -9.93316230e-04 9.97853882e-01 1.37502311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.40, Y:139.76, Z:137.51 [[ 8.93333706e-01 4.45619448e-01 -5.81222689e-02 2.65400632e+02] [-4.44599222e-01 8.95221816e-01 3.01567927e-02 1.39761867e+02] [ 6.54707764e-02 -1.09896390e-03 9.97853882e-01 1.37507837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.45, Y:139.73, Z:137.51 [[ 8.94101207e-01 4.44078558e-01 -5.81142597e-02 2.65454236e+02] [-4.43054075e-01 8.95987011e-01 3.01722191e-02 1.39733315e+02] [ 6.54684574e-02 -1.22925796e-03 9.97853882e-01 1.37514278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.51, Y:139.71, Z:137.51 [[ 8.96425967e-01 4.39366994e-01 -5.81130870e-02 2.65509632e+02] [-4.38332455e-01 8.98306273e-01 3.01744776e-02 1.39709275e+02] [ 6.54610201e-02 -1.57633320e-03 9.97853882e-01 1.37512797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.56, Y:139.68, Z:137.52 [[ 8.96749816e-01 4.38705485e-01 -5.81142440e-02 2.65559691e+02] [-4.37669704e-01 8.98629437e-01 3.01722492e-02 1.39678313e+02] [ 6.54599016e-02 -1.62211497e-03 9.97853882e-01 1.37522995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.61, Y:139.65, Z:137.53 [[ 8.96831528e-01 4.38538075e-01 -5.81168412e-02 2.65612280e+02] [-4.37502267e-01 8.98711135e-01 3.01672457e-02 1.39651329e+02] [ 6.54597382e-02 -1.62868731e-03 9.97853882e-01 1.37526358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.66, Y:139.63, Z:137.53 [[ 8.95414329e-01 4.41424174e-01 -5.81195138e-02 2.65663941e+02] [-4.40394759e-01 8.97297445e-01 3.01620957e-02 1.39625432e+02] [ 6.54647695e-02 -1.41204341e-03 9.97853882e-01 1.37529104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.72, Y:139.60, Z:137.53 [[ 8.92852765e-01 4.46582238e-01 -5.81226714e-02 2.65716037e+02] [-4.45564099e-01 8.94742001e-01 3.01560099e-02 1.39601157e+02] [ 6.54719337e-02 -1.02750112e-03 9.97853882e-01 1.37530602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.77, Y:139.58, Z:137.53 [[ 8.91086871e-01 4.50094922e-01 -5.81270104e-02 2.65768337e+02] [-4.49084776e-01 8.92980394e-01 3.01476439e-02 1.39575232e+02] [ 6.54755821e-02 -7.60214246e-04 9.97853882e-01 1.37534020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.82, Y:139.55, Z:137.53 [[ 8.90906066e-01 4.50452199e-01 -5.81308732e-02 2.65819991e+02] [-4.49443299e-01 8.92800252e-01 3.01401938e-02 1.39549329e+02] [ 6.54759748e-02 -7.25550124e-04 9.97853882e-01 1.37534165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.87, Y:139.52, Z:137.54 [[ 8.91654478e-01 4.48968507e-01 -5.81340780e-02 2.65872279e+02] [-4.47956858e-01 8.93547198e-01 3.01340112e-02 1.39524127e+02] [ 6.54747645e-02 -8.27567113e-04 9.97853882e-01 1.37543251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.92, Y:139.50, Z:137.55 [[ 8.93138289e-01 4.46009105e-01 -5.81366920e-02 2.65924079e+02] [-4.44991513e-01 8.95027820e-01 3.01289671e-02 1.39496168e+02] [ 6.54717504e-02 -1.03899959e-03 9.97853882e-01 1.37545534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.97, Y:139.47, Z:137.55 [[ 8.94532936e-01 4.43204971e-01 -5.81393156e-02 2.65974553e+02] [-4.42181785e-01 8.96419444e-01 3.01239036e-02 1.39467937e+02] [ 6.54682768e-02 -1.23867751e-03 9.97853882e-01 1.37553799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.03, Y:139.44, Z:137.56 [[ 8.94934264e-01 4.42393604e-01 -5.81425948e-02 2.66029604e+02] [-4.41369119e-01 8.96820067e-01 3.01175731e-02 1.39439246e+02] [ 6.54672675e-02 -1.29090230e-03 9.97853882e-01 1.37559250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.08, Y:139.41, Z:137.56 [[ 8.95256833e-01 4.41741567e-01 -5.81342475e-02 2.66083731e+02] [-4.40714663e-01 8.97141320e-01 3.01336769e-02 1.39411964e+02] [ 6.54659331e-02 -1.35676485e-03 9.97853882e-01 1.37564158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.14, Y:139.38, Z:137.57 [[ 8.95606596e-01 4.41032088e-01 -5.81336620e-02 2.66135480e+02] [-4.40003618e-01 8.97490228e-01 3.01348063e-02 1.39383408e+02] [ 6.54648101e-02 -1.40990973e-03 9.97853882e-01 1.37567032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.19, Y:139.36, Z:137.57 [[ 8.96017314e-01 4.40196809e-01 -5.81355545e-02 2.66187380e+02] [-4.39166820e-01 8.97900116e-01 3.01311549e-02 1.39355975e+02] [ 6.54635594e-02 -1.46682988e-03 9.97853883e-01 1.37567466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.24, Y:139.33, Z:137.57 [[ 8.95817387e-01 4.40603181e-01 -5.81381554e-02 2.66238963e+02] [-4.39574372e-01 8.97700834e-01 3.01261357e-02 1.39328016e+02] [ 6.54643418e-02 -1.43147301e-03 9.97853883e-01 1.37572227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.29, Y:139.30, Z:137.57 [[ 8.95650000e-01 4.40943003e-01 -5.81407415e-02 2.66292813e+02] [-4.39915232e-01 8.97534013e-01 3.01211440e-02 1.39299658e+02] [ 6.54650007e-02 -1.40100481e-03 9.97853883e-01 1.37574347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.35, Y:139.27, Z:137.58 [[ 8.95038085e-01 4.42183919e-01 -5.81395620e-02 2.66347294e+02] [-4.41158613e-01 8.96923440e-01 3.01234203e-02 1.39272887e+02] [ 6.54668280e-02 -1.31283991e-03 9.97853883e-01 1.37579545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.40, Y:139.25, Z:137.58 [[ 8.93337718e-01 4.45609148e-01 -5.81395620e-02 2.66400114e+02] [-4.44591071e-01 8.95226987e-01 3.01234203e-02 1.39247555e+02] [ 6.54713766e-02 -1.06205741e-03 9.97853883e-01 1.37581173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.45, Y:139.22, Z:137.58 [[ 8.93109344e-01 4.46066369e-01 -5.81420272e-02 2.66452575e+02] [-4.45049568e-01 8.94999301e-01 3.01186615e-02 1.39223115e+02] [ 6.54719956e-02 -1.02317395e-03 9.97853883e-01 1.37583476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.51, Y:139.20, Z:137.59 [[ 8.92943634e-01 4.46397596e-01 -5.81451082e-02 2.66505271e+02] [-4.45381884e-01 8.94834176e-01 3.01127122e-02 1.39196665e+02] [ 6.54724723e-02 -9.92176818e-04 9.97853883e-01 1.37589145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.56, Y:139.17, Z:137.59 [[ 8.91511066e-01 4.49251492e-01 -5.81473658e-02 2.66557890e+02] [-4.48242116e-01 8.93404999e-01 3.01083522e-02 1.39170169e+02] [ 6.54753695e-02 -7.77830822e-04 9.97853883e-01 1.37594691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.61, Y:139.15, Z:137.59 [[ 8.93668854e-01 4.44943341e-01 -5.81498410e-02 2.66612283e+02] [-4.43925147e-01 8.95558060e-01 3.01035709e-02 1.39148738e+02] [ 6.54709423e-02 -1.08844700e-03 9.97853883e-01 1.37593684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.66, Y:139.12, Z:137.60 [[ 8.92823039e-01 4.46637607e-01 -5.81538482e-02 2.66664743e+02] [-4.45623502e-01 8.94714443e-01 3.00958279e-02 1.39119137e+02] [ 6.54730165e-02 -9.55526986e-04 9.97853883e-01 1.37601415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.72, Y:139.09, Z:137.61 [[ 8.93186752e-01 4.45909807e-01 -5.81538482e-02 2.66716575e+02] [-4.44894162e-01 8.95077330e-01 3.00958279e-02 1.39092362e+02] [ 6.54722160e-02 -1.00888720e-03 9.97853883e-01 1.37605162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.77, Y:139.07, Z:137.61 [[ 8.93582346e-01 4.45116342e-01 -5.81552540e-02 2.66769436e+02] [-4.44099195e-01 8.95472116e-01 3.00931112e-02 1.39065622e+02] [ 6.54713439e-02 -1.06397146e-03 9.97853883e-01 1.37608718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.82, Y:139.04, Z:137.61 [[ 8.93641344e-01 4.44997657e-01 -5.81569737e-02 2.66821130e+02] [-4.43980475e-01 8.95531095e-01 3.00897874e-02 1.39038688e+02] [ 6.54712633e-02 -1.06891724e-03 9.97853883e-01 1.37612737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.87, Y:139.01, Z:137.62 [[ 8.93490898e-01 4.45299355e-01 -5.81592636e-02 2.66872045e+02] [-4.44283099e-01 8.95381148e-01 3.00853608e-02 1.39012122e+02] [ 6.54716999e-02 -1.04181819e-03 9.97853883e-01 1.37616501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.92, Y:138.99, Z:137.62 [[ 8.95020604e-01 4.42216374e-01 -5.81618128e-02 2.66924528e+02] [-4.41193927e-01 8.96907513e-01 3.00804318e-02 1.38986348e+02] [ 6.54678263e-02 -1.26196767e-03 9.97853883e-01 1.37620337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.98, Y:138.96, Z:137.63 [[ 8.93621405e-01 4.45035746e-01 -5.81718890e-02 2.66976680e+02] [-4.44020522e-01 8.95512209e-01 3.00609330e-02 1.38958605e+02] [ 6.54718266e-02 -1.03358064e-03 9.97853883e-01 1.37625502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.342755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:267.03, Y:138.93, Z:137.63 [[ 8.94192035e-01 4.43887782e-01 -5.81742391e-02 2.67029928e+02] [-4.42870426e-01 8.96081693e-01 3.00563844e-02 1.38930729e+02] [ 6.54705324e-02 -1.11252951e-03 9.97853883e-01 1.37626914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.08, Y:138.90, Z:137.63 [[ 8.93769006e-01 4.44738784e-01 -5.81754082e-02 2.67081634e+02] [-4.43723375e-01 8.95659710e-01 3.00541214e-02 1.38903319e+02] [ 6.54716026e-02 -1.04765368e-03 9.97853883e-01 1.37628864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.13, Y:138.88, Z:137.63 [[ 8.92818261e-01 4.46644102e-01 -5.81772958e-02 2.67133181e+02] [-4.45632966e-01 8.94711254e-01 3.00504669e-02 1.38877689e+02] [ 6.54737452e-02 -9.03884696e-04 9.97853883e-01 1.37631647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.19, Y:138.85, Z:137.64 [[ 8.91985318e-01 4.48304830e-01 -5.81805103e-02 2.67185212e+02] [-4.47297624e-01 8.93880405e-01 3.00442421e-02 1.38850605e+02] [ 6.54753970e-02 -7.75018739e-04 9.97853883e-01 1.37638043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.24, Y:138.82, Z:137.64 [[ 8.90440334e-01 4.51365414e-01 -5.81831054e-02 2.67235608e+02] [-4.50365051e-01 8.92339042e-01 3.00392157e-02 1.38823165e+02] [ 6.54777196e-02 -5.44492085e-04 9.97853883e-01 1.37642103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.29, Y:138.79, Z:137.65 [[ 8.89049639e-01 4.54098153e-01 -5.81859726e-02 2.67287271e+02] [-4.53103990e-01 8.90951600e-01 3.00336609e-02 1.38794952e+02] [ 6.54791153e-02 -3.37119027e-04 9.97853883e-01 1.37646979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.34, Y:138.77, Z:137.65 [[ 8.88561086e-01 4.55053099e-01 -5.81882536e-02 2.67338184e+02] [-4.54061269e-01 8.90464266e-01 3.00292409e-02 1.38767507e+02] [ 6.54794597e-02 -2.61782664e-04 9.97853883e-01 1.37652770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.39, Y:138.74, Z:137.66 [[ 8.88873735e-01 4.54441728e-01 -5.81910571e-02 2.67390026e+02] [-4.53448945e-01 8.90776417e-01 3.00238072e-02 1.38739205e+02] [ 6.54792922e-02 -3.00700230e-04 9.97853883e-01 1.37658117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.44, Y:138.71, Z:137.66 [[ 8.90067508e-01 4.52098992e-01 -5.81922146e-02 2.67440829e+02] [-4.51101347e-01 8.91967645e-01 3.00215637e-02 1.38711290e+02] [ 6.54782913e-02 -4.70632018e-04 9.97853883e-01 1.37661824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.49, Y:138.68, Z:137.67 [[ 8.91459946e-01 4.49346731e-01 -5.81951853e-02 2.67493909e+02] [-4.48343597e-01 8.93357191e-01 3.00158040e-02 1.38681187e+02] [ 6.54765907e-02 -6.66448316e-04 9.97853883e-01 1.37665673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.55, Y:138.65, Z:137.67 [[ 8.93187856e-01 4.45902356e-01 -5.81940182e-02 2.67548423e+02] [-4.44891758e-01 8.95081136e-01 3.00180666e-02 1.38650967e+02] [ 6.54734945e-02 -9.21733535e-04 9.97853883e-01 1.37669606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.60, Y:138.62, Z:137.67 [[ 8.94054722e-01 4.44162768e-01 -5.81858161e-02 2.67602345e+02] [-4.43147453e-01 8.95945476e-01 3.00339569e-02 1.38621639e+02] [ 6.54712841e-02 -1.06710485e-03 9.97853883e-01 1.37673235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.65, Y:138.59, Z:137.68 [[ 8.94805844e-01 4.42647770e-01 -5.81846562e-02 2.67654247e+02] [-4.41629107e-01 8.96694797e-01 3.00362038e-02 1.38593539e+02] [ 6.54693371e-02 -1.18053296e-03 9.97853883e-01 1.37676751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.71, Y:138.57, Z:137.68 [[ 8.94639381e-01 4.42984197e-01 -5.81840157e-02 2.67706007e+02] [-4.41966164e-01 8.96528673e-01 3.00374443e-02 1.38568872e+02] [ 6.54697516e-02 -1.15731435e-03 9.97853883e-01 1.37679674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.76, Y:138.54, Z:137.68 [[ 8.93719234e-01 4.44837288e-01 -5.81869263e-02 2.67758748e+02] [-4.43823539e-01 8.95610829e-01 3.00318050e-02 1.38544051e+02] [ 6.54721080e-02 -1.01527419e-03 9.97853883e-01 1.37682620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.81, Y:138.52, Z:137.68 [[ 8.92896005e-01 4.46487052e-01 -5.81896615e-02 2.67812682e+02] [-4.45477144e-01 8.94789653e-01 3.00265044e-02 1.38517205e+02] [ 6.54739525e-02 -8.88381610e-04 9.97853883e-01 1.37684831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.87, Y:138.49, Z:137.69 [[ 8.92601863e-01 4.47074801e-01 -5.81896615e-02 2.67865546e+02] [-4.46066140e-01 8.94496175e-01 3.00265044e-02 1.38491715e+02] [ 6.54745232e-02 -8.45276066e-04 9.97853883e-01 1.37685581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.92, Y:138.47, Z:137.69 [[ 8.92872271e-01 4.46534186e-01 -5.81921773e-02 2.67918164e+02] [-4.45524695e-01 8.94766141e-01 3.00216280e-02 1.38466050e+02] [ 6.54740731e-02 -8.79427104e-04 9.97853883e-01 1.37690960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.97, Y:138.44, Z:137.69 [[ 8.92897999e-01 4.46482402e-01 -5.81947405e-02 2.67971011e+02] [-4.45473125e-01 8.94791984e-01 3.00166586e-02 1.38439502e+02] [ 6.54740971e-02 -8.77621447e-04 9.97853883e-01 1.37694447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.02, Y:138.41, Z:137.70 [[ 8.93355410e-01 4.45566399e-01 -5.81953282e-02 2.68023091e+02] [-4.44555255e-01 8.95248398e-01 3.00155192e-02 1.38412551e+02] [ 6.54731811e-02 -9.43487475e-04 9.97853883e-01 1.37699161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.08, Y:138.39, Z:137.70 [[ 8.94942878e-01 4.42368994e-01 -5.81972418e-02 2.68075095e+02] [-4.41351328e-01 8.96832368e-01 3.00118083e-02 1.38385424e+02] [ 6.54694637e-02 -1.17342416e-03 9.97853883e-01 1.37703203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.13, Y:138.36, Z:137.71 [[ 8.96277733e-01 4.39657830e-01 -5.81998042e-02 2.68125595e+02] [-4.38634772e-01 8.98164309e-01 3.00068385e-02 1.38358616e+02] [ 6.54657284e-02 -1.36600335e-03 9.97853883e-01 1.37708301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.18, Y:138.33, Z:137.71 [[ 8.97337988e-01 4.37489293e-01 -5.82035518e-02 2.68177358e+02] [-4.36462147e-01 8.99222342e-01 2.99995676e-02 1.38330757e+02] [ 6.54624238e-02 -1.51610448e-03 9.97853883e-01 1.37711673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.722755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:268.23, Y:138.30, Z:137.72 [[ 8.98104003e-01 4.35914256e-01 -5.82061918e-02 2.68228571e+02] [-4.34884138e-01 8.99986733e-01 2.99944446e-02 1.38304043e+02] [ 6.54598064e-02 -1.62518120e-03 9.97853883e-01 1.37715321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.28, Y:138.28, Z:137.72 [[ 8.96862940e-01 4.38461532e-01 -5.82095550e-02 2.68280007e+02] [-4.37437185e-01 8.98748816e-01 2.99879162e-02 1.38276676e+02] [ 6.54643163e-02 -1.43202679e-03 9.97853883e-01 1.37718958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.33, Y:138.25, Z:137.72 [[ 8.95425188e-01 4.41389726e-01 -5.82137734e-02 2.68334441e+02] [-4.40372078e-01 8.97314688e-01 2.99797250e-02 1.38249136e+02] [ 6.54688165e-02 -1.20888047e-03 9.97853883e-01 1.37721056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.39, Y:138.22, Z:137.72 [[ 8.94849736e-01 4.42556215e-01 -5.82060768e-02 2.68387737e+02] [-4.41540060e-01 8.96740038e-01 2.99946607e-02 1.38222026e+02] [ 6.54700430e-02 -1.14039954e-03 9.97853884e-01 1.37723912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.44, Y:138.19, Z:137.73 [[ 8.94451095e-01 4.43361279e-01 -5.82066565e-02 2.68442726e+02] [-4.42346898e-01 8.96342351e-01 2.99935357e-02 1.38192520e+02] [ 6.54710636e-02 -1.08021691e-03 9.97853884e-01 1.37726971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.50, Y:138.17, Z:137.73 [[ 8.95495317e-01 4.41249641e-01 -5.81970024e-02 2.68499570e+02] [-4.40229584e-01 8.97383518e-01 3.00122561e-02 1.38166277e+02] [ 6.54679279e-02 -1.25579261e-03 9.97853884e-01 1.37726710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.55, Y:138.13, Z:137.74 [[ 8.94974027e-01 4.42307176e-01 -5.81880902e-02 2.68551316e+02] [-4.41288228e-01 8.96862825e-01 3.00295252e-02 1.38134447e+02] [ 6.54690095e-02 -1.19792591e-03 9.97853884e-01 1.37736305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.61, Y:138.11, Z:137.74 [[ 8.95549497e-01 4.41141477e-01 -5.81832898e-02 2.68605936e+02] [-4.40119467e-01 8.97436641e-01 3.00388232e-02 1.38106283e+02] [ 6.54671870e-02 -1.29365450e-03 9.97853884e-01 1.37741401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.66, Y:138.08, Z:137.75 [[ 8.96150729e-01 4.39918983e-01 -5.81821280e-02 2.68661162e+02] [-4.38894253e-01 8.98036396e-01 3.00410733e-02 1.38077176e+02] [ 6.54653070e-02 -1.38552814e-03 9.97853884e-01 1.37746597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.72, Y:138.05, Z:137.75 [[ 8.97486687e-01 4.37188276e-01 -5.81726555e-02 2.68716584e+02] [-4.36156621e-01 8.99368575e-01 3.00594052e-02 1.38049748e+02] [ 6.54602778e-02 -1.60552710e-03 9.97853884e-01 1.37749962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.77, Y:138.02, Z:137.76 [[ 8.97914553e-01 4.36309295e-01 -5.81691875e-02 2.68769402e+02] [-4.35275364e-01 8.99795191e-01 3.00661148e-02 1.38020521e+02] [ 6.54584805e-02 -1.67718770e-03 9.97853884e-01 1.37758622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.82, Y:137.99, Z:137.76 [[ 8.97551977e-01 4.37054773e-01 -5.81684954e-02 2.68823761e+02] [-4.36022318e-01 8.99433425e-01 3.00674537e-02 1.37991989e+02] [ 6.54598132e-02 -1.62434036e-03 9.97853884e-01 1.37763747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.88, Y:137.97, Z:137.77 [[ 8.96694814e-01 4.38811795e-01 -5.81602940e-02 2.68876765e+02] [-4.37781998e-01 8.98577719e-01 3.00833095e-02 1.37965992e+02] [ 6.54624553e-02 -1.51401794e-03 9.97853884e-01 1.37767736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.93, Y:137.94, Z:137.77 [[ 8.95581859e-01 4.41078581e-01 -5.81620192e-02 2.68932670e+02] [-4.40053767e-01 8.97467480e-01 3.00799736e-02 1.37938538e+02] [ 6.54661529e-02 -1.34466304e-03 9.97853884e-01 1.37769453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.99, Y:137.91, Z:137.77 [[ 8.95168955e-01 4.41917070e-01 -5.81536296e-02 2.68988702e+02] [-4.40892970e-01 8.97054964e-01 3.00961846e-02 1.37910054e+02] [ 6.54670198e-02 -1.30164368e-03 9.97853885e-01 1.37772520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.04, Y:137.88, Z:137.78 [[ 8.94901619e-01 4.42459477e-01 -5.81438222e-02 2.69044240e+02] [-4.41435290e-01 8.96787581e-01 3.01151200e-02 1.37883891e+02] [ 6.54673779e-02 -1.28333470e-03 9.97853885e-01 1.37776280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.10, Y:137.86, Z:137.78 [[ 8.95274255e-01 4.41705714e-01 -5.81383840e-02 2.69098988e+02] [-4.40679258e-01 8.97158982e-01 3.01256150e-02 1.37859803e+02] [ 6.54660297e-02 -1.35030763e-03 9.97853885e-01 1.37778560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.742755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:269.15, Y:137.83, Z:137.78 [[ 8.95960859e-01 4.40311252e-01 -5.81389731e-02 2.69152631e+02] [-4.39281937e-01 8.97844027e-01 3.01244780e-02 1.37834823e+02] [ 6.54638764e-02 -1.45095247e-03 9.97853885e-01 1.37781394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.21, Y:137.81, Z:137.78 [[ 8.96701926e-01 4.38799856e-01 -5.81407083e-02 2.69207384e+02] [-4.37767583e-01 8.98583475e-01 3.01211286e-02 1.37809924e+02] [ 6.54614266e-02 -1.55755670e-03 9.97853885e-01 1.37783020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.26, Y:137.79, Z:137.79 [[ 8.97212710e-01 4.37754354e-01 -5.81418881e-02 2.69259936e+02] [-4.36720036e-01 8.99093135e-01 3.01188513e-02 1.37786781e+02] [ 6.54596307e-02 -1.63128872e-03 9.97853885e-01 1.37785522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.31, Y:137.76, Z:137.79 [[ 8.97032128e-01 4.38123816e-01 -5.81453648e-02 2.69314502e+02] [-4.37090708e-01 8.98913217e-01 3.01121379e-02 1.37763505e+02] [ 6.54604817e-02 -1.59675647e-03 9.97853885e-01 1.37788560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.982755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:269.37, Y:137.74, Z:137.79 [[ 8.97134303e-01 4.37914241e-01 -5.81477426e-02 2.69370221e+02] [-4.36880991e-01 8.99015315e-01 3.01075456e-02 1.37740037e+02] [ 6.54602340e-02 -1.60686857e-03 9.97853885e-01 1.37786153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.42, Y:137.71, Z:137.80 [[ 8.95457913e-01 4.41331876e-01 -5.81489624e-02 2.69421623e+02] [-4.40305959e-01 8.97342933e-01 3.01051895e-02 1.37714234e+02] [ 6.54659402e-02 -1.35459550e-03 9.97853885e-01 1.37796439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.47, Y:137.69, Z:137.80 [[ 8.93926774e-01 4.44424591e-01 -5.81524431e-02 2.69474023e+02] [-4.43405633e-01 8.95815565e-01 3.00984644e-02 1.37689061e+02] [ 6.54703614e-02 -1.12070230e-03 9.97853885e-01 1.37800238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.52, Y:137.66, Z:137.80 [[ 8.92263569e-01 4.47753961e-01 -5.81559496e-02 2.69524662e+02] [-4.46742493e-01 8.94156382e-01 3.00916876e-02 1.37659205e+02] [ 6.54741859e-02 -8.68982690e-04 9.97853885e-01 1.37804063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.58, Y:137.63, Z:137.81 [[ 8.93113115e-01 4.46056703e-01 -5.81582473e-02 2.69576529e+02] [-4.45041927e-01 8.95004157e-01 3.00872462e-02 1.37632521e+02] [ 6.54724910e-02 -9.88455746e-04 9.97853885e-01 1.37808344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.63, Y:137.61, Z:137.81 [[ 8.95413132e-01 4.41421178e-01 -5.81606992e-02 2.69630537e+02] [-4.40396921e-01 8.97299056e-01 3.00825058e-02 1.37611802e+02] [ 6.54665956e-02 -1.32247789e-03 9.97853885e-01 1.37813101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.68, Y:137.59, Z:137.82 [[ 8.95914630e-01 4.40402019e-01 -5.81638827e-02 2.69682662e+02] [-4.39376016e-01 8.97799604e-01 3.00763494e-02 1.37585483e+02] [ 6.54651959e-02 -1.39002642e-03 9.97853885e-01 1.37816775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.74, Y:137.55, Z:137.82 [[ 8.95101538e-01 4.42051794e-01 -5.81674184e-02 2.69736649e+02] [-4.41029710e-01 8.96988640e-01 3.00695098e-02 1.37553481e+02] [ 6.54677943e-02 -1.26170486e-03 9.97853885e-01 1.37821330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.462755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:269.79, Y:137.53, Z:137.82 [[ 8.96884652e-01 4.38424090e-01 -5.81570147e-02 2.69791545e+02] [-4.37393071e-01 8.98766887e-01 3.00896181e-02 1.37529144e+02] [ 6.54616125e-02 -1.54944144e-03 9.97853885e-01 1.37822729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.84, Y:137.50, Z:137.82 [[ 8.97363595e-01 4.37443041e-01 -5.81563789e-02 2.69842913e+02] [-4.36409885e-01 8.99244657e-01 3.00908468e-02 1.37501458e+02] [ 6.54598446e-02 -1.62241186e-03 9.97853885e-01 1.37823948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.89, Y:137.47, Z:137.83 [[ 8.96755495e-01 4.38687951e-01 -5.81589484e-02 2.69892359e+02] [-4.37657728e-01 8.98638166e-01 3.00858799e-02 1.37473492e+02] [ 6.54621637e-02 -1.52596488e-03 9.97853885e-01 1.37828182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.94, Y:137.44, Z:137.83 [[ 8.96800449e-01 4.38595460e-01 -5.81633766e-02 2.69943727e+02] [-4.37565597e-01 8.98683316e-01 3.00773166e-02 1.37443906e+02] [ 6.54622306e-02 -1.52305839e-03 9.97853885e-01 1.37831837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.99, Y:137.41, Z:137.84 [[ 8.97126990e-01 4.37926833e-01 -5.81657396e-02 2.69994290e+02] [-4.36895863e-01 8.99009252e-01 3.00727462e-02 1.37414889e+02] [ 6.54612005e-02 -1.56670125e-03 9.97853885e-01 1.37835432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76275509600003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:270.05, Y:137.38, Z:137.84 [[ 8.97410583e-01 4.37345078e-01 -5.81681009e-02 2.70045751e+02] [-4.36313184e-01 8.99292339e-01 3.00681782e-02 1.37384252e+02] [ 6.54602972e-02 -1.60399200e-03 9.97853885e-01 1.37839778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.10, Y:137.35, Z:137.84 [[ 8.97094909e-01 4.37992075e-01 -5.81692921e-02 2.70096351e+02] [-4.36961687e-01 8.98977490e-01 3.00658735e-02 1.37354813e+02] [ 6.54614985e-02 -1.55419008e-03 9.97853885e-01 1.37843959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.15, Y:137.33, Z:137.85 [[ 8.97547516e-01 4.37063514e-01 -5.81716484e-02 2.70147590e+02] [-4.36031474e-01 8.99429192e-01 3.00613137e-02 1.37328171e+02] [ 6.54599821e-02 -1.61678779e-03 9.97853885e-01 1.37846659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.20, Y:137.30, Z:137.85 [[ 8.95146296e-01 4.41960098e-01 -5.81754305e-02 2.70197478e+02] [-4.40938828e-01 8.97033838e-01 3.00539927e-02 1.37299595e+02] [ 6.54679953e-02 -1.25091406e-03 9.97853886e-01 1.37853249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.25, Y:137.27, Z:137.86 [[ 8.93962426e-01 4.44349331e-01 -5.81794935e-02 2.70247791e+02] [-4.43333619e-01 8.95852964e-01 3.00461255e-02 1.37273325e+02] [ 6.54712474e-02 -1.06718183e-03 9.97853886e-01 1.37856656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.30, Y:137.25, Z:137.86 [[ 8.92346450e-01 4.47585108e-01 -5.81840472e-02 2.70298889e+02] [-4.46576826e-01 8.94240962e-01 3.00373046e-02 1.37245108e+02] [ 6.54748086e-02 -8.20034935e-04 9.97853886e-01 1.37860852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.122755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:270.35, Y:137.22, Z:137.86 [[ 8.90899887e-01 4.50457046e-01 -5.81879902e-02 2.70349796e+02] [-4.49455370e-01 8.92797900e-01 3.00296644e-02 1.37215566e+02] [ 6.54771893e-02 -6.00519884e-04 9.97853886e-01 1.37862682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.40, Y:137.19, Z:137.87 [[ 8.90209752e-01 4.51819156e-01 -5.81897553e-02 2.70399452e+02] [-4.50820609e-01 8.92109412e-01 3.00262436e-02 1.37187257e+02] [ 6.54780605e-02 -4.96513978e-04 9.97853886e-01 1.37867550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.45, Y:137.16, Z:137.87 [[ 8.89709565e-01 4.52802830e-01 -5.81935390e-02 2.70449300e+02] [-4.51806862e-01 8.91610579e-01 3.00189086e-02 1.37156764e+02] [ 6.54786218e-02 -4.15869865e-04 9.97853886e-01 1.37869649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.50, Y:137.13, Z:137.88 [[ 8.89840537e-01 4.52544879e-01 -5.81975127e-02 2.70503306e+02] [-4.51548865e-01 8.91741527e-01 3.00112029e-02 1.37127294e+02] [ 6.54785551e-02 -4.26164121e-04 9.97853886e-01 1.37876410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.56, Y:137.09, Z:137.88 [[ 8.89290918e-01 4.53625051e-01 -5.81891422e-02 2.70555581e+02] [-4.52630284e-01 8.91192560e-01 3.00274238e-02 1.37092257e+02] [ 6.54789223e-02 -3.64947281e-04 9.97853886e-01 1.37882839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.61, Y:137.07, Z:137.88 [[ 8.91461508e-01 4.49345750e-01 -5.81788425e-02 2.70610955e+02] [-4.48340553e-01 8.93357657e-01 3.00473665e-02 1.37065177e+02] [ 6.54761709e-02 -7.02136217e-04 9.97853886e-01 1.37884041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.67, Y:137.04, Z:137.89 [[ 8.91559451e-01 4.49152612e-01 -5.81693798e-02 2.70666931e+02] [-4.48145810e-01 8.93454749e-01 3.00656744e-02 1.37036345e+02] [ 6.54757849e-02 -7.36972360e-04 9.97853886e-01 1.37886339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.72, Y:137.01, Z:137.89 [[ 8.91150080e-01 4.49965513e-01 -5.81598801e-02 2.70721171e+02] [-4.48959242e-01 8.93045659e-01 3.00840399e-02 1.37009574e+02] [ 6.54762089e-02 -6.97978922e-04 9.97853887e-01 1.37889950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.77, Y:136.98, Z:137.89 [[ 8.91158602e-01 4.49948711e-01 -5.81592981e-02 2.70774077e+02] [-4.48942330e-01 8.93054123e-01 3.00851649e-02 1.36982807e+02] [ 6.54761821e-02 -7.00482652e-04 9.97853887e-01 1.37893101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.83, Y:136.96, Z:137.89 [[ 8.91838510e-01 4.48599413e-01 -5.81604581e-02 2.70827140e+02] [-4.47590311e-01 8.93732584e-01 3.00829223e-02 1.36956243e+02] [ 6.54750778e-02 -7.97051127e-04 9.97853887e-01 1.37893451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.88, Y:136.93, Z:137.90 [[ 8.92025890e-01 4.48226360e-01 -5.81630634e-02 2.70877719e+02] [-4.47216794e-01 8.93919717e-01 3.00778843e-02 1.36929824e+02] [ 6.54748097e-02 -8.18752833e-04 9.97853887e-01 1.37896827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.93, Y:136.90, Z:137.90 [[ 8.91814653e-01 4.48645911e-01 -5.81676219e-02 2.70928620e+02] [-4.47637811e-01 8.93709260e-01 3.00690659e-02 1.36903543e+02] [ 6.54753058e-02 -7.78006627e-04 9.97853887e-01 1.37902333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.98, Y:136.88, Z:137.91 [[ 8.92514240e-01 4.47252169e-01 -5.81706932e-02 2.70981587e+02] [-4.46241498e-01 8.94407477e-01 3.00631233e-02 1.36876271e+02] [ 6.54741000e-02 -8.73588366e-04 9.97853887e-01 1.37907100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.04, Y:136.85, Z:137.91 [[ 8.93755119e-01 4.44767159e-01 -5.81718325e-02 2.71037328e+02] [-4.43751368e-01 8.95645613e-01 3.00609184e-02 1.36846590e+02] [ 6.54714559e-02 -1.05326947e-03 9.97853887e-01 1.37912566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.09, Y:136.82, Z:137.92 [[ 8.94772027e-01 4.42719081e-01 -5.81621474e-02 2.71092959e+02] [-4.41697746e-01 8.96659532e-01 3.00796458e-02 1.36817615e+02] [ 6.54684770e-02 -1.22433625e-03 9.97853887e-01 1.37917746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.15, Y:136.79, Z:137.92 [[ 8.95549044e-01 4.41146461e-01 -5.81524737e-02 2.71148032e+02] [-4.40120598e-01 8.97434092e-01 3.00983361e-02 1.36789538e+02] [ 6.54657869e-02 -1.36043459e-03 9.97853887e-01 1.37922912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.20, Y:136.76, Z:137.93 [[ 8.94725854e-01 4.42814830e-01 -5.81435542e-02 2.71203066e+02] [-4.41791364e-01 8.96612204e-01 3.01155567e-02 1.36758955e+02] [ 6.54678355e-02 -1.25784707e-03 9.97853887e-01 1.37926949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.26, Y:136.73, Z:137.93 [[ 8.94619772e-01 4.43030382e-01 -5.81338542e-02 2.71259085e+02] [-4.42006154e-01 8.96505708e-01 3.01342697e-02 1.36731843e+02] [ 6.54677292e-02 -1.26319215e-03 9.97853888e-01 1.37930243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.31, Y:136.70, Z:137.93 [[ 8.92941067e-01 4.46405359e-01 -5.81249217e-02 2.71313684e+02] [-4.45387139e-01 8.94830254e-01 3.01514894e-02 1.36704200e+02] [ 6.54717249e-02 -1.03541050e-03 9.97853888e-01 1.37933220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.37, Y:136.68, Z:137.94 [[ 8.91696243e-01 4.48886890e-01 -5.81237422e-02 2.71367519e+02] [-4.47873780e-01 8.93588176e-01 3.01537631e-02 1.36677653e+02] [ 6.54743177e-02 -8.55897094e-04 9.97853888e-01 1.37936550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.42, Y:136.65, Z:137.94 [[ 8.91080103e-01 4.50108743e-01 -5.81237422e-02 2.71423537e+02] [-4.49098227e-01 8.92973422e-01 3.01537631e-02 1.36648396e+02] [ 6.54754294e-02 -7.66148725e-04 9.97853888e-01 1.37941189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.48, Y:136.62, Z:137.94 [[ 8.91022464e-01 4.50224078e-01 -5.81140958e-02 2.71476955e+02] [-4.49212596e-01 8.92915267e-01 3.01723428e-02 1.36619974e+02] [ 6.54752785e-02 -7.78651485e-04 9.97853888e-01 1.37944996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.53, Y:136.59, Z:137.95 [[ 8.91049769e-01 4.50170111e-01 -5.81135046e-02 2.71531061e+02] [-4.49158440e-01 8.92942471e-01 3.01734814e-02 1.36592378e+02] [ 6.54752159e-02 -7.83902534e-04 9.97853888e-01 1.37949857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.58, Y:136.57, Z:137.95 [[ 8.90877327e-01 4.50511275e-01 -5.81135046e-02 2.71583104e+02] [-4.49500329e-01 8.92770416e-01 3.01734814e-02 1.36566822e+02] [ 6.54755112e-02 -7.58831018e-04 9.97853888e-01 1.37952646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.63, Y:136.54, Z:137.96 [[ 8.91271360e-01 4.49730797e-01 -5.81168959e-02 2.71634671e+02] [-4.48718620e-01 8.93163790e-01 3.01669480e-02 1.36542139e+02] [ 6.54749126e-02 -8.08803393e-04 9.97853888e-01 1.37957748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.69, Y:136.51, Z:137.96 [[ 8.91114053e-01 4.50041798e-01 -5.81216459e-02 2.71691084e+02] [-4.49030877e-01 8.93007155e-01 3.01577935e-02 1.36513648e+02] [ 6.54753133e-02 -7.75619948e-04 9.97853888e-01 1.37962400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.74, Y:136.49, Z:137.97 [[ 8.91723085e-01 4.48835122e-01 -5.81117260e-02 2.71744173e+02] [-4.47820395e-01 8.93614150e-01 3.01768964e-02 1.36489897e+02] [ 6.54739116e-02 -8.85819005e-04 9.97853888e-01 1.37965424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.80, Y:136.47, Z:137.97 [[ 8.92759072e-01 4.46770498e-01 -5.81150759e-02 2.71796343e+02] [-4.45751818e-01 8.94648010e-01 3.01704437e-02 1.36465251e+02] [ 6.54718012e-02 -1.03003653e-03 9.97853888e-01 1.37971277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.85, Y:136.44, Z:137.98 [[ 8.93275302e-01 4.45737013e-01 -5.81184121e-02 2.71850577e+02] [-4.44716565e-01 8.95163286e-01 3.01640157e-02 1.36438170e+02] [ 6.54706870e-02 -1.09854968e-03 9.97853888e-01 1.37975489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.91, Y:136.41, Z:137.98 [[ 8.94805982e-01 4.42656192e-01 -5.81184121e-02 2.71905322e+02] [-4.41629245e-01 8.96690438e-01 3.01640157e-02 1.36413580e+02] [ 6.54665128e-02 -1.32415125e-03 9.97853888e-01 1.37980301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.96, Y:136.39, Z:137.98 [[ 8.95774821e-01 4.40692164e-01 -5.81195823e-02 2.71958239e+02] [-4.39661232e-01 8.97657100e-01 3.01617608e-02 1.36390380e+02] [ 6.54635074e-02 -1.46521869e-03 9.97853888e-01 1.37983874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.01, Y:136.37, Z:137.99 [[ 8.95744456e-01 4.40753473e-01 -5.81226768e-02 2.72012113e+02] [-4.39723056e-01 8.97627017e-01 3.01557965e-02 1.36367437e+02] [ 6.54637570e-02 -1.45400643e-03 9.97853888e-01 1.37987908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.07, Y:136.34, Z:137.99 [[ 8.95095928e-01 4.42068729e-01 -5.81250297e-02 2.72066628e+02] [-4.41041372e-01 8.96980161e-01 3.01512606e-02 1.36344063e+02] [ 6.54659279e-02 -1.35272772e-03 9.97853888e-01 1.37990772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.12, Y:136.32, Z:138.00 [[ 8.95642293e-01 4.40960474e-01 -5.81269633e-02 2.72120040e+02] [-4.39931028e-01 8.97525385e-01 3.01475324e-02 1.36320141e+02] [ 6.54642953e-02 -1.42955030e-03 9.97853888e-01 1.37995759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.162755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:272.17, Y:136.30, Z:138.00 [[ 8.95400338e-01 4.41451222e-01 -5.81296301e-02 2.72173095e+02] [-4.40423142e-01 8.97284176e-01 3.01423895e-02 1.36298773e+02] [ 6.54651919e-02 -1.38787147e-03 9.97853888e-01 1.38000950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.23, Y:136.28, Z:138.00 [[ 8.96478658e-01 4.39256326e-01 -5.81368737e-02 2.72228779e+02] [-4.38224540e-01 8.98360469e-01 3.01284120e-02 1.36279477e+02] [ 6.54619647e-02 -1.53247367e-03 9.97853888e-01 1.38002997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.28, Y:136.26, Z:138.01 [[ 8.97857106e-01 4.36430400e-01 -5.81474271e-02 2.72282492e+02] [-4.35394011e-01 8.99736385e-01 3.01080304e-02 1.36259159e+02] [ 6.54574156e-02 -1.71566749e-03 9.97853889e-01 1.38006620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.34, Y:136.24, Z:138.01 [[ 8.99255373e-01 4.33541443e-01 -5.81514616e-02 2.72336271e+02] [-4.32499519e-01 9.01131589e-01 3.01002360e-02 1.36236424e+02] [ 6.54518188e-02 -1.91731972e-03 9.97853889e-01 1.38011019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.39, Y:136.22, Z:138.02 [[ 9.00968864e-01 4.29968703e-01 -5.81551484e-02 2.72391876e+02] [-4.28919800e-01 9.02841188e-01 3.00931112e-02 1.36217057e+02] [ 6.54439592e-02 -2.16906160e-03 9.97853889e-01 1.38015065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.45, Y:136.20, Z:138.02 [[ 9.01146961e-01 4.29593968e-01 -5.81650891e-02 2.72447318e+02] [-4.28545526e-01 9.03019542e-01 3.00738852e-02 1.36198498e+02] [ 6.54437718e-02 -2.17460153e-03 9.97853889e-01 1.38019814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.522755096 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:272.50, Y:136.18, Z:138.02 [[ 9.00747559e-01 4.30429452e-01 -5.81749180e-02 2.72501911e+02] [-4.29383974e-01 9.02621797e-01 3.00548601e-02 1.36177029e+02] [ 6.54464460e-02 -2.09246443e-03 9.97853889e-01 1.38023718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.56, Y:136.16, Z:138.03 [[ 8.99385220e-01 4.33267497e-01 -5.81850728e-02 2.72555914e+02] [-4.32229205e-01 9.01263448e-01 3.00351881e-02 1.36157960e+02] [ 6.54533501e-02 -1.86391644e-03 9.97853890e-01 1.38026135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.61, Y:136.14, Z:138.03 [[ 8.98019562e-01 4.36090421e-01 -5.81894328e-02 2.72609384e+02] [-4.35058581e-01 8.99901342e-01 3.00267387e-02 1.36138353e+02] [ 6.54591218e-02 -1.64878665e-03 9.97853890e-01 1.38029716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.66, Y:136.12, Z:138.03 [[ 8.97439393e-01 4.37282553e-01 -5.81936841e-02 2.72664018e+02] [-4.36253747e-01 8.99322833e-01 3.00184972e-02 1.36117653e+02] [ 6.54614740e-02 -1.55256923e-03 9.97853890e-01 1.38034867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.72, Y:136.10, Z:138.04 [[ 8.97557529e-01 4.37038745e-01 -5.82032419e-02 2.72717251e+02] [-4.36010628e-01 8.99441346e-01 2.99999541e-02 1.36095077e+02] [ 6.54615445e-02 -1.54945266e-03 9.97853890e-01 1.38039592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.77, Y:136.07, Z:138.04 [[ 8.98054512e-01 4.36015341e-01 -5.82126740e-02 2.72771165e+02] [-4.34986264e-01 8.99937804e-01 2.99816406e-02 1.36072480e+02] [ 6.54602413e-02 -1.60343404e-03 9.97853890e-01 1.38044681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.82, Y:136.05, Z:138.05 [[ 8.98536249e-01 4.35020387e-01 -5.82226034e-02 2.72824374e+02] [-4.33990474e-01 9.00419084e-01 2.99623459e-02 1.36050464e+02] [ 6.54589745e-02 -1.65419868e-03 9.97853890e-01 1.38049591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.88, Y:136.03, Z:138.05 [[ 8.99080791e-01 4.33892424e-01 -5.82331161e-02 2.72879897e+02] [-4.32861471e-01 9.00963057e-01 2.99419001e-02 1.36029357e+02] [ 6.54574499e-02 -1.71331486e-03 9.97853891e-01 1.38046739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.93, Y:136.00, Z:138.06 [[ 8.96822937e-01 4.38539015e-01 -5.82421887e-02 2.72931567e+02] [-4.37518962e-01 8.98711131e-01 2.99242419e-02 1.36003383e+02] [ 6.54658509e-02 -1.35468454e-03 9.97853891e-01 1.38055115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.98, Y:135.98, Z:138.06 [[ 8.95192059e-01 4.41857966e-01 -5.82470240e-02 2.72984057e+02] [-4.40845527e-01 8.97084346e-01 2.99148271e-02 1.35977978e+02] [ 6.54705981e-02 -1.10157567e-03 9.97853891e-01 1.38058466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.04, Y:135.96, Z:138.07 [[ 8.94238566e-01 4.43783333e-01 -5.82558125e-02 2.73036780e+02] [-4.42776084e-01 8.96133621e-01 2.98977027e-02 1.35955051e+02] [ 6.54730944e-02 -9.41398283e-04 9.97853891e-01 1.38067446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.09, Y:135.93, Z:138.06 [[ 8.93009393e-01 4.46251153e-01 -5.82591868e-02 2.73089284e+02] [-4.45249569e-01 8.94907449e-01 2.98911261e-02 1.35930032e+02] [ 6.54755297e-02 -7.53178547e-04 9.97853891e-01 1.38064681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.14, Y:135.90, Z:138.07 [[ 8.92192953e-01 4.47880659e-01 -5.82636233e-02 2.73139203e+02] [-4.46883107e-01 8.94093130e-01 2.98824759e-02 1.35901875e+02] [ 6.54768884e-02 -6.23905384e-04 9.97853891e-01 1.38072221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.19, Y:135.88, Z:138.07 [[ 8.91892132e-01 4.48478120e-01 -5.82735043e-02 2.73191517e+02] [-4.47483101e-01 8.93793636e-01 2.98631948e-02 1.35875664e+02] [ 6.54774767e-02 -5.58340052e-04 9.97853891e-01 1.38074657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.362755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:273.24, Y:135.85, Z:138.08 [[ 8.91464252e-01 4.49326869e-01 -5.82825208e-02 2.73241982e+02] [-4.48334811e-01 8.93367303e-01 2.98455874e-02 1.35846217e+02] [ 6.54781227e-02 -4.76191296e-04 9.97853891e-01 1.38083064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.29, Y:135.82, Z:138.09 [[ 8.91076979e-01 4.50093263e-01 -5.82912730e-02 2.73291494e+02] [-4.49103961e-01 8.92981464e-01 2.98284838e-02 1.35816669e+02] [ 6.54786258e-02 -4.00633636e-04 9.97853892e-01 1.38090488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.482755096 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:273.34, Y:135.79, Z:138.09 [[ 8.93370689e-01 4.45521804e-01 -5.83020939e-02 2.73344344e+02] [-4.44524138e-01 8.95270805e-01 2.98073185e-02 1.35789640e+02] [ 6.54759728e-02 -7.12296658e-04 9.97853892e-01 1.38088928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.542755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:273.39, Y:135.76, Z:138.09 [[ 8.95213299e-01 4.41806392e-01 -5.83117496e-02 2.73394929e+02] [-4.40802071e-01 8.97109906e-01 2.97884171e-02 1.35761442e+02] [ 6.54727613e-02 -9.63047120e-04 9.97853892e-01 1.38091617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.45, Y:135.73, Z:138.10 [[ 8.97507915e-01 4.37125734e-01 -5.83149639e-02 2.73445652e+02] [-4.36111931e-01 8.99399471e-01 2.97821233e-02 1.35730912e+02] [ 6.54669802e-02 -1.29783988e-03 9.97853892e-01 1.38095283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.662755096 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:273.49, Y:135.70, Z:138.09 [[ 8.99410717e-01 4.33195917e-01 -5.83237418e-02 2.73494992e+02] [-4.32174965e-01 9.01298424e-01 2.97649232e-02 1.35699586e+02] [ 6.54611398e-02 -1.56482983e-03 9.97853892e-01 1.38094321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.54, Y:135.67, Z:138.11 [[ 8.99417891e-01 4.33179508e-01 -5.83349995e-02 2.73544809e+02] [-4.32159952e-01 9.01306351e-01 2.97428434e-02 1.35671525e+02] [ 6.54616958e-02 -1.54119484e-03 9.97853893e-01 1.38107597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.60, Y:135.64, Z:138.11 [[ 8.99806662e-01 4.32370672e-01 -5.83401556e-02 2.73595434e+02] [-4.31350074e-01 9.01694559e-01 2.97327264e-02 1.35641954e+02] [ 6.54605598e-02 -1.58867489e-03 9.97853893e-01 1.38106908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.65, Y:135.61, Z:138.11 [[ 8.98706523e-01 4.34651580e-01 -5.83488629e-02 2.73645008e+02] [-4.33636883e-01 9.00597599e-01 2.97156290e-02 1.35614096e+02] [ 6.54647909e-02 -1.40341061e-03 9.97853893e-01 1.38110250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.902755096 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:273.70, Y:135.59, Z:138.11 [[ 8.97737835e-01 4.36647424e-01 -5.83592968e-02 2.73695541e+02] [-4.35638265e-01 8.99631870e-01 2.96951234e-02 1.35585601e+02] [ 6.54681825e-02 -1.23489299e-03 9.97853893e-01 1.38113171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.75, Y:135.56, Z:138.12 [[ 8.96222450e-01 4.39747921e-01 -5.83702588e-02 2.73747276e+02] [-4.38746718e-01 8.98120703e-01 2.96735604e-02 1.35557460e+02] [ 6.54724244e-02 -9.84351576e-04 9.97853893e-01 1.38115830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.80, Y:135.53, Z:138.12 [[ 8.95327369e-01 4.41566785e-01 -5.83753117e-02 2.73795199e+02] [-4.40570087e-01 8.97227991e-01 2.96636167e-02 1.35525541e+02] [ 6.54744315e-02 -8.40231714e-04 9.97853894e-01 1.38124442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.082755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:273.84, Y:135.50, Z:138.13 [[ 8.95320950e-01 4.41579157e-01 -5.83801685e-02 2.73844955e+02] [-4.40583109e-01 8.97221913e-01 2.96540552e-02 1.35496091e+02] [ 6.54745791e-02 -8.28580749e-04 9.97853894e-01 1.38129838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.89, Y:135.47, Z:138.13 [[ 8.95818310e-01 4.40567980e-01 -5.83901628e-02 2.73894666e+02] [-4.39571069e-01 8.97718820e-01 2.96343629e-02 1.35465153e+02] [ 6.54738994e-02 -8.80378634e-04 9.97853894e-01 1.38134333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.20275509600003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:273.94, Y:135.43, Z:138.14 [[ 8.95892157e-01 4.40416467e-01 -5.84001636e-02 2.73943645e+02] [-4.39420520e-01 8.97793172e-01 2.96146414e-02 1.35432717e+02] [ 6.54740438e-02 -8.69294723e-04 9.97853894e-01 1.38138348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.99, Y:135.40, Z:138.14 [[ 8.96833722e-01 4.38494549e-01 -5.84106675e-02 2.73991572e+02] [-4.37495878e-01 8.98733307e-01 2.95939095e-02 1.35399342e+02] [ 6.54723803e-02 -9.86389733e-04 9.97853894e-01 1.38141056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.04, Y:135.37, Z:138.14 [[ 8.97409850e-01 4.37312818e-01 -5.84214066e-02 2.74040849e+02] [-4.36313026e-01 8.99308845e-01 2.95726942e-02 1.35368087e+02] [ 6.54714059e-02 -1.04880638e-03 9.97853895e-01 1.38144168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.09, Y:135.34, Z:138.15 [[ 8.97052057e-01 4.38044907e-01 -5.84317244e-02 2.74090901e+02] [-4.37047993e-01 8.98952565e-01 2.95522935e-02 1.35338435e+02] [ 6.54725802e-02 -9.72477763e-04 9.97853895e-01 1.38146409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.14, Y:135.31, Z:138.15 [[ 8.95490642e-01 4.41227644e-01 -5.84352242e-02 2.74141392e+02] [-4.40237937e-01 8.97394913e-01 2.95453714e-02 1.35305251e+02] [ 6.54757076e-02 -7.32201089e-04 9.97853895e-01 1.38151890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.19, Y:135.27, Z:138.16 [[ 8.92761194e-01 4.46724496e-01 -5.84352242e-02 2.74190388e+02] [-4.45746514e-01 8.94671513e-01 2.95453714e-02 1.35270906e+02] [ 6.54789716e-02 -3.29663558e-04 9.97853895e-01 1.38156531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.24, Y:135.24, Z:138.16 [[ 8.91987513e-01 4.48267251e-01 -5.84358540e-02 2.74240876e+02] [-4.47292655e-01 8.93899561e-01 2.95441259e-02 1.35240388e+02] [ 6.54794483e-02 -2.15063142e-04 9.97853895e-01 1.38155354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.29, Y:135.21, Z:138.16 [[ 8.92459971e-01 4.47325587e-01 -5.84381751e-02 2.74291540e+02] [-4.46349274e-01 8.94371143e-01 2.95395341e-02 1.35209141e+02] [ 6.54792068e-02 -2.79014703e-04 9.97853895e-01 1.38162622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.34, Y:135.17, Z:138.17 [[ 8.92884445e-01 4.46477557e-01 -5.84393695e-02 2.74342540e+02] [-4.45499584e-01 8.94794768e-01 2.95371710e-02 1.35173802e+02] [ 6.54789260e-02 -3.38565747e-04 9.97853895e-01 1.38166515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.40, Y:135.14, Z:138.17 [[ 8.92915840e-01 4.46414922e-01 -5.84381736e-02 2.74395258e+02] [-4.45436659e-01 8.94826016e-01 2.95395367e-02 1.35138957e+02] [ 6.54788880e-02 -3.45815403e-04 9.97853895e-01 1.38170748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.45, Y:135.10, Z:138.18 [[ 8.93238400e-01 4.45770420e-01 -5.84285257e-02 2.74447694e+02] [-4.44789533e-01 8.95147228e-01 2.95586078e-02 1.35103519e+02] [ 6.54784859e-02 -4.14486902e-04 9.97853895e-01 1.38179030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.50, Y:135.07, Z:138.18 [[ 8.94342539e-01 4.43552304e-01 -5.84189729e-02 2.74499660e+02] [-4.42565450e-01 8.96248289e-01 2.95774757e-02 1.35073443e+02] [ 6.54770620e-02 -5.98175702e-04 9.97853895e-01 1.38182125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.55, Y:135.04, Z:138.19 [[ 8.94138700e-01 4.43963072e-01 -5.84189729e-02 2.74554453e+02] [-4.42977093e-01 8.96044903e-01 2.95774757e-02 1.35044690e+02] [ 6.54773299e-02 -5.68098871e-04 9.97853895e-01 1.38187294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.61, Y:135.02, Z:138.19 [[ 8.94635999e-01 4.42961368e-01 -5.84093890e-02 2.74609865e+02] [-4.41972020e-01 8.96540455e-01 2.95963899e-02 1.35018548e+02] [ 6.54764375e-02 -6.62680244e-04 9.97853896e-01 1.38190932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.66, Y:134.99, Z:138.20 [[ 8.94001380e-01 4.44241832e-01 -5.84014332e-02 2.74661184e+02] [-4.43254186e-01 8.95906720e-01 2.96120804e-02 1.34992315e+02] [ 6.54771613e-02 -5.86560983e-04 9.97853896e-01 1.38199728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.72, Y:134.97, Z:138.20 [[ 8.94181578e-01 4.43878693e-01 -5.84038588e-02 2.74715594e+02] [-4.42890586e-01 8.96086679e-01 2.96072956e-02 1.34968471e+02] [ 6.54769676e-02 -6.07779003e-04 9.97853896e-01 1.38199930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.77, Y:134.94, Z:138.20 [[ 8.93391351e-01 4.45466717e-01 -5.84063213e-02 2.74770278e+02] [-4.44482315e-01 8.95298368e-01 2.96024370e-02 1.34938053e+02] [ 6.54779846e-02 -4.85984294e-04 9.97853896e-01 1.38201581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.83, Y:134.91, Z:138.21 [[ 8.93795248e-01 4.44657032e-01 -5.83967286e-02 2.74826550e+02] [-4.43669666e-01 8.95700733e-01 2.96213485e-02 1.34913363e+02] [ 6.54773335e-02 -5.66563488e-04 9.97853896e-01 1.38206426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.88, Y:134.88, Z:138.21 [[ 8.92113112e-01 4.48023496e-01 -5.83878569e-02 2.74878954e+02] [-4.47042177e-01 8.94021718e-01 2.96388257e-02 1.34884689e+02] [ 6.54789024e-02 -3.39350435e-04 9.97853896e-01 1.38210256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.93, Y:134.86, Z:138.21 [[ 8.94096198e-01 4.44052603e-01 -5.83889873e-02 2.74933521e+02] [-4.43062954e-01 8.96000497e-01 2.96365986e-02 1.34863238e+02] [ 6.54767704e-02 -6.27972921e-04 9.97853896e-01 1.38210393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.99, Y:134.84, Z:138.22 [[ 8.95786470e-01 4.40632501e-01 -5.83917728e-02 2.74988964e+02] [-4.39635939e-01 8.97687161e-01 2.96311095e-02 1.34836959e+02] [ 6.54739746e-02 -8.72025106e-04 9.97853896e-01 1.38219908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.04, Y:134.80, Z:138.23 [[ 8.95846689e-01 4.40511176e-01 -5.83833439e-02 2.75041025e+02] [-4.39513274e-01 8.97746676e-01 2.96477079e-02 1.34804230e+02] [ 6.54735996e-02 -8.99546258e-04 9.97853896e-01 1.38225252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.10, Y:134.78, Z:138.23 [[ 8.99844639e-01 4.32286999e-01 -5.83744491e-02 2.75097397e+02] [-4.31270601e-01 9.01734797e-01 2.96652109e-02 1.34777380e+02] [ 6.54621570e-02 -1.51889726e-03 9.97853897e-01 1.38228121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.582755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:275.15, Y:134.75, Z:138.24 [[ 8.99402443e-01 4.33207546e-01 -5.83649523e-02 2.75150717e+02] [-4.32191872e-01 9.01292990e-01 2.96838837e-02 1.34745848e+02] [ 6.54632048e-02 -1.47289958e-03 9.97853897e-01 1.38235246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.64275509600003 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:275.21, Y:134.72, Z:138.24 [[ 8.98518833e-01 4.35038391e-01 -5.83567106e-02 2.75206009e+02] [-4.34025518e-01 9.00410881e-01 2.97000776e-02 1.34718082e+02] [ 6.54656912e-02 -1.35777751e-03 9.97853897e-01 1.38238845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.26, Y:134.69, Z:138.24 [[ 8.97780293e-01 4.36561607e-01 -5.83481651e-02 2.75263414e+02] [-4.35550855e-01 8.99673475e-01 2.97168564e-02 1.34694974e+02] [ 6.54675351e-02 -1.26561492e-03 9.97853897e-01 1.38238016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.31, Y:134.67, Z:138.24 [[ 8.96150276e-01 4.39898950e-01 -5.83403597e-02 2.75314353e+02] [-4.38894251e-01 8.98046677e-01 2.97321723e-02 1.34670301e+02] [ 6.54715175e-02 -1.03924591e-03 9.97853897e-01 1.38239349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.37, Y:134.64, Z:138.24 [[ 8.94217793e-01 4.43813614e-01 -5.83439418e-02 2.75366761e+02] [-4.42817677e-01 8.96118810e-01 2.97251414e-02 1.34644685e+02] [ 6.54755261e-02 -7.45021585e-04 9.97853897e-01 1.38242989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.42, Y:134.62, Z:138.25 [[ 8.93528025e-01 4.45200372e-01 -5.83463581e-02 2.75420286e+02] [-4.44207695e-01 8.95430746e-01 2.97203978e-02 1.34620056e+02] [ 6.54766551e-02 -6.38107072e-04 9.97853897e-01 1.38248776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.47, Y:134.59, Z:138.25 [[ 8.92986462e-01 4.46285416e-01 -5.83481540e-02 2.75471889e+02] [-4.45295281e-01 8.94890507e-01 2.97168716e-02 1.34592921e+02] [ 6.54774155e-02 -5.54606362e-04 9.97853897e-01 1.38253376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.53, Y:134.56, Z:138.26 [[ 8.92572710e-01 4.47111860e-01 -5.83518849e-02 2.75526741e+02] [-4.46123967e-01 8.94477920e-01 2.97095437e-02 1.34562912e+02] [ 6.54779620e-02 -4.85753541e-04 9.97853897e-01 1.38259347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.58, Y:134.54, Z:138.26 [[ 8.94227394e-01 4.43794542e-01 -5.83418610e-02 2.75582519e+02] [-4.42798298e-01 8.96128250e-01 2.97292152e-02 1.34537047e+02] [ 6.54754532e-02 -7.51001840e-04 9.97853898e-01 1.38262091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.63, Y:134.51, Z:138.26 [[ 8.95814404e-01 4.40583549e-01 -5.83325779e-02 2.75634165e+02] [-4.39579308e-01 8.97711047e-01 2.97474187e-02 1.34510552e+02] [ 6.54720228e-02 -1.00637194e-03 9.97853898e-01 1.38264625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.68, Y:134.48, Z:138.27 [[ 8.96500737e-01 4.39184815e-01 -5.83363288e-02 2.75684855e+02] [-4.38178093e-01 8.98396064e-01 2.97400611e-02 1.34483763e+02] [ 6.54705114e-02 -1.10028538e-03 9.97853898e-01 1.38269803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.74, Y:134.46, Z:138.28 [[ 8.96942774e-01 4.38280834e-01 -5.83401317e-02 2.75737891e+02] [-4.37272687e-01 8.98837344e-01 2.97325992e-02 1.34456369e+02] [ 6.54695174e-02 -1.15789387e-03 9.97853898e-01 1.38275828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.302755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:275.79, Y:134.43, Z:138.28 [[ 8.97067361e-01 4.38025624e-01 -5.83412664e-02 2.75790397e+02] [-4.37017083e-01 8.98961720e-01 2.97303726e-02 1.34430934e+02] [ 6.54692302e-02 -1.17401686e-03 9.97853898e-01 1.38279676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.84, Y:134.40, Z:138.28 [[ 8.96343002e-01 4.39505746e-01 -5.83431394e-02 2.75842328e+02] [-4.38500572e-01 8.98239151e-01 2.97266964e-02 1.34404338e+02] [ 6.54711459e-02 -1.06181631e-03 9.97853898e-01 1.38281853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.89, Y:134.38, Z:138.28 [[ 8.96218785e-01 4.39758639e-01 -5.83457734e-02 2.75893758e+02] [-4.38754336e-01 8.98115395e-01 2.97215257e-02 1.34378240e+02] [ 6.54715350e-02 -1.03752859e-03 9.97853898e-01 1.38283203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.95, Y:134.35, Z:138.29 [[ 8.95842861e-01 4.40523512e-01 -5.83489841e-02 2.75945940e+02] [-4.39521240e-01 8.97740545e-01 2.97152211e-02 1.34352048e+02] [ 6.54725024e-02 -9.74550895e-04 9.97853898e-01 1.38288392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.00, Y:134.33, Z:138.29 [[ 8.95430282e-01 4.41360970e-01 -5.83532722e-02 2.75998072e+02] [-4.40361021e-01 8.97329191e-01 2.97067981e-02 1.34326894e+02] [ 6.54735157e-02 -9.03860112e-04 9.97853898e-01 1.38292117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.05, Y:134.30, Z:138.30 [[ 8.95356385e-01 4.41510360e-01 -5.83570541e-02 2.76050491e+02] [-4.40511212e-01 8.97255716e-01 2.96993670e-02 1.34300724e+02] [ 6.54737785e-02 -8.84581269e-04 9.97853898e-01 1.38297331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.10, Y:134.28, Z:138.30 [[ 8.96340035e-01 4.39509724e-01 -5.83587615e-02 2.76101779e+02] [-4.38506555e-01 8.98237245e-01 2.96960115e-02 1.34276451e+02] [ 6.54716990e-02 -1.02702452e-03 9.97853898e-01 1.38301339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.15, Y:134.25, Z:138.31 [[ 8.93628921e-01 4.44995642e-01 -5.83629127e-02 2.76152736e+02] [-4.44004654e-01 8.95532522e-01 2.96878507e-02 1.34246286e+02] [ 6.54768506e-02 -6.16517088e-04 9.97853898e-01 1.38306676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.21, Y:134.22, Z:138.31 [[ 8.93468318e-01 4.45317668e-01 -5.83655684e-02 2.76209288e+02] [-4.44327707e-01 8.95372453e-01 2.96826287e-02 1.34219725e+02] [ 6.54771212e-02 -5.87049129e-04 9.97853898e-01 1.38307891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.26, Y:134.19, Z:138.31 [[ 8.92759434e-01 4.46738296e-01 -5.83565549e-02 2.76264219e+02] [-4.45750208e-01 8.94664542e-01 2.97003390e-02 1.34193359e+02] [ 6.54778192e-02 -5.02811352e-04 9.97853898e-01 1.38310736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.32, Y:134.17, Z:138.31 [[ 8.92210757e-01 4.47833091e-01 -5.83565549e-02 2.76316129e+02] [-4.46847340e-01 8.94117075e-01 2.97003390e-02 1.34165301e+02] [ 6.54783868e-02 -4.22490598e-04 9.97853898e-01 1.38313748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.37, Y:134.14, Z:138.32 [[ 8.92195018e-01 4.47864221e-01 -5.83582877e-02 2.76368576e+02] [-4.46878759e-01 8.94101486e-01 2.96969338e-02 1.34138393e+02] [ 6.54784258e-02 -4.16377164e-04 9.97853898e-01 1.38315804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.42, Y:134.11, Z:138.32 [[ 8.91411546e-01 4.49421266e-01 -5.83607934e-02 2.76419667e+02] [-4.48439457e-01 8.93319897e-01 2.96920087e-02 1.34112528e+02] [ 6.54790781e-02 -2.96516915e-04 9.97853898e-01 1.38318915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.47, Y:134.09, Z:138.32 [[ 8.93169750e-01 4.45916252e-01 -5.83651777e-02 2.76471709e+02] [-4.44927518e-01 8.95074522e-01 2.96833881e-02 1.34086947e+02] [ 6.54774887e-02 -5.44030703e-04 9.97853898e-01 1.38319838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.52, Y:134.06, Z:138.33 [[ 8.92689387e-01 4.46876830e-01 -5.83674331e-02 2.76523692e+02] [-4.45890436e-01 8.94595372e-01 2.96789526e-02 1.34060579e+02] [ 6.54780717e-02 -4.68605808e-04 9.97853898e-01 1.38327480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.58, Y:134.04, Z:138.33 [[ 8.92956738e-01 4.46342030e-01 -5.83699991e-02 2.76577102e+02] [-4.45354824e-01 8.94862302e-01 2.96739050e-02 1.34037563e+02] [ 6.54778228e-02 -5.02152661e-04 9.97853898e-01 1.38330479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.63, Y:134.01, Z:138.33 [[ 8.93334720e-01 4.45584501e-01 -5.83740503e-02 2.76629404e+02] [-4.44596200e-01 8.95239717e-01 2.96659335e-02 1.34013984e+02] [ 6.54774485e-02 -5.48727456e-04 9.97853898e-01 1.38333212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.68, Y:133.99, Z:138.34 [[ 8.92501064e-01 4.47251480e-01 -5.83777789e-02 2.76682131e+02] [-4.46267217e-01 8.94408150e-01 2.96585944e-02 1.33990360e+02] [ 6.54784115e-02 -4.18238155e-04 9.97853898e-01 1.38337152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.74, Y:133.97, Z:138.34 [[ 8.92842407e-01 4.46569185e-01 -5.83814943e-02 2.76737646e+02] [-4.45583943e-01 8.94748988e-01 2.96512790e-02 1.33968451e+02] [ 6.54781304e-02 -4.60062920e-04 9.97853899e-01 1.38336254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.79, Y:133.94, Z:138.34 [[ 8.92835347e-01 4.46582991e-01 -5.83838581e-02 2.76789623e+02] [-4.45598083e-01 8.94742100e-01 2.96466239e-02 1.33943268e+02] [ 6.54781738e-02 -4.53818464e-04 9.97853899e-01 1.38343396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.84, Y:133.92, Z:138.35 [[ 8.93106655e-01 4.46039751e-01 -5.83870219e-02 2.76841181e+02] [-4.45054090e-01 8.95013019e-01 2.96403917e-02 1.33917776e+02] [ 6.54779377e-02 -4.86648112e-04 9.97853899e-01 1.38347116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.89, Y:133.89, Z:138.35 [[ 8.93342071e-01 4.45567618e-01 -5.83904201e-02 2.76894322e+02] [-4.44581388e-01 8.95248141e-01 2.96336959e-02 1.33890812e+02] [ 6.54777303e-02 -5.13733310e-04 9.97853899e-01 1.38350553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.95, Y:133.87, Z:138.36 [[ 8.93893608e-01 4.44459918e-01 -5.83917758e-02 2.76946717e+02] [-4.43471500e-01 8.95798544e-01 2.96310243e-02 1.33865862e+02] [ 6.54770704e-02 -5.91894834e-04 9.97853899e-01 1.38357107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.00, Y:133.84, Z:138.36 [[ 8.93684344e-01 4.44880059e-01 -5.83954363e-02 2.76998075e+02] [-4.43893008e-01 8.95589988e-01 2.96238086e-02 1.33840804e+02] [ 6.54774098e-02 -5.53008044e-04 9.97853899e-01 1.38361536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.05, Y:133.81, Z:138.36 [[ 8.93251573e-01 4.45747860e-01 -5.83992451e-02 2.77051347e+02] [-4.44763152e-01 8.95158429e-01 2.96162981e-02 1.33814087e+02] [ 6.54779781e-02 -4.80972576e-04 9.97853899e-01 1.38364634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.10, Y:133.79, Z:138.37 [[ 8.92733441e-01 4.46784500e-01 -5.84004620e-02 2.77102728e+02] [-4.45802163e-01 8.94641520e-01 2.96138985e-02 1.33787788e+02] [ 6.54785089e-02 -4.02265237e-04 9.97853899e-01 1.38369195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.15, Y:133.76, Z:138.37 [[ 8.92769223e-01 4.46712449e-01 -5.84046352e-02 2.77154372e+02] [-4.45730496e-01 8.94677500e-01 2.96056657e-02 1.33763445e+02] [ 6.54785324e-02 -3.98300113e-04 9.97853899e-01 1.38374385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.21, Y:133.74, Z:138.38 [[ 8.93071248e-01 4.46107348e-01 -5.84121580e-02 2.77206975e+02] [-4.45125074e-01 8.94979359e-01 2.95908157e-02 1.33738399e+02] [ 6.54783560e-02 -4.25990546e-04 9.97853899e-01 1.38378174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.26, Y:133.71, Z:138.38 [[ 8.94560088e-01 4.43113974e-01 -5.84145052e-02 2.77259388e+02] [-4.42125618e-01 8.96465056e-01 2.95861814e-02 1.33714734e+02] [ 6.54766131e-02 -6.40067861e-04 9.97853899e-01 1.38381094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.31, Y:133.69, Z:138.39 [[ 8.96059338e-01 4.40073939e-01 -5.84173863e-02 2.77312283e+02] [-4.39079491e-01 8.97961132e-01 2.95804917e-02 1.33687745e+02] [ 6.54741459e-02 -8.55999555e-04 9.97853899e-01 1.38385531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.36, Y:133.66, Z:138.39 [[ 8.97823433e-01 4.36463461e-01 -5.84185849e-02 2.77363934e+02] [-4.35461519e-01 8.99721290e-01 2.95781244e-02 1.33661460e+02] [ 6.54702151e-02 -1.11688745e-03 9.97853899e-01 1.38390773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.42, Y:133.64, Z:138.39 [[ 8.98748015e-01 4.34556014e-01 -5.84215367e-02 2.77417201e+02] [-4.33550423e-01 9.00643942e-01 2.95722930e-02 1.33635950e+02] [ 6.54678209e-02 -1.24935769e-03 9.97853899e-01 1.38391367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.47, Y:133.61, Z:138.40 [[ 8.98992004e-01 4.34050731e-01 -5.84237947e-02 2.77468031e+02] [-4.33044365e-01 9.00887519e-01 2.95678313e-02 1.33608989e+02] [ 6.54672063e-02 -1.28114888e-03 9.97853899e-01 1.38397473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.52, Y:133.58, Z:138.40 [[ 8.98354562e-01 4.35368139e-01 -5.84265749e-02 2.77520977e+02] [-4.34364910e-01 9.00251739e-01 2.95623365e-02 1.33582138e+02] [ 6.54691251e-02 -1.17900592e-03 9.97853899e-01 1.38400613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.57, Y:133.56, Z:138.40 [[ 8.98253622e-01 4.35576199e-01 -5.84277751e-02 2.77573129e+02] [-4.34573564e-01 9.00151113e-01 2.95599643e-02 1.33556003e+02] [ 6.54694437e-02 -1.16117861e-03 9.97853899e-01 1.38399828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.62, Y:133.53, Z:138.41 [[ 8.97650462e-01 4.36817403e-01 -5.84311979e-02 2.77622864e+02] [-4.35817831e-01 8.99549569e-01 2.95531970e-02 1.33529120e+02] [ 6.54711096e-02 -1.06308300e-03 9.97853899e-01 1.38406565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.68, Y:133.50, Z:138.41 [[ 8.97479220e-01 4.37168484e-01 -5.84359994e-02 2.77675182e+02] [-4.36170274e-01 8.99379043e-01 2.95436998e-02 1.33503072e+02] [ 6.54716876e-02 -1.02681082e-03 9.97853899e-01 1.38409640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.73, Y:133.48, Z:138.41 [[ 8.97058905e-01 4.38030004e-01 -5.84383218e-02 2.77727957e+02] [-4.37033917e-01 8.98959841e-01 2.95391053e-02 1.33477993e+02] [ 6.54727189e-02 -9.58788803e-04 9.97853899e-01 1.38412877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.78, Y:133.45, Z:138.42 [[ 8.97280840e-01 4.37574739e-01 -5.84417804e-02 2.77779798e+02] [-4.36578133e-01 8.99181505e-01 2.95322610e-02 1.33452116e+02] [ 6.54723395e-02 -9.84328574e-04 9.97853899e-01 1.38415503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.83, Y:133.43, Z:138.42 [[ 8.97144641e-01 4.37853597e-01 -5.84441612e-02 2.77830992e+02] [-4.36857889e-01 8.99045777e-01 2.95275487e-02 1.33425641e+02] [ 6.54727197e-02 -9.58689213e-04 9.97853899e-01 1.38420917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.88, Y:133.40, Z:138.42 [[ 8.97775039e-01 4.36559177e-01 -5.84471051e-02 2.77882940e+02] [-4.35561107e-01 8.99674936e-01 2.95217203e-02 1.33399549e+02] [ 6.54713735e-02 -1.04657775e-03 9.97853899e-01 1.38422765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.93, Y:133.37, Z:138.43 [[ 8.97546016e-01 4.37028647e-01 -5.84560613e-02 2.77934777e+02] [-4.36032726e-01 8.99447040e-01 2.95039755e-02 1.33371929e+02] [ 6.54722138e-02 -9.92419857e-04 9.97853899e-01 1.38427469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.99, Y:133.34, Z:138.43 [[ 8.97320323e-01 4.37491520e-01 -5.84586039e-02 2.77986445e+02] [-4.36496909e-01 8.99222031e-01 2.94989368e-02 1.33343640e+02] [ 6.54727992e-02 -9.52995644e-04 9.97853899e-01 1.38431826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.04, Y:133.32, Z:138.44 [[ 8.96303952e-01 4.39569695e-01 -5.84611769e-02 2.78037350e+02] [-4.38579826e-01 8.98208133e-01 2.94938367e-02 1.33315097e+02] [ 6.54749014e-02 -7.95549652e-04 9.97853899e-01 1.38435538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.09, Y:133.29, Z:138.44 [[ 8.96716369e-01 4.38727255e-01 -5.84649380e-02 2.78088117e+02] [-4.37736083e-01 8.98619873e-01 2.94863794e-02 1.33287407e+02] [ 6.54742334e-02 -8.48706128e-04 9.97853899e-01 1.38439301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.14, Y:133.26, Z:138.44 [[ 8.96817995e-01 4.38518963e-01 -5.84688235e-02 2.78138901e+02] [-4.37527851e-01 8.98721529e-01 2.94786726e-02 1.33259756e+02] [ 6.54741475e-02 -8.55265338e-04 9.97853899e-01 1.38442879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.19, Y:133.23, Z:138.45 [[ 8.96915301e-01 4.38319492e-01 -5.84719264e-02 2.78190468e+02] [-4.37328358e-01 8.98818824e-01 2.94725166e-02 1.33230644e+02] [ 6.54740467e-02 -8.62919555e-04 9.97853899e-01 1.38447171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.24, Y:133.20, Z:138.45 [[ 8.95994134e-01 4.40199136e-01 -5.84741977e-02 2.78241417e+02] [-4.39212289e-01 8.97899884e-01 2.94680097e-02 1.33200066e+02] [ 6.54757677e-02 -7.20577588e-04 9.97853899e-01 1.38449958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.29, Y:133.17, Z:138.45 [[ 8.97205442e-01 4.37724654e-01 -5.84766721e-02 2.78292717e+02] [-4.36732872e-01 8.99108628e-01 2.94630986e-02 1.33173328e+02] [ 6.54736051e-02 -8.95767447e-04 9.97853899e-01 1.38454916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.34, Y:133.14, Z:138.46 [[ 8.97516856e-01 4.37085358e-01 -5.84797648e-02 2.78342720e+02] [-4.36092620e-01 8.99419543e-01 2.94569588e-02 1.33144189e+02] [ 6.54730487e-02 -9.35523225e-04 9.97853899e-01 1.38458041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.39, Y:133.11, Z:138.46 [[ 8.98012746e-01 4.36065259e-01 -5.84824563e-02 2.78394841e+02] [-4.35070708e-01 8.99914486e-01 2.94516144e-02 1.33114326e+02] [ 6.54720354e-02 -1.00392150e-03 9.97853899e-01 1.38461663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.45, Y:133.09, Z:138.47 [[ 8.98465360e-01 4.35131933e-01 -5.84824563e-02 2.78446479e+02] [-4.34135406e-01 9.00366065e-01 2.94516144e-02 1.33085593e+02] [ 6.54709569e-02 -1.07195043e-03 9.97853899e-01 1.38465061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.50, Y:133.06, Z:138.47 [[ 8.98430556e-01 4.35203616e-01 -5.84837504e-02 2.78498935e+02] [-4.34207408e-01 9.00331428e-01 2.94490443e-02 1.33055877e+02] [ 6.54710891e-02 -1.06384355e-03 9.97853900e-01 1.38468770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.55, Y:133.02, Z:138.47 [[ 8.96385341e-01 4.39400696e-01 -5.84837504e-02 2.78553301e+02] [-4.38413389e-01 8.98290852e-01 2.94490443e-02 1.33024408e+02] [ 6.54753485e-02 -7.57632389e-04 9.97853900e-01 1.38473381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.61, Y:133.00, Z:138.48 [[ 8.95008899e-01 4.42198909e-01 -5.84738935e-02 2.78609370e+02] [-4.41216282e-01 8.96916827e-01 2.94686031e-02 1.32998021e+02] [ 6.54772032e-02 -5.75028159e-04 9.97853900e-01 1.38477471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.67, Y:132.97, Z:138.48 [[ 8.93522865e-01 4.45195202e-01 -5.84647132e-02 2.78665696e+02] [-4.44217782e-01 8.95433465e-01 2.94868053e-02 1.32969744e+02] [ 6.54786450e-02 -3.76069496e-04 9.97853900e-01 1.38482118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.72, Y:132.94, Z:138.49 [[ 8.92521144e-01 4.47201291e-01 -5.84552195e-02 2.78720907e+02] [-4.46226933e-01 8.94433308e-01 2.95056140e-02 1.32941359e+02] [ 6.54792440e-02 -2.50091058e-04 9.97853900e-01 1.38487040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.77, Y:132.92, Z:138.49 [[ 8.92306228e-01 4.47631105e-01 -5.84464646e-02 2.78773137e+02] [-4.46656533e-01 8.94218283e-01 2.95229459e-02 1.32915239e+02] [ 6.54792861e-02 -2.38013210e-04 9.97853900e-01 1.38490036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.83, Y:132.89, Z:138.50 [[ 8.93156037e-01 4.45932742e-01 -5.84489827e-02 2.78825565e+02] [-4.44954861e-01 8.95066401e-01 2.95179598e-02 1.32886548e+02] [ 6.54787454e-02 -3.56984968e-04 9.97853900e-01 1.38496234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.88, Y:132.86, Z:138.50 [[ 8.95666938e-01 4.40867841e-01 -5.84489827e-02 2.78881871e+02] [-4.39879157e-01 8.97571734e-01 2.95179598e-02 1.32860383e+02] [ 6.54756740e-02 -7.27771345e-04 9.97853900e-01 1.38499913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.93, Y:132.83, Z:138.50 [[ 8.97225802e-01 4.37687825e-01 -5.84399586e-02 2.78934133e+02] [-4.36691228e-01 8.99126469e-01 2.95358152e-02 1.32833235e+02] [ 6.54723803e-02 -9.80078179e-04 9.97853901e-01 1.38502070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.99, Y:132.81, Z:138.51 [[ 8.99182357e-01 4.33653816e-01 -5.84419034e-02 2.78987645e+02] [-4.32648943e-01 9.01078662e-01 2.95319664e-02 1.32808126e+02] [ 6.54674021e-02 -1.26979539e-03 9.97853901e-01 1.38507974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.04, Y:132.78, Z:138.51 [[ 9.00603104e-01 4.30695110e-01 -5.84446018e-02 2.79044442e+02] [-4.29684354e-01 9.02496280e-01 2.95266252e-02 1.32780831e+02] [ 6.54630088e-02 -1.47903935e-03 9.97853901e-01 1.38509307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.10, Y:132.75, Z:138.51 [[ 9.00720711e-01 4.30450462e-01 -5.84345780e-02 2.79100061e+02] [-4.29437906e-01 9.02612925e-01 2.95464495e-02 1.32751077e+02] [ 6.54620882e-02 -1.51907613e-03 9.97853901e-01 1.38513689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.16, Y:132.72, Z:138.52 [[ 9.00744214e-01 4.30402630e-01 -5.84246280e-02 2.79157480e+02] [-4.29388699e-01 9.02635691e-01 2.95661115e-02 1.32724755e+02] [ 6.54614866e-02 -1.54462884e-03 9.97853901e-01 1.38516805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.21, Y:132.69, Z:138.52 [[ 8.98770024e-01 4.34511394e-01 -5.84148258e-02 2.79211259e+02] [-4.33504854e-01 9.00665444e-01 2.95854655e-02 1.32694135e+02] [ 6.54674368e-02 -1.26741902e-03 9.97853901e-01 1.38523054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.27, Y:132.66, Z:138.53 [[ 8.96047005e-01 4.40100591e-01 -5.84057859e-02 2.79265199e+02] [-4.39104712e-01 8.97948048e-01 2.96033008e-02 1.32664329e+02] [ 6.54737915e-02 -8.79693180e-04 9.97853902e-01 1.38530065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.32, Y:132.64, Z:138.53 [[ 8.96586629e-01 4.39001301e-01 -5.83975561e-02 2.79321342e+02] [-4.38002035e-01 8.98485893e-01 2.96195264e-02 1.32644044e+02] [ 6.54723910e-02 -9.78222878e-04 9.97853902e-01 1.38528067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.37, Y:132.62, Z:138.53 [[ 8.95216913e-01 4.41787398e-01 -5.84001103e-02 2.79374285e+02] [-4.40794372e-01 8.97119448e-01 2.96144897e-02 1.32617924e+02] [ 6.54751830e-02 -7.68952076e-04 9.97853902e-01 1.38533662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.43, Y:132.59, Z:138.54 [[ 8.94865289e-01 4.42498862e-01 -5.84026737e-02 2.79428509e+02] [-4.41507679e-01 8.96768784e-01 2.96094335e-02 1.32590859e+02] [ 6.54758353e-02 -7.11225347e-04 9.97853902e-01 1.38536215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.48, Y:132.56, Z:138.54 [[ 8.95182668e-01 4.41856445e-01 -5.84026737e-02 2.79479360e+02] [-4.40863895e-01 8.97085452e-01 2.96094335e-02 1.32564098e+02] [ 6.54753079e-02 -7.58221461e-04 9.97853902e-01 1.38540014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.53, Y:132.53, Z:138.55 [[ 8.94754649e-01 4.42722138e-01 -5.84057009e-02 2.79529528e+02] [-4.41731819e-01 8.96658595e-01 2.96034609e-02 1.32531707e+02] [ 6.54760812e-02 -6.88177741e-04 9.97853902e-01 1.38545881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.58, Y:132.50, Z:138.55 [[ 8.94400598e-01 4.43436818e-01 -5.84068372e-02 2.79584684e+02] [-4.42448167e-01 8.96305410e-01 2.96012190e-02 1.32502824e+02] [ 6.54766345e-02 -6.33349933e-04 9.97853902e-01 1.38553144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.64, Y:132.47, Z:138.56 [[ 8.95313968e-01 4.41591118e-01 -5.83967730e-02 2.79640195e+02] [-4.40597247e-01 8.97216060e-01 2.96210602e-02 1.32474519e+02] [ 6.54749197e-02 -7.90691534e-04 9.97853902e-01 1.38555939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.70, Y:132.45, Z:138.56 [[ 8.96169357e-01 4.39853818e-01 -5.83875185e-02 2.79695011e+02] [-4.38855072e-01 8.98068894e-01 2.96392909e-02 1.32448481e+02] [ 6.54729695e-02 -9.38165689e-04 9.97853902e-01 1.38555827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.75, Y:132.42, Z:138.56 [[ 8.95554885e-01 4.41103554e-01 -5.83875185e-02 2.79752492e+02] [-4.40107458e-01 8.97455814e-01 2.96392909e-02 1.32422610e+02] [ 6.54742145e-02 -8.46829455e-04 9.97853902e-01 1.38559655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.81, Y:132.40, Z:138.56 [[ 8.94838780e-01 4.42555738e-01 -5.83778803e-02 2.79806506e+02] [-4.41561490e-01 8.96740675e-01 2.96582624e-02 1.32396514e+02] [ 6.54752540e-02 -7.61939506e-04 9.97853902e-01 1.38561655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.86, Y:132.37, Z:138.57 [[ 8.94464783e-01 4.43311227e-01 -5.83772954e-02 2.79861791e+02] [-4.42318510e-01 8.96367478e-01 2.96594136e-02 1.32368327e+02] [ 6.54758600e-02 -7.07942662e-04 9.97853902e-01 1.38565670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.92, Y:132.34, Z:138.57 [[ 8.93437668e-01 4.45378708e-01 -5.83690019e-02 2.79915216e+02] [-4.44389329e-01 8.95342100e-01 2.96757260e-02 1.32339436e+02] [ 6.54771613e-02 -5.74849777e-04 9.97853903e-01 1.38571319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.97, Y:132.32, Z:138.58 [[ 8.94949532e-01 4.42333055e-01 -5.83678335e-02 2.79968174e+02] [-4.41337045e-01 8.96850505e-01 2.96780239e-02 1.32317034e+02] [ 6.54747919e-02 -8.00446447e-04 9.97853903e-01 1.38575798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.02, Y:132.29, Z:138.58 [[ 8.95780857e-01 4.40646674e-01 -5.83709205e-02 2.80020005e+02] [-4.39647481e-01 8.97680159e-01 2.96719512e-02 1.32291296e+02] [ 6.54732638e-02 -9.16937677e-04 9.97853903e-01 1.38579850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.162755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:280.07, Y:132.26, Z:138.58 [[ 8.97686536e-01 4.36750807e-01 -5.83747877e-02 2.80071005e+02] [-4.35743867e-01 8.99581741e-01 2.96643412e-02 1.32264176e+02] [ 6.54688181e-02 -1.19282393e-03 9.97853903e-01 1.38583761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.12, Y:132.24, Z:138.59 [[ 8.99183239e-01 4.33660599e-01 -5.83779713e-02 2.80123106e+02] [-4.32647552e-01 9.01075188e-01 2.96580747e-02 1.32237098e+02] [ 6.54644799e-02 -1.41095733e-03 9.97853903e-01 1.38588713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.18, Y:132.21, Z:138.59 [[ 8.99892265e-01 4.32187033e-01 -5.83804777e-02 2.80175912e+02] [-4.31171208e-01 9.01782723e-01 2.96531401e-02 1.32210951e+02] [ 6.54622088e-02 -1.51265028e-03 9.97853903e-01 1.38592551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.23, Y:132.18, Z:138.60 [[ 8.99294569e-01 4.33428989e-01 -5.83831258e-02 2.80226598e+02] [-4.32416113e-01 9.01186610e-01 2.96479254e-02 1.32184305e+02] [ 6.54643615e-02 -1.41641400e-03 9.97853903e-01 1.38597422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.28, Y:132.16, Z:138.60 [[ 8.98301316e-01 4.35483374e-01 -5.83864355e-02 2.80278972e+02] [-4.34475249e-01 9.00195892e-01 2.96414061e-02 1.32157008e+02] [ 6.54675689e-02 -1.25945299e-03 9.97853903e-01 1.38603446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.33, Y:132.13, Z:138.61 [[ 8.97861752e-01 4.36388584e-01 -5.83890326e-02 2.80331143e+02] [-4.35382702e-01 8.99757519e-01 2.96362894e-02 1.32130939e+02] [ 6.54689094e-02 -1.18771597e-03 9.97853903e-01 1.38606462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.522755096 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:280.38, Y:132.11, Z:138.61 [[ 8.96994035e-01 4.38169056e-01 -5.83916060e-02 2.80382727e+02] [-4.37167267e-01 8.98891969e-01 2.96312181e-02 1.32106389e+02] [ 6.54712286e-02 -1.05212705e-03 9.97853903e-01 1.38609695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.43, Y:132.08, Z:138.61 [[ 8.96133143e-01 4.39926513e-01 -5.83956600e-02 2.80434572e+02] [-4.38928967e-01 8.98033311e-01 2.96232265e-02 1.32080600e+02] [ 6.54732906e-02 -9.14808373e-04 9.97853903e-01 1.38613767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.49, Y:132.05, Z:138.62 [[ 8.95043685e-01 4.42138301e-01 -5.83996989e-02 2.80485697e+02] [-4.41145971e-01 8.96946581e-01 2.96152621e-02 1.32053373e+02] [ 6.54754519e-02 -7.44161464e-04 9.97853903e-01 1.38616521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.70275509600003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:280.54, Y:132.03, Z:138.62 [[ 8.95217618e-01 4.41785497e-01 -5.84036841e-02 2.80537613e+02] [-4.40792930e-01 8.97120391e-01 2.96074009e-02 1.32029686e+02] [ 6.54752562e-02 -7.61135912e-04 9.97853903e-01 1.38621119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.59, Y:132.01, Z:138.62 [[ 8.95412724e-01 4.41389396e-01 -5.84076635e-02 2.80590492e+02] [-4.40396499e-01 8.97315324e-01 2.95995485e-02 1.32005761e+02] [ 6.54750183e-02 -7.81281789e-04 9.97853903e-01 1.38624304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.65, Y:131.98, Z:138.63 [[ 8.95693708e-01 4.40818400e-01 -5.84116372e-02 2.80645338e+02] [-4.39824801e-01 8.97595942e-01 2.95917047e-02 1.31984307e+02] [ 6.54746165e-02 -8.14217042e-04 9.97853903e-01 1.38625806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.70, Y:131.96, Z:138.63 [[ 8.95956716e-01 4.40283255e-01 -5.84141944e-02 2.80697702e+02] [-4.39288849e-01 8.97858529e-01 2.95866559e-02 1.31955502e+02] [ 6.54741918e-02 -8.47658858e-04 9.97853903e-01 1.38631313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.76, Y:131.93, Z:138.63 [[ 8.98020582e-01 4.36058120e-01 -5.84153283e-02 2.80756575e+02] [-4.35054912e-01 8.99917766e-01 2.95844170e-02 1.31933068e+02] [ 6.54695170e-02 -1.15353980e-03 9.97853903e-01 1.38628565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.81, Y:131.91, Z:138.63 [[ 8.97350601e-01 4.37436350e-01 -5.84066668e-02 2.80808820e+02] [-4.36434945e-01 8.99248736e-01 2.96015070e-02 1.31908751e+02] [ 6.54708965e-02 -1.07221969e-03 9.97853903e-01 1.38633189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.86, Y:131.88, Z:138.64 [[ 8.97174732e-01 4.37796499e-01 -5.84099866e-02 2.80862537e+02] [-4.36796282e-01 8.99073494e-01 2.95949550e-02 1.31884461e+02] [ 6.54714384e-02 -1.03858089e-03 9.97853903e-01 1.38636116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.91, Y:131.86, Z:138.64 [[ 8.96728962e-01 4.38708479e-01 -5.84126553e-02 2.80912305e+02] [-4.37710536e-01 8.98628921e-01 2.95896867e-02 1.31857884e+02] [ 6.54725478e-02 -9.66094351e-04 9.97853903e-01 1.38643510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.97, Y:131.83, Z:138.65 [[ 8.96800395e-01 4.38561829e-01 -5.84172436e-02 2.80965269e+02] [-4.37564165e-01 8.98700500e-01 2.95806256e-02 1.31833446e+02] [ 6.54725392e-02 -9.66624279e-04 9.97853903e-01 1.38647904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.02, Y:131.81, Z:138.65 [[ 8.96346202e-01 4.39488894e-01 -5.84208745e-02 2.81017151e+02] [-4.38493663e-01 8.98247582e-01 2.95734528e-02 1.31808252e+02] [ 6.54736133e-02 -8.90868845e-04 9.97853903e-01 1.38652169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.302755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:281.07, Y:131.78, Z:138.66 [[ 8.96023228e-01 4.40146567e-01 -5.84240899e-02 2.81067674e+02] [-4.39153146e-01 8.97925555e-01 2.95670993e-02 1.31783170e+02] [ 6.54743406e-02 -8.35684919e-04 9.97853903e-01 1.38656291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.12, Y:131.76, Z:138.66 [[ 8.96634008e-01 4.38900394e-01 -5.84285933e-02 2.81119607e+02] [-4.37904909e-01 8.98535255e-01 2.95581972e-02 1.31758606e+02] [ 6.54732554e-02 -9.16716997e-04 9.97853903e-01 1.38660701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.17, Y:131.73, Z:138.67 [[ 8.96579074e-01 4.39012076e-01 -5.84325346e-02 2.81172482e+02] [-4.38017336e-01 8.98480711e-01 2.95504039e-02 1.31732604e+02] [ 6.54734893e-02 -8.99810639e-04 9.97853903e-01 1.38665092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.23, Y:131.71, Z:138.67 [[ 8.96467266e-01 4.39240032e-01 -5.84348750e-02 2.81225352e+02] [-4.38246077e-01 8.98369313e-01 2.95457750e-02 1.31707667e+02] [ 6.54737857e-02 -8.77965413e-04 9.97853903e-01 1.38669522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.28, Y:131.68, Z:138.67 [[ 8.96451817e-01 4.39271249e-01 -5.84372337e-02 2.81277422e+02] [-4.38277664e-01 8.98354057e-01 2.95411091e-02 1.31682624e+02] [ 6.54738859e-02 -8.70446592e-04 9.97853903e-01 1.38673883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.33, Y:131.66, Z:138.68 [[ 8.96394521e-01 4.39387771e-01 -5.84401336e-02 2.81330594e+02] [-4.38394807e-01 8.98297086e-01 2.95353712e-02 1.31657608e+02] [ 6.54740827e-02 -8.55493869e-04 9.97853903e-01 1.38679453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.38, Y:131.64, Z:138.68 [[ 8.96242344e-01 4.39697787e-01 -5.84424310e-02 2.81383668e+02] [-4.38705778e-01 8.98145406e-01 2.95308246e-02 1.31635110e+02] [ 6.54744392e-02 -8.27743345e-04 9.97853903e-01 1.38684100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.44, Y:131.61, Z:138.69 [[ 8.96434354e-01 4.39305737e-01 -5.84458628e-02 2.81436881e+02] [-4.38313338e-01 8.98337213e-01 2.95240311e-02 1.31610426e+02] [ 6.54741697e-02 -8.48754539e-04 9.97853904e-01 1.38688854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.49, Y:131.59, Z:138.69 [[ 8.96826346e-01 4.38504633e-01 -5.84482057e-02 2.81489715e+02] [-4.37510837e-01 8.98728476e-01 2.95193920e-02 1.31586934e+02] [ 6.54734570e-02 -9.02045046e-04 9.97853904e-01 1.38694357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.54, Y:131.56, Z:138.70 [[ 8.96325104e-01 4.39527840e-01 -5.84515753e-02 2.81541839e+02] [-4.38536650e-01 8.98228593e-01 2.95127184e-02 1.31560719e+02] [ 6.54745376e-02 -8.19832325e-04 9.97853904e-01 1.38700018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.59, Y:131.54, Z:138.70 [[ 8.94906017e-01 4.42409711e-01 -5.84539867e-02 2.81593310e+02] [-4.41424963e-01 8.96812847e-01 2.95079415e-02 1.31536934e+02] [ 6.54768861e-02 -6.03785480e-04 9.97853904e-01 1.38703871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.65, Y:131.52, Z:138.71 [[ 8.97863207e-01 4.36376335e-01 -5.84581477e-02 2.81649400e+02] [-4.35379312e-01 8.99763648e-01 2.94996959e-02 1.31519091e+02] [ 6.54714854e-02 -1.03522342e-03 9.97853904e-01 1.38705927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.70, Y:131.50, Z:138.71 [[ 8.98990855e-01 4.34047977e-01 -5.84619260e-02 2.81702286e+02] [-4.33046519e-01 9.00888962e-01 2.94922062e-02 1.31498477e+02] [ 6.54687363e-02 -1.19649018e-03 9.97853904e-01 1.38711290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.76, Y:131.48, Z:138.72 [[ 8.99676090e-01 4.32624928e-01 -5.84688354e-02 2.81755788e+02] [-4.31621358e-01 9.01573081e-01 2.94785019e-02 1.31479264e+02] [ 6.54670629e-02 -1.28470514e-03 9.97853904e-01 1.38716607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.81, Y:131.46, Z:138.72 [[ 8.99370584e-01 4.33258364e-01 -5.84785701e-02 2.81809310e+02] [-4.32257386e-01 9.01268944e-01 2.94591778e-02 1.31456895e+02] [ 6.54683543e-02 -1.21692405e-03 9.97853904e-01 1.38720127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.87, Y:131.44, Z:138.72 [[ 9.01483937e-01 4.28842425e-01 -5.84883383e-02 2.81866204e+02] [-4.27833407e-01 9.03378036e-01 2.94397712e-02 1.31438539e+02] [ 6.54621031e-02 -1.51621584e-03 9.97853904e-01 1.38719876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26275509600003 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:281.92, Y:131.41, Z:138.72 [[ 9.01746346e-01 4.28289061e-01 -5.84979370e-02 2.81918453e+02] [-4.27280118e-01 9.03640484e-01 2.94206859e-02 1.31414370e+02] [ 6.54616621e-02 -1.53499054e-03 9.97853904e-01 1.38724201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.97, Y:131.39, Z:138.73 [[ 9.02673697e-01 4.26330650e-01 -5.85010502e-02 2.81973058e+02] [-4.25317999e-01 9.04565856e-01 2.94144943e-02 1.31392141e+02] [ 6.54583530e-02 -1.67014071e-03 9.97853904e-01 1.38731933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.03, Y:131.37, Z:138.73 [[ 9.03151158e-01 4.25317035e-01 -5.85098803e-02 2.82026723e+02] [-4.24303398e-01 9.05042788e-01 2.93969195e-02 1.31372467e+02] [ 6.54569558e-02 -1.72392087e-03 9.97853905e-01 1.38734412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.08, Y:131.35, Z:138.74 [[ 9.04062663e-01 4.23374710e-01 -5.85197146e-02 2.82080335e+02] [-4.22358275e-01 9.05952791e-01 2.93773294e-02 1.31349573e+02] [ 6.54537171e-02 -1.84266088e-03 9.97853905e-01 1.38738029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.13, Y:131.33, Z:138.74 [[ 9.04598141e-01 4.22228010e-01 -5.85295681e-02 2.82134415e+02] [-4.21210450e-01 9.06487663e-01 2.93576848e-02 1.31328396e+02] [ 6.54519683e-02 -1.90364139e-03 9.97853905e-01 1.38740804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.19, Y:131.31, Z:138.74 [[ 9.04408888e-01 4.22631883e-01 -5.85393426e-02 2.82188237e+02] [-4.21616427e-01 9.06299542e-01 2.93381815e-02 1.31308348e+02] [ 6.54534303e-02 -1.85256361e-03 9.97853905e-01 1.38744033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.24, Y:131.29, Z:138.74 [[ 9.04303137e-01 4.22857533e-01 -5.85435137e-02 2.82242975e+02] [-4.21843087e-01 9.06194333e-01 2.93298559e-02 1.31286720e+02] [ 6.54541509e-02 -1.82690417e-03 9.97853905e-01 1.38744621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.30, Y:131.26, Z:138.75 [[ 9.04100207e-01 4.23290003e-01 -5.85524424e-02 2.82296441e+02] [-4.22277616e-01 9.05992506e-01 2.93120202e-02 1.31263441e+02] [ 6.54555592e-02 -1.77561779e-03 9.97853906e-01 1.38747383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.35, Y:131.24, Z:138.75 [[ 9.02838018e-01 4.25974111e-01 -5.85625245e-02 2.82350286e+02] [-4.24968657e-01 9.04734009e-01 2.92918634e-02 1.31241637e+02] [ 6.54610831e-02 -1.55857049e-03 9.97853906e-01 1.38749142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.40, Y:131.22, Z:138.76 [[ 8.99747384e-01 4.32462622e-01 -5.85723996e-02 2.82403057e+02] [-4.31472129e-01 9.01651233e-01 2.92721038e-02 1.31217826e+02] [ 6.54709671e-02 -1.06514089e-03 9.97853906e-01 1.38757626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.46, Y:131.19, Z:138.76 [[ 8.97470483e-01 4.37167762e-01 -5.85754238e-02 2.82455346e+02] [-4.36187646e-01 8.99379695e-01 2.92660509e-02 1.31193186e+02] [ 6.54757208e-02 -7.15540596e-04 9.97853906e-01 1.38761332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.922755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:282.51, Y:131.17, Z:138.77 [[ 8.94669003e-01 4.42871517e-01 -5.85849413e-02 2.82507450e+02] [-4.41904821e-01 8.96585045e-01 2.92469863e-02 1.31167094e+02] [ 6.54790394e-02 -2.77404092e-04 9.97853906e-01 1.38765762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.56, Y:131.14, Z:138.77 [[ 8.93119908e-01 4.45986034e-01 -5.85942570e-02 2.82557657e+02] [-4.45027245e-01 8.95039919e-01 2.92283111e-02 1.31139541e+02] [ 6.54796176e-02 -2.83457236e-05 9.97853907e-01 1.38769970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.61, Y:131.11, Z:138.77 [[ 8.92939424e-01 4.46346760e-01 -5.85982434e-02 2.82607422e+02] [-4.45389272e-01 8.94860084e-01 2.92203168e-02 1.31112249e+02] [ 6.54796227e-02 7.05611608e-06 9.97853907e-01 1.38774128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.66, Y:131.08, Z:138.78 [[ 8.94815419e-01 4.42573334e-01 -5.86021327e-02 2.82656941e+02] [-4.41608257e-01 8.96732277e-01 2.92125146e-02 1.31082425e+02] [ 6.54791039e-02 -2.60622820e-04 9.97853907e-01 1.38778712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.71, Y:131.05, Z:138.78 [[ 8.96682368e-01 4.38777115e-01 -5.86120666e-02 2.82705801e+02] [-4.37805226e-01 8.98595781e-01 2.91925696e-02 1.31054036e+02] [ 6.54775872e-02 -5.15793384e-04 9.97853907e-01 1.38783145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.75, Y:131.03, Z:138.79 [[ 8.99595947e-01 4.32771599e-01 -5.86163333e-02 2.82754506e+02] [-4.31787497e-01 9.01503107e-01 2.91839999e-02 1.31025082e+02] [ 6.54728129e-02 -9.44008191e-04 9.97853907e-01 1.38786894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.80, Y:131.00, Z:138.79 [[ 9.02070360e-01 4.27589446e-01 -5.86202365e-02 2.82804751e+02] [-4.26594898e-01 9.03972093e-01 2.91761577e-02 1.30995552e+02] [ 6.54664750e-02 -1.31185325e-03 9.97853907e-01 1.38789712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.85, Y:130.97, Z:138.79 [[ 9.03571369e-01 4.24406961e-01 -5.86303049e-02 2.82854847e+02] [-4.23407028e-01 9.05470276e-01 2.91559111e-02 1.30967616e+02] [ 6.54619699e-02 -1.51996333e-03 9.97853907e-01 1.38792036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.402755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:282.90, Y:130.94, Z:138.79 [[ 9.05265337e-01 4.20781002e-01 -5.86346099e-02 2.82904932e+02] [-4.19774025e-01 9.07160518e-01 2.91472506e-02 1.30937947e+02] [ 6.54556125e-02 -1.77270950e-03 9.97853907e-01 1.38794000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.96, Y:130.91, Z:138.80 [[ 9.06085584e-01 4.19010444e-01 -5.86443735e-02 2.82955584e+02] [-4.18001034e-01 9.07979470e-01 2.91275932e-02 1.30908542e+02] [ 6.54526529e-02 -1.87868354e-03 9.97853908e-01 1.38796935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.522755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:283.01, Y:130.88, Z:138.80 [[ 9.05735402e-01 4.19765515e-01 -5.86540170e-02 2.83005519e+02] [-4.18758941e-01 9.07630797e-01 2.91081612e-02 1.30879668e+02] [ 6.54547945e-02 -1.80239801e-03 9.97853908e-01 1.38801659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.06, Y:130.85, Z:138.81 [[ 9.04572258e-01 4.22264874e-01 -5.86635044e-02 2.83055585e+02] [-4.21264778e-01 9.06471078e-01 2.90890280e-02 1.30853047e+02] [ 6.54600448e-02 -1.60025959e-03 9.97853908e-01 1.38806144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.11, Y:130.83, Z:138.81 [[ 9.01938224e-01 4.27861611e-01 -5.86675603e-02 2.83107021e+02] [-4.26873831e-01 9.03843480e-01 2.90808457e-02 1.30825943e+02] [ 6.54688694e-02 -1.18548002e-03 9.97853908e-01 1.38811073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.16, Y:130.80, Z:138.82 [[ 8.98906027e-01 4.34194621e-01 -5.86769593e-02 2.83156663e+02] [-4.33221504e-01 9.00818814e-01 2.90618688e-02 1.30798194e+02] [ 6.54758160e-02 -7.03768490e-04 9.97853908e-01 1.38816180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.21, Y:130.77, Z:138.82 [[ 8.95301714e-01 4.41577987e-01 -5.86832395e-02 2.83206743e+02] [-4.40621477e-01 8.97222859e-01 2.90491821e-02 1.30768545e+02] [ 6.54794232e-02 -1.50686851e-04 9.97853908e-01 1.38820423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.26, Y:130.74, Z:138.83 [[ 8.94708614e-01 4.42777303e-01 -5.86920498e-02 2.83258884e+02] [-4.41824537e-01 8.96631618e-01 2.90313705e-02 1.30741265e+02] [ 6.54795795e-02 -4.30295277e-05 9.97853909e-01 1.38825612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.31, Y:130.71, Z:138.83 [[ 8.94134948e-01 4.43933436e-01 -5.87009342e-02 2.83310015e+02] [-4.42984336e-01 8.96059764e-01 2.90133952e-02 1.30713282e+02] [ 6.54795615e-02 6.17038182e-05 9.97853909e-01 1.38828013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.36, Y:130.69, Z:138.83 [[ 8.96014601e-01 4.40126912e-01 -5.87037948e-02 2.83362448e+02] [-4.39170014e-01 8.97935553e-01 2.90076061e-02 1.30685492e+02] [ 6.54792526e-02 -2.10292214e-04 9.97853909e-01 1.38829606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.41, Y:130.65, Z:138.83 [[ 8.97501750e-01 4.37086092e-01 -5.87056903e-02 2.83409744e+02] [-4.36122937e-01 8.99419571e-01 2.90037696e-02 1.30650434e+02] [ 6.54781911e-02 -4.28035895e-04 9.97853909e-01 1.38834823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.062755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:283.46, Y:130.62, Z:138.83 [[ 9.01478565e-01 4.28823531e-01 -5.87092471e-02 2.83461713e+02] [-4.27843270e-01 9.03387700e-01 2.89965681e-02 1.30621324e+02] [ 6.54716224e-02 -1.02142832e-03 9.97853909e-01 1.38831036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.51, Y:130.59, Z:138.84 [[ 9.01219778e-01 4.29366812e-01 -5.87116101e-02 2.83510649e+02] [-4.28388013e-01 9.03129662e-01 2.89917827e-02 1.30589060e+02] [ 6.54723059e-02 -9.76617997e-04 9.97853909e-01 1.38841599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.56, Y:130.55, Z:138.84 [[ 9.02935761e-01 4.25746029e-01 -5.87139727e-02 2.83560496e+02] [-4.24759883e-01 9.04841862e-01 2.89869972e-02 1.30554999e+02] [ 6.54679594e-02 -1.23405624e-03 9.97853909e-01 1.38844567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.61, Y:130.53, Z:138.85 [[ 9.05392829e-01 4.20495369e-01 -5.87151531e-02 2.83613863e+02] [-4.19498326e-01 9.07293253e-01 2.89846060e-02 1.30527512e+02] [ 6.54597549e-02 -1.61154597e-03 9.97853909e-01 1.38848642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.67, Y:130.49, Z:138.85 [[ 9.04250785e-01 4.22945519e-01 -5.87163085e-02 2.83666935e+02] [-4.21953777e-01 9.06153981e-01 2.89822653e-02 1.30491421e+02] [ 6.54639360e-02 -1.43166796e-03 9.97853909e-01 1.38847093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.72, Y:130.46, Z:138.85 [[ 9.01963166e-01 4.27803676e-01 -5.87065767e-02 2.83719900e+02] [-4.26820904e-01 9.03871009e-01 2.90019647e-02 1.30459008e+02] [ 6.54703198e-02 -1.10150978e-03 9.97853909e-01 1.38851520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.77, Y:130.42, Z:138.86 [[ 8.99209165e-01 4.33563283e-01 -5.87005710e-02 2.83771759e+02] [-4.32591940e-01 9.01122852e-01 2.90141153e-02 1.30421881e+02] [ 6.54758810e-02 -6.96364543e-04 9.97853909e-01 1.38858338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.82, Y:130.39, Z:138.87 [[ 8.97348935e-01 4.37401720e-01 -5.86909267e-02 2.83822934e+02] [-4.36437288e-01 8.99266114e-01 2.90336111e-02 1.30386239e+02] [ 6.54781130e-02 -4.38371122e-04 9.97853909e-01 1.38865890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.542755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:283.87, Y:130.35, Z:138.87 [[ 8.97067003e-01 4.37980848e-01 -5.86819388e-02 2.83874879e+02] [-4.37016466e-01 8.98984207e-01 2.90517660e-02 1.30352653e+02] [ 6.54782532e-02 -4.16407143e-04 9.97853910e-01 1.38873950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.93, Y:130.33, Z:138.88 [[ 8.97207253e-01 4.37694628e-01 -5.86733185e-02 2.83930265e+02] [-4.36728496e-01 8.99123576e-01 2.90691652e-02 1.30325442e+02] [ 6.54779813e-02 -4.56755665e-04 9.97853910e-01 1.38879092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.98, Y:130.30, Z:138.89 [[ 8.95529484e-01 4.41118311e-01 -5.86649675e-02 2.83983803e+02] [-4.40158403e-01 8.97448931e-01 2.90860087e-02 1.30296635e+02] [ 6.54791834e-02 -2.25499990e-04 9.97853910e-01 1.38888074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.04, Y:130.27, Z:138.89 [[ 8.95249438e-01 4.41687420e-01 -5.86572062e-02 2.84040886e+02] [-4.40727706e-01 8.97168982e-01 2.91016523e-02 1.30269799e+02] [ 6.54792597e-02 -2.01381917e-04 9.97853910e-01 1.38891657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.10, Y:130.24, Z:138.89 [[ 8.94946980e-01 4.42301166e-01 -5.86479436e-02 2.84097529e+02] [-4.41341546e-01 8.96866572e-01 2.91203071e-02 1.30241447e+02] [ 6.54793259e-02 -1.77356797e-04 9.97853910e-01 1.38891527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.15, Y:130.22, Z:138.89 [[ 8.96626436e-01 4.38887933e-01 -5.86380226e-02 2.84154696e+02] [-4.37919700e-01 8.98541697e-01 2.91402709e-02 1.30216596e+02] [ 6.54780216e-02 -4.49191896e-04 9.97853911e-01 1.38892089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.21, Y:130.19, Z:138.89 [[ 8.99110340e-01 4.33777886e-01 -5.86288575e-02 2.84211045e+02] [-4.32797567e-01 9.01019443e-01 2.91586991e-02 1.30189221e+02] [ 6.54741393e-02 -8.42460910e-04 9.97853911e-01 1.38892267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.27, Y:130.16, Z:138.90 [[ 9.01240597e-01 4.29335723e-01 -5.86193163e-02 2.84267154e+02] [-4.28344749e-01 9.03144190e-01 2.91778677e-02 1.30160113e+02] [ 6.54687959e-02 -1.18700256e-03 9.97853911e-01 1.38896249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.32, Y:130.14, Z:138.89 [[ 9.03822269e-01 4.23875259e-01 -5.86094774e-02 2.84323741e+02] [-4.22871506e-01 9.05719156e-01 2.91976177e-02 1.30135101e+02] [ 6.54598741e-02 -1.60517915e-03 9.97853911e-01 1.38894740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.38, Y:130.11, Z:138.91 [[ 9.04423094e-01 4.22593008e-01 -5.86004745e-02 2.84378703e+02] [-4.21585397e-01 9.06317934e-01 2.92156757e-02 1.30108307e+02] [ 6.54570012e-02 -1.71822752e-03 9.97853912e-01 1.38905191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.44, Y:130.08, Z:138.90 [[ 9.04117845e-01 4.23246826e-01 -5.85922128e-02 2.84435377e+02] [-4.22239513e-01 9.06012842e-01 2.92322352e-02 1.30083138e+02] [ 6.54577480e-02 -1.68943809e-03 9.97853912e-01 1.38900756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.49, Y:130.06, Z:138.91 [[ 9.01610581e-01 4.28562524e-01 -5.85877414e-02 2.84491896e+02] [-4.27565804e-01 9.03511171e-01 2.92411941e-02 1.30057798e+02] [ 6.54663588e-02 -1.31405520e-03 9.97853912e-01 1.38910068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26275509600003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:284.55, Y:130.04, Z:138.91 [[ 9.00691376e-01 4.30492139e-01 -5.85795482e-02 2.84550756e+02] [-4.29498424e-01 9.02593539e-01 2.92575985e-02 1.30035239e+02] [ 6.54686879e-02 -1.19224298e-03 9.97853912e-01 1.38906304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.60, Y:130.01, Z:138.92 [[ 8.98208997e-01 4.35649005e-01 -5.85708271e-02 2.84604870e+02] [-4.34665074e-01 9.00116240e-01 2.92750470e-02 1.30006354e+02] [ 6.54741977e-02 -8.36417708e-04 9.97853912e-01 1.38919426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.66, Y:129.98, Z:138.92 [[ 8.97762536e-01 4.36569539e-01 -5.85616394e-02 2.84660460e+02] [-4.35586366e-01 8.99670169e-01 2.92934145e-02 1.29980882e+02] [ 6.54747725e-02 -7.89878348e-04 9.97853912e-01 1.38923008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.71, Y:129.96, Z:138.92 [[ 8.96706057e-01 4.38735589e-01 -5.85604808e-02 2.84712616e+02] [-4.37756873e-01 8.98615980e-01 2.92957304e-02 1.29955842e+02] [ 6.54764634e-02 -6.34405961e-04 9.97853912e-01 1.38923710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.77, Y:129.93, Z:138.92 [[ 8.97248642e-01 4.37624562e-01 -5.85629290e-02 2.84765405e+02] [-4.36643800e-01 8.99157516e-01 2.92908356e-02 1.29930441e+02] [ 6.54756869e-02 -7.10022566e-04 9.97853912e-01 1.38924808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.82, Y:129.91, Z:138.93 [[ 8.98879070e-01 4.34265486e-01 -5.85653940e-02 2.84818159e+02] [-4.33277912e-01 9.00784428e-01 2.92859061e-02 1.29905238e+02] [ 6.54726532e-02 -9.49396397e-04 9.97853912e-01 1.38930744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.87, Y:129.88, Z:138.93 [[ 9.00545289e-01 4.30799239e-01 -5.85678944e-02 2.84870743e+02] [-4.29804657e-01 9.02446999e-01 2.92809048e-02 1.29879770e+02] [ 6.54686120e-02 -1.19602712e-03 9.97853912e-01 1.38928380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.682755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:284.92, Y:129.85, Z:138.94 [[ 9.01152960e-01 4.29526092e-01 -5.85720066e-02 2.84922779e+02] [-4.28529358e-01 9.03053542e-01 2.92726767e-02 1.29852843e+02] [ 6.54670364e-02 -1.27933491e-03 9.97853912e-01 1.38936394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.98, Y:129.83, Z:138.94 [[ 9.02959382e-01 4.25715147e-01 -5.85744701e-02 2.84975347e+02] [-4.24710713e-01 9.04855905e-01 2.92677465e-02 1.29828442e+02] [ 6.54611782e-02 -1.55038134e-03 9.97853912e-01 1.38941750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.03, Y:129.80, Z:138.95 [[ 9.03393487e-01 4.24792664e-01 -5.85781592e-02 2.85029176e+02] [-4.23786771e-01 9.05289238e-01 2.92603609e-02 1.29801761e+02] [ 6.54597638e-02 -1.60897057e-03 9.97853912e-01 1.38946837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.08, Y:129.78, Z:138.95 [[ 9.02941138e-01 4.25753332e-01 -5.85781592e-02 2.85081652e+02] [-4.24749457e-01 9.04837958e-01 2.92603609e-02 1.29775485e+02] [ 6.54614382e-02 -1.53934232e-03 9.97853912e-01 1.38950260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.13, Y:129.75, Z:138.96 [[ 9.02158883e-01 4.27408058e-01 -5.85807255e-02 2.85134303e+02] [-4.26407995e-01 9.04057716e-01 2.92552222e-02 1.29750683e+02] [ 6.54642746e-02 -1.41356880e-03 9.97853912e-01 1.38955349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.982755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:285.19, Y:129.73, Z:138.96 [[ 9.00686338e-01 4.30502165e-01 -5.85833248e-02 2.85187158e+02] [-4.29508964e-01 9.02588769e-01 2.92500162e-02 1.29725525e+02] [ 6.54688463e-02 -1.18302680e-03 9.97853912e-01 1.38960621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.24, Y:129.70, Z:138.96 [[ 8.98089771e-01 4.35892708e-01 -5.85859250e-02 2.85237450e+02] [-4.34911267e-01 8.99998295e-01 2.92448073e-02 1.29696276e+02] [ 6.54748309e-02 -7.84783414e-04 9.97853912e-01 1.38963019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.29, Y:129.67, Z:138.97 [[ 8.97009037e-01 4.38111967e-01 -5.85891748e-02 2.85291733e+02] [-4.37135673e-01 8.98920200e-01 2.92382951e-02 1.29671322e+02] [ 6.54766397e-02 -6.15596614e-04 9.97853913e-01 1.38966199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.162755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:285.34, Y:129.65, Z:138.98 [[ 8.95968330e-01 4.40236217e-01 -5.85903081e-02 2.85344366e+02] [-4.39264603e-01 8.97881876e-01 2.92360240e-02 1.29646486e+02] [ 6.54779324e-02 -4.57903140e-04 9.97853913e-01 1.38975980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.40, Y:129.62, Z:138.98 [[ 8.93809870e-01 4.44601875e-01 -5.85925667e-02 2.85395353e+02] [-4.43639904e-01 8.95728282e-01 2.92314967e-02 1.29615681e+02] [ 6.54793974e-02 -1.33399569e-04 9.97853913e-01 1.38978690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.45, Y:129.59, Z:138.98 [[ 8.94078458e-01 4.44061354e-01 -5.85937220e-02 2.85449481e+02] [-4.43098375e-01 8.95996364e-01 2.92291809e-02 1.29586996e+02] [ 6.54793115e-02 -1.70397973e-04 9.97853913e-01 1.38981573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.50, Y:129.56, Z:138.98 [[ 8.95222647e-01 4.41750296e-01 -5.85925642e-02 2.85503215e+02] [-4.40782215e-01 8.97137982e-01 2.92315016e-02 1.29562072e+02] [ 6.54786393e-02 -3.42142073e-04 9.97853913e-01 1.38984237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.56, Y:129.53, Z:139.00 [[ 8.96820825e-01 4.38496505e-01 -5.85937046e-02 2.85556658e+02] [-4.37521624e-01 8.98732709e-01 2.92292155e-02 1.29534015e+02] [ 6.54769877e-02 -5.77356406e-04 9.97853913e-01 1.38995847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.61, Y:129.51, Z:139.00 [[ 8.97843469e-01 4.36398920e-01 -5.85925537e-02 2.85608423e+02] [-4.35419422e-01 8.99752991e-01 2.92315223e-02 1.29506688e+02] [ 6.54754303e-02 -7.32995544e-04 9.97853913e-01 1.38996802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.66, Y:129.48, Z:139.00 [[ 8.98822062e-01 4.34379546e-01 -5.85944689e-02 2.85659334e+02] [-4.33396008e-01 9.00729506e-01 2.92276828e-02 1.29479339e+02] [ 6.54736746e-02 -8.75877183e-04 9.97853913e-01 1.39002126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.71, Y:129.45, Z:139.01 [[ 8.99417872e-01 4.33144093e-01 -5.85976627e-02 2.85709948e+02] [-4.32158352e-01 9.01324179e-01 2.92212782e-02 1.29450423e+02] [ 6.54725143e-02 -9.58670508e-04 9.97853913e-01 1.39007254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.76, Y:129.43, Z:139.01 [[ 9.01981723e-01 4.27778981e-01 -5.86013220e-02 2.85763877e+02] [-4.26782379e-01 9.03882374e-01 2.92139380e-02 1.29425850e+02] [ 6.54658107e-02 -1.34042652e-03 9.97853913e-01 1.39008369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.82, Y:129.39, Z:139.02 [[ 9.03074086e-01 4.25467996e-01 -5.86018749e-02 2.85817119e+02] [-4.24466603e-01 9.04972217e-01 2.92128288e-02 1.29393576e+02] [ 6.54621924e-02 -1.50680992e-03 9.97853913e-01 1.39015509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.87, Y:129.37, Z:139.02 [[ 9.04682204e-01 4.22038968e-01 -5.85936855e-02 2.85870083e+02] [-4.21029318e-01 9.06575956e-01 2.92292455e-02 1.29369186e+02] [ 6.54555071e-02 -1.77351876e-03 9.97853913e-01 1.39021341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.92, Y:129.34, Z:139.03 [[ 9.03484790e-01 4.24595699e-01 -5.85980105e-02 2.85921923e+02] [-4.23591971e-01 9.05381688e-01 2.92205724e-02 1.29342214e+02] [ 6.54604950e-02 -1.57869595e-03 9.97853913e-01 1.39026071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.98, Y:129.32, Z:139.03 [[ 9.03770549e-01 4.23986746e-01 -5.86006306e-02 2.85976419e+02] [-4.22982081e-01 9.05666950e-01 2.92153170e-02 1.29319059e+02] [ 6.54595615e-02 -1.61692644e-03 9.97853913e-01 1.39029703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.942755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:286.03, Y:129.29, Z:139.03 [[ 9.00705629e-01 4.30459108e-01 -5.86031212e-02 2.86028484e+02] [-4.29468397e-01 9.02609358e-01 2.92103202e-02 1.29293097e+02] [ 6.54695739e-02 -1.14171132e-03 9.97853913e-01 1.39033282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.08, Y:129.27, Z:139.04 [[ 8.98981428e-01 4.34047950e-01 -5.86069031e-02 2.86081325e+02] [-4.33065335e-01 9.00889347e-01 2.92027302e-02 1.29270280e+02] [ 6.54737199e-02 -8.72093974e-04 9.97853913e-01 1.39037693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.13, Y:129.25, Z:139.04 [[ 8.95936191e-01 4.40299011e-01 -5.86099216e-02 2.86134360e+02] [-4.39330104e-01 8.97851109e-01 2.91966708e-02 1.29245596e+02] [ 6.54782484e-02 -4.09251029e-04 9.97853913e-01 1.39038146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.19, Y:129.22, Z:139.05 [[ 8.94218000e-01 4.43777829e-01 -5.86123514e-02 2.86186982e+02] [-4.42816693e-01 8.96136829e-01 2.91917921e-02 1.29218861e+02] [ 6.54793569e-02 -1.49298368e-04 9.97853913e-01 1.39045146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.24, Y:129.19, Z:139.05 [[ 8.94620445e-01 4.42965821e-01 -5.86134846e-02 2.86243305e+02] [-4.42003091e-01 8.96538476e-01 2.91895167e-02 1.29193435e+02] [ 6.54792024e-02 -2.06197039e-04 9.97853913e-01 1.39049402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.30, Y:129.17, Z:139.05 [[ 8.97435159e-01 4.37236277e-01 -5.86052282e-02 2.86297680e+02] [-4.36260222e-01 8.99346443e-01 2.92060841e-02 1.29169853e+02] [ 6.54763630e-02 -6.43436884e-04 9.97853913e-01 1.39050972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.35, Y:129.14, Z:139.05 [[ 9.00751331e-01 4.30363100e-01 -5.86058094e-02 2.86352284e+02] [-4.29372538e-01 9.02655137e-01 2.92049177e-02 1.29144611e+02] [ 6.54695539e-02 -1.14264338e-03 9.97853913e-01 1.39051879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.41, Y:129.12, Z:139.06 [[ 9.03036143e-01 4.25547824e-01 -5.86069458e-02 2.86406313e+02] [-4.24547259e-01 9.04934711e-01 2.92026371e-02 1.29121016e+02] [ 6.54625783e-02 -1.48961856e-03 9.97853913e-01 1.39055596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.422755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:286.46, Y:129.10, Z:139.06 [[ 9.04133467e-01 4.23211103e-01 -5.86091787e-02 2.86458422e+02] [-4.22205922e-01 9.06029595e-01 2.91981552e-02 1.29095633e+02] [ 6.54586339e-02 -1.65388697e-03 9.97853913e-01 1.39064403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.51, Y:129.07, Z:139.07 [[ 9.04636302e-01 4.22134928e-01 -5.86111165e-02 2.86510736e+02] [-4.21127744e-01 9.06531367e-01 2.91942647e-02 1.29071173e+02] [ 6.54567344e-02 -1.72742446e-03 9.97853913e-01 1.39067512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.56, Y:129.05, Z:139.07 [[ 9.04069291e-01 4.23347355e-01 -5.86151365e-02 2.86563640e+02] [-4.22343235e-01 9.05965981e-01 2.91861913e-02 1.29047260e+02] [ 6.54592165e-02 -1.63063292e-03 9.97853913e-01 1.39070566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.62, Y:129.03, Z:139.07 [[ 9.05435738e-01 4.20416531e-01 -5.86179551e-02 2.86620155e+02] [-4.19406638e-01 9.07329361e-01 2.91805293e-02 1.29026737e+02] [ 6.54537686e-02 -1.83633458e-03 9.97853913e-01 1.39069458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.662755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:286.67, Y:129.00, Z:139.07 [[ 9.05232862e-01 4.20853020e-01 -5.86191253e-02 2.86672939e+02] [-4.19844192e-01 9.07127052e-01 2.91781784e-02 1.29002909e+02] [ 6.54547188e-02 -1.80214665e-03 9.97853913e-01 1.39074867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.722755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:286.73, Y:128.98, Z:139.08 [[ 9.04127180e-01 4.23222762e-01 -5.86219793e-02 2.86725649e+02] [-4.22219271e-01 9.06024202e-01 2.91724432e-02 1.28977161e+02] [ 6.54593741e-02 -1.62426940e-03 9.97853913e-01 1.39082818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.78, Y:128.96, Z:139.08 [[ 9.04518655e-01 4.22385134e-01 -5.86242328e-02 2.86780957e+02] [-4.21380180e-01 9.06414903e-01 2.91679140e-02 1.28955373e+02] [ 6.54579716e-02 -1.67983252e-03 9.97853913e-01 1.39082215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.83, Y:128.93, Z:139.10 [[ 9.02906080e-01 4.25821022e-01 -5.86265120e-02 2.86832974e+02] [-4.24823582e-01 9.04806291e-01 2.91633322e-02 1.28927497e+02] [ 6.54639968e-02 -1.42582510e-03 9.97853913e-01 1.39095253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.89, Y:128.90, Z:139.10 [[ 9.03264815e-01 4.25059447e-01 -5.86271334e-02 2.86886242e+02] [-4.24060485e-01 9.05164227e-01 2.91620829e-02 1.28903286e+02] [ 6.54628027e-02 -1.47963278e-03 9.97853913e-01 1.39097763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.94, Y:128.88, Z:139.10 [[ 9.02492338e-01 4.26696612e-01 -5.86308821e-02 2.86938427e+02] [-4.25701586e-01 9.04393815e-01 2.91545442e-02 1.28878053e+02] [ 6.54655523e-02 -1.35249326e-03 9.97853913e-01 1.39102982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.99, Y:128.85, Z:139.10 [[ 9.02959110e-01 4.25706621e-01 -5.86405983e-02 2.86992543e+02] [-4.24710779e-01 9.04860159e-01 2.91349882e-02 1.28853645e+02] [ 6.54644984e-02 -1.40240880e-03 9.97853914e-01 1.39101291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.05, Y:128.83, Z:139.10 [[ 9.04229002e-01 4.23002189e-01 -5.86435053e-02 2.87047602e+02] [-4.22001042e-01 9.06127262e-01 2.91291356e-02 1.28828767e+02] [ 6.54601670e-02 -1.59178888e-03 9.97853914e-01 1.39100232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.14275509600003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:287.10, Y:128.80, Z:139.11 [[ 9.04647124e-01 4.22107237e-01 -5.86435053e-02 2.87099398e+02] [-4.21104212e-01 9.06544393e-01 2.91291356e-02 1.28799951e+02] [ 6.54585599e-02 -1.65656170e-03 9.97853914e-01 1.39109434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.20275509600003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:287.15, Y:128.77, Z:139.12 [[ 9.04754182e-01 4.21877634e-01 -5.86441127e-02 2.87150941e+02] [-4.20874206e-01 9.06651238e-01 2.91279127e-02 1.28773504e+02] [ 6.54581723e-02 -1.67180644e-03 9.97853914e-01 1.39117916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.20, Y:128.75, Z:139.12 [[ 9.03781323e-01 4.23957520e-01 -5.86459024e-02 2.87203600e+02] [-4.22958692e-01 9.05680805e-01 2.91243090e-02 1.28748043e+02] [ 6.54619379e-02 -1.51721240e-03 9.97853914e-01 1.39120338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.26, Y:128.73, Z:139.11 [[ 9.04571755e-01 4.22267072e-01 -5.86554385e-02 2.87260452e+02] [-4.21265940e-01 9.06470022e-01 2.91050909e-02 1.28727834e+02] [ 6.54595182e-02 -1.61810471e-03 9.97853914e-01 1.39113271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.31, Y:128.70, Z:139.12 [[ 9.02367012e-01 4.26957567e-01 -5.86601424e-02 2.87312906e+02] [-4.25966919e-01 9.04270772e-01 2.90956073e-02 1.28701501e+02] [ 6.54672420e-02 -1.26763610e-03 9.97853914e-01 1.39115652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.36, Y:128.67, Z:139.12 [[ 8.99939167e-01 4.32051181e-01 -5.86623640e-02 2.87363723e+02] [-4.31071602e-01 9.01848646e-01 2.90911274e-02 1.28673299e+02] [ 6.54734295e-02 -8.92565712e-04 9.97853914e-01 1.39124569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.42, Y:128.65, Z:139.12 [[ 9.00178294e-01 4.31552435e-01 -5.86646046e-02 2.87417715e+02] [-4.30572092e-01 9.02087381e-01 2.90866084e-02 1.28648337e+02] [ 6.54729962e-02 -9.23791928e-04 9.97853914e-01 1.39124158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.47, Y:128.62, Z:139.14 [[ 8.98354837e-01 4.35334979e-01 -5.86689277e-02 2.87467811e+02] [-4.34363245e-01 9.00268320e-01 2.90778859e-02 1.28620149e+02] [ 6.54763979e-02 -6.38633567e-04 9.97853914e-01 1.39137517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.52, Y:128.60, Z:139.13 [[ 8.98603711e-01 4.34820648e-01 -5.86717439e-02 2.87522371e+02] [-4.33848190e-01 9.00516827e-01 2.90722025e-02 1.28595778e+02] [ 6.54760866e-02 -6.69759191e-04 9.97853914e-01 1.39132971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.57, Y:128.57, Z:139.14 [[ 8.98640354e-01 4.34744604e-01 -5.86740403e-02 2.87572183e+02] [-4.33772286e-01 9.00553541e-01 2.90675670e-02 1.28566975e+02] [ 6.54760827e-02 -6.70116125e-04 9.97853914e-01 1.39137215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.62, Y:128.54, Z:139.14 [[ 9.00064191e-01 4.31788695e-01 -5.86768680e-02 2.87622956e+02] [-4.30810467e-01 9.01974362e-01 2.90618579e-02 1.28540301e+02] [ 6.54736123e-02 -8.78928737e-04 9.97853914e-01 1.39142004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.67, Y:128.51, Z:139.15 [[ 9.00952710e-01 4.29931207e-01 -5.86802506e-02 2.87673436e+02] [-4.28949485e-01 9.02861088e-01 2.90550263e-02 1.28511120e+02] [ 6.54717774e-02 -1.00634137e-03 9.97853914e-01 1.39151843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.73, Y:128.48, Z:139.16 [[ 9.01793283e-01 4.28164965e-01 -5.86825153e-02 2.87726066e+02] [-4.27179803e-01 9.03699888e-01 2.90504516e-02 1.28483974e+02] [ 6.54697681e-02 -1.12951685e-03 9.97853914e-01 1.39155006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.78, Y:128.45, Z:139.16 [[ 9.00284501e-01 4.31328062e-01 -5.86849276e-02 2.87776756e+02] [-4.30349917e-01 9.02194715e-01 2.90455776e-02 1.28454721e+02] [ 6.54734042e-02 -8.94229629e-04 9.97853914e-01 1.39155907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.83, Y:128.42, Z:139.16 [[ 8.99632836e-01 4.32685087e-01 -5.86888162e-02 2.87826808e+02] [-4.31710336e-01 9.01544784e-01 2.90377184e-02 1.28424318e+02] [ 6.54747838e-02 -7.86716394e-04 9.97853914e-01 1.39157140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.88, Y:128.39, Z:139.16 [[ 8.97932624e-01 4.36202088e-01 -5.86919216e-02 2.87878899e+02] [-4.35235236e-01 8.99848579e-01 2.90314403e-02 1.28393861e+02] [ 6.54774171e-02 -5.23485026e-04 9.97853914e-01 1.39159971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.93, Y:128.36, Z:139.17 [[ 8.96556951e-01 4.39022656e-01 -5.86919216e-02 2.87928911e+02] [-4.38061833e-01 8.98475935e-01 2.90314403e-02 1.28362018e+02] [ 6.54787392e-02 -3.17648887e-04 9.97853914e-01 1.39166566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.98, Y:128.33, Z:139.17 [[ 8.97050256e-01 4.38013732e-01 -5.86925023e-02 2.87982405e+02] [-4.37050826e-01 8.98968197e-01 2.90302662e-02 1.28331926e+02] [ 6.54783482e-02 -3.90001086e-04 9.97853914e-01 1.39171372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.03, Y:128.30, Z:139.18 [[ 8.98236344e-01 4.35576397e-01 -5.86913324e-02 2.88030849e+02] [-4.34608133e-01 9.00151585e-01 2.90326312e-02 1.28300363e+02] [ 6.54770248e-02 -5.70434125e-04 9.97853914e-01 1.39177432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.08, Y:128.26, Z:139.18 [[ 8.97952675e-01 4.36160476e-01 -5.86943980e-02 2.88080341e+02] [-4.35193863e-01 8.99868751e-01 2.90264323e-02 1.28264915e+02] [ 6.54774371e-02 -5.20920776e-04 9.97853914e-01 1.39183195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.13, Y:128.23, Z:139.19 [[ 8.99174721e-01 4.33635548e-01 -5.86943980e-02 2.88133873e+02] [-4.32663554e-01 9.01088073e-01 2.90264323e-02 1.28233922e+02] [ 6.54757148e-02 -7.04907334e-04 9.97853914e-01 1.39186131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.19, Y:128.20, Z:139.19 [[ 8.97875221e-01 4.36321079e-01 -5.86856376e-02 2.88186166e+02] [-4.35353651e-01 8.99790885e-01 2.90441333e-02 1.28199077e+02] [ 6.54773693e-02 -5.29000967e-04 9.97853914e-01 1.39190748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.24, Y:128.17, Z:139.19 [[ 8.97585554e-01 4.36917968e-01 -5.86759034e-02 2.88242910e+02] [-4.35950530e-01 8.99501213e-01 2.90637853e-02 1.28174344e+02] [ 6.54775363e-02 -5.07442619e-04 9.97853915e-01 1.39193465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.30, Y:128.15, Z:139.19 [[ 8.95906627e-01 4.40351574e-01 -5.86669228e-02 2.88295098e+02] [-4.39390291e-01 8.97825381e-01 2.90819020e-02 1.28149937e+02] [ 6.54789136e-02 -2.76992469e-04 9.97853915e-01 1.39193208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.35, Y:128.12, Z:139.20 [[ 8.95329953e-01 4.41522481e-01 -5.86700371e-02 2.88349638e+02] [-4.40564120e-01 8.97250168e-01 2.90756177e-02 1.28120839e+02] [ 6.54792396e-02 -1.84358183e-04 9.97853915e-01 1.39196484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.41, Y:128.09, Z:139.20 [[ 8.96901975e-01 4.38321494e-01 -5.86610239e-02 2.88406771e+02] [-4.37355091e-01 8.98818155e-01 2.90937909e-02 1.28094600e+02] [ 6.54780272e-02 -4.38581060e-04 9.97853915e-01 1.39199009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.46, Y:128.07, Z:139.20 [[ 8.98327420e-01 4.35393257e-01 -5.86562638e-02 2.88463066e+02] [-4.34419982e-01 9.00240119e-01 2.91033847e-02 1.28068923e+02] [ 6.54761393e-02 -6.62915448e-04 9.97853915e-01 1.39204492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.52, Y:128.04, Z:139.21 [[ 8.98671314e-01 4.34684373e-01 -5.86460915e-02 2.88518720e+02] [-4.33708253e-01 9.00582562e-01 2.91238684e-02 1.28039755e+02] [ 6.54753378e-02 -7.37491167e-04 9.97853915e-01 1.39207698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.58, Y:128.02, Z:139.21 [[ 9.01464858e-01 4.28862228e-01 -5.86370096e-02 2.88577428e+02] [-4.27872577e-01 9.03369135e-01 2.91421421e-02 1.28015861e+02] [ 6.54688286e-02 -1.18144856e-03 9.97853916e-01 1.39211473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.63, Y:127.99, Z:139.22 [[ 9.01780349e-01 4.28199682e-01 -5.86279404e-02 2.88633897e+02] [-4.27207447e-01 9.03683280e-01 2.91603760e-02 1.27988040e+02] [ 6.54675532e-02 -1.24996132e-03 9.97853916e-01 1.39215647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.942755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:288.69, Y:127.96, Z:139.22 [[ 9.02310206e-01 4.27083279e-01 -5.86188065e-02 2.88689712e+02] [-4.26087497e-01 9.04211284e-01 2.91787258e-02 1.27961993e+02] [ 6.54655322e-02 -1.35152157e-03 9.97853916e-01 1.39220191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.74, Y:127.94, Z:139.22 [[ 9.02462962e-01 4.26761555e-01 -5.86103832e-02 2.88743319e+02] [-4.25763998e-01 9.04363109e-01 2.91956355e-02 1.27937328e+02] [ 6.54646432e-02 -1.39378858e-03 9.97853916e-01 1.39223345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.80, Y:127.91, Z:139.23 [[ 9.02847713e-01 4.25946742e-01 -5.86121173e-02 2.88796172e+02] [-4.24947697e-01 9.04747077e-01 2.91921538e-02 1.27911755e+02] [ 6.54634446e-02 -1.44898503e-03 9.97853916e-01 1.39227529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.85, Y:127.88, Z:139.23 [[ 9.02975067e-01 4.25676368e-01 -5.86144940e-02 2.88852351e+02] [-4.24677063e-01 9.04874295e-01 2.91873810e-02 1.27884242e+02] [ 6.54631272e-02 -1.46324615e-03 9.97853916e-01 1.39228576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.91, Y:127.86, Z:139.24 [[ 9.02491764e-01 4.26701417e-01 -5.86047458e-02 2.88906617e+02] [-4.25703000e-01 9.04391459e-01 2.92069410e-02 1.27855052e+02] [ 6.54642747e-02 -1.41080762e-03 9.97853916e-01 1.39235439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.96, Y:127.83, Z:139.23 [[ 9.02900945e-01 4.25836142e-01 -5.85957657e-02 2.88963447e+02] [-4.24834736e-01 9.04799066e-01 2.92249461e-02 1.27828035e+02] [ 6.54624324e-02 -1.49371478e-03 9.97853917e-01 1.39233946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.02, Y:127.80, Z:139.24 [[ 9.02408325e-01 4.26880420e-01 -5.85860177e-02 2.89017200e+02] [-4.25879945e-01 9.04306935e-01 2.92444745e-02 1.27798125e+02] [ 6.54636357e-02 -1.43984728e-03 9.97853917e-01 1.39241962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.07, Y:127.77, Z:139.24 [[ 9.02023653e-01 4.27693891e-01 -5.85770095e-02 2.89073762e+02] [-4.26693957e-01 9.03922548e-01 2.92625069e-02 1.27769927e+02] [ 6.54644751e-02 -1.40101739e-03 9.97853917e-01 1.39244963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.13, Y:127.74, Z:139.25 [[ 9.01264288e-01 4.29293023e-01 -5.85677659e-02 2.89128820e+02] [-4.28295257e-01 9.03164324e-01 2.92809961e-02 1.27741725e+02] [ 6.54664440e-02 -1.30561976e-03 9.97853917e-01 1.39246804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.18, Y:127.71, Z:139.25 [[ 9.00120070e-01 4.31688169e-01 -5.85592447e-02 2.89184554e+02] [-4.30694352e-01 9.02022173e-01 2.92980278e-02 1.27713508e+02] [ 6.54693491e-02 -1.15060686e-03 9.97853917e-01 1.39251084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.24, Y:127.69, Z:139.25 [[ 8.99546137e-01 4.32884133e-01 -5.85497614e-02 2.89237741e+02] [-4.31891612e-01 9.01448918e-01 2.93169671e-02 1.27687485e+02] [ 6.54704689e-02 -1.08481363e-03 9.97853918e-01 1.39251562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.29, Y:127.66, Z:139.26 [[ 8.98738974e-01 4.34557456e-01 -5.85497614e-02 2.89289899e+02] [-4.33568479e-01 9.00643598e-01 2.93169671e-02 1.27662122e+02] [ 6.54723744e-02 -9.62969894e-04 9.97853918e-01 1.39259489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.34, Y:127.63, Z:139.26 [[ 8.95746046e-01 4.40693250e-01 -5.85532193e-02 2.89340602e+02] [-4.39717772e-01 8.97657619e-01 2.93100593e-02 1.27634627e+02] [ 6.54774887e-02 -5.07478667e-04 9.97853918e-01 1.39261780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.40, Y:127.61, Z:139.27 [[ 8.99388495e-01 4.33210684e-01 -5.85562793e-02 2.89396030e+02] [-4.32219702e-01 9.01292077e-01 2.93039446e-02 1.27611622e+02] [ 6.54710925e-02 -1.04645309e-03 9.97853918e-01 1.39269622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.45, Y:127.59, Z:139.27 [[ 9.01310606e-01 4.29197336e-01 -5.85562793e-02 2.89451293e+02] [-4.28197878e-01 9.03209752e-01 2.93039446e-02 1.27585112e+02] [ 6.54657775e-02 -1.33828158e-03 9.97853918e-01 1.39270987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.51, Y:127.56, Z:139.27 [[ 9.03458270e-01 4.24658915e-01 -5.85487881e-02 2.89508430e+02] [-4.23648950e-01 9.05351848e-01 2.93189042e-02 1.27558306e+02] [ 6.54577876e-02 -1.68427388e-03 9.97853918e-01 1.39271316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.56, Y:127.53, Z:139.28 [[ 9.04087274e-01 4.23319534e-01 -5.85386378e-02 2.89561213e+02] [-4.22305454e-01 9.05978652e-01 2.93391566e-02 1.27528878e+02] [ 6.54545943e-02 -1.80397216e-03 9.97853918e-01 1.39283457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.62, Y:127.50, Z:139.29 [[ 9.05127082e-01 4.21092329e-01 -5.85338880e-02 2.89617559e+02] [-4.20072983e-01 9.07015627e-01 2.93486297e-02 1.27500596e+02] [ 6.54496340e-02 -1.97573465e-03 9.97853918e-01 1.39287046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.67, Y:127.47, Z:139.29 [[ 9.05528875e-01 4.20228913e-01 -5.85245016e-02 2.89672949e+02] [-4.19206558e-01 9.07415793e-01 2.93673355e-02 1.27472238e+02] [ 6.54470605e-02 -2.05911542e-03 9.97853918e-01 1.39290412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.73, Y:127.44, Z:139.29 [[ 9.05298417e-01 4.20726361e-01 -5.85158614e-02 2.89729068e+02] [-4.19703933e-01 9.07185294e-01 2.93845415e-02 1.27443217e+02] [ 6.54475801e-02 -2.04244174e-03 9.97853919e-01 1.39293623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.78, Y:127.42, Z:139.30 [[ 9.04117626e-01 4.23259143e-01 -5.85065397e-02 2.89781614e+02] [-4.22240802e-01 9.06006713e-01 2.94030899e-02 1.27416510e+02] [ 6.54524443e-02 -1.88000365e-03 9.97853919e-01 1.39295131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.83, Y:127.39, Z:139.30 [[ 9.02791481e-01 4.26079853e-01 -5.85106942e-02 2.89834530e+02] [-4.25067951e-01 9.04684023e-01 2.93948203e-02 1.27390039e+02] [ 6.54582309e-02 -1.66637249e-03 9.97853919e-01 1.39299454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.89, Y:127.36, Z:139.30 [[ 9.01111098e-01 4.29621916e-01 -5.85132331e-02 2.89887267e+02] [-4.28617782e-01 9.03007774e-01 2.93897655e-02 1.27363289e+02] [ 6.54643917e-02 -1.40363168e-03 9.97853919e-01 1.39304068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.94, Y:127.34, Z:139.31 [[ 9.00157503e-01 4.31615993e-01 -5.85158457e-02 2.89940202e+02] [-4.30616398e-01 9.02056575e-01 2.93845628e-02 1.27335369e+02] [ 6.54674506e-02 -1.25285196e-03 9.97853919e-01 1.39308678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.99, Y:127.31, Z:139.31 [[ 9.00500895e-01 4.30899100e-01 -5.85158457e-02 2.89991802e+02] [-4.29897993e-01 9.02399170e-01 2.93845628e-02 1.27308987e+02] [ 6.54664323e-02 -1.30498045e-03 9.97853919e-01 1.39314160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.05, Y:127.28, Z:139.32 [[ 9.01563654e-01 4.28670608e-01 -5.85191299e-02 2.90048837e+02] [-4.27665234e-01 9.03459673e-01 2.93780210e-02 1.27281814e+02] [ 6.54631680e-02 -1.45955857e-03 9.97853919e-01 1.39317338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.10, Y:127.25, Z:139.33 [[ 9.01825746e-01 4.28120342e-01 -5.85089423e-02 2.90102934e+02] [-4.27112497e-01 9.03720452e-01 2.93982965e-02 1.27252288e+02] [ 6.54617365e-02 -1.52224028e-03 9.97853919e-01 1.39326282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.16, Y:127.23, Z:139.32 [[ 9.03366453e-01 4.24860978e-01 -5.84995789e-02 2.90159640e+02] [-4.23845092e-01 9.05256860e-01 2.94169169e-02 1.27227229e+02] [ 6.54552452e-02 -1.77949642e-03 9.97853919e-01 1.39324410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.21, Y:127.20, Z:139.33 [[ 9.03632855e-01 4.24295292e-01 -5.84907578e-02 2.90214267e+02] [-4.23277089e-01 9.05522015e-01 2.94344458e-02 1.27200009e+02] [ 6.54535656e-02 -1.84013462e-03 9.97853920e-01 1.39327796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.27, Y:127.17, Z:139.34 [[ 9.03188807e-01 4.25240366e-01 -5.84859821e-02 2.90266535e+02] [-4.24223527e-01 9.05078701e-01 2.94439321e-02 1.27172022e+02] [ 6.54551651e-02 -1.78230032e-03 9.97853920e-01 1.39336867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.742755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:290.32, Y:127.15, Z:139.34 [[ 9.03520417e-01 4.24535241e-01 -5.84866163e-02 2.90319615e+02] [-4.23517008e-01 9.05409561e-01 2.94426723e-02 1.27146232e+02] [ 6.54537935e-02 -1.83197883e-03 9.97853920e-01 1.39340735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.37, Y:127.12, Z:139.35 [[ 9.02799163e-01 4.26066530e-01 -5.84891745e-02 2.90373007e+02] [-4.25051830e-01 9.04690207e-01 2.94375893e-02 1.27121035e+02] [ 6.54569549e-02 -1.71530026e-03 9.97853920e-01 1.39346347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.43, Y:127.10, Z:139.35 [[ 9.02029909e-01 4.27692359e-01 -5.84917945e-02 2.90425604e+02] [-4.26681405e-01 9.03922958e-01 2.94323826e-02 1.27096464e+02] [ 6.54600810e-02 -1.59152835e-03 9.97853920e-01 1.39350280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.48, Y:127.07, Z:139.36 [[ 8.99273713e-01 4.33457178e-01 -5.84949930e-02 2.90479287e+02] [-4.32458776e-01 9.01173411e-01 2.94260244e-02 1.27072450e+02] [ 6.54690539e-02 -1.16537713e-03 9.97853920e-01 1.39355833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.53, Y:127.04, Z:139.36 [[ 8.98567695e-01 4.34918544e-01 -5.84975016e-02 2.90533583e+02] [-4.33923556e-01 9.00469183e-01 2.94210366e-02 1.27044784e+02] [ 6.54709519e-02 -1.05334915e-03 9.97853920e-01 1.39360311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.59, Y:127.02, Z:139.36 [[ 8.98708323e-01 4.34628066e-01 -5.84961124e-02 2.90590019e+02] [-4.33632283e-01 9.00609395e-01 2.94237984e-02 1.27019482e+02] [ 6.54705570e-02 -1.07760973e-03 9.97853920e-01 1.39363984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.65, Y:126.99, Z:139.37 [[ 8.98304802e-01 4.35462295e-01 -5.84899316e-02 2.90645615e+02] [-4.34467479e-01 9.00206380e-01 2.94360798e-02 1.26993315e+02] [ 6.54713125e-02 -1.03059874e-03 9.97853920e-01 1.39368904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.70, Y:126.97, Z:139.37 [[ 8.98702531e-01 4.34641030e-01 -5.84887744e-02 2.90700744e+02] [-4.33644326e-01 9.00603120e-01 2.94383788e-02 1.26966058e+02] [ 6.54703000e-02 -1.09302039e-03 9.97853920e-01 1.39373173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.76, Y:126.94, Z:139.38 [[ 8.99765227e-01 4.32436971e-01 -5.84876309e-02 2.90756810e+02] [-4.31435464e-01 9.01663290e-01 2.94406506e-02 1.26938133e+02] [ 6.54673755e-02 -1.25603546e-03 9.97853920e-01 1.39377345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.81, Y:126.91, Z:139.38 [[ 9.00671957e-01 4.30546544e-01 -5.84782033e-02 2.90813389e+02] [-4.29539838e-01 9.02567268e-01 2.94593648e-02 1.26910482e+02] [ 6.54641399e-02 -1.41450576e-03 9.97853920e-01 1.39381873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.87, Y:126.88, Z:139.39 [[ 9.02317713e-01 4.27087994e-01 -5.84687091e-02 2.90869157e+02] [-4.26072805e-01 9.04208494e-01 2.94781962e-02 1.26884057e+02] [ 6.54576871e-02 -1.68677164e-03 9.97853920e-01 1.39385901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.92, Y:126.86, Z:139.39 [[ 9.04757477e-01 4.21896128e-01 -5.84599446e-02 2.90923267e+02] [-4.20868970e-01 9.06641782e-01 2.94955674e-02 1.26859567e+02] [ 6.54462940e-02 -2.08235848e-03 9.97853920e-01 1.39387860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.98, Y:126.84, Z:139.39 [[ 9.06288791e-01 4.18596272e-01 -5.84618467e-02 2.90976586e+02] [-4.17562498e-01 9.08169474e-01 2.94917969e-02 1.26836822e+02] [ 6.54384208e-02 -2.31661026e-03 9.97853920e-01 1.39392568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.03, Y:126.81, Z:139.39 [[ 9.06678339e-01 4.17751400e-01 -5.84650169e-02 2.91030939e+02] [-4.16716278e-01 9.08558280e-01 2.94855109e-02 1.26812567e+02] [ 6.54364886e-02 -2.37054977e-03 9.97853920e-01 1.39393111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.09, Y:126.79, Z:139.40 [[ 9.06832675e-01 4.17416009e-01 -5.84668777e-02 2.91085511e+02] [-4.16380429e-01 9.08712364e-01 2.94818206e-02 1.26789753e+02] [ 6.54357585e-02 -2.39061454e-03 9.97853920e-01 1.39397957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.14, Y:126.77, Z:139.40 [[ 9.05256853e-01 4.20822239e-01 -5.84694242e-02 2.91138219e+02] [-4.19794059e-01 9.07140600e-01 2.94767695e-02 1.26765773e+02] [ 6.54444687e-02 -2.13893069e-03 9.97853920e-01 1.39399759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.19, Y:126.74, Z:139.40 [[ 9.05687729e-01 4.19893767e-01 -5.84718860e-02 2.91192963e+02] [-4.18863971e-01 9.07570593e-01 2.94718852e-02 1.26743084e+02] [ 6.54424252e-02 -2.20055848e-03 9.97853920e-01 1.39402663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.24, Y:126.72, Z:139.42 [[ 9.03155232e-01 4.25313249e-01 -5.84745049e-02 2.91244923e+02] [-4.24295090e-01 9.05044414e-01 2.94666883e-02 1.26715863e+02] [ 6.54545969e-02 -1.80254841e-03 9.97853920e-01 1.39417905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.30, Y:126.70, Z:139.41 [[ 9.05175624e-01 4.20996044e-01 -5.84758095e-02 2.91303164e+02] [-4.19969043e-01 9.07060014e-01 2.94640990e-02 1.26697158e+02] [ 6.54453378e-02 -2.11215441e-03 9.97853920e-01 1.39412905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.36, Y:126.67, Z:139.42 [[ 9.05280517e-01 4.20770263e-01 -5.84770989e-02 2.91355358e+02] [-4.19742958e-01 9.07164741e-01 2.94615399e-02 1.26673545e+02] [ 6.54449021e-02 -2.12560764e-03 9.97853920e-01 1.39416764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.41, Y:126.65, Z:139.42 [[ 9.04954480e-01 4.21470569e-01 -5.84803219e-02 2.91409281e+02] [-4.20445135e-01 9.06839723e-01 2.94551408e-02 1.26651131e+02] [ 6.54467539e-02 -2.06779480e-03 9.97853920e-01 1.39423634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.46, Y:126.63, Z:139.43 [[ 9.03473826e-01 4.24634906e-01 -5.84828314e-02 2.91462566e+02] [-4.23616398e-01 9.05362820e-01 2.94501574e-02 1.26628338e+02] [ 6.54537460e-02 -1.83316000e-03 9.97853921e-01 1.39425701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.52, Y:126.60, Z:139.43 [[ 9.03706250e-01 4.24138694e-01 -5.84925802e-02 2.91515593e+02] [-4.23120400e-01 9.05595360e-01 2.94307821e-02 1.26604155e+02] [ 6.54533427e-02 -1.84737779e-03 9.97853921e-01 1.39432109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.57, Y:126.58, Z:139.43 [[ 9.04626968e-01 4.22170104e-01 -5.85017267e-02 2.91570475e+02] [-4.21148875e-01 9.06514492e-01 2.94125898e-02 1.26580934e+02] [ 6.54497791e-02 -1.96948555e-03 9.97853921e-01 1.39427660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.62, Y:126.55, Z:139.44 [[ 9.03794462e-01 4.23949089e-01 -5.85041992e-02 2.91622491e+02] [-4.22931894e-01 9.05684163e-01 2.94076709e-02 1.26553931e+02] [ 6.54536819e-02 -1.83519835e-03 9.97853921e-01 1.39440616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.242755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:291.67, Y:126.53, Z:139.44 [[ 9.04036628e-01 4.23432202e-01 -5.85059475e-02 2.91673622e+02] [-4.22414151e-01 9.05925868e-01 2.94041923e-02 1.26527093e+02] [ 6.54527331e-02 -1.86872670e-03 9.97853921e-01 1.39443526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.73, Y:126.50, Z:139.45 [[ 9.05132545e-01 4.21083948e-01 -5.85096967e-02 2.91725951e+02] [-4.20061478e-01 9.07019397e-01 2.93967301e-02 1.26500725e+02] [ 6.54479210e-02 -2.03026746e-03 9.97853921e-01 1.39445627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.78, Y:126.48, Z:139.45 [[ 9.05255514e-01 4.20819167e-01 -5.85122383e-02 2.91777135e+02] [-4.19796472e-01 9.07142244e-01 2.93916702e-02 1.26476242e+02] [ 6.54475014e-02 -2.04374028e-03 9.97853921e-01 1.39448660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.83, Y:126.45, Z:139.45 [[ 9.04969490e-01 4.21433296e-01 -5.85166609e-02 2.91829643e+02] [-4.20412451e-01 9.06857221e-01 2.93828626e-02 1.26449583e+02] [ 6.54491731e-02 -1.98946138e-03 9.97853921e-01 1.39451263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.88, Y:126.42, Z:139.46 [[ 9.04837031e-01 4.21716872e-01 -5.85220186e-02 2.91882411e+02] [-4.20697308e-01 9.06725455e-01 2.93721877e-02 1.26423008e+02] [ 6.54501511e-02 -1.95698742e-03 9.97853921e-01 1.39456466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.94, Y:126.40, Z:139.46 [[ 9.04865958e-01 4.21653447e-01 -5.85317831e-02 2.91935970e+02] [-4.20635008e-01 9.06754988e-01 2.93527165e-02 1.26398473e+02] [ 6.54506604e-02 -1.93975685e-03 9.97853921e-01 1.39461316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.99, Y:126.37, Z:139.47 [[ 9.03996399e-01 4.23513281e-01 -5.85406819e-02 2.91986924e+02] [-4.22499878e-01 9.05888135e-01 2.93349581e-02 1.26373945e+02] [ 6.54550536e-02 -1.78526555e-03 9.97853922e-01 1.39465383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.04, Y:126.35, Z:139.47 [[ 9.02377486e-01 4.26950872e-01 -5.85476366e-02 2.92038945e+02] [-4.25945576e-01 9.04273543e-01 2.93210712e-02 1.26348835e+02] [ 6.54617357e-02 -1.52056769e-03 9.97853922e-01 1.39470237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.09, Y:126.32, Z:139.48 [[ 9.01747579e-01 4.28278268e-01 -5.85579210e-02 2.92091989e+02] [-4.27277097e-01 9.03645817e-01 2.93005176e-02 1.26322892e+02] [ 6.54643953e-02 -1.40121228e-03 9.97853922e-01 1.39475917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.14, Y:126.30, Z:139.48 [[ 8.99824484e-01 4.32302868e-01 -5.85672967e-02 2.92143809e+02] [-4.31311409e-01 9.01727812e-01 2.92817650e-02 1.26297279e+02] [ 6.54703513e-02 -1.08770586e-03 9.97853922e-01 1.39480517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.842755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:292.20, Y:126.27, Z:139.48 [[ 8.98134977e-01 4.35801626e-01 -5.85705162e-02 2.92195316e+02] [-4.34818002e-01 9.00042366e-01 2.92753238e-02 1.26269244e+02] [ 6.54741797e-02 -8.25677487e-04 9.97853922e-01 1.39484137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.25, Y:126.24, Z:139.49 [[ 8.97549568e-01 4.37005719e-01 -5.85728140e-02 2.92246162e+02] [-4.36024954e-01 8.99458428e-01 2.92707257e-02 1.26242453e+02] [ 6.54752858e-02 -7.32718649e-04 9.97853922e-01 1.39487631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.30, Y:126.21, Z:139.49 [[ 8.96012040e-01 4.40149123e-01 -5.85762245e-02 2.92296424e+02] [-4.39175500e-01 8.97924554e-01 2.92638992e-02 1.26210931e+02] [ 6.54775098e-02 -4.95563327e-04 9.97853922e-01 1.39491458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.35, Y:126.19, Z:139.49 [[ 8.96974068e-01 4.38184975e-01 -5.85785703e-02 2.92348825e+02] [-4.37207471e-01 8.98884601e-01 2.92592027e-02 1.26186560e+02] [ 6.54763178e-02 -6.33757526e-04 9.97853922e-01 1.39492254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.40, Y:126.16, Z:139.50 [[ 8.97271344e-01 4.37575592e-01 -5.85810299e-02 2.92399938e+02] [-4.36597112e-01 8.99181377e-01 2.92542774e-02 1.26158201e+02] [ 6.54759289e-02 -6.72716294e-04 9.97853922e-01 1.39499319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.45, Y:126.13, Z:139.50 [[ 8.98883846e-01 4.34253159e-01 -5.85834943e-02 2.92451489e+02] [-4.33267941e-01 9.00790412e-01 2.92493415e-02 1.26130846e+02] [ 6.54730689e-02 -9.09410620e-04 9.97853922e-01 1.39499615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.50, Y:126.10, Z:139.51 [[ 8.98152880e-01 4.35762382e-01 -5.85879702e-02 2.92502592e+02] [-4.34780953e-01 9.00061400e-01 2.92403732e-02 1.26101281e+02] [ 6.54746252e-02 -7.89391904e-04 9.97853922e-01 1.39505254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.55, Y:126.07, Z:139.51 [[ 9.00768848e-01 4.30327695e-01 -5.85965630e-02 2.92553329e+02] [-4.29335873e-01 9.02671987e-01 2.92231434e-02 1.26073894e+02] [ 6.54690039e-02 -1.16569069e-03 9.97853923e-01 1.39510823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.60, Y:126.05, Z:139.51 [[ 9.01814199e-01 4.28132135e-01 -5.86005543e-02 2.92604706e+02] [-4.27136200e-01 9.03715189e-01 2.92151377e-02 1.26046477e+02] [ 6.54661502e-02 -1.31620801e-03 9.97853923e-01 1.39512549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.65, Y:126.02, Z:139.52 [[ 9.02399518e-01 4.26896685e-01 -5.86031513e-02 2.92654806e+02] [-4.25898486e-01 9.04299320e-01 2.92099273e-02 1.26019363e+02] [ 6.54644110e-02 -1.40003091e-03 9.97853923e-01 1.39516556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.71, Y:125.99, Z:139.52 [[ 9.02805475e-01 4.26036886e-01 -5.86075610e-02 2.92705771e+02] [-4.25037451e-01 9.04704627e-01 2.92010770e-02 1.25990342e+02] [ 6.54632675e-02 -1.45248386e-03 9.97853923e-01 1.39517595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.76, Y:125.96, Z:139.52 [[ 9.02634008e-01 4.26399726e-01 -5.86099092e-02 2.92756313e+02] [-4.25401360e-01 9.04533723e-01 2.91963631e-02 1.25961748e+02] [ 6.54639605e-02 -1.42089513e-03 9.97853923e-01 1.39521112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.81, Y:125.93, Z:139.53 [[ 8.99993753e-01 4.31943979e-01 -5.86143584e-02 2.92806026e+02] [-4.30957900e-01 9.01899874e-01 2.91874282e-02 1.25931618e+02] [ 6.54716163e-02 -1.00818222e-03 9.97853923e-01 1.39530171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.86, Y:125.90, Z:139.53 [[ 8.98715291e-01 4.34597104e-01 -5.86189636e-02 2.92856461e+02] [-4.33617255e-01 9.00624622e-01 2.91781764e-02 1.25902967e+02] [ 6.54744329e-02 -8.04679161e-04 9.97853923e-01 1.39534808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.682755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:292.91, Y:125.87, Z:139.54 [[ 8.97561505e-01 4.36974515e-01 -5.86226701e-02 2.92906778e+02] [-4.36000211e-01 8.99473671e-01 2.91707276e-02 1.25873723e+02] [ 6.54764128e-02 -6.23025708e-04 9.97853923e-01 1.39541912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.96, Y:125.84, Z:139.55 [[ 8.96809984e-01 4.38514479e-01 -5.86251196e-02 2.92957416e+02] [-4.37543779e-01 8.98723983e-01 2.91658040e-02 1.25843049e+02] [ 6.54774283e-02 -5.05127887e-04 9.97853923e-01 1.39546508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.01, Y:125.81, Z:139.55 [[ 8.96142448e-01 4.39876744e-01 -5.86273207e-02 2.93011366e+02] [-4.38909244e-01 8.98058066e-01 2.91613788e-02 1.25809762e+02] [ 6.54781506e-02 -4.00676385e-04 9.97853923e-01 1.39550433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.06, Y:125.78, Z:139.56 [[ 8.96740000e-01 4.38658560e-01 -5.86177433e-02 2.93064697e+02] [-4.37687200e-01 8.98653663e-01 2.91806179e-02 1.25778406e+02] [ 6.54773775e-02 -5.11191363e-04 9.97853923e-01 1.39555195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.12, Y:125.75, Z:139.56 [[ 8.97581452e-01 4.36935388e-01 -5.86089093e-02 2.93115638e+02] [-4.35959197e-01 8.99492654e-01 2.91983500e-02 1.25748216e+02] [ 6.54760758e-02 -6.56804378e-04 9.97853923e-01 1.39555045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.16, Y:125.72, Z:139.56 [[ 8.98149978e-01 4.35765238e-01 -5.86112090e-02 2.93164851e+02] [-4.34786858e-01 9.00060062e-01 2.91937329e-02 1.25716677e+02] [ 6.54752224e-02 -7.36967188e-04 9.97853923e-01 1.39561005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.22, Y:125.68, Z:139.56 [[ 8.99375511e-01 4.33229900e-01 -5.86135178e-02 2.93218080e+02] [-4.32246437e-01 9.01282982e-01 2.91890969e-02 1.25684279e+02] [ 6.54729556e-02 -9.16474689e-04 9.97853923e-01 1.39564090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.27, Y:125.66, Z:139.57 [[ 8.99088861e-01 4.33825492e-01 -5.86060006e-02 2.93274492e+02] [-4.32842310e-01 9.00996476e-01 2.92041821e-02 1.25656849e+02] [ 6.54733187e-02 -8.89998168e-04 9.97853923e-01 1.39566177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.33, Y:125.63, Z:139.57 [[ 8.98225697e-01 4.35611093e-01 -5.85966913e-02 2.93329752e+02] [-4.34630486e-01 9.00134638e-01 2.92228489e-02 1.25628439e+02] [ 6.54747086e-02 -7.80805472e-04 9.97853924e-01 1.39568160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.39, Y:125.60, Z:139.58 [[ 8.97653268e-01 4.36790622e-01 -5.85880723e-02 2.93385488e+02] [-4.35811396e-01 8.99562917e-01 2.92401187e-02 1.25599425e+02] [ 6.54754669e-02 -7.14138559e-04 9.97853924e-01 1.39575840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.44, Y:125.57, Z:139.58 [[ 8.97930624e-01 4.36221468e-01 -5.85783627e-02 2.93440401e+02] [-4.35239764e-01 8.99839000e-01 2.92595576e-02 1.25572570e+02] [ 6.54747425e-02 -7.77420101e-04 9.97853924e-01 1.39575458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.342755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:293.50, Y:125.55, Z:139.58 [[ 8.98796500e-01 4.34435250e-01 -5.85735921e-02 2.93496049e+02] [-4.33449131e-01 9.00702598e-01 2.92691045e-02 1.25546749e+02] [ 6.54729173e-02 -9.18296128e-04 9.97853924e-01 1.39581322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.55, Y:125.52, Z:139.58 [[ 9.01465086e-01 4.28871513e-01 -5.85655576e-02 2.93553314e+02] [-4.27872588e-01 9.03364504e-01 2.92851721e-02 1.25523834e+02] [ 6.54656220e-02 -1.34096345e-03 9.97853924e-01 1.39584999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.61, Y:125.50, Z:139.59 [[ 9.03260238e-01 4.25078915e-01 -5.85564591e-02 2.93606782e+02] [-4.24070837e-01 9.05154815e-01 2.93033537e-02 1.25498984e+02] [ 6.54588986e-02 -1.63646760e-03 9.97853924e-01 1.39589010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.66, Y:125.47, Z:139.59 [[ 9.03498366e-01 4.24572225e-01 -5.85587565e-02 2.93661426e+02] [-4.23563383e-01 9.05392536e-01 2.92987619e-02 1.25472887e+02] [ 6.54581015e-02 -1.66803852e-03 9.97853924e-01 1.39594141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.72, Y:125.45, Z:139.60 [[ 9.04102839e-01 4.23283509e-01 -5.85587565e-02 2.93717746e+02] [-4.22271967e-01 9.05995568e-01 2.92987619e-02 1.25446499e+02] [ 6.54556566e-02 -1.76137251e-03 9.97853924e-01 1.39597996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.77, Y:125.42, Z:139.60 [[ 9.03247308e-01 4.25107251e-01 -5.85501922e-02 2.93770847e+02] [-4.24098423e-01 9.05141485e-01 2.93158667e-02 1.25417622e+02] [ 6.54585954e-02 -1.64843350e-03 9.97853925e-01 1.39603154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.82, Y:125.39, Z:139.61 [[ 9.02591567e-01 4.26498928e-01 -5.85416767e-02 2.93822089e+02] [-4.25491919e-01 9.04486711e-01 2.93328616e-02 1.25388065e+02] [ 6.54606027e-02 -1.56658312e-03 9.97853925e-01 1.39608542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.88, Y:125.36, Z:139.61 [[ 9.03517209e-01 4.24534133e-01 -5.85442020e-02 2.93875312e+02] [-4.23523330e-01 9.05410331e-01 2.93278207e-02 1.25364580e+02] [ 6.54571863e-02 -1.70335534e-03 9.97853925e-01 1.39608678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.93, Y:125.34, Z:139.62 [[ 9.03543756e-01 4.24477207e-01 -5.85472560e-02 2.93926661e+02] [-4.23466678e-01 9.05437026e-01 2.93217227e-02 1.25337646e+02] [ 6.54572563e-02 -1.70064739e-03 9.97853925e-01 1.39615848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.98, Y:125.31, Z:139.62 [[ 9.03077893e-01 4.25467018e-01 -5.85502869e-02 2.93981849e+02] [-4.24458957e-01 9.04972478e-01 2.93156694e-02 1.25307895e+02] [ 6.54592486e-02 -1.62213925e-03 9.97853925e-01 1.39617895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.04, Y:125.28, Z:139.62 [[ 9.03121985e-01 4.25374699e-01 -5.85409677e-02 2.94036946e+02] [-4.24365240e-01 9.05015825e-01 2.93342671e-02 1.25278720e+02] [ 6.54585573e-02 -1.64966975e-03 9.97853925e-01 1.39622444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.09, Y:125.25, Z:139.63 [[ 9.03206376e-01 4.25196847e-01 -5.85310514e-02 2.94092020e+02] [-4.24185734e-01 9.05099333e-01 2.93540400e-02 1.25250246e+02] [ 6.54576609e-02 -1.68471900e-03 9.97853925e-01 1.39628573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.15, Y:125.22, Z:139.63 [[ 9.03431411e-01 4.24719755e-01 -5.85219238e-02 2.94148095e+02] [-4.23706465e-01 9.05323204e-01 2.93722261e-02 1.25222506e+02] [ 6.54562202e-02 -1.73967419e-03 9.97853926e-01 1.39630138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.20, Y:125.20, Z:139.63 [[ 9.04393037e-01 4.22669545e-01 -5.85123128e-02 2.94203233e+02] [-4.21650730e-01 9.06281860e-01 2.93913597e-02 1.25196138e+02] [ 6.54514803e-02 -1.90958166e-03 9.97853926e-01 1.39633189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.26, Y:125.16, Z:139.64 [[ 9.03884045e-01 4.23757997e-01 -5.85046500e-02 2.94255638e+02] [-4.22740472e-01 9.05773562e-01 2.94066050e-02 1.25164584e+02] [ 6.54532492e-02 -1.84787772e-03 9.97853926e-01 1.39643553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.31, Y:125.14, Z:139.64 [[ 9.06641549e-01 4.17826912e-01 -5.84959222e-02 2.94314366e+02] [-4.16795911e-01 9.08523747e-01 2.94239561e-02 1.25141594e+02] [ 6.54390552e-02 -2.29612001e-03 9.97853926e-01 1.39638524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.37, Y:125.11, Z:139.64 [[ 9.05478342e-01 4.20342959e-01 -5.84873395e-02 2.94367894e+02] [-4.19316088e-01 9.07362797e-01 2.94410064e-02 1.25112572e+02] [ 6.54445558e-02 -2.13351128e-03 9.97853926e-01 1.39643257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.42, Y:125.08, Z:139.65 [[ 9.04610774e-01 4.22207884e-01 -5.84794836e-02 2.94422750e+02] [-4.21183891e-01 9.06496794e-01 2.94566026e-02 1.25083936e+02] [ 6.54482743e-02 -2.01614364e-03 9.97853926e-01 1.39648427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.48, Y:125.06, Z:139.66 [[ 9.03142118e-01 4.25341498e-01 -5.84715760e-02 2.94476547e+02] [-4.24323035e-01 9.05031130e-01 2.94722910e-02 1.25056202e+02] [ 6.54543849e-02 -1.80683070e-03 9.97853927e-01 1.39656251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.53, Y:125.02, Z:139.67 [[ 9.01298325e-01 4.29235656e-01 -5.84643541e-02 2.94525538e+02] [-4.28224428e-01 9.03191220e-01 2.94866101e-02 1.25024965e+02] [ 6.54611957e-02 -1.54036772e-03 9.97853927e-01 1.39666026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.58, Y:125.00, Z:139.67 [[ 9.01334812e-01 4.29158714e-01 -5.84667095e-02 2.94578522e+02] [-4.28147627e-01 9.03227781e-01 2.94819391e-02 1.24999511e+02] [ 6.54611874e-02 -1.54071507e-03 9.97853927e-01 1.39666838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.602755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:294.64, Y:124.97, Z:139.67 [[ 9.01642707e-01 4.28511128e-01 -5.84691538e-02 2.94635381e+02] [-4.27498996e-01 9.03535118e-01 2.94770907e-02 1.24972377e+02] [ 6.54601952e-02 -1.58229932e-03 9.97853927e-01 1.39670762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.69, Y:124.94, Z:139.68 [[ 9.02090746e-01 4.27568450e-01 -5.84594480e-02 2.94689692e+02] [-4.26553095e-01 9.03981429e-01 2.94963269e-02 1.24943956e+02] [ 6.54579541e-02 -1.67230506e-03 9.97853927e-01 1.39680412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.75, Y:124.91, Z:139.68 [[ 9.01768680e-01 4.28248506e-01 -5.84505322e-02 2.94745717e+02] [-4.27233433e-01 9.03659515e-01 2.95139840e-02 1.24914480e+02] [ 6.54586992e-02 -1.64276485e-03 9.97853927e-01 1.39683133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.80, Y:124.89, Z:139.69 [[ 9.01524398e-01 4.28763883e-01 -5.84404935e-02 2.94801425e+02] [-4.27748605e-01 9.03415122e-01 2.95338483e-02 1.24888664e+02] [ 6.54590731e-02 -1.62764526e-03 9.97853927e-01 1.39688995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.86, Y:124.86, Z:139.69 [[ 9.01013339e-01 4.29838068e-01 -5.84311476e-02 2.94857435e+02] [-4.28823846e-01 9.02904629e-01 2.95523273e-02 1.24860510e+02] [ 6.54604689e-02 -1.57037166e-03 9.97853928e-01 1.39692651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.91, Y:124.83, Z:139.69 [[ 9.01038729e-01 4.29786135e-01 -5.84216380e-02 2.94913979e+02] [-4.28770587e-01 9.02929307e-01 2.95711146e-02 1.24833839e+02] [ 6.54598642e-02 -1.59523950e-03 9.97853928e-01 1.39692349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.97, Y:124.80, Z:139.70 [[ 8.99286163e-01 4.33442410e-01 -5.84129661e-02 2.94968237e+02] [-4.32433437e-01 9.01180259e-01 2.95882347e-02 1.24802034e+02] [ 6.54654077e-02 -1.34857034e-03 9.97853928e-01 1.39700975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.03, Y:124.78, Z:139.70 [[ 8.99237422e-01 4.33544884e-01 -5.84028530e-02 2.95025370e+02] [-4.32534832e-01 9.01130942e-01 2.96081831e-02 1.24775667e+02] [ 6.54650942e-02 -1.36351798e-03 9.97853928e-01 1.39702514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.08, Y:124.75, Z:139.71 [[ 8.97536049e-01 4.37057576e-01 -5.83927749e-02 2.95079844e+02] [-4.36053643e-01 8.99432821e-01 2.96280456e-02 1.24745980e+02] [ 6.54695401e-02 -1.12985677e-03 9.97853929e-01 1.39706820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.14, Y:124.72, Z:139.71 [[ 8.98024731e-01 4.36053832e-01 -5.83835476e-02 2.95135906e+02] [-4.35046599e-01 8.99919751e-01 2.96462175e-02 1.24719236e+02] [ 6.54678543e-02 -1.22347265e-03 9.97853929e-01 1.39712222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.19, Y:124.68, Z:139.72 [[ 8.95442952e-01 4.41332031e-01 -5.83777213e-02 2.95187807e+02] [-4.40335221e-01 8.97343476e-01 2.96576859e-02 1.24684024e+02] [ 6.54737541e-02 -8.50999031e-04 9.97853929e-01 1.39718613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.25, Y:124.66, Z:139.72 [[ 8.98002031e-01 4.36102531e-01 -5.83689615e-02 2.95245148e+02] [-4.35093535e-01 8.99896113e-01 2.96749160e-02 1.24661748e+02] [ 6.54673075e-02 -1.25217704e-03 9.97853929e-01 1.39718863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.30, Y:124.63, Z:139.72 [[ 8.98172488e-01 4.35752428e-01 -5.83609662e-02 2.95299911e+02] [-4.34741674e-01 9.00065633e-01 2.96906319e-02 1.24629951e+02] [ 6.54664649e-02 -1.29536460e-03 9.97853929e-01 1.39722688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.36, Y:124.60, Z:139.73 [[ 8.99459074e-01 4.33091777e-01 -5.83514068e-02 2.95355443e+02] [-4.32074206e-01 9.01348563e-01 2.97094072e-02 1.24602642e+02] [ 6.54618566e-02 -1.51025807e-03 9.97853929e-01 1.39726325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.41, Y:124.57, Z:139.73 [[ 8.98747456e-01 4.34567779e-01 -5.83425759e-02 2.95410582e+02] [-4.33552187e-01 9.00638008e-01 2.97267390e-02 1.24573199e+02] [ 6.54638243e-02 -1.42227963e-03 9.97853930e-01 1.39732440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.46, Y:124.55, Z:139.74 [[ 8.98203768e-01 4.35691660e-01 -5.83332584e-02 2.95462722e+02] [-4.34677247e-01 9.00094953e-01 2.97450117e-02 1.24546427e+02] [ 6.54651250e-02 -1.36094135e-03 9.97853930e-01 1.39736756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.52, Y:124.52, Z:139.74 [[ 8.98578880e-01 4.34917248e-01 -5.83350956e-02 2.95519335e+02] [-4.33901439e-01 9.00469317e-01 2.97414081e-02 1.24518215e+02] [ 6.54640151e-02 -1.41331921e-03 9.97853930e-01 1.39735551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.58, Y:124.49, Z:139.74 [[ 8.99389109e-01 4.33240681e-01 -5.83244545e-02 2.95575531e+02] [-4.32219997e-01 9.01276918e-01 2.97622613e-02 1.24490096e+02] [ 6.54607069e-02 -1.55885812e-03 9.97853930e-01 1.39736892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.63, Y:124.46, Z:139.74 [[ 8.99931992e-01 4.32113170e-01 -5.83148090e-02 2.95630049e+02] [-4.31088898e-01 9.01817856e-01 2.97811484e-02 1.24460776e+02] [ 6.54581624e-02 -1.66214147e-03 9.97853930e-01 1.39742875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.68, Y:124.43, Z:139.75 [[ 9.00104307e-01 4.31755323e-01 -5.83058982e-02 2.95683410e+02] [-4.30729172e-01 9.01989149e-01 2.97985838e-02 1.24430439e+02] [ 6.54569847e-02 -1.70778236e-03 9.97853931e-01 1.39750576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.74, Y:124.40, Z:139.75 [[ 9.01296612e-01 4.29261987e-01 -5.82972008e-02 2.95739531e+02] [-4.28229524e-01 9.03178003e-01 2.98155895e-02 1.24402530e+02] [ 6.54514486e-02 -1.90810725e-03 9.97853931e-01 1.39753541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.79, Y:124.37, Z:139.76 [[ 9.01283792e-01 4.29290267e-01 -5.82871631e-02 2.95793546e+02] [-4.28256596e-01 9.03164519e-01 2.98351995e-02 1.24373457e+02] [ 6.54508584e-02 -1.92811961e-03 9.97853931e-01 1.39760275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.85, Y:124.35, Z:139.76 [[ 9.01380302e-01 4.29088848e-01 -5.82778911e-02 2.95850132e+02] [-4.28053587e-01 9.03260155e-01 2.98532998e-02 1.24345124e+02] [ 6.54498150e-02 -1.96311600e-03 9.97853931e-01 1.39764050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.91, Y:124.32, Z:139.77 [[ 9.01163782e-01 4.29544695e-01 -5.82682848e-02 2.95906522e+02] [-4.28509175e-01 9.03043492e-01 2.98720378e-02 1.24316872e+02] [ 6.54501708e-02 -1.95110392e-03 9.97853931e-01 1.39767523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.96, Y:124.29, Z:139.77 [[ 9.00183552e-01 4.31596584e-01 -5.82577100e-02 2.95960125e+02] [-4.30564017e-01 9.02064885e-01 2.98926471e-02 1.24290516e+02] [ 6.54537989e-02 -1.82519566e-03 9.97853932e-01 1.39772865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.02, Y:124.26, Z:139.78 [[ 8.98671497e-01 4.34736307e-01 -5.82570501e-02 2.96016985e+02] [-4.33710230e-01 9.00556378e-01 2.98939331e-02 1.24263736e+02] [ 6.54597361e-02 -1.59814702e-03 9.97853932e-01 1.39777004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.07, Y:124.24, Z:139.78 [[ 8.97720887e-01 4.36697179e-01 -5.82475955e-02 2.96073540e+02] [-4.35674025e-01 8.99607356e-01 2.99123439e-02 1.24235857e+02] [ 6.54626016e-02 -1.47597149e-03 9.97853932e-01 1.39780528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.13, Y:124.21, Z:139.78 [[ 8.97132373e-01 4.37906166e-01 -5.82382541e-02 2.96129905e+02] [-4.36884376e-01 8.99019581e-01 2.99305203e-02 1.24207567e+02] [ 6.54640902e-02 -1.40825545e-03 9.97853932e-01 1.39784580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.19, Y:124.18, Z:139.79 [[ 8.97062444e-01 4.38050681e-01 -5.82286230e-02 2.96186486e+02] [-4.37027980e-01 8.98949157e-01 2.99492456e-02 1.24179332e+02] [ 6.54638590e-02 -1.41880598e-03 9.97853932e-01 1.39788362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.24, Y:124.15, Z:139.79 [[ 8.98328500e-01 4.35449735e-01 -5.82188538e-02 2.96243315e+02] [-4.34420342e-01 9.00211571e-01 2.99682241e-02 1.24154477e+02] [ 6.54589410e-02 -1.62985546e-03 9.97853933e-01 1.39788311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.30, Y:124.13, Z:139.79 [[ 8.97029063e-01 4.38121527e-01 -5.82098669e-02 2.96298123e+02] [-4.37096612e-01 8.98914574e-01 2.99856699e-02 1.24126689e+02] [ 6.54630652e-02 -1.45468179e-03 9.97853933e-01 1.39793819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.35, Y:124.09, Z:139.80 [[ 8.98306711e-01 4.35496960e-01 -5.82018193e-02 2.96350068e+02] [-4.34465525e-01 9.00188664e-01 3.00012821e-02 1.24092285e+02] [ 6.54580851e-02 -1.66366906e-03 9.97853933e-01 1.39802951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.41, Y:124.07, Z:139.80 [[ 9.00368336e-01 4.31219731e-01 -5.81928035e-02 2.96406933e+02] [-4.30178229e-01 9.02244737e-01 3.00187598e-02 1.24066622e+02] [ 6.54488322e-02 -1.99466363e-03 9.97853933e-01 1.39804139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.46, Y:124.04, Z:139.81 [[ 9.00685883e-01 4.30557374e-01 -5.81832284e-02 2.96462585e+02] [-4.29513296e-01 9.02560850e-01 3.00373071e-02 1.24038516e+02] [ 6.54466881e-02 -2.06370827e-03 9.97853933e-01 1.39808196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.52, Y:124.01, Z:139.82 [[ 8.98240435e-01 4.35637383e-01 -5.81738059e-02 2.96515441e+02] [-4.34602731e-01 9.00120620e-01 3.00555448e-02 1.24007239e+02] [ 6.54567611e-02 -1.71461074e-03 9.97853933e-01 1.39815856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.57, Y:123.98, Z:139.82 [[ 8.97060631e-01 4.38062811e-01 -5.81652630e-02 2.96571523e+02] [-4.37032172e-01 8.98943019e-01 3.00720683e-02 1.23979260e+02] [ 6.54607119e-02 -1.55637735e-03 9.97853934e-01 1.39818781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.63, Y:123.96, Z:139.82 [[ 8.96218792e-01 4.39783892e-01 -5.81550044e-02 2.96629336e+02] [-4.38755583e-01 8.98102453e-01 3.00918939e-02 1.23955643e+02] [ 6.54630824e-02 -1.45308794e-03 9.97853934e-01 1.39818849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.68, Y:123.93, Z:139.82 [[ 8.94213413e-01 4.43848565e-01 -5.81448461e-02 2.96681861e+02] [-4.42827544e-01 8.96101034e-01 3.01115095e-02 1.23929655e+02] [ 6.54686070e-02 -1.17797629e-03 9.97853934e-01 1.39823054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.74, Y:123.90, Z:139.83 [[ 8.91388825e-01 4.49493974e-01 -5.81474756e-02 2.96736583e+02] [-4.48485240e-01 8.93283041e-01 3.01064309e-02 1.23899312e+02] [ 6.54748131e-02 -7.58251525e-04 9.97853934e-01 1.39829204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.79, Y:123.87, Z:139.83 [[ 8.90012123e-01 4.52215109e-01 -5.81370419e-02 2.96792509e+02] [-4.51210852e-01 8.91908716e-01 3.01265654e-02 1.23871923e+02] [ 6.54766225e-02 -5.80944257e-04 9.97853934e-01 1.39830932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.84, Y:123.84, Z:139.84 [[ 8.88592517e-01 4.54999662e-01 -5.81261141e-02 2.96842011e+02] [-4.53999970e-01 8.90491520e-01 3.01476349e-02 1.23842033e+02] [ 6.54779754e-02 -3.99708739e-04 9.97853935e-01 1.39836130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.90, Y:123.81, Z:139.84 [[ 8.88939734e-01 4.54320495e-01 -5.81294923e-02 2.96897969e+02] [-4.53319778e-01 8.90838196e-01 3.01411196e-02 1.23812706e+02] [ 6.54777005e-02 -4.42390322e-04 9.97853935e-01 1.39838159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.95, Y:123.79, Z:139.84 [[ 8.90055917e-01 4.52131194e-01 -5.81192662e-02 2.96953518e+02] [-4.51124520e-01 8.91951227e-01 3.01608253e-02 1.23785949e+02] [ 6.54762007e-02 -6.25794920e-04 9.97853935e-01 1.39841833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.01, Y:123.75, Z:139.85 [[ 8.89905371e-01 4.52428642e-01 -5.81098458e-02 2.97007585e+02] [-4.51421417e-01 8.91800389e-01 3.01789643e-02 1.23754795e+02] [ 6.54762109e-02 -6.24393460e-04 9.97853935e-01 1.39846037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.06, Y:123.73, Z:139.85 [[ 8.92260413e-01 4.47767561e-01 -5.80996338e-02 2.97062624e+02] [-4.46749158e-01 8.94149447e-01 3.01986114e-02 1.23726407e+02] [ 6.54717140e-02 -9.89062998e-04 9.97853935e-01 1.39848480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.12, Y:123.69, Z:139.85 [[ 8.94480072e-01 4.43318095e-01 -5.80901663e-02 2.97116482e+02] [-4.42289116e-01 8.96363365e-01 3.02168121e-02 1.23692798e+02] [ 6.54655566e-02 -1.33568802e-03 9.97853936e-01 1.39851821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.17, Y:123.67, Z:139.86 [[ 8.96013759e-01 4.40211333e-01 -5.80803377e-02 2.97171666e+02] [-4.39174601e-01 8.97892796e-01 3.02356922e-02 1.23665160e+02] [ 6.54600112e-02 -1.58418713e-03 9.97853936e-01 1.39856472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.22, Y:123.63, Z:139.86 [[ 8.97771655e-01 4.36616283e-01 -5.80713095e-02 2.97224810e+02] [-4.35570908e-01 8.99645897e-01 3.02530219e-02 1.23631439e+02] [ 6.54525773e-02 -1.86613258e-03 9.97853936e-01 1.39859188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.28, Y:123.61, Z:139.86 [[ 8.99407612e-01 4.33237561e-01 -5.80617270e-02 2.97281731e+02] [-4.32183961e-01 9.01277242e-01 3.02714016e-02 1.23605429e+02] [ 6.54444214e-02 -2.13298188e-03 9.97853936e-01 1.39861592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.34, Y:123.58, Z:139.86 [[ 8.98539707e-01 4.35036027e-01 -5.80521360e-02 2.97338633e+02] [-4.33984983e-01 9.00410775e-01 3.02897833e-02 1.23577740e+02] [ 6.54479158e-02 -2.02281774e-03 9.97853936e-01 1.39862533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.39, Y:123.55, Z:139.87 [[ 8.98062789e-01 4.36021094e-01 -5.80416389e-02 2.97393472e+02] [-4.34970805e-01 8.99934281e-01 3.03098848e-02 1.23551091e+02] [ 6.54494097e-02 -1.97376131e-03 9.97853937e-01 1.39865290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.45, Y:123.52, Z:139.88 [[ 8.94799708e-01 4.42679620e-01 -5.80365167e-02 2.97446262e+02] [-4.41642625e-01 8.96678598e-01 3.03196894e-02 1.23518423e+02] [ 6.54620110e-02 -1.49864963e-03 9.97853937e-01 1.39876652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.722755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:297.50, Y:123.50, Z:139.88 [[ 8.94768275e-01 4.42744529e-01 -5.80259918e-02 2.97502843e+02] [-4.41706366e-01 8.96646520e-01 3.03398187e-02 1.23495068e+02] [ 6.54615924e-02 -1.51665728e-03 9.97853937e-01 1.39875587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.56, Y:123.46, Z:139.88 [[ 8.93209514e-01 4.45881952e-01 -5.80176637e-02 2.97556708e+02] [-4.44849353e-01 8.95090823e-01 3.03557360e-02 1.23464099e+02] [ 6.54661532e-02 -1.30491200e-03 9.97853937e-01 1.39884564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.61, Y:123.44, Z:139.89 [[ 8.93299410e-01 4.45703175e-01 -5.80072808e-02 2.97611183e+02] [-4.44668913e-01 8.95179805e-01 3.03755638e-02 1.23435487e+02] [ 6.54654316e-02 -1.34043870e-03 9.97853937e-01 1.39891623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.67, Y:123.41, Z:139.90 [[ 8.94421634e-01 4.43448086e-01 -5.79977202e-02 2.97666128e+02] [-4.42407901e-01 8.96298759e-01 3.03938075e-02 1.23406250e+02] [ 6.54613604e-02 -1.52622927e-03 9.97853938e-01 1.39896620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.72, Y:123.37, Z:139.90 [[ 8.94697042e-01 4.42893433e-01 -5.79880239e-02 2.97718007e+02] [-4.41850887e-01 8.96572856e-01 3.04122958e-02 1.23373664e+02] [ 6.54598943e-02 -1.58773131e-03 9.97853938e-01 1.39901518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.77, Y:123.35, Z:139.90 [[ 8.96621139e-01 4.38985729e-01 -5.79832974e-02 2.97773522e+02] [-4.37934427e-01 8.98492060e-01 3.04213045e-02 1.23348220e+02] [ 6.54520509e-02 -1.88350254e-03 9.97853938e-01 1.39903439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.83, Y:123.32, Z:139.91 [[ 8.96251328e-01 4.39740515e-01 -5.79813376e-02 2.97825583e+02] [-4.38690547e-01 8.98122999e-01 3.04250392e-02 1.23320603e+02] [ 6.54534953e-02 -1.83261707e-03 9.97853938e-01 1.39907025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.88, Y:123.29, Z:139.91 [[ 8.94836662e-01 4.42611803e-01 -5.79839669e-02 2.97878114e+02] [-4.41568165e-01 8.96711870e-01 3.04200276e-02 1.23294273e+02] [ 6.54591746e-02 -1.61708204e-03 9.97853938e-01 1.39909422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.93, Y:123.26, Z:139.91 [[ 8.92832048e-01 4.46641339e-01 -5.79866250e-02 2.97933903e+02] [-4.45606495e-01 8.94712123e-01 3.04149598e-02 1.23264494e+02] [ 6.54659147e-02 -1.31623417e-03 9.97853938e-01 1.39912930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.99, Y:123.23, Z:139.92 [[ 8.90877642e-01 4.50528223e-01 -5.79771204e-02 2.97989092e+02] [-4.49500405e-01 8.92761566e-01 3.04330669e-02 1.23234613e+02] [ 6.54707004e-02 -1.05139984e-03 9.97853938e-01 1.39917197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.04, Y:123.21, Z:139.92 [[ 8.89488226e-01 4.53266432e-01 -5.79675569e-02 2.98044879e+02] [-4.52243227e-01 8.91374659e-01 3.04512721e-02 1.23205793e+02] [ 6.54733508e-02 -8.70613023e-04 9.97853938e-01 1.39921599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.10, Y:123.18, Z:139.93 [[ 8.88108852e-01 4.55964419e-01 -5.79578824e-02 2.98100632e+02] [-4.54945744e-01 8.89997735e-01 3.04696745e-02 1.23176595e+02] [ 6.54754715e-02 -6.92695668e-04 9.97853939e-01 1.39925639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.442755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:298.16, Y:123.15, Z:139.93 [[ 8.87131967e-01 4.57863381e-01 -5.79482313e-02 2.98155339e+02] [-4.56847552e-01 8.89022382e-01 3.04880182e-02 1.23147753e+02] [ 6.54766217e-02 -5.73387940e-04 9.97853939e-01 1.39929142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.21, Y:123.12, Z:139.94 [[ 8.90002577e-01 4.52259278e-01 -5.79392663e-02 2.98209313e+02] [-4.51230438e-01 8.91885942e-01 3.05050457e-02 1.23120145e+02] [ 6.54714071e-02 -1.00560877e-03 9.97853939e-01 1.39935163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.26, Y:123.09, Z:139.94 [[ 8.89929751e-01 4.52402850e-01 -5.79370397e-02 2.98260199e+02] [-4.51374038e-01 8.91813132e-01 3.05092742e-02 1.23089576e+02] [ 6.54714954e-02 -9.99835177e-04 9.97853939e-01 1.39940785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.32, Y:123.06, Z:139.94 [[ 8.92266996e-01 4.47775424e-01 -5.79376976e-02 2.98315676e+02] [-4.46736927e-01 8.94145054e-01 3.05080248e-02 1.23059207e+02] [ 6.54654495e-02 -1.33839464e-03 9.97853939e-01 1.39944635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.37, Y:123.03, Z:139.95 [[ 8.94445554e-01 4.43409187e-01 -5.79261865e-02 2.98369837e+02] [-4.42360110e-01 8.96317723e-01 3.05298654e-02 1.23029485e+02] [ 6.54574904e-02 -1.68306814e-03 9.97853939e-01 1.39948700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.42, Y:123.00, Z:139.95 [[ 8.95283444e-01 4.41716209e-01 -5.79167138e-02 2.98424121e+02] [-4.40662432e-01 8.97152970e-01 3.05478252e-02 1.22999910e+02] [ 6.54536213e-02 -1.82724225e-03 9.97853940e-01 1.39952670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.48, Y:122.97, Z:139.96 [[ 8.94645508e-01 4.43007989e-01 -5.79080001e-02 2.98478461e+02] [-4.41955843e-01 8.96515953e-01 3.05643344e-02 1.22972601e+02] [ 6.54556902e-02 -1.75146546e-03 9.97853940e-01 1.39956187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.53, Y:122.95, Z:139.96 [[ 8.93228677e-01 4.45857819e-01 -5.79080001e-02 2.98529552e+02] [-4.44811641e-01 8.95102466e-01 3.05643344e-02 1.22946278e+02] [ 6.54609412e-02 -1.54278736e-03 9.97853940e-01 1.39960016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.58, Y:122.92, Z:139.96 [[ 8.91362133e-01 4.49577395e-01 -5.79112537e-02 2.98582583e+02] [-4.48539438e-01 8.93240489e-01 3.05581685e-02 1.22919792e+02] [ 6.54669383e-02 -1.26291308e-03 9.97853940e-01 1.39961853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.64, Y:122.90, Z:139.97 [[ 8.89635833e-01 4.52983608e-01 -5.79131739e-02 2.98635642e+02] [-4.51953080e-01 8.91518275e-01 3.05545288e-02 1.22896022e+02] [ 6.54713536e-02 -1.00836639e-03 9.97853940e-01 1.39966465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.69, Y:122.87, Z:139.97 [[ 8.88287619e-01 4.55621334e-01 -5.79163761e-02 2.98691747e+02] [-4.54596792e-01 8.90173325e-01 3.05484579e-02 1.22868735e+02] [ 6.54741422e-02 -8.07218164e-04 9.97853940e-01 1.39972223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.75, Y:122.84, Z:139.98 [[ 8.87001876e-01 4.58120601e-01 -5.79067066e-02 2.98747136e+02] [-4.57100177e-01 8.88889813e-01 3.05667761e-02 1.22839363e+02] [ 6.54759515e-02 -6.43621877e-04 9.97853940e-01 1.39977630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.80, Y:122.81, Z:139.99 [[ 8.84581223e-01 4.62778569e-01 -5.78969403e-02 2.98800527e+02] [-4.61766876e-01 8.86473854e-01 3.05852634e-02 1.22809322e+02] [ 6.54783282e-02 -3.20260474e-04 9.97853940e-01 1.39988468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.222755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:298.86, Y:122.78, Z:139.99 [[ 8.89841377e-01 4.52582937e-01 -5.78879015e-02 2.98858609e+02] [-4.51548450e-01 8.91721645e-01 3.06023614e-02 1.22783618e+02] [ 6.54700014e-02 -1.09205519e-03 9.97853940e-01 1.39987024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.91, Y:122.75, Z:139.99 [[ 8.90770657e-01 4.50752463e-01 -5.78779166e-02 2.98913188e+02] [-4.49712887e-01 8.92648116e-01 3.06212342e-02 1.22752233e+02] [ 6.54672099e-02 -1.24805191e-03 9.97853941e-01 1.39992924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.97, Y:122.72, Z:140.00 [[ 8.92596545e-01 4.47127221e-01 -5.78675748e-02 2.98968486e+02] [-4.46078755e-01 8.94469054e-01 3.06407656e-02 1.22723812e+02] [ 6.54610752e-02 -1.53634580e-03 9.97853941e-01 1.39997610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.02, Y:122.69, Z:140.00 [[ 8.94015329e-01 4.44284867e-01 -5.78580072e-02 2.99023597e+02] [-4.43229281e-01 8.95883833e-01 3.06588210e-02 1.22694407e+02] [ 6.54553035e-02 -1.76509298e-03 9.97853941e-01 1.40003084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.08, Y:122.67, Z:140.00 [[ 8.96449009e-01 4.39354930e-01 -5.78482494e-02 2.99080895e+02] [-4.38287885e-01 8.98310992e-01 3.06772214e-02 1.22670047e+02] [ 6.54439068e-02 -2.14637786e-03 9.97853941e-01 1.40000059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.14, Y:122.64, Z:140.01 [[ 8.93461921e-01 4.45399095e-01 -5.78398002e-02 2.99135668e+02] [-4.44343618e-01 8.95330486e-01 3.06931436e-02 1.22638683e+02] [ 6.54564348e-02 -1.72240890e-03 9.97853941e-01 1.40005888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.19, Y:122.61, Z:140.01 [[ 8.91113969e-01 4.50079535e-01 -5.78299818e-02 2.99190233e+02] [-4.49032676e-01 8.92987375e-01 3.07116317e-02 1.22610188e+02] [ 6.54641206e-02 -1.40001260e-03 9.97853942e-01 1.40010620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.24, Y:122.58, Z:140.02 [[ 8.86627859e-01 4.58854877e-01 -5.78207626e-02 2.99243053e+02] [-4.57825432e-01 8.88510891e-01 3.07289788e-02 1.22576966e+02] [ 6.54745191e-02 -7.73353083e-04 9.97853942e-01 1.40020319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.30, Y:122.55, Z:140.03 [[ 8.84683054e-01 4.62594693e-01 -5.78104177e-02 2.99297928e+02] [-4.61571937e-01 8.86569727e-01 3.07484284e-02 1.22547309e+02] [ 6.54770261e-02 -5.18947030e-04 9.97853942e-01 1.40025103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.35, Y:122.52, Z:140.02 [[ 8.84709367e-01 4.62545484e-01 -5.78014798e-02 2.99354331e+02] [-4.61521526e-01 8.86595388e-01 3.07652210e-02 1.22523018e+02] [ 6.54768394e-02 -5.41652108e-04 9.97853942e-01 1.40024927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.41, Y:122.49, Z:140.03 [[ 8.84455219e-01 4.63032284e-01 -5.77933364e-02 2.99407996e+02] [-4.62008365e-01 8.86341261e-01 3.07805110e-02 1.22493990e+02] [ 6.54769889e-02 -5.22978731e-04 9.97853942e-01 1.40028905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.46, Y:122.46, Z:140.04 [[ 8.84733439e-01 4.62500604e-01 -5.77921512e-02 2.99462577e+02] [-4.61475406e-01 8.86618786e-01 3.07827362e-02 1.22462585e+02] [ 6.54766410e-02 -5.64859622e-04 9.97853942e-01 1.40035719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.52, Y:122.43, Z:140.04 [[ 8.85887084e-01 4.60288337e-01 -5.77816705e-02 2.99516892e+02] [-4.59257149e-01 8.87769161e-01 3.08023967e-02 1.22433722e+02] [ 6.54747691e-02 -7.50800148e-04 9.97853943e-01 1.40038985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.57, Y:122.40, Z:140.04 [[ 8.86314191e-01 4.59466598e-01 -5.77719675e-02 2.99571448e+02] [-4.58432480e-01 8.88194659e-01 3.08205846e-02 1.22404637e+02] [ 6.54737822e-02 -8.32175164e-04 9.97853943e-01 1.40043795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.63, Y:122.38, Z:140.05 [[ 8.86579090e-01 4.58956298e-01 -5.77636002e-02 2.99627364e+02] [-4.57920077e-01 8.88458400e-01 3.08362586e-02 1.22375425e+02] [ 6.54730509e-02 -8.87669895e-04 9.97853943e-01 1.40048554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.68, Y:122.35, Z:140.05 [[ 8.86111686e-01 4.59859292e-01 -5.77538863e-02 2.99684401e+02] [-4.58823801e-01 8.87991398e-01 3.08544412e-02 1.22348848e+02] [ 6.54736558e-02 -8.41623243e-04 9.97853943e-01 1.40050716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.74, Y:122.32, Z:140.05 [[ 8.86438310e-01 4.59230692e-01 -5.77433502e-02 2.99736662e+02] [-4.58192584e-01 8.88316578e-01 3.08741467e-02 1.22323037e+02] [ 6.54727310e-02 -9.10451552e-04 9.97853944e-01 1.40053671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.79, Y:122.30, Z:140.06 [[ 8.85658617e-01 4.60732415e-01 -5.77447447e-02 2.99788774e+02] [-4.59697662e-01 8.87538736e-01 3.08715383e-02 1.22295282e+02] [ 6.54742161e-02 -7.96519769e-04 9.97853944e-01 1.40058706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.84, Y:122.27, Z:140.06 [[ 8.87536735e-01 4.57103702e-01 -5.77472842e-02 2.99841613e+02] [-4.56061572e-01 8.89412775e-01 3.08667873e-02 1.22269990e+02] [ 6.54704950e-02 -1.05909039e-03 9.97853944e-01 1.40057998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.89, Y:122.24, Z:140.06 [[ 8.87597750e-01 4.56984906e-01 -5.77497081e-02 2.99893125e+02] [-4.55942820e-01 8.89473814e-01 3.08622517e-02 1.22241896e+02] [ 6.54704363e-02 -1.06270036e-03 9.97853944e-01 1.40064257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.94, Y:122.21, Z:140.07 [[ 8.89296863e-01 4.53669216e-01 -5.77523388e-02 2.99944359e+02] [-4.52620455e-01 8.91169203e-01 3.08573280e-02 1.22213392e+02] [ 6.54661256e-02 -1.30143512e-03 9.97853944e-01 1.40068909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.00, Y:122.19, Z:140.07 [[ 8.89886972e-01 4.52510268e-01 -5.77549535e-02 2.99995693e+02] [-4.51459387e-01 8.91758123e-01 3.08524335e-02 1.22185435e+02] [ 6.54644919e-02 -1.38116274e-03 9.97853944e-01 1.40072236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.05, Y:122.16, Z:140.08 [[ 8.89652152e-01 4.52971419e-01 -5.77576183e-02 3.00048723e+02] [-4.51921831e-01 8.91524029e-01 3.08474440e-02 1.22159779e+02] [ 6.54653150e-02 -1.34156627e-03 9.97853944e-01 1.40078962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.602755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:300.10, Y:122.13, Z:140.08 [[ 8.88874325e-01 4.54495518e-01 -5.77603609e-02 3.00104366e+02] [-4.53449473e-01 8.90748184e-01 3.08423078e-02 1.22131510e+02] [ 6.54676272e-02 -1.22353032e-03 9.97853944e-01 1.40084676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.16, Y:122.10, Z:140.09 [[ 8.87818272e-01 4.56555377e-01 -5.77572903e-02 3.00155759e+02] [-4.55513306e-01 8.89694344e-01 3.08480568e-02 1.22104953e+02] [ 6.54701807e-02 -1.07825419e-03 9.97853944e-01 1.40088909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.21, Y:122.08, Z:140.09 [[ 8.87162338e-01 4.57828144e-01 -5.77613743e-02 3.00206992e+02] [-4.56789263e-01 8.89040178e-01 3.08404079e-02 1.22078420e+02] [ 6.54717892e-02 -9.75672746e-04 9.97853944e-01 1.40092415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.26, Y:122.05, Z:140.10 [[ 8.86184682e-01 4.59717153e-01 -5.77654642e-02 3.00260045e+02] [-4.58682775e-01 8.88065006e-01 3.08327455e-02 1.22053177e+02] [ 6.54738293e-02 -8.27483390e-04 9.97853944e-01 1.40096153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.31, Y:122.03, Z:140.10 [[ 8.84766453e-01 4.62440481e-01 -5.77678589e-02 3.00313217e+02] [-4.61412183e-01 8.86650109e-01 3.08282580e-02 1.22027025e+02] [ 6.54761129e-02 -6.21014595e-04 9.97853944e-01 1.40099245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.36, Y:122.00, Z:140.10 [[ 8.81385345e-01 4.68852297e-01 -5.77702150e-02 3.00364813e+02] [-4.67837992e-01 8.83276573e-01 3.08238423e-02 1.21999532e+02] [ 6.54789068e-02 -1.40581462e-04 9.97853944e-01 1.40102308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.42, Y:121.97, Z:140.11 [[ 8.80604728e-01 4.70316563e-01 -5.77723396e-02 3.00416402e+02] [-4.69305665e-01 8.82497779e-01 3.08198597e-02 1.21974587e+02] [ 6.54790519e-02 -2.72279350e-05 9.97853944e-01 1.40106554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.47, Y:121.95, Z:140.11 [[ 8.80749283e-01 4.70045367e-01 -5.77758827e-02 3.00467518e+02] [-4.69034321e-01 8.82642255e-01 3.08132163e-02 1.21948751e+02] [ 6.54790450e-02 -3.98462030e-05 9.97853944e-01 1.40110384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.52, Y:121.92, Z:140.11 [[ 8.81399324e-01 4.68824925e-01 -5.77790789e-02 3.00518906e+02] [-4.67811651e-01 8.83291104e-01 3.08072218e-02 1.21919087e+02] [ 6.54789398e-02 -1.23738138e-04 9.97853944e-01 1.40112011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.57, Y:121.89, Z:140.12 [[ 8.85146837e-01 4.61710422e-01 -5.77802989e-02 3.00570830e+02] [-4.60682092e-01 8.87030476e-01 3.08049334e-02 1.21892571e+02] [ 6.54758449e-02 -6.48540337e-04 9.97853944e-01 1.40117960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.20275509600003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:300.62, Y:121.86, Z:140.12 [[ 8.87834082e-01 4.56521390e-01 -5.77828953e-02 3.00622023e+02] [-4.55482369e-01 8.89711845e-01 3.08000625e-02 1.21864948e+02] [ 6.54710137e-02 -1.02625523e-03 9.97853944e-01 1.40122085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.67, Y:121.84, Z:140.12 [[ 8.90236738e-01 4.51817753e-01 -5.77864070e-02 3.00673935e+02] [-4.50769240e-01 8.92109217e-01 3.07934724e-02 1.21836426e+02] [ 6.54648238e-02 -1.36514561e-03 9.97853944e-01 1.40124530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.73, Y:121.81, Z:140.13 [[ 8.93491041e-01 4.45347231e-01 -5.77892950e-02 3.00725774e+02] [-4.44285511e-01 8.95356063e-01 3.07880517e-02 1.21809621e+02] [ 6.54533693e-02 -1.83390192e-03 9.97853944e-01 1.40127479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.382755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:300.78, Y:121.78, Z:140.13 [[ 8.94659365e-01 4.42995226e-01 -5.77914298e-02 3.00776822e+02] [-4.41928862e-01 8.96521736e-01 3.07840441e-02 1.21782085e+02] [ 6.54484575e-02 -2.00153252e-03 9.97853944e-01 1.40131616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.442755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:300.83, Y:121.76, Z:140.14 [[ 8.96722408e-01 4.38803672e-01 -5.77949899e-02 3.00827894e+02] [-4.37729034e-01 8.98580017e-01 3.07773588e-02 1.21755629e+02] [ 6.54386410e-02 -2.30020218e-03 9.97853944e-01 1.40135356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.88, Y:121.73, Z:140.14 [[ 8.98446931e-01 4.35261290e-01 -5.77989834e-02 3.00879311e+02] [-4.34179811e-01 9.00300565e-01 3.07698573e-02 1.21728459e+02] [ 6.54293851e-02 -2.54993215e-03 9.97853944e-01 1.40137187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.562755096 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:300.93, Y:121.70, Z:140.14 [[ 8.98713903e-01 4.34709260e-01 -5.78029413e-02 3.00931339e+02] [-4.33627120e-01 9.00567152e-01 3.07624203e-02 1.21701272e+02] [ 6.54281391e-02 -2.58169193e-03 9.97853944e-01 1.40140739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.622755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:300.98, Y:121.67, Z:140.14 [[ 8.97540451e-01 4.37126661e-01 -5.78050180e-02 3.00982952e+02] [-4.36049764e-01 8.99396752e-01 3.07585175e-02 1.21674971e+02] [ 6.54350135e-02 -2.40114925e-03 9.97853944e-01 1.40142562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.03, Y:121.65, Z:140.15 [[ 8.95853896e-01 4.40572212e-01 -5.78093628e-02 3.01033915e+02] [-4.39502983e-01 8.97714623e-01 3.07503495e-02 1.21648969e+02] [ 6.54440598e-02 -2.14043307e-03 9.97853944e-01 1.40145333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.09, Y:121.62, Z:140.15 [[ 8.92931281e-01 4.46465303e-01 -5.78140233e-02 3.01086106e+02] [-4.45408923e-01 8.94799333e-01 3.07415847e-02 1.21621126e+02] [ 6.54570004e-02 -1.69924072e-03 9.97853944e-01 1.40146909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.14, Y:121.59, Z:140.15 [[ 8.92091387e-01 4.48140892e-01 -5.78160753e-02 3.01138831e+02] [-4.47088271e-01 8.93961560e-01 3.07377250e-02 1.21594254e+02] [ 6.54601803e-02 -1.57197054e-03 9.97853944e-01 1.40146759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.862755096 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:301.19, Y:121.56, Z:140.15 [[ 8.88774288e-01 4.54683660e-01 -5.78189800e-02 3.01187283e+02] [-4.53645164e-01 8.90652341e-01 3.07322601e-02 1.21563889e+02] [ 6.54700664e-02 -1.08474194e-03 9.97853944e-01 1.40154457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.24, Y:121.54, Z:140.16 [[ 8.89212414e-01 4.53825871e-01 -5.78218029e-02 3.01239286e+02] [-4.52785910e-01 8.91089656e-01 3.07269481e-02 1.21535612e+02] [ 6.54690944e-02 -1.14188611e-03 9.97853944e-01 1.40158571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.29, Y:121.50, Z:140.16 [[ 8.88949947e-01 4.54339372e-01 -5.78249607e-02 3.01291832e+02] [-4.53300881e-01 8.90828003e-01 3.07210042e-02 1.21503548e+02] [ 6.54698560e-02 -1.09732941e-03 9.97853944e-01 1.40163765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.35, Y:121.47, Z:140.17 [[ 8.90171460e-01 4.51942670e-01 -5.78151820e-02 3.01346135e+02] [-4.50897929e-01 8.92046046e-01 3.07393963e-02 1.21473489e+02] [ 6.54662493e-02 -1.29458748e-03 9.97853944e-01 1.40166549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.40, Y:121.44, Z:140.17 [[ 8.90673591e-01 4.50953409e-01 -5.78063813e-02 3.01399627e+02] [-4.49905513e-01 8.92546414e-01 3.07559373e-02 1.21441672e+02] [ 6.54643731e-02 -1.38609149e-03 9.97853945e-01 1.40168900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.45, Y:121.41, Z:140.17 [[ 8.90692244e-01 4.50917678e-01 -5.77976955e-02 3.01452540e+02] [-4.49868648e-01 8.92564433e-01 3.07722513e-02 1.21409481e+02] [ 6.54639195e-02 -1.40723442e-03 9.97853945e-01 1.40171006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.50, Y:121.38, Z:140.17 [[ 8.90432299e-01 4.51431965e-01 -5.77884203e-02 3.01504601e+02] [-4.50382888e-01 8.92304461e-01 3.07896597e-02 1.21378213e+02] [ 6.54643019e-02 -1.38919188e-03 9.97853945e-01 1.40174507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.56, Y:121.35, Z:140.18 [[ 8.89041644e-01 4.54165644e-01 -5.77799531e-02 3.01558573e+02] [-4.53121292e-01 8.90916446e-01 3.08055413e-02 1.21346532e+02] [ 6.54679289e-02 -1.20608209e-03 9.97853945e-01 1.40175679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.61, Y:121.31, Z:140.18 [[ 8.86464269e-01 4.59177237e-01 -5.77699359e-02 3.01609696e+02] [-4.58142262e-01 8.88344263e-01 3.08243152e-02 1.21311851e+02] [ 6.54734150e-02 -8.57804870e-04 9.97853945e-01 1.40183156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.66, Y:121.28, Z:140.19 [[ 8.85102845e-01 4.61797202e-01 -5.77606925e-02 3.01661436e+02] [-4.60766663e-01 8.86985274e-01 3.08416264e-02 1.21281361e+02] [ 6.54754604e-02 -6.83809726e-04 9.97853945e-01 1.40185956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.71, Y:121.25, Z:140.19 [[ 8.84128836e-01 4.63659174e-01 -5.77613296e-02 3.01713242e+02] [-4.62632677e-01 8.86013473e-01 3.08404331e-02 1.21252425e+02] [ 6.54767660e-02 -5.44637698e-04 9.97853945e-01 1.40192990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.76, Y:121.22, Z:140.20 [[ 8.82848607e-01 4.66092069e-01 -5.77626251e-02 3.01764734e+02] [-4.65070924e-01 8.84736149e-01 3.08380065e-02 1.21221674e+02] [ 6.54780327e-02 -3.61573597e-04 9.97853945e-01 1.40200497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.82, Y:121.19, Z:140.20 [[ 8.84188158e-01 4.63545954e-01 -5.77620115e-02 3.01821025e+02] [-4.62519299e-01 8.86072708e-01 3.08391558e-02 1.21194845e+02] [ 6.54767079e-02 -5.51571304e-04 9.97853945e-01 1.40204527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.88, Y:121.17, Z:140.21 [[ 8.85268869e-01 4.61479826e-01 -5.77529274e-02 3.01877482e+02] [-4.60447664e-01 8.87150408e-01 3.08561584e-02 1.21167723e+02] [ 6.54750277e-02 -7.23795979e-04 9.97853946e-01 1.40208943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.93, Y:121.14, Z:140.21 [[ 8.87645979e-01 4.56892024e-01 -5.77433420e-02 3.01933531e+02] [-4.55848972e-01 8.89521504e-01 3.08740858e-02 1.21138470e+02] [ 6.54700680e-02 -1.08301500e-03 9.97853946e-01 1.40212618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.99, Y:121.11, Z:140.22 [[ 8.89537527e-01 4.53199542e-01 -5.77335521e-02 3.01988755e+02] [-4.52147518e-01 8.91408034e-01 3.08923818e-02 1.21109102e+02] [ 6.54645654e-02 -1.37585060e-03 9.97853946e-01 1.40216606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.05, Y:121.08, Z:140.22 [[ 8.92478307e-01 4.47381797e-01 -5.77234727e-02 3.02045691e+02] [-4.46316367e-01 8.94341209e-01 3.09112042e-02 1.21081265e+02] [ 6.54535904e-02 -1.82464856e-03 9.97853946e-01 1.40219478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.10, Y:121.05, Z:140.22 [[ 8.93813980e-01 4.44708669e-01 -5.77128242e-02 3.02102037e+02] [-4.43636386e-01 8.95672946e-01 3.09310726e-02 1.21054305e+02] [ 6.54471314e-02 -2.04311636e-03 9.97853947e-01 1.40219755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.16, Y:121.02, Z:140.22 [[ 8.92790331e-01 4.46761436e-01 -5.77030706e-02 3.02157075e+02] [-4.45692254e-01 8.94651082e-01 3.09492578e-02 1.21024184e+02] [ 6.54510494e-02 -1.91338655e-03 9.97853947e-01 1.40224098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.21, Y:121.00, Z:140.23 [[ 8.91565305e-01 4.49202648e-01 -5.76913125e-02 3.02209535e+02] [-4.48137145e-01 8.93428165e-01 3.09711601e-02 1.20996527e+02] [ 6.54553706e-02 -1.75919170e-03 9.97853947e-01 1.40228442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.27, Y:120.97, Z:140.23 [[ 8.90397485e-01 4.51512954e-01 -5.76920458e-02 3.02265304e+02] [-4.50452373e-01 8.92263151e-01 3.09697941e-02 1.20968369e+02] [ 6.54597498e-02 -1.58790786e-03 9.97853947e-01 1.40232463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.32, Y:120.94, Z:140.24 [[ 8.89414320e-01 4.53447848e-01 -5.76820247e-02 3.02321032e+02] [-4.52390117e-01 8.91281604e-01 3.09884475e-02 1.20940373e+02] [ 6.54625723e-02 -1.46679106e-03 9.97853947e-01 1.40237029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.38, Y:120.91, Z:140.24 [[ 8.88260978e-01 4.55704268e-01 -5.76719637e-02 3.02376279e+02] [-4.54650067e-01 8.90130256e-01 3.10071605e-02 1.20911501e+02] [ 6.54656552e-02 -1.32188859e-03 9.97853948e-01 1.40242971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.43, Y:120.88, Z:140.25 [[ 8.87701631e-01 4.56794167e-01 -5.76619767e-02 3.02430297e+02] [-4.55741055e-01 8.89571523e-01 3.10257216e-02 1.20881471e+02] [ 6.54668211e-02 -1.26265358e-03 9.97853948e-01 1.40248196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.49, Y:120.85, Z:140.25 [[ 8.87515682e-01 4.57156508e-01 -5.76527663e-02 3.02485574e+02] [-4.56103050e-01 8.89385378e-01 3.10428272e-02 1.20850923e+02] [ 6.54669578e-02 -1.25539343e-03 9.97853948e-01 1.40253384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.54, Y:120.82, Z:140.26 [[ 8.86700168e-01 4.58737520e-01 -5.76428686e-02 3.02538318e+02] [-4.57686201e-01 8.88571068e-01 3.10611952e-02 1.20819323e+02] [ 6.54687210e-02 -1.15962149e-03 9.97853948e-01 1.40259425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.59, Y:120.79, Z:140.26 [[ 8.87675473e-01 4.56848558e-01 -5.76337532e-02 3.02592307e+02] [-4.55792161e-01 8.89543511e-01 3.10780996e-02 1.20790483e+02] [ 6.54657161e-02 -1.31825383e-03 9.97853948e-01 1.40263209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.65, Y:120.76, Z:140.27 [[ 8.87668011e-01 4.56863681e-01 -5.76288050e-02 3.02645833e+02] [-4.55806721e-01 8.89535730e-01 3.10872723e-02 1.20759633e+02] [ 6.54655268e-02 -1.32758059e-03 9.97853948e-01 1.40266998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.70, Y:120.73, Z:140.27 [[ 8.87190046e-01 4.57792212e-01 -5.76204170e-02 3.02699225e+02] [-4.56736198e-01 8.89058300e-01 3.11028118e-02 1.20728745e+02] [ 6.54665350e-02 -1.27677489e-03 9.97853949e-01 1.40269905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.75, Y:120.70, Z:140.27 [[ 8.86268005e-01 4.59574855e-01 -5.76192322e-02 3.02751125e+02] [-4.58522457e-01 8.88138297e-01 3.11050066e-02 1.20699033e+02] [ 6.54689257e-02 -1.14766027e-03 9.97853949e-01 1.40272586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.80, Y:120.67, Z:140.28 [[ 8.85495833e-01 4.61060827e-01 -5.76198147e-02 3.02804417e+02] [-4.60011638e-01 8.87367928e-01 3.11039275e-02 1.20668017e+02] [ 6.54707781e-02 -1.03661290e-03 9.97853949e-01 1.40276046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.86, Y:120.64, Z:140.28 [[ 8.84988148e-01 4.62034707e-01 -5.76186360e-02 3.02856795e+02] [-4.60987436e-01 8.86861316e-01 3.11061108e-02 1.20638062e+02] [ 6.54718422e-02 -9.67072109e-04 9.97853949e-01 1.40279541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.91, Y:120.61, Z:140.28 [[ 8.84701503e-01 4.62583336e-01 -5.76186360e-02 3.02910046e+02] [-4.61537226e-01 8.86575321e-01 3.11061108e-02 1.20607307e+02] [ 6.54724292e-02 -9.26477553e-04 9.97853949e-01 1.40284504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.96, Y:120.58, Z:140.29 [[ 8.84472808e-01 4.63021520e-01 -5.76101029e-02 3.02960400e+02] [-4.61975309e-01 8.86346569e-01 3.11219065e-02 1.20578515e+02] [ 6.54726295e-02 -9.12034928e-04 9.97853949e-01 1.40289412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.01, Y:120.55, Z:140.30 [[ 8.85360534e-01 4.61321646e-01 -5.76113193e-02 3.03013264e+02] [-4.60271985e-01 8.87232364e-01 3.11196546e-02 1.20546514e+02] [ 6.54707973e-02 -1.03523773e-03 9.97853949e-01 1.40296502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.07, Y:120.52, Z:140.30 [[ 8.86633166e-01 4.58872207e-01 -5.76014452e-02 3.03069236e+02] [-4.57816188e-01 8.88501417e-01 3.11379207e-02 1.20516866e+02] [ 6.54672920e-02 -1.23703915e-03 9.97853949e-01 1.40298574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.12, Y:120.49, Z:140.31 [[ 8.86855766e-01 4.58443168e-01 -5.75909058e-02 3.03123343e+02] [-4.57384981e-01 8.88722789e-01 3.11574015e-02 1.20486685e+02] [ 6.54662483e-02 -1.29090584e-03 9.97853949e-01 1.40305018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.18, Y:120.46, Z:140.31 [[ 8.86646529e-01 4.58848929e-01 -5.75811871e-02 3.03178498e+02] [-4.57790432e-01 8.88513375e-01 3.11753520e-02 1.20457082e+02] [ 6.54664318e-02 -1.28140114e-03 9.97853949e-01 1.40310116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.23, Y:120.43, Z:140.32 [[ 8.86495930e-01 4.59141072e-01 -5.75711989e-02 3.03233667e+02] [-4.58081993e-01 8.88362446e-01 3.11937863e-02 1.20427167e+02] [ 6.54664396e-02 -1.28083506e-03 9.97853950e-01 1.40315284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.29, Y:120.40, Z:140.32 [[ 8.85865012e-01 4.60358428e-01 -5.75612559e-02 3.03288975e+02] [-4.59300723e-01 8.87732307e-01 3.12121232e-02 1.20398055e+02] [ 6.54677505e-02 -1.21180153e-03 9.97853950e-01 1.40319470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.34, Y:120.37, Z:140.32 [[ 8.85172530e-01 4.61689755e-01 -5.75513914e-02 3.03343781e+02] [-4.60633677e-01 8.87040745e-01 3.12303016e-02 1.20370133e+02] [ 6.54691394e-02 -1.13409601e-03 9.97853950e-01 1.40323007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.40, Y:120.34, Z:140.33 [[ 8.84563971e-01 4.62855772e-01 -5.75423010e-02 3.03399612e+02] [-4.61801068e-01 8.86432962e-01 3.12470418e-02 1.20341857e+02] [ 6.54702660e-02 -1.06691131e-03 9.97853950e-01 1.40325708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.45, Y:120.31, Z:140.33 [[ 8.84736851e-01 4.62526273e-01 -5.75339171e-02 3.03452662e+02] [-4.61469869e-01 8.86604882e-01 3.12624711e-02 1.20314201e+02] [ 6.54695661e-02 -1.10889101e-03 9.97853950e-01 1.40329004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.51, Y:120.29, Z:140.33 [[ 8.85393960e-01 4.61267223e-01 -5.75333297e-02 3.03505530e+02] [-4.60208094e-01 8.87260447e-01 3.12635521e-02 1.20286518e+02] [ 6.54678997e-02 -1.20325618e-03 9.97853950e-01 1.40332982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.56, Y:120.26, Z:140.34 [[ 8.86916372e-01 4.58332992e-01 -5.75344875e-02 3.03557123e+02] [-4.57267826e-01 8.88779421e-01 3.12614214e-02 1.20259176e+02] [ 6.54636092e-02 -1.41759645e-03 9.97853950e-01 1.40337039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.61, Y:120.23, Z:140.34 [[ 8.87457323e-01 4.57284526e-01 -5.75357463e-02 3.03610034e+02] [-4.56217309e-01 8.89319198e-01 3.12591043e-02 1.20230373e+02] [ 6.54619484e-02 -1.49231774e-03 9.97853950e-01 1.40341750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.67, Y:120.20, Z:140.34 [[ 8.86590221e-01 4.58963417e-01 -5.75357463e-02 3.03665597e+02] [-4.57899726e-01 8.88454112e-01 3.12591043e-02 1.20200211e+02] [ 6.54646557e-02 -1.36841377e-03 9.97853950e-01 1.40342676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.72, Y:120.17, Z:140.35 [[ 8.87392392e-01 4.57411844e-01 -5.75251969e-02 3.03720885e+02] [-4.56343637e-01 8.89253698e-01 3.12785061e-02 1.20173445e+02] [ 6.54616532e-02 -1.50505079e-03 9.97853951e-01 1.40345206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.742755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:303.77, Y:120.14, Z:140.35 [[ 8.86848872e-01 4.58465899e-01 -5.75160675e-02 3.03773097e+02] [-4.57398817e-01 8.88710824e-01 3.12952846e-02 1.20143864e+02] [ 6.54629725e-02 -1.44640664e-03 9.97853951e-01 1.40345844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.83, Y:120.11, Z:140.35 [[ 8.86413520e-01 4.59306881e-01 -5.75174827e-02 3.03828481e+02] [-4.58241734e-01 8.88276579e-01 3.12926834e-02 1.20113745e+02] [ 6.54643776e-02 -1.38134660e-03 9.97853951e-01 1.40351777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.89, Y:120.09, Z:140.35 [[ 8.86209435e-01 4.59701878e-01 -5.75067030e-02 3.03885180e+02] [-4.58636277e-01 8.88072234e-01 3.13124809e-02 1.20087216e+02] [ 6.54645124e-02 -1.37475580e-03 9.97853951e-01 1.40352293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.94, Y:120.06, Z:140.36 [[ 8.84429145e-01 4.63119004e-01 -5.74967494e-02 3.03938439e+02] [-4.62059414e-01 8.86295370e-01 3.13307473e-02 1.20057364e+02] [ 6.54689672e-02 -1.14291169e-03 9.97853951e-01 1.40364044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.00, Y:120.03, Z:140.36 [[ 8.85380768e-01 4.61298203e-01 -5.74879420e-02 3.03995709e+02] [-4.60233727e-01 8.87244210e-01 3.13468994e-02 1.20031187e+02] [ 6.54661120e-02 -1.29605200e-03 9.97853951e-01 1.40360061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.05, Y:120.00, Z:140.37 [[ 8.83274783e-01 4.65319097e-01 -5.74786513e-02 3.04046793e+02] [-4.64261997e-01 8.85142419e-01 3.13639259e-02 1.20001285e+02] [ 6.54710261e-02 -1.01781141e-03 9.97853952e-01 1.40371279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.10, Y:119.98, Z:140.38 [[ 8.82609782e-01 4.66579143e-01 -5.74793548e-02 3.04099691e+02] [-4.65524794e-01 8.84478972e-01 3.13626364e-02 1.19975938e+02] [ 6.54724327e-02 -9.22904897e-04 9.97853952e-01 1.40376340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.15, Y:119.95, Z:140.38 [[ 8.81487449e-01 4.68695727e-01 -5.74821184e-02 3.04152331e+02] [-4.67646196e-01 8.83359348e-01 3.13575706e-02 1.19950894e+02] [ 6.54745259e-02 -7.60010902e-04 9.97853952e-01 1.40378391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.20, Y:119.92, Z:140.38 [[ 8.81519034e-01 4.68635972e-01 -5.74849442e-02 3.04204051e+02] [-4.67586652e-01 8.83391052e-01 3.13523893e-02 1.19924246e+02] [ 6.54745428e-02 -7.58535323e-04 9.97853952e-01 1.40383859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.26, Y:119.90, Z:140.39 [[ 8.81877413e-01 4.67960874e-01 -5.74878159e-02 3.04256067e+02] [-4.66910465e-01 8.83748820e-01 3.13471229e-02 1.19896822e+02] [ 6.54740165e-02 -8.02656815e-04 9.97853952e-01 1.40388768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.31, Y:119.86, Z:140.39 [[ 8.81542624e-01 4.68591021e-01 -5.74896314e-02 3.04309816e+02] [-4.67542166e-01 8.83414902e-01 3.13437931e-02 1.19863245e+02] [ 6.54746171e-02 -7.52062828e-04 9.97853952e-01 1.40390925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.36, Y:119.83, Z:140.40 [[ 8.81545272e-01 4.68587287e-01 -5.74794580e-02 3.04363655e+02] [-4.67537209e-01 8.83416864e-01 3.13624384e-02 1.19832134e+02] [ 6.54743624e-02 -7.73623927e-04 9.97853952e-01 1.40396973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.42, Y:119.80, Z:140.40 [[ 8.82525227e-01 4.66740401e-01 -5.74684405e-02 3.04418268e+02] [-4.65685093e-01 8.84393875e-01 3.13826138e-02 1.19803178e+02] [ 6.54722705e-02 -9.33752296e-04 9.97853952e-01 1.40398727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.47, Y:119.77, Z:140.40 [[ 8.83287812e-01 4.65296448e-01 -5.74617845e-02 3.04472457e+02] [-4.64237292e-01 8.85154282e-01 3.13947963e-02 1.19772951e+02] [ 6.54704318e-02 -1.05473769e-03 9.97853952e-01 1.40403896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.53, Y:119.75, Z:140.41 [[ 8.83596095e-01 4.64711814e-01 -5.74532149e-02 3.04525716e+02] [-4.63650404e-01 8.85461284e-01 3.14104710e-02 1.19747114e+02] [ 6.54694144e-02 -1.11596320e-03 9.97853952e-01 1.40408663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.64275509600003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:304.58, Y:119.72, Z:140.41 [[ 8.83867350e-01 4.64195445e-01 -5.74551669e-02 3.04576288e+02] [-4.63133178e-01 8.85732051e-01 3.14069001e-02 1.19716972e+02] [ 6.54688228e-02 -1.15013952e-03 9.97853952e-01 1.40411657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.63, Y:119.69, Z:140.41 [[ 8.84477585e-01 4.63031310e-01 -5.74578762e-02 3.04630017e+02] [-4.61966911e-01 8.86341069e-01 3.14019427e-02 1.19689095e+02] [ 6.54673581e-02 -1.23067683e-03 9.97853952e-01 1.40414156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76275509600003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:304.68, Y:119.66, Z:140.42 [[ 8.86523380e-01 4.59102623e-01 -5.74550078e-02 3.04684011e+02] [-4.58029626e-01 8.88381928e-01 3.14071901e-02 1.19663635e+02] [ 6.54611139e-02 -1.52711257e-03 9.97853952e-01 1.40417521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.74, Y:119.64, Z:140.42 [[ 8.88805400e-01 4.54668830e-01 -5.74562205e-02 3.04736216e+02] [-4.53586707e-01 8.90658648e-01 3.14049715e-02 1.19638594e+02] [ 6.54527413e-02 -1.85153038e-03 9.97853952e-01 1.40418656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.79, Y:119.61, Z:140.42 [[ 8.91821835e-01 4.48722904e-01 -5.74592944e-02 3.04787701e+02] [-4.47628791e-01 8.93668030e-01 3.13993464e-02 1.19612810e+02] [ 6.54391403e-02 -2.28218823e-03 9.97853953e-01 1.40419555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.84, Y:119.58, Z:140.44 [[ 8.89789931e-01 4.52738275e-01 -5.74624459e-02 3.04835534e+02] [-4.51652866e-01 8.91641257e-01 3.13935779e-02 1.19580504e+02] [ 6.54489618e-02 -1.98061118e-03 9.97853953e-01 1.40435538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.89, Y:119.55, Z:140.44 [[ 8.89778533e-01 4.52760267e-01 -5.74656633e-02 3.04887518e+02] [-4.51675284e-01 8.91630109e-01 3.13876874e-02 1.19554976e+02] [ 6.54492133e-02 -1.97227067e-03 9.97853953e-01 1.40438731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.062755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:304.94, Y:119.53, Z:140.45 [[ 8.86465186e-01 4.59213293e-01 -5.74684775e-02 3.04942272e+02] [-4.58142126e-01 8.88324788e-01 3.13825339e-02 1.19526989e+02] [ 6.54619498e-02 -1.49079331e-03 9.97853953e-01 1.40449186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.00, Y:119.50, Z:140.45 [[ 8.83992771e-01 4.63956043e-01 -5.74593021e-02 3.04996490e+02] [-4.62893763e-01 8.85857464e-01 3.13993245e-02 1.19499788e+02] [ 6.54686580e-02 -1.15922323e-03 9.97853953e-01 1.40452269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.06, Y:119.48, Z:140.45 [[ 8.84999314e-01 4.62034208e-01 -5.74508865e-02 3.05055867e+02] [-4.60966881e-01 8.86861123e-01 3.14147148e-02 1.19482388e+02] [ 6.54656306e-02 -1.31904511e-03 9.97853953e-01 1.40447821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.11, Y:119.46, Z:140.45 [[ 8.84365032e-01 4.63247027e-01 -5.74515584e-02 3.05110838e+02] [-4.62182333e-01 8.86228348e-01 3.14134860e-02 1.19462028e+02] [ 6.54674037e-02 -1.22789328e-03 9.97853953e-01 1.40449429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.16, Y:119.43, Z:140.46 [[ 8.83664037e-01 4.64581380e-01 -5.74631312e-02 3.05160737e+02] [-4.63520876e-01 8.85529740e-01 3.13923023e-02 1.19433352e+02] [ 6.54695907e-02 -1.10488761e-03 9.97853953e-01 1.40456138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.21, Y:119.41, Z:140.46 [[ 8.84501565e-01 4.62984464e-01 -5.74662282e-02 3.05213847e+02] [-4.61920960e-01 8.86365560e-01 3.13866320e-02 1.19407993e+02] [ 6.54676085e-02 -1.21666983e-03 9.97853953e-01 1.40458407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.27, Y:119.38, Z:140.46 [[ 8.85801497e-01 4.60492197e-01 -5.74686363e-02 3.05268068e+02] [-4.59423735e-01 8.87662654e-01 3.13822220e-02 1.19379439e+02] [ 6.54640306e-02 -1.39596366e-03 9.97853953e-01 1.40462735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.482755096 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:305.32, Y:119.35, Z:140.46 [[ 8.87074868e-01 4.58034590e-01 -5.74673184e-02 3.05319871e+02] [-4.56960816e-01 8.88932965e-01 3.13846352e-02 1.19351822e+02] [ 6.54598423e-02 -1.58020841e-03 9.97853953e-01 1.40463923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.542755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:305.37, Y:119.32, Z:140.47 [[ 8.87548776e-01 4.57115449e-01 -5.74685670e-02 3.05367939e+02] [-4.56039899e-01 8.89405846e-01 3.13823488e-02 1.19321981e+02] [ 6.54582359e-02 -1.64540575e-03 9.97853953e-01 1.40468375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.42, Y:119.29, Z:140.47 [[ 8.90126784e-01 4.52073469e-01 -5.74794444e-02 3.05419668e+02] [-4.50988688e-01 8.91978477e-01 3.13624132e-02 1.19294687e+02] [ 6.54485422e-02 -1.99394478e-03 9.97853954e-01 1.40471304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.47, Y:119.26, Z:140.47 [[ 8.90294225e-01 4.51743234e-01 -5.74825466e-02 3.05470133e+02] [-4.50658132e-01 8.92145730e-01 3.13567264e-02 1.19263573e+02] [ 6.54479975e-02 -2.01173540e-03 9.97853954e-01 1.40474704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.722755096 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:305.52, Y:119.23, Z:140.48 [[ 8.88994923e-01 4.54294914e-01 -5.74818065e-02 3.05522980e+02] [-4.53215040e-01 8.90849481e-01 3.13580830e-02 1.19230010e+02] [ 6.54534551e-02 -1.82555736e-03 9.97853954e-01 1.40478121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.58, Y:119.20, Z:140.48 [[ 8.87769950e-01 4.56685441e-01 -5.74710779e-02 3.05575363e+02] [-4.55609290e-01 8.89626671e-01 3.13777334e-02 1.19200383e+02] [ 6.54575577e-02 -1.67185183e-03 9.97853954e-01 1.40484001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.63, Y:119.17, Z:140.49 [[ 8.85666135e-01 4.60752264e-01 -5.74704131e-02 3.05625676e+02] [-4.59684561e-01 8.87527727e-01 3.13789510e-02 1.19171544e+02] [ 6.54645078e-02 -1.37301261e-03 9.97853954e-01 1.40487618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.68, Y:119.14, Z:140.49 [[ 8.81154499e-01 4.69322410e-01 -5.74736834e-02 3.05676309e+02] [-4.68273207e-01 8.83026580e-01 3.13729600e-02 1.19137693e+02] [ 6.54748233e-02 -7.31038792e-04 9.97853954e-01 1.40488888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.73, Y:119.11, Z:140.49 [[ 8.81175784e-01 4.69282445e-01 -5.74736834e-02 3.05728513e+02] [-4.68233157e-01 8.83047818e-01 3.13729600e-02 1.19111223e+02] [ 6.54747901e-02 -7.34008387e-04 9.97853954e-01 1.40494836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.78, Y:119.08, Z:140.50 [[ 8.78196233e-01 4.74834635e-01 -5.74756089e-02 3.05778159e+02] [-4.73797414e-01 8.80074979e-01 3.13694320e-02 1.19078185e+02] [ 6.54781381e-02 -3.16722131e-04 9.97853954e-01 1.40495310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.83, Y:119.05, Z:140.50 [[ 8.77228896e-01 4.76619062e-01 -5.74781238e-02 3.05827616e+02] [-4.75585965e-01 8.79109913e-01 3.13648232e-02 1.19049549e+02] [ 6.54786611e-02 -1.78340290e-04 9.97853954e-01 1.40503555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.88, Y:119.02, Z:140.51 [[ 8.79640724e-01 4.72152628e-01 -5.74812397e-02 3.05876253e+02] [-4.71110353e-01 8.81516671e-01 3.13591118e-02 1.19018676e+02] [ 6.54769582e-02 -5.04744665e-04 9.97853954e-01 1.40505705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.92, Y:118.98, Z:140.51 [[ 8.80291887e-01 4.70937164e-01 -5.74837433e-02 3.05924301e+02] [-4.69892599e-01 8.82166560e-01 3.13545220e-02 1.18984670e+02] [ 6.54762457e-02 -5.89945842e-04 9.97853954e-01 1.40511969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.98, Y:118.95, Z:140.51 [[ 8.82480586e-01 4.66822587e-01 -5.74864103e-02 3.05977146e+02] [-4.65769600e-01 8.84350542e-01 3.13496314e-02 1.18952397e+02] [ 6.54728541e-02 -8.90018804e-04 9.97853954e-01 1.40511804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.03, Y:118.92, Z:140.52 [[ 8.85393716e-01 4.61274679e-01 -5.74772784e-02 3.06028066e+02] [-4.60208891e-01 8.87256405e-01 3.13663651e-02 1.18918794e+02] [ 6.54655934e-02 -1.32002800e-03 9.97853954e-01 1.40520833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.08, Y:118.89, Z:140.52 [[ 8.86083502e-01 4.59949444e-01 -5.74676985e-02 3.06077827e+02] [-4.58879732e-01 8.87943941e-01 3.13839071e-02 1.18887171e+02] [ 6.54631053e-02 -1.43800023e-03 9.97853954e-01 1.40520238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.13, Y:118.86, Z:140.52 [[ 8.84796990e-01 4.62419124e-01 -5.74703436e-02 3.06129888e+02] [-4.61354920e-01 8.86660584e-01 3.13790626e-02 1.18859593e+02] [ 6.54669671e-02 -1.24987435e-03 9.97853954e-01 1.40524846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.18, Y:118.83, Z:140.53 [[ 8.81609926e-01 4.68466429e-01 -5.74729731e-02 3.06181955e+02] [-4.67415325e-01 8.83480940e-01 3.13742459e-02 1.18832270e+02] [ 6.54740572e-02 -7.96098249e-04 9.97853954e-01 1.40527365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.23, Y:118.80, Z:140.53 [[ 8.77101834e-01 4.76853252e-01 -5.74747629e-02 3.06232900e+02] [-4.75820255e-01 8.78982905e-01 3.13709667e-02 1.18803385e+02] [ 6.54786816e-02 -1.67876056e-04 9.97853954e-01 1.40527479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.622755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:306.28, Y:118.78, Z:140.53 [[ 8.76248184e-01 4.78419854e-01 -5.74766345e-02 3.06284738e+02] [-4.77390444e-01 8.78131221e-01 3.13675373e-02 1.18778694e+02] [ 6.54788798e-02 -4.69515061e-05 9.97853954e-01 1.40533221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.34, Y:118.75, Z:140.54 [[ 8.75822085e-01 4.79199074e-01 -5.74797554e-02 3.06339810e+02] [-4.78171715e-01 8.77706242e-01 3.13618173e-02 1.18751625e+02] [ 6.54788939e-02 1.78209543e-05 9.97853954e-01 1.40537671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.39, Y:118.72, Z:140.54 [[ 8.75466233e-01 4.79849035e-01 -5.74785118e-02 3.06391809e+02] [-4.78822925e-01 8.77351070e-01 3.13640963e-02 1.18723889e+02] [ 6.54788652e-02 6.38219211e-05 9.97853954e-01 1.40540766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.44, Y:118.70, Z:140.55 [[ 8.77887965e-01 4.75403746e-01 -5.74804295e-02 3.06443029e+02] [-4.74368322e-01 8.79767702e-01 3.13605815e-02 1.18695660e+02] [ 6.54783632e-02 -2.64182134e-04 9.97853954e-01 1.40546411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.50, Y:118.66, Z:140.55 [[ 8.79998315e-01 4.71485600e-01 -5.74829999e-02 3.06496825e+02] [-4.70442115e-01 8.81873588e-01 3.13558693e-02 1.18663900e+02] [ 6.54765802e-02 -5.50688038e-04 9.97853954e-01 1.40549768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.55, Y:118.63, Z:140.55 [[ 8.81886106e-01 4.67946305e-01 -5.74730574e-02 3.06548971e+02] [-4.66894107e-01 8.83756505e-01 3.13740827e-02 1.18632671e+02] [ 6.54735743e-02 -8.34535817e-04 9.97853955e-01 1.40552596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.60, Y:118.60, Z:140.56 [[ 8.82892324e-01 4.66045655e-01 -5.74681741e-02 3.06603835e+02] [-4.64988849e-01 8.84760123e-01 3.13830248e-02 1.18602681e+02] [ 6.54714712e-02 -9.85771548e-04 9.97853955e-01 1.40555417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.66, Y:118.57, Z:140.56 [[ 8.83450476e-01 4.64987989e-01 -5.74580449e-02 3.06659366e+02] [-4.63927743e-01 8.85316323e-01 3.14015591e-02 1.18574806e+02] [ 6.54698929e-02 -1.08534122e-03 9.97853955e-01 1.40558649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.71, Y:118.55, Z:140.56 [[ 8.83933478e-01 4.64069924e-01 -5.74518178e-02 3.06714699e+02] [-4.63006999e-01 8.85797802e-01 3.14129480e-02 1.18547066e+02] [ 6.54684983e-02 -1.16636258e-03 9.97853955e-01 1.40561027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.77, Y:118.52, Z:140.56 [[ 8.84431392e-01 4.63121356e-01 -5.74432049e-02 3.06767012e+02] [-4.62055410e-01 8.86293989e-01 3.14286901e-02 1.18520759e+02] [ 6.54668648e-02 -1.25457660e-03 9.97853955e-01 1.40563532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.82, Y:118.49, Z:140.57 [[ 8.85140406e-01 4.61764584e-01 -5.74450171e-02 3.06822321e+02] [-4.60695998e-01 8.87001490e-01 3.14253775e-02 1.18494082e+02] [ 6.54649421e-02 -1.35118198e-03 9.97853955e-01 1.40565633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.88, Y:118.47, Z:140.57 [[ 8.85689732e-01 4.60710225e-01 -5.74437804e-02 3.06879032e+02] [-4.59639277e-01 8.87549457e-01 3.14276378e-02 1.18467447e+02] [ 6.54632302e-02 -1.43171840e-03 9.97853955e-01 1.40568748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.93, Y:118.44, Z:140.57 [[ 8.85706668e-01 4.60678929e-01 -5.74336340e-02 3.06932839e+02] [-4.59606714e-01 8.87565663e-01 3.14461694e-02 1.18441720e+02] [ 6.54627091e-02 -1.45519811e-03 9.97853955e-01 1.40572672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.99, Y:118.42, Z:140.58 [[ 8.85580650e-01 4.60921055e-01 -5.74342555e-02 3.06985538e+02] [-4.59849422e-01 8.87439980e-01 3.14450343e-02 1.18415746e+02] [ 6.54631329e-02 -1.43600474e-03 9.97853955e-01 1.40577383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.04, Y:118.38, Z:140.58 [[ 8.84238964e-01 4.63489470e-01 -5.74366210e-02 3.07038003e+02] [-4.62423518e-01 8.86101558e-01 3.14407129e-02 1.18383897e+02] [ 6.54671187e-02 -1.24105900e-03 9.97853955e-01 1.40583309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.09, Y:118.36, Z:140.59 [[ 8.84998653e-01 4.62037407e-01 -5.74353520e-02 3.07092715e+02] [-4.60968249e-01 8.86859408e-01 3.14430308e-02 1.18361264e+02] [ 6.54649387e-02 -1.35116626e-03 9.97853955e-01 1.40585818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.14, Y:118.34, Z:140.59 [[ 8.84736859e-01 4.62538274e-01 -5.74372311e-02 3.07144918e+02] [-4.61470393e-01 8.86598347e-01 3.14395979e-02 1.18335265e+02] [ 6.54657715e-02 -1.31018951e-03 9.97853955e-01 1.40590610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.19, Y:118.31, Z:140.60 [[ 8.85061290e-01 4.61916870e-01 -5.74396924e-02 3.07194665e+02] [-4.60847973e-01 8.86922195e-01 3.14351006e-02 1.18306795e+02] [ 6.54649413e-02 -1.35102490e-03 9.97853955e-01 1.40597148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.25, Y:118.28, Z:140.60 [[ 8.85624443e-01 4.60835850e-01 -5.74427149e-02 3.07246041e+02] [-4.59765040e-01 8.87484248e-01 3.14295765e-02 1.18278411e+02] [ 6.54633802e-02 -1.42464911e-03 9.97853955e-01 1.40601614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.30, Y:118.25, Z:140.61 [[ 8.86063111e-01 4.59991545e-01 -5.74451172e-02 3.07299104e+02] [-4.58919247e-01 8.87922059e-01 3.14251851e-02 1.18250640e+02] [ 6.54621062e-02 -1.48202738e-03 9.97853955e-01 1.40606275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.35, Y:118.22, Z:140.61 [[ 8.85847146e-01 4.60407154e-01 -5.74463754e-02 3.07353927e+02] [-4.59335877e-01 8.87706683e-01 3.14228848e-02 1.18220347e+02] [ 6.54628523e-02 -1.44869161e-03 9.97853955e-01 1.40608344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.41, Y:118.19, Z:140.61 [[ 8.85611851e-01 4.60860224e-01 -5.74413005e-02 3.07407974e+02] [-4.59789298e-01 8.87471589e-01 3.14321591e-02 1.18190429e+02] [ 6.54633541e-02 -1.42579738e-03 9.97853955e-01 1.40614741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.46, Y:118.16, Z:140.62 [[ 8.84679407e-01 4.62648857e-01 -5.74315480e-02 3.07459123e+02] [-4.61580535e-01 8.86540642e-01 3.14499684e-02 1.18161984e+02] [ 6.54656933e-02 -1.31385477e-03 9.97853956e-01 1.40619076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.51, Y:118.13, Z:140.62 [[ 8.82830384e-01 4.66167191e-01 -5.74339921e-02 3.07509268e+02] [-4.65106578e-01 8.84696022e-01 3.14455044e-02 1.18131414e+02] [ 6.54704868e-02 -1.04811920e-03 9.97853956e-01 1.40624223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.56, Y:118.11, Z:140.63 [[ 8.82825510e-01 4.66176121e-01 -5.74364273e-02 3.07563053e+02] [-4.65115816e-01 8.84691323e-01 3.14410558e-02 1.18106748e+02] [ 6.54705783e-02 -1.04237539e-03 9.97853956e-01 1.40625425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.61, Y:118.08, Z:140.63 [[ 8.82961132e-01 4.65918894e-01 -5.74388740e-02 3.07614292e+02] [-4.64858336e-01 8.84826801e-01 3.14365852e-02 1.18079027e+02] [ 6.54703542e-02 -1.05634345e-03 9.97853956e-01 1.40629092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.66, Y:118.05, Z:140.63 [[ 8.83403415e-01 4.65079459e-01 -5.74413088e-02 3.07664766e+02] [-4.64017417e-01 8.85268240e-01 3.14321358e-02 1.18050786e+02] [ 6.54694070e-02 -1.11348838e-03 9.97853956e-01 1.40633805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.242755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:307.72, Y:118.02, Z:140.64 [[ 8.84511994e-01 4.62967207e-01 -5.74447416e-02 3.07715790e+02] [-4.61901120e-01 8.86374509e-01 3.14258608e-02 1.18024216e+02] [ 6.54666976e-02 -1.26276031e-03 9.97853956e-01 1.40637887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.77, Y:118.00, Z:140.64 [[ 8.85909705e-01 4.60286443e-01 -5.74489750e-02 3.07767770e+02] [-4.59215222e-01 8.87769273e-01 3.14181199e-02 1.17997782e+02] [ 6.54627694e-02 -1.45217360e-03 9.97853956e-01 1.40642641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.82, Y:117.97, Z:140.65 [[ 8.87196975e-01 4.57800020e-01 -5.74514582e-02 3.07818635e+02] [-4.56723882e-01 8.89053701e-01 3.14135784e-02 1.17969788e+02] [ 6.54585684e-02 -1.63057876e-03 9.97853956e-01 1.40648220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.87, Y:117.94, Z:140.65 [[ 8.87947195e-01 4.56342808e-01 -5.74545068e-02 3.07870051e+02] [-4.55263983e-01 8.89802362e-01 3.14080016e-02 1.17941870e+02] [ 6.54559715e-02 -1.73167932e-03 9.97853956e-01 1.40652263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.92, Y:117.91, Z:140.65 [[ 8.87682241e-01 4.56857683e-01 -5.74569096e-02 3.07922222e+02] [-4.55780219e-01 8.89538198e-01 3.14036054e-02 1.17914140e+02] [ 6.54570942e-02 -1.68869995e-03 9.97853956e-01 1.40654378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.97, Y:117.89, Z:140.66 [[ 8.87585220e-01 4.57045842e-01 -5.74593429e-02 3.07973591e+02] [-4.55969059e-01 8.89441572e-01 3.13991525e-02 1.17886209e+02] [ 6.54575804e-02 -1.66974120e-03 9.97853956e-01 1.40656022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.02, Y:117.86, Z:140.66 [[ 8.86409697e-01 4.59321116e-01 -5.74626957e-02 3.08023610e+02] [-4.58249496e-01 8.88269035e-01 3.13930155e-02 1.17857640e+02] [ 6.54618082e-02 -1.49482201e-03 9.97853956e-01 1.40660887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.08, Y:117.83, Z:140.66 [[ 8.85783156e-01 4.60527715e-01 -5.74667231e-02 3.08075009e+02] [-4.59459106e-01 8.87644226e-01 3.13856413e-02 1.17830837e+02] [ 6.54639627e-02 -1.39726319e-03 9.97853956e-01 1.40659162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.13, Y:117.80, Z:140.67 [[ 8.84174561e-01 4.63608216e-01 -5.74697159e-02 3.08126763e+02] [-4.62546447e-01 8.86039542e-01 3.13801604e-02 1.17802330e+02] [ 6.54685409e-02 -1.16312659e-03 9.97853956e-01 1.40667875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.18, Y:117.77, Z:140.67 [[ 8.83727155e-01 4.64460334e-01 -5.74709770e-02 3.08177003e+02] [-4.63400514e-01 8.85593244e-01 3.13778507e-02 1.17774999e+02] [ 6.54696759e-02 -1.09737843e-03 9.97853956e-01 1.40670327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.23, Y:117.75, Z:140.67 [[ 8.83501888e-01 4.64888124e-01 -5.74756080e-02 3.08228430e+02] [-4.63829759e-01 8.85368803e-01 3.13693657e-02 1.17747416e+02] [ 6.54703558e-02 -1.05599638e-03 9.97853956e-01 1.40673170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.28, Y:117.72, Z:140.68 [[ 8.83912361e-01 4.64106834e-01 -5.74785564e-02 3.08282221e+02] [-4.63047171e-01 8.85778539e-01 3.13639622e-02 1.17718005e+02] [ 6.54695009e-02 -1.10771094e-03 9.97853956e-01 1.40677973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.33, Y:117.69, Z:140.68 [[ 8.84606614e-01 4.62783430e-01 -5.74685542e-02 3.08332760e+02] [-4.61719786e-01 8.86470525e-01 3.13822788e-02 1.17689487e+02] [ 6.54673780e-02 -1.22660287e-03 9.97853956e-01 1.40680580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.38, Y:117.66, Z:140.68 [[ 8.85161033e-01 4.61721737e-01 -5.74715877e-02 3.08383304e+02] [-4.60656218e-01 8.87023872e-01 3.13767224e-02 1.17660746e+02] [ 6.54659851e-02 -1.29880782e-03 9.97853956e-01 1.40683881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.43, Y:117.63, Z:140.69 [[ 8.85631053e-01 4.60819101e-01 -5.74751586e-02 3.08433582e+02] [-4.59752108e-01 8.87493049e-01 3.13701800e-02 1.17630343e+02] [ 6.54647819e-02 -1.35808027e-03 9.97853956e-01 1.40687800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.49, Y:117.60, Z:140.69 [[ 8.85691966e-01 4.60701710e-01 -5.74776169e-02 3.08487060e+02] [-4.59634761e-01 8.87553987e-01 3.13656751e-02 1.17598884e+02] [ 6.54647082e-02 -1.36161566e-03 9.97853956e-01 1.40692567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.54, Y:117.57, Z:140.70 [[ 8.85349956e-01 4.61359739e-01 -5.74686604e-02 3.08539044e+02] [-4.60293110e-01 8.87212161e-01 3.13820768e-02 1.17568129e+02] [ 6.54653211e-02 -1.33169191e-03 9.97853956e-01 1.40696956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.59, Y:117.54, Z:140.70 [[ 8.84198098e-01 4.63563818e-01 -5.74657217e-02 3.08591157e+02] [-4.62501482e-01 8.86062755e-01 3.13874571e-02 1.17537196e+02] [ 6.54683252e-02 -1.17474844e-03 9.97853956e-01 1.40701677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.65, Y:117.51, Z:140.70 [[ 8.82272720e-01 4.67217870e-01 -5.74657217e-02 3.08646299e+02] [-4.66163258e-01 8.84141756e-01 3.13874571e-02 1.17506127e+02] [ 6.54726250e-02 -9.03889148e-04 9.97853956e-01 1.40701394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.70, Y:117.47, Z:140.71 [[ 8.79822440e-01 4.71817141e-01 -5.74548379e-02 3.08698392e+02] [-4.70771000e-01 8.81696231e-01 3.14073674e-02 1.17473417e+02] [ 6.54762483e-02 -5.84835160e-04 9.97853957e-01 1.40710037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.75, Y:117.44, Z:140.71 [[ 8.78754817e-01 4.73803831e-01 -5.74447728e-02 3.08749071e+02] [-4.72760723e-01 8.80630297e-01 3.14257658e-02 1.17444415e+02] [ 6.54772556e-02 -4.57910777e-04 9.97853957e-01 1.40713666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.80, Y:117.41, Z:140.72 [[ 8.77281490e-01 4.76526098e-01 -5.74461915e-02 3.08799033e+02] [-4.75488980e-01 8.79160289e-01 3.14231722e-02 1.17414831e+02] [ 6.54783720e-02 -2.51936302e-04 9.97853957e-01 1.40716076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.85, Y:117.38, Z:140.72 [[ 8.76400704e-01 4.78143590e-01 -5.74500951e-02 3.08849020e+02] [-4.77110407e-01 8.78281670e-01 3.14160338e-02 1.17384618e+02] [ 6.54787407e-02 -1.22995908e-04 9.97853957e-01 1.40719682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.90, Y:117.35, Z:140.73 [[ 8.76702682e-01 4.77589352e-01 -5.74527502e-02 3.08901612e+02] [-4.76555298e-01 8.78583170e-01 3.14111776e-02 1.17352155e+02] [ 6.54786633e-02 -1.58851187e-04 9.97853957e-01 1.40725424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.96, Y:117.32, Z:140.73 [[ 8.77506525e-01 4.76111839e-01 -5.74440270e-02 3.08955848e+02] [-4.75073575e-01 8.79384691e-01 3.14271222e-02 1.17319927e+02] [ 6.54782229e-02 -2.87365470e-04 9.97853957e-01 1.40730130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.01, Y:117.29, Z:140.73 [[ 8.78625803e-01 4.74044348e-01 -5.74339090e-02 3.09008326e+02] [-4.73000457e-01 8.80500847e-01 3.14456023e-02 1.17287833e+02] [ 6.54772156e-02 -4.62652349e-04 9.97853957e-01 1.40733605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.06, Y:117.25, Z:140.74 [[ 8.80042592e-01 4.71410069e-01 -5.74245906e-02 3.09061976e+02] [-4.70359455e-01 8.81913877e-01 3.14626100e-02 1.17254488e+02] [ 6.54753345e-02 -6.78237691e-04 9.97853958e-01 1.40738701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.12, Y:117.22, Z:140.74 [[ 8.80524282e-01 4.70510936e-01 -5.74147120e-02 3.09115910e+02] [-4.69457236e-01 8.82393831e-01 3.14806268e-02 1.17223001e+02] [ 6.54743668e-02 -7.65704271e-04 9.97853958e-01 1.40743034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.17, Y:117.19, Z:140.75 [[ 8.79761775e-01 4.71936370e-01 -5.74045541e-02 3.09169288e+02] [-4.70884492e-01 8.81632349e-01 3.14991386e-02 1.17190561e+02] [ 6.54753010e-02 -6.80823745e-04 9.97853958e-01 1.40747350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.23, Y:117.17, Z:140.75 [[ 8.79243189e-01 4.72902904e-01 -5.73956312e-02 3.09226125e+02] [-4.71852022e-01 8.81114323e-01 3.15153890e-02 1.17166497e+02] [ 6.54758317e-02 -6.27446561e-04 9.97853958e-01 1.40750702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.28, Y:117.14, Z:140.75 [[ 8.77819394e-01 4.75541175e-01 -5.73907919e-02 3.09281925e+02] [-4.74495340e-01 8.79693354e-01 3.15241991e-02 1.17140544e+02] [ 6.54773529e-02 -4.40890002e-04 9.97853958e-01 1.40754499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.34, Y:117.11, Z:140.76 [[ 8.76829456e-01 4.77364162e-01 -5.73895568e-02 3.09337899e+02] [-4.76322077e-01 8.78705504e-01 3.15264474e-02 1.17112986e+02] [ 6.54781156e-02 -3.07404831e-04 9.97853958e-01 1.40758901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.39, Y:117.09, Z:140.76 [[ 8.76601304e-01 4.77784056e-01 -5.73807372e-02 3.09392104e+02] [-4.76741819e-01 8.78477267e-01 3.15424916e-02 1.17085093e+02] [ 6.54781728e-02 -2.94392224e-04 9.97853958e-01 1.40762559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.45, Y:117.06, Z:140.77 [[ 8.76715499e-01 4.77574631e-01 -5.73794904e-02 3.09447379e+02] [-4.76531797e-01 8.78591130e-01 3.15447596e-02 1.17057410e+02] [ 6.54780883e-02 -3.12627956e-04 9.97853958e-01 1.40765950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.50, Y:117.03, Z:140.77 [[ 8.77049175e-01 4.76962640e-01 -5.73705866e-02 3.09501187e+02] [-4.75917439e-01 8.78923488e-01 3.15609448e-02 1.17028257e+02] [ 6.54777476e-02 -3.76837958e-04 9.97853959e-01 1.40770003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.55, Y:117.00, Z:140.77 [[ 8.77539917e-01 4.76059297e-01 -5.73693320e-02 3.09554688e+02] [-4.75012017e-01 8.79413069e-01 3.15632250e-02 1.16997638e+02] [ 6.54773071e-02 -4.46867726e-04 9.97853959e-01 1.40774775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.61, Y:116.97, Z:140.78 [[ 8.77732271e-01 4.75704702e-01 -5.73680837e-02 3.09607720e+02] [-4.74656518e-01 8.79604917e-01 3.15654939e-02 1.16967460e+02] [ 6.54771023e-02 -4.75917793e-04 9.97853959e-01 1.40779357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.66, Y:116.94, Z:140.78 [[ 8.77994117e-01 4.75221398e-01 -5.73668284e-02 3.09660137e+02] [-4.74172034e-01 8.79866102e-01 3.15677751e-02 1.16936913e+02] [ 6.54768099e-02 -5.14575126e-04 9.97853959e-01 1.40783432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.71, Y:116.90, Z:140.79 [[ 8.78654475e-01 4.73999326e-01 -5.73668284e-02 3.09713599e+02] [-4.72947358e-01 8.80524998e-01 3.15677751e-02 1.16904217e+02] [ 6.54760305e-02 -6.05676906e-04 9.97853959e-01 1.40786749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.77, Y:116.87, Z:140.79 [[ 8.78977680e-01 4.73400929e-01 -5.73567606e-02 3.09767147e+02] [-4.72346495e-01 8.80846814e-01 3.15860570e-02 1.16871456e+02] [ 6.54753886e-02 -6.71174308e-04 9.97853959e-01 1.40790706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.82, Y:116.84, Z:140.79 [[ 8.78276647e-01 4.74701479e-01 -5.73466409e-02 3.09816648e+02] [-4.73648613e-01 8.80146665e-01 3.16044194e-02 1.16842075e+02] [ 6.54761193e-02 -5.95266582e-04 9.97853959e-01 1.40792025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.87, Y:116.81, Z:140.80 [[ 8.79309468e-01 4.72785196e-01 -5.73499584e-02 3.09867358e+02] [-4.71728648e-01 8.81177408e-01 3.15983983e-02 1.16813113e+02] [ 6.54747426e-02 -7.31152430e-04 9.97853959e-01 1.40796303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.92, Y:116.78, Z:140.80 [[ 8.78836327e-01 4.73663780e-01 -5.73527100e-02 3.09920157e+02] [-4.72609426e-01 8.80705506e-01 3.15934032e-02 1.16779747e+02] [ 6.54754982e-02 -6.59999069e-04 9.97853959e-01 1.40802039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.97, Y:116.75, Z:140.81 [[ 8.78540460e-01 4.74213761e-01 -5.73408247e-02 3.09973758e+02] [-4.73159169e-01 8.80409504e-01 3.16149598e-02 1.16752681e+02] [ 6.54756560e-02 -6.43684360e-04 9.97853959e-01 1.40806035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.03, Y:116.72, Z:140.81 [[ 8.77728305e-01 4.75715393e-01 -5.73401016e-02 3.10029645e+02] [-4.74663914e-01 8.79599102e-01 3.16162712e-02 1.16724053e+02] [ 6.54766488e-02 -5.33219110e-04 9.97853959e-01 1.40809087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.08, Y:116.70, Z:140.81 [[ 8.78021760e-01 4.75174778e-01 -5.73299256e-02 3.10084248e+02] [-4.74120942e-01 8.79891230e-01 3.16347127e-02 1.16697275e+02] [ 6.54761164e-02 -5.94647750e-04 9.97853960e-01 1.40812981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.14, Y:116.67, Z:140.82 [[ 8.78796918e-01 4.73740256e-01 -5.73249277e-02 3.10136491e+02] [-4.72682778e-01 8.80664331e-01 3.16437668e-02 1.16670308e+02] [ 6.54749453e-02 -7.11938592e-04 9.97853960e-01 1.40817097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.19, Y:116.64, Z:140.82 [[ 8.80431315e-01 4.70695487e-01 -5.73276342e-02 3.10188437e+02] [-4.69631871e-01 8.82295238e-01 3.16388628e-02 1.16643100e+02] [ 6.54721686e-02 -9.32961449e-04 9.97853960e-01 1.40822995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.122755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:310.24, Y:116.61, Z:140.83 [[ 8.81891875e-01 4.67952933e-01 -5.73303957e-02 3.10243404e+02] [-4.66883846e-01 8.83752665e-01 3.16338582e-02 1.16613643e+02] [ 6.54690467e-02 -1.13100688e-03 9.97853960e-01 1.40827365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.29, Y:116.59, Z:140.83 [[ 8.82679097e-01 4.66467396e-01 -5.73217287e-02 3.10294594e+02] [-4.65394158e-01 8.84537497e-01 3.16495553e-02 1.16585269e+02] [ 6.54667040e-02 -1.25920319e-03 9.97853960e-01 1.40829197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.242755096 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:310.35, Y:116.56, Z:140.83 [[ 8.82491881e-01 4.66820921e-01 -5.73263234e-02 3.10345261e+02] [-4.65748969e-01 8.84351022e-01 3.16412308e-02 1.16557990e+02] [ 6.54673812e-02 -1.22345324e-03 9.97853960e-01 1.40834397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.302755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.40, Y:116.53, Z:140.84 [[ 8.82245974e-01 4.67285063e-01 -5.73298515e-02 3.10396364e+02] [-4.66214504e-01 8.84105918e-01 3.16348369e-02 1.16530943e+02] [ 6.54681478e-02 -1.18169922e-03 9.97853960e-01 1.40839468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.45, Y:116.50, Z:140.84 [[ 8.81137505e-01 4.69371359e-01 -5.73343307e-02 3.10449503e+02] [-4.68305732e-01 8.83000279e-01 3.16267170e-02 1.16501575e+02] [ 6.54709051e-02 -1.01749078e-03 9.97853960e-01 1.40843595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.50, Y:116.47, Z:140.85 [[ 8.79870891e-01 4.71742431e-01 -5.73262096e-02 3.10500594e+02] [-4.70680866e-01 8.81735982e-01 3.16414303e-02 1.16473356e+02] [ 6.54731870e-02 -8.58023498e-04 9.97853960e-01 1.40846861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.482755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.56, Y:116.44, Z:140.85 [[ 8.78943912e-01 4.73467031e-01 -5.73286197e-02 3.10555966e+02] [-4.72409410e-01 8.80811243e-01 3.16370630e-02 1.16443242e+02] [ 6.54747991e-02 -7.24624474e-04 9.97853960e-01 1.40849869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.61, Y:116.41, Z:140.85 [[ 8.79073784e-01 4.73227090e-01 -5.73184371e-02 3.10608386e+02] [-4.72167757e-01 8.80940145e-01 3.16555007e-02 1.16413233e+02] [ 6.54743527e-02 -7.63602968e-04 9.97853960e-01 1.40852726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.66, Y:116.38, Z:140.86 [[ 8.79594251e-01 4.72259341e-01 -5.73155081e-02 3.10662581e+02] [-4.71197610e-01 8.81459248e-01 3.16608031e-02 1.16382117e+02] [ 6.54733947e-02 -8.41729945e-04 9.97853960e-01 1.40856850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.71, Y:116.35, Z:140.86 [[ 8.78613187e-01 4.74083287e-01 -5.73053673e-02 3.10714319e+02] [-4.73024231e-01 8.80479704e-01 3.16791471e-02 1.16347434e+02] [ 6.54747670e-02 -7.26889084e-04 9.97853961e-01 1.40864926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.77, Y:116.32, Z:140.86 [[ 8.82817989e-01 4.66207622e-01 -5.72961711e-02 3.10770186e+02] [-4.65130839e-01 8.84674336e-01 3.16957710e-02 1.16322590e+02] [ 6.54652621e-02 -1.33138071e-03 9.97853961e-01 1.40864317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.82, Y:116.29, Z:140.87 [[ 8.85125123e-01 4.61813409e-01 -5.72878055e-02 3.10824161e+02] [-4.60726434e-01 8.86975520e-01 3.17108839e-02 1.16290792e+02] [ 6.54573925e-02 -1.67409364e-03 9.97853961e-01 1.40870176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.88, Y:116.26, Z:140.87 [[ 8.86455593e-01 4.59255641e-01 -5.72777228e-02 3.10878699e+02] [-4.58162152e-01 8.88302149e-01 3.17290854e-02 1.16259386e+02] [ 6.54516857e-02 -1.88394045e-03 9.97853961e-01 1.40873510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.93, Y:116.23, Z:140.88 [[ 8.87891583e-01 4.56473883e-01 -5.72724308e-02 3.10931576e+02] [-4.55373995e-01 8.89734333e-01 3.17386348e-02 1.16231027e+02] [ 6.54451059e-02 -2.10009108e-03 9.97853961e-01 1.40880269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.99, Y:116.20, Z:140.89 [[ 8.87475424e-01 4.57282546e-01 -5.72716795e-02 3.10985733e+02] [-4.56184250e-01 8.89319123e-01 3.17399905e-02 1.16201114e+02] [ 6.54469435e-02 -2.04202332e-03 9.97853961e-01 1.40885216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.04, Y:116.17, Z:140.89 [[ 8.85337614e-01 4.61408988e-01 -5.72630265e-02 3.11039871e+02] [-4.60318278e-01 8.87185812e-01 3.17555940e-02 1.16171754e+02] [ 6.54552612e-02 -1.75520405e-03 9.97853961e-01 1.40889788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.10, Y:116.14, Z:140.89 [[ 8.83428451e-01 4.65054039e-01 -5.72617905e-02 3.11095318e+02] [-4.63970812e-01 8.85281044e-01 3.17578227e-02 1.16142126e+02] [ 6.54618813e-02 -1.48796471e-03 9.97853961e-01 1.40891938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.15, Y:116.11, Z:140.90 [[ 8.80836543e-01 4.69946032e-01 -5.72513044e-02 3.11150167e+02] [-4.68871867e-01 8.82694405e-01 3.17767152e-02 1.16113514e+02] [ 6.54687473e-02 -1.14656596e-03 9.97853962e-01 1.40899242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.20, Y:116.08, Z:140.90 [[ 8.78902765e-01 4.73553541e-01 -5.72448467e-02 3.11201229e+02] [-4.72486246e-01 8.80764582e-01 3.17883442e-02 1.16084951e+02] [ 6.54727165e-02 -8.91460936e-04 9.97853962e-01 1.40903874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.25, Y:116.05, Z:140.91 [[ 8.76908507e-01 4.77236089e-01 -5.72467014e-02 3.11253381e+02] [-4.76176831e-01 8.78774908e-01 3.17850039e-02 1.16054442e+02] [ 6.54759157e-02 -6.12987475e-04 9.97853962e-01 1.40908128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.31, Y:116.03, Z:140.91 [[ 8.77893372e-01 4.75421963e-01 -5.72467014e-02 3.11307695e+02] [-4.74358848e-01 8.79757579e-01 3.17850039e-02 1.16026727e+02] [ 6.54745083e-02 -7.48364923e-04 9.97853962e-01 1.40911436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.36, Y:116.00, Z:140.91 [[ 8.78922187e-01 4.73517418e-01 -5.72454636e-02 3.11358798e+02] [-4.72450119e-01 8.80784001e-01 3.17872330e-02 1.15997328e+02] [ 6.54726970e-02 -8.92878237e-04 9.97853962e-01 1.40911383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.41, Y:115.97, Z:140.91 [[ 8.80997325e-01 4.69645037e-01 -5.72472948e-02 3.11410503e+02] [-4.68569769e-01 8.82854548e-01 3.17839347e-02 1.15970153e+02] [ 6.54682018e-02 -1.17720978e-03 9.97853962e-01 1.40912744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.46, Y:115.94, Z:140.92 [[ 8.82044674e-01 4.67674612e-01 -5.72507680e-02 3.11461818e+02] [-4.66595601e-01 8.83899725e-01 3.17776775e-02 1.15941326e+02] [ 6.54655511e-02 -1.31637471e-03 9.97853962e-01 1.40916813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.51, Y:115.91, Z:140.93 [[ 8.82827070e-01 4.66195680e-01 -5.72534123e-02 3.11511568e+02] [-4.65113870e-01 8.84680490e-01 3.17729125e-02 1.15910553e+02] [ 6.54633714e-02 -1.42063108e-03 9.97853962e-01 1.40926266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.57, Y:115.88, Z:140.93 [[ 8.83073619e-01 4.65728148e-01 -5.72562306e-02 3.11565951e+02] [-4.64645686e-01 8.84926659e-01 3.17678331e-02 1.15880064e+02] [ 6.54627389e-02 -1.44947484e-03 9.97853962e-01 1.40930220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.62, Y:115.85, Z:140.93 [[ 8.82943046e-01 4.65976907e-01 -5.72459615e-02 3.11620651e+02] [-4.64893769e-01 8.84795690e-01 3.17863274e-02 1.15849488e+02] [ 6.54626745e-02 -1.45222595e-03 9.97853962e-01 1.40930998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.67, Y:115.82, Z:140.94 [[ 8.83235010e-01 4.65424512e-01 -5.72358366e-02 3.11674285e+02] [-4.64339035e-01 8.85086285e-01 3.18045482e-02 1.15819270e+02] [ 6.54612703e-02 -1.51405731e-03 9.97853962e-01 1.40938710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.73, Y:115.79, Z:140.94 [[ 8.83788473e-01 4.64373763e-01 -5.72271208e-02 3.11726685e+02] [-4.63285071e-01 8.85637859e-01 3.18202233e-02 1.15790311e+02] [ 6.54589815e-02 -1.60987583e-03 9.97853962e-01 1.40944413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.78, Y:115.76, Z:140.95 [[ 8.84244154e-01 4.63505558e-01 -5.72265095e-02 3.11777933e+02] [-4.62414979e-01 8.86092428e-01 3.18213226e-02 1.15762478e+02] [ 6.54573366e-02 -1.67542329e-03 9.97853962e-01 1.40948388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.83, Y:115.74, Z:140.95 [[ 8.84494904e-01 4.63026657e-01 -5.72283066e-02 3.11829633e+02] [-4.61935286e-01 8.86342711e-01 3.18180902e-02 1.15735301e+02] [ 6.54565164e-02 -1.70716445e-03 9.97853962e-01 1.40953601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.88, Y:115.71, Z:140.96 [[ 8.84351199e-01 4.63300774e-01 -5.72306739e-02 3.11882816e+02] [-4.62210252e-01 8.86199505e-01 3.18138317e-02 1.15709181e+02] [ 6.54571677e-02 -1.68199598e-03 9.97853962e-01 1.40958546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.94, Y:115.68, Z:140.95 [[ 8.84794185e-01 4.62454062e-01 -5.72318985e-02 3.11940529e+02] [-4.61361913e-01 8.86641532e-01 3.18116284e-02 1.15684479e+02] [ 6.54555950e-02 -1.74212566e-03 9.97853962e-01 1.40954623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.99, Y:115.65, Z:140.97 [[ 8.82459306e-01 4.66895260e-01 -5.72222866e-02 3.11992252e+02] [-4.65811290e-01 8.84311462e-01 3.18289089e-02 1.15653722e+02] [ 6.54630906e-02 -1.43292970e-03 9.97853963e-01 1.40966987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.162755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:312.05, Y:115.63, Z:140.97 [[ 8.80720514e-01 4.70167587e-01 -5.72172686e-02 3.12046192e+02] [-4.69089914e-01 8.82576342e-01 3.18379270e-02 1.15628035e+02] [ 6.54677689e-02 -1.20027188e-03 9.97853963e-01 1.40971157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.10, Y:115.61, Z:140.96 [[ 8.81521554e-01 4.68663910e-01 -5.72179045e-02 3.12100983e+02] [-4.67583145e-01 8.83375584e-01 3.18367841e-02 1.15605252e+02] [ 6.54656515e-02 -1.31068372e-03 9.97853963e-01 1.40961277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.15, Y:115.58, Z:140.98 [[ 8.77053087e-01 4.76973394e-01 -5.72211810e-02 3.12150490e+02] [-4.75910582e-01 8.78917466e-01 3.18308940e-02 1.15575826e+02] [ 6.54751850e-02 -6.85218327e-04 9.97853963e-01 1.40977462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.20, Y:115.55, Z:140.98 [[ 8.75399932e-01 4.80000415e-01 -5.72237791e-02 3.12201939e+02] [-4.78944356e-01 8.77268143e-01 3.18262227e-02 1.15550089e+02] [ 6.54771985e-02 -4.53667195e-04 9.97853963e-01 1.40980794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.25, Y:115.52, Z:140.98 [[ 8.75441382e-01 4.79924438e-01 -5.72269236e-02 3.12252492e+02] [-4.78868586e-01 8.77309711e-01 3.18205676e-02 1.15523841e+02] [ 6.54772038e-02 -4.52865676e-04 9.97853963e-01 1.40984613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.30, Y:115.50, Z:140.99 [[ 8.77131490e-01 4.76827999e-01 -5.72311819e-02 3.12304578e+02] [-4.75766051e-01 8.78996361e-01 3.18129069e-02 1.15495378e+02] [ 6.54752854e-02 -6.75449011e-04 9.97853963e-01 1.40985975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.36, Y:115.47, Z:140.99 [[ 8.79256386e-01 4.72897981e-01 -5.72337960e-02 3.12355083e+02] [-4.71828005e-01 8.81116662e-01 3.18082032e-02 1.15468643e+02] [ 6.54716864e-02 -9.63058028e-04 9.97853963e-01 1.40989492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.41, Y:115.44, Z:140.99 [[ 8.80045684e-01 4.71426944e-01 -5.72383701e-02 3.12407494e+02] [-4.70354394e-01 8.81904477e-01 3.17999701e-02 1.15440580e+02] [ 6.54701375e-02 -1.06310757e-03 9.97853963e-01 1.40987236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.46, Y:115.41, Z:141.00 [[ 8.81462386e-01 4.68772357e-01 -5.72410693e-02 3.12455916e+02] [-4.67694525e-01 8.83318121e-01 3.17951107e-02 1.15411050e+02] [ 6.54667427e-02 -1.25485944e-03 9.97853963e-01 1.41001014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.51, Y:115.38, Z:141.00 [[ 8.82640100e-01 4.66550708e-01 -5.72441278e-02 3.12506909e+02] [-4.65468562e-01 8.84493323e-01 3.17896032e-02 1.15382208e+02] [ 6.54635107e-02 -1.41343670e-03 9.97853963e-01 1.41004945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.56, Y:115.35, Z:141.00 [[ 8.84804618e-01 4.62432284e-01 -5.72465776e-02 3.12558439e+02] [-4.61341798e-01 8.86652946e-01 3.17851909e-02 1.15354854e+02] [ 6.54563451e-02 -1.71344464e-03 9.97853963e-01 1.41004427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.61, Y:115.33, Z:141.00 [[ 8.86092841e-01 4.59958699e-01 -5.72492088e-02 3.12610479e+02] [-4.58863360e-01 8.87938297e-01 3.17804511e-02 1.15327705e+02] [ 6.54514599e-02 -1.89086598e-03 9.97853963e-01 1.41001058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.66, Y:115.30, Z:141.01 [[ 8.86368154e-01 4.59426615e-01 -5.72597602e-02 3.12661755e+02] [-4.58331396e-01 8.88213681e-01 3.17614290e-02 1.15299559e+02] [ 6.54509482e-02 -1.90837339e-03 9.97853963e-01 1.41006015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.71, Y:115.27, Z:141.02 [[ 8.84356989e-01 4.63285837e-01 -5.72621156e-02 3.12710557e+02] [-4.62198947e-01 8.86207433e-01 3.17571820e-02 1.15270508e+02] [ 6.54587651e-02 -1.61819632e-03 9.97853963e-01 1.41017502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.76, Y:115.24, Z:141.02 [[ 8.82822028e-01 4.66203730e-01 -5.72655909e-02 3.12760302e+02] [-4.65123363e-01 8.84676289e-01 3.17509139e-02 1.15243426e+02] [ 6.54639050e-02 -1.39484199e-03 9.97853963e-01 1.41020943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.81, Y:115.22, Z:141.02 [[ 8.81366869e-01 4.68948444e-01 -5.72695295e-02 3.12812444e+02] [-4.67874313e-01 8.83224749e-01 3.17438083e-02 1.15215575e+02] [ 6.54680753e-02 -1.18299914e-03 9.97853963e-01 1.41024552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.86, Y:115.19, Z:141.03 [[ 8.79437712e-01 4.72556057e-01 -5.72720086e-02 3.12864295e+02] [-4.71489840e-01 8.81300145e-01 3.17393349e-02 1.15187529e+02] [ 6.54724444e-02 -9.09597890e-04 9.97853963e-01 1.41029715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.92, Y:115.16, Z:141.03 [[ 8.76953304e-01 4.77150429e-01 -5.72745123e-02 3.12916431e+02] [-4.76094265e-01 8.78821456e-01 3.17348162e-02 1.15159694e+02] [ 6.54763515e-02 -5.61885128e-04 9.97853963e-01 1.41034462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.242755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:312.97, Y:115.13, Z:141.04 [[ 8.75868319e-01 4.79138841e-01 -5.72770419e-02 3.12967378e+02] [-4.78087216e-01 8.77739030e-01 3.17302499e-02 1.15132248e+02] [ 6.54774904e-02 -4.08099075e-04 9.97853963e-01 1.41038395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.02, Y:115.10, Z:141.04 [[ 8.75134259e-01 4.80477826e-01 -5.72807700e-02 3.13017169e+02] [-4.79429505e-01 8.77006823e-01 3.17235184e-02 1.15104004e+02] [ 6.54780733e-02 -3.00246571e-04 9.97853963e-01 1.41042392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.07, Y:115.07, Z:141.05 [[ 8.75735714e-01 4.79380207e-01 -5.72850465e-02 3.13068189e+02] [-4.78330044e-01 8.77607246e-01 3.17157942e-02 1.15074292e+02] [ 6.54776959e-02 -3.73494889e-04 9.97853963e-01 1.41046748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.422755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:313.12, Y:115.04, Z:141.05 [[ 8.77806575e-01 4.75577296e-01 -5.72874542e-02 3.13119529e+02] [-4.74519309e-01 8.79673695e-01 3.17114446e-02 1.15044633e+02] [ 6.54755096e-02 -6.52511445e-04 9.97853963e-01 1.41047956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.17, Y:115.02, Z:141.05 [[ 8.79404593e-01 4.72615500e-01 -5.72900628e-02 3.13171119e+02] [-4.71551532e-01 8.81268311e-01 3.17067313e-02 1.15016128e+02] [ 6.54730095e-02 -8.67828219e-04 9.97853963e-01 1.41052479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.22, Y:114.99, Z:141.05 [[ 8.80864046e-01 4.69889424e-01 -5.72927743e-02 3.13221134e+02] [-4.68820007e-01 8.82724643e-01 3.17018309e-02 1.14985855e+02] [ 6.54700988e-02 -1.06500414e-03 9.97853963e-01 1.41053738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.27, Y:114.96, Z:141.06 [[ 8.81878476e-01 4.67982449e-01 -5.72955641e-02 3.13271825e+02] [-4.66909336e-01 8.83736944e-01 3.16967879e-02 1.14956199e+02] [ 6.54677472e-02 -1.20088123e-03 9.97853963e-01 1.41058114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.32, Y:114.93, Z:141.06 [[ 8.82944014e-01 4.65968627e-01 -5.72984063e-02 3.13323635e+02] [-4.64891609e-01 8.84800221e-01 3.16916493e-02 1.14927286e+02] [ 6.54649569e-02 -1.34440374e-03 9.97853963e-01 1.41061285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.37, Y:114.90, Z:141.06 [[ 8.83511982e-01 4.64890658e-01 -5.72996865e-02 3.13374452e+02] [-4.63811526e-01 8.85366960e-01 3.16893345e-02 1.14898797e+02] [ 6.54633249e-02 -1.42165171e-03 9.97853963e-01 1.41061551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.43, Y:114.87, Z:141.06 [[ 8.82598071e-01 4.66622769e-01 -5.73047793e-02 3.13426629e+02] [-4.65547874e-01 8.84455509e-01 3.16801223e-02 1.14871317e+02] [ 6.54661941e-02 -1.28269663e-03 9.97853963e-01 1.41061219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.48, Y:114.84, Z:141.07 [[ 8.80633686e-01 4.70319204e-01 -5.73075719e-02 3.13477099e+02] [-4.69252436e-01 8.82495802e-01 3.16750699e-02 1.14841755e+02] [ 6.54710853e-02 -1.00241579e-03 9.97853963e-01 1.41070723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.53, Y:114.81, Z:141.07 [[ 8.78216316e-01 4.74817498e-01 -5.73100842e-02 3.13531575e+02] [-4.73760565e-01 8.80084033e-01 3.16705237e-02 1.14811458e+02] [ 6.54754089e-02 -6.62312847e-04 9.97853963e-01 1.41071902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.58, Y:114.78, Z:141.08 [[ 8.76798264e-01 4.77432126e-01 -5.73007001e-02 3.13580917e+02] [-4.76379654e-01 8.78668497e-01 3.16874930e-02 1.14782723e+02] [ 6.54769473e-02 -4.86651171e-04 9.97853964e-01 1.41081219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.63, Y:114.75, Z:141.09 [[ 8.74851881e-01 4.80988946e-01 -5.73046351e-02 3.13631774e+02] [-4.79944543e-01 8.76726633e-01 3.16803754e-02 1.14752756e+02] [ 6.54784101e-02 -2.12589085e-04 9.97853964e-01 1.41085786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.68, Y:114.72, Z:141.09 [[ 8.74008373e-01 4.82519664e-01 -5.73074030e-02 3.13683991e+02] [-4.81478874e-01 8.75885132e-01 3.16753676e-02 1.14719197e+02] [ 6.54786900e-02 -9.22326616e-05 9.97853964e-01 1.41090407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.74, Y:114.69, Z:141.10 [[ 8.74474901e-01 4.81674740e-01 -5.72982729e-02 3.13735614e+02] [-4.80631055e-01 8.76350052e-01 3.16918747e-02 1.14686276e+02] [ 6.54785200e-02 -1.74419635e-04 9.97853964e-01 1.41095245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.79, Y:114.66, Z:141.10 [[ 8.76360494e-01 4.78236500e-01 -5.72899233e-02 3.13787446e+02] [-4.77184472e-01 8.78230977e-01 3.17069612e-02 1.14656122e+02] [ 6.54772115e-02 -4.48866393e-04 9.97853964e-01 1.41097594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.84, Y:114.63, Z:141.10 [[ 8.77537474e-01 4.76073211e-01 -5.72911865e-02 3.13837709e+02] [-4.75016721e-01 8.79405440e-01 3.17046787e-02 1.14626577e+02] [ 6.54759292e-02 -6.07772064e-04 9.97853964e-01 1.41096056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.89, Y:114.60, Z:141.10 [[ 8.79759375e-01 4.71954235e-01 -5.72943442e-02 3.13886637e+02] [-4.70889371e-01 8.81622581e-01 3.16989712e-02 1.14595120e+02] [ 6.54724513e-02 -9.08169355e-04 9.97853964e-01 1.41102845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.94, Y:114.56, Z:141.10 [[ 8.81861619e-01 4.68014040e-01 -5.72969654e-02 3.13936085e+02] [-4.66941160e-01 8.83720221e-01 3.16942326e-02 1.14564511e+02] [ 6.54678328e-02 -1.19561582e-03 9.97853964e-01 1.41103605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.99, Y:114.53, Z:141.11 [[ 8.82910752e-01 4.66031328e-01 -5.73010051e-02 3.13988433e+02] [-4.64954748e-01 8.84767213e-01 3.16869274e-02 1.14534153e+02] [ 6.54651514e-02 -1.33435449e-03 9.97853964e-01 1.41108196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.04, Y:114.50, Z:141.11 [[ 8.83314648e-01 4.65265330e-01 -5.73010051e-02 3.14038373e+02] [-4.64187140e-01 8.85170174e-01 3.16869274e-02 1.14498867e+02] [ 6.54639694e-02 -1.39113740e-03 9.97853964e-01 1.41107014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.09, Y:114.47, Z:141.11 [[ 8.83744006e-01 4.64449346e-01 -5.73004086e-02 3.14092297e+02] [-4.63369373e-01 8.85598495e-01 3.16880060e-02 1.14466157e+02] [ 6.54626293e-02 -1.45283093e-03 9.97853964e-01 1.41112319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.15, Y:114.43, Z:141.12 [[ 8.83078300e-01 4.65715121e-01 -5.72899828e-02 3.14145613e+02] [-4.64636585e-01 8.84933625e-01 3.17068441e-02 1.14432746e+02] [ 6.54641889e-02 -1.38060399e-03 9.97853964e-01 1.41116954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.20, Y:114.40, Z:141.12 [[ 8.81493203e-01 4.68709684e-01 -5.72797017e-02 3.14200076e+02] [-4.67636246e-01 8.83351482e-01 3.17254064e-02 1.14400685e+02] [ 6.54681146e-02 -1.17966545e-03 9.97853964e-01 1.41120290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.25, Y:114.37, Z:141.12 [[ 8.77012615e-01 4.77042062e-01 -5.72690496e-02 3.14253941e+02] [-4.75985026e-01 8.78880273e-01 3.17446235e-02 1.14369598e+02] [ 6.54761586e-02 -5.81225219e-04 9.97853965e-01 1.41123797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.31, Y:114.34, Z:141.13 [[ 8.75109442e-01 4.80525204e-01 -5.72624866e-02 3.14308664e+02] [-4.79474828e-01 8.76980853e-01 3.17564577e-02 1.14339612e+02] [ 6.54778827e-02 -3.34455088e-04 9.97853965e-01 1.41129669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.36, Y:114.31, Z:141.14 [[ 8.73178714e-01 4.84025129e-01 -5.72591336e-02 3.14360652e+02] [-4.82981858e-01 8.75054094e-01 3.17625022e-02 1.14307075e+02] [ 6.54786886e-02 -7.92180431e-05 9.97853965e-01 1.41137944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.42, Y:114.28, Z:141.14 [[ 8.74502740e-01 4.81630028e-01 -5.72492319e-02 3.14417143e+02] [-4.80580453e-01 8.76374600e-01 3.17803393e-02 1.14279516e+02] [ 6.54781384e-02 -2.79132076e-04 9.97853965e-01 1.41138606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.47, Y:114.25, Z:141.15 [[ 8.75830182e-01 4.79213111e-01 -5.72388600e-02 3.14470061e+02] [-4.78157150e-01 8.77698446e-01 3.17990090e-02 1.14248494e+02] [ 6.54769605e-02 -4.81361689e-04 9.97853965e-01 1.41146516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.53, Y:114.22, Z:141.15 [[ 8.79560911e-01 4.72331504e-01 -5.72324573e-02 3.14526017e+02] [-4.71260179e-01 8.81420407e-01 3.18105285e-02 1.14219107e+02] [ 6.54709706e-02 -1.00791937e-03 9.97853965e-01 1.41145615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.58, Y:114.19, Z:141.15 [[ 8.83018663e-01 4.65836549e-01 -5.72219478e-02 3.14581072e+02] [-4.64750324e-01 8.84869495e-01 3.18294222e-02 1.14188393e+02] [ 6.54612642e-02 -1.51205503e-03 9.97853966e-01 1.41149185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.64, Y:114.16, Z:141.15 [[ 8.85462274e-01 4.61176170e-01 -5.72110192e-02 3.14635765e+02] [-4.60078939e-01 8.87306603e-01 3.18490535e-02 1.14159446e+02] [ 6.54517396e-02 -1.87955033e-03 9.97853966e-01 1.41151678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.69, Y:114.13, Z:141.16 [[ 8.86161992e-01 4.59831044e-01 -5.72043184e-02 3.14689344e+02] [-4.58730238e-01 8.88004189e-01 3.18610842e-02 1.14128828e+02] [ 6.54483900e-02 -1.99273122e-03 9.97853966e-01 1.41160657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.74, Y:114.10, Z:141.16 [[ 8.84539717e-01 4.62945222e-01 -5.71944922e-02 3.14741317e+02] [-4.61849764e-01 8.86385099e-01 3.18787138e-02 1.14101345e+02] [ 6.54544438e-02 -1.78272576e-03 9.97853966e-01 1.41160525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.80, Y:114.08, Z:141.16 [[ 8.84347249e-01 4.63312465e-01 -5.71970528e-02 3.14797965e+02] [-4.62218070e-01 8.86193261e-01 3.18741189e-02 1.14077555e+02] [ 6.54553193e-02 -1.75027797e-03 9.97853966e-01 1.41159626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.85, Y:114.05, Z:141.17 [[ 8.80215752e-01 4.71114527e-01 -5.71955604e-02 3.14848875e+02] [-4.70036325e-01 8.82071269e-01 3.18767966e-02 1.14049385e+02] [ 6.54681825e-02 -1.17446754e-03 9.97853966e-01 1.41166079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.90, Y:114.03, Z:141.17 [[ 8.81788455e-01 4.68164100e-01 -5.71969943e-02 3.14904193e+02] [-4.67079857e-01 8.83640448e-01 3.18742235e-02 1.14026044e+02] [ 6.54639448e-02 -1.39075844e-03 9.97853966e-01 1.41167982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.96, Y:114.00, Z:141.17 [[ 8.80686498e-01 4.70233588e-01 -5.71984687e-02 3.14958700e+02] [-4.69153869e-01 8.82541132e-01 3.18715774e-02 1.13997447e+02] [ 6.54670876e-02 -1.23398503e-03 9.97853966e-01 1.41172907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.01, Y:113.97, Z:141.19 [[ 8.79120655e-01 4.73155714e-01 -5.71886700e-02 3.15011579e+02] [-4.72081017e-01 8.80978204e-01 3.18891501e-02 1.13966378e+02] [ 6.54705054e-02 -1.03672511e-03 9.97853966e-01 1.41185884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.06, Y:113.94, Z:141.19 [[ 8.78537225e-01 4.74239228e-01 -5.71795261e-02 3.15062940e+02] [-4.73165756e-01 8.80395482e-01 3.19055374e-02 1.13939717e+02] [ 6.54714538e-02 -9.74808563e-04 9.97853967e-01 1.41187170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.12, Y:113.91, Z:141.19 [[ 8.78014744e-01 4.75205541e-01 -5.71821983e-02 3.15115062e+02] [-4.74134426e-01 8.79874360e-01 3.19007474e-02 1.13912334e+02] [ 6.54725621e-02 -8.97277732e-04 9.97853967e-01 1.41193792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.17, Y:113.88, Z:141.20 [[ 8.77537431e-01 4.76086071e-01 -5.71848787e-02 3.15170318e+02] [-4.75017135e-01 8.79398300e-01 3.18959418e-02 1.13882044e+02] [ 6.54734988e-02 -8.26085534e-04 9.97853967e-01 1.41198282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.82275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.22, Y:113.85, Z:141.20 [[ 8.77668635e-01 4.75845385e-01 -5.71746214e-02 3.15223238e+02] [-4.74774741e-01 8.79528522e-01 3.19143178e-02 1.13853474e+02] [ 6.54729911e-02 -8.65129639e-04 9.97853967e-01 1.41198488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.882755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:315.27, Y:113.83, Z:141.20 [[ 8.78448654e-01 4.74404220e-01 -5.71716621e-02 3.15273969e+02] [-4.73330180e-01 8.80306582e-01 3.19196183e-02 1.13825686e+02] [ 6.54713921e-02 -9.78672586e-04 9.97853967e-01 1.41204717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.32, Y:113.80, Z:141.21 [[ 8.77912319e-01 4.75395528e-01 -5.71756341e-02 3.15323778e+02] [-4.74324050e-01 8.79771725e-01 3.19125019e-02 1.13796482e+02] [ 6.54725670e-02 -8.96600267e-04 9.97853967e-01 1.41210088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.38, Y:113.77, Z:141.21 [[ 8.77826172e-01 4.75554084e-01 -5.71797681e-02 3.15378528e+02] [-4.74483424e-01 8.79686049e-01 3.19050930e-02 1.13766018e+02] [ 6.54728416e-02 -8.76273486e-04 9.97853967e-01 1.41213160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.43, Y:113.74, Z:141.21 [[ 8.79946269e-01 4.71620841e-01 -5.71694518e-02 3.15430147e+02] [-4.70540669e-01 8.81800638e-01 3.19235678e-02 1.13739992e+02] [ 6.54678789e-02 -1.19047228e-03 9.97853967e-01 1.41213171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.48, Y:113.71, Z:141.22 [[ 8.79524857e-01 4.72405941e-01 -5.71721311e-02 3.15480295e+02] [-4.71327736e-01 8.81380371e-01 3.19187686e-02 1.13708550e+02] [ 6.54690101e-02 -1.12653929e-03 9.97853967e-01 1.41217447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.53, Y:113.68, Z:141.22 [[ 8.80701139e-01 4.70209033e-01 -5.71749046e-02 3.15533565e+02] [-4.69126522e-01 8.82554143e-01 3.19137998e-02 1.13678408e+02] [ 6.54661059e-02 -1.28425567e-03 9.97853967e-01 1.41222978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.59, Y:113.65, Z:141.23 [[ 8.83137571e-01 4.65617482e-01 -5.71698474e-02 3.15588614e+02] [-4.64524752e-01 8.84984568e-01 3.19228566e-02 1.13648169e+02] [ 6.54582728e-02 -1.63546488e-03 9.97853967e-01 1.41227545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.64, Y:113.62, Z:141.23 [[ 8.85694707e-01 4.60735982e-01 -5.71597792e-02 3.15643050e+02] [-4.59631913e-01 8.87534948e-01 3.19408742e-02 1.13618454e+02] [ 6.54476117e-02 -2.01740457e-03 9.97853967e-01 1.41228320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.70, Y:113.59, Z:141.23 [[ 8.86780072e-01 4.58644627e-01 -5.71507636e-02 3.15697855e+02] [-4.57535181e-01 8.88617076e-01 3.19569974e-02 1.13587761e+02] [ 6.54420496e-02 -2.19034350e-03 9.97853968e-01 1.41233000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.75, Y:113.56, Z:141.24 [[ 8.86613753e-01 4.58967447e-01 -5.71396087e-02 3.15750051e+02] [-4.57857387e-01 8.88450387e-01 3.19769301e-02 1.13556389e+02] [ 6.54420774e-02 -2.18939407e-03 9.97853968e-01 1.41242432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.81, Y:113.53, Z:141.24 [[ 8.85591774e-01 4.60937398e-01 -5.71307702e-02 3.15805887e+02] [-4.59830407e-01 8.87430258e-01 3.19927135e-02 1.13529373e+02] [ 6.54462123e-02 -2.06201858e-03 9.97853968e-01 1.41241377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.86, Y:113.50, Z:141.25 [[ 8.81996187e-01 4.67781890e-01 -5.71211773e-02 3.15857372e+02] [-4.66688062e-01 8.83842533e-01 3.20098320e-02 1.13497981e+02] [ 6.54597457e-02 -1.57477828e-03 9.97853968e-01 1.41250050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.91, Y:113.47, Z:141.25 [[ 8.78521590e-01 4.74276276e-01 -5.71124311e-02 3.15913022e+02] [-4.73195086e-01 8.80375365e-01 3.20254295e-02 1.13469347e+02] [ 6.54692788e-02 -1.10970956e-03 9.97853968e-01 1.41253131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.96, Y:113.44, Z:141.26 [[ 8.76962355e-01 4.77154497e-01 -5.71017943e-02 3.15962638e+02] [-4.76078157e-01 8.78818949e-01 3.20443839e-02 1.13440460e+02] [ 6.54722607e-02 -9.16801377e-04 9.97853969e-01 1.41257298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.01, Y:113.41, Z:141.27 [[ 8.75746953e-01 4.79381114e-01 -5.71053557e-02 3.16012757e+02] [-4.78309909e-01 8.77606515e-01 3.20380359e-02 1.13410890e+02] [ 6.54744616e-02 -7.43154846e-04 9.97853969e-01 1.41265125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.07, Y:113.38, Z:141.27 [[ 8.75404495e-01 4.80005867e-01 -5.71081289e-02 3.16067577e+02] [-4.78936311e-01 8.77265006e-01 3.20330918e-02 1.13379699e+02] [ 6.54750351e-02 -6.90755937e-04 9.97853969e-01 1.41267284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.12, Y:113.35, Z:141.27 [[ 8.76589667e-01 4.77839385e-01 -5.70970943e-02 3.16120805e+02] [-4.76763951e-01 8.78446786e-01 3.20527483e-02 1.13348112e+02] [ 6.54728246e-02 -8.75271668e-04 9.97853969e-01 1.41271051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.17, Y:113.32, Z:141.28 [[ 8.77590605e-01 4.75999809e-01 -5.70868834e-02 3.16174966e+02] [-4.74919301e-01 8.79444776e-01 3.20709241e-02 1.13316314e+02] [ 6.54705151e-02 -1.03347895e-03 9.97853969e-01 1.41278208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.23, Y:113.29, Z:141.28 [[ 8.78217000e-01 4.74844379e-01 -5.70764167e-02 3.16229396e+02] [-4.73760222e-01 8.80069039e-01 3.20895408e-02 1.13285299e+02] [ 6.54687253e-02 -1.14104442e-03 9.97853969e-01 1.41279950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.28, Y:113.26, Z:141.28 [[ 8.79969161e-01 4.71590659e-01 -5.70659823e-02 3.16284660e+02] [-4.70498452e-01 8.81816465e-01 3.21080859e-02 1.13255667e+02] [ 6.54635962e-02 -1.40466906e-03 9.97853970e-01 1.41282276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.34, Y:113.22, Z:141.29 [[ 8.81479090e-01 4.68763607e-01 -5.70551877e-02 3.16336870e+02] [-4.67664236e-01 8.83322139e-01 3.21272563e-02 1.13223373e+02] [ 6.54581990e-02 -1.63683387e-03 9.97853970e-01 1.41291114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.39, Y:113.19, Z:141.30 [[ 8.82662946e-01 4.66531846e-01 -5.70452428e-02 3.16391266e+02] [-4.65426676e-01 8.84502524e-01 3.21449048e-02 1.13191241e+02] [ 6.54532830e-02 -1.82273862e-03 9.97853970e-01 1.41295595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.45, Y:113.16, Z:141.30 [[ 8.82578535e-01 4.66692793e-01 -5.70347772e-02 3.16446151e+02] [-4.65586761e-01 8.84417594e-01 3.21634632e-02 1.13160938e+02] [ 6.54530169e-02 -1.83214507e-03 9.97853970e-01 1.41298403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.50, Y:113.13, Z:141.30 [[ 8.80951727e-01 4.69757663e-01 -5.70245040e-02 3.16500511e+02] [-4.68656851e-01 8.82793915e-01 3.21816669e-02 1.13132049e+02] [ 6.54584697e-02 -1.62557052e-03 9.97853970e-01 1.41301811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.32275509600004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.55, Y:113.10, Z:141.31 [[ 8.78485033e-01 4.74355655e-01 -5.70154344e-02 3.16554348e+02] [-4.73263445e-01 8.80332334e-01 3.21977272e-02 1.13102917e+02] [ 6.54657044e-02 -1.30190054e-03 9.97853971e-01 1.41305004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.61, Y:113.07, Z:141.31 [[ 8.76104004e-01 4.78739594e-01 -5.70103123e-02 3.16608570e+02] [-4.77656039e-01 8.77956394e-01 3.22067940e-02 1.13071208e+02] [ 6.54712358e-02 -9.85181203e-04 9.97853971e-01 1.41309353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.66, Y:113.04, Z:141.31 [[ 8.74226138e-01 4.82161500e-01 -5.69995426e-02 3.16663474e+02] [-4.81083955e-01 8.76082030e-01 3.22258431e-02 1.13042052e+02] [ 6.54743358e-02 -7.51108953e-04 9.97853971e-01 1.41311651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.72, Y:113.01, Z:141.32 [[ 8.74508132e-01 4.81651038e-01 -5.69895124e-02 3.16715254e+02] [-4.80571254e-01 8.76362723e-01 3.22435712e-02 1.13013704e+02] [ 6.54736338e-02 -8.09743810e-04 9.97853971e-01 1.41320240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.77, Y:112.98, Z:141.32 [[ 8.73862368e-01 4.82821510e-01 -5.69907957e-02 3.16765631e+02] [-4.81744359e-01 8.75718489e-01 3.22413027e-02 1.12982107e+02] [ 6.54746880e-02 -7.19466829e-04 9.97853971e-01 1.41322739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.82, Y:112.95, Z:141.33 [[ 8.75412357e-01 4.80005325e-01 -5.69920491e-02 3.16820106e+02] [-4.78922346e-01 8.77265084e-01 3.22390870e-02 1.12953222e+02] [ 6.54720682e-02 -9.27729211e-04 9.97853971e-01 1.41328802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.87, Y:112.92, Z:141.33 [[ 8.76257338e-01 4.78462161e-01 -5.69827929e-02 3.16874256e+02] [-4.77374857e-01 8.78107529e-01 3.22554391e-02 1.12920616e+02] [ 6.54700266e-02 -1.06191256e-03 9.97853971e-01 1.41332784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.93, Y:112.89, Z:141.34 [[ 8.77904841e-01 4.75433773e-01 -5.69720860e-02 3.16928990e+02] [-4.74338861e-01 8.79750540e-01 3.22743395e-02 1.12891549e+02] [ 6.54655344e-02 -1.30972448e-03 9.97853972e-01 1.41336215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.98, Y:112.86, Z:141.33 [[ 8.79216029e-01 4.73005395e-01 -5.69655171e-02 3.16984149e+02] [-4.71904635e-01 8.81058247e-01 3.22859297e-02 1.12862871e+02] [ 6.54613575e-02 -1.50401541e-03 9.97853972e-01 1.41333542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.03, Y:112.83, Z:141.34 [[ 8.79202810e-01 4.73031063e-01 -5.69564065e-02 3.17034386e+02] [-4.71929317e-01 8.81044438e-01 3.23019940e-02 1.12832364e+02] [ 6.54609717e-02 -1.52060585e-03 9.97853972e-01 1.41335368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.08, Y:112.80, Z:141.34 [[ 8.79175689e-01 4.73081122e-01 -5.69592780e-02 3.17083272e+02] [-4.71979808e-01 8.81017576e-01 3.22969297e-02 1.12802442e+02] [ 6.54611928e-02 -1.51104629e-03 9.97853972e-01 1.41343260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.14, Y:112.77, Z:141.35 [[ 8.79035533e-01 4.73341065e-01 -5.69628671e-02 3.17136238e+02] [-4.72240706e-01 8.80877990e-01 3.22905983e-02 1.12771353e+02] [ 6.54618020e-02 -1.48439872e-03 9.97853972e-01 1.41347559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.19, Y:112.74, Z:141.35 [[ 8.78794447e-01 4.73788662e-01 -5.69616039e-02 3.17187129e+02] [-4.72689097e-01 8.80637378e-01 3.22928265e-02 1.12741054e+02] [ 6.54624925e-02 -1.45362753e-03 9.97853972e-01 1.41352513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.24, Y:112.71, Z:141.35 [[ 8.78658317e-01 4.74040923e-01 -5.69628471e-02 3.17237424e+02] [-4.72942030e-01 8.80501648e-01 3.22906334e-02 1.12710354e+02] [ 6.54629624e-02 -1.43230905e-03 9.97853972e-01 1.41354316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.29, Y:112.68, Z:141.36 [[ 8.78056245e-01 4.75154962e-01 -5.69648307e-02 3.17287877e+02] [-4.74058634e-01 8.79901104e-01 3.22871337e-02 1.12680647e+02] [ 6.54648092e-02 -1.34524957e-03 9.97853972e-01 1.41363131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.34, Y:112.65, Z:141.36 [[ 8.77421777e-01 4.76325219e-01 -5.69676315e-02 3.17342819e+02] [-4.75231672e-01 8.79268286e-01 3.22821911e-02 1.12651255e+02] [ 6.54666535e-02 -1.25227471e-03 9.97853972e-01 1.41364395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.40, Y:112.62, Z:141.37 [[ 8.76670100e-01 4.77708426e-01 -5.69578373e-02 3.17397533e+02] [-4.76616671e-01 8.78517668e-01 3.22994626e-02 1.12619699e+02] [ 6.54681918e-02 -1.16891837e-03 9.97853972e-01 1.41369480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.45, Y:112.59, Z:141.37 [[ 8.75685526e-01 4.79512178e-01 -5.69467359e-02 3.17451371e+02] [-4.78422958e-01 8.77534589e-01 3.23190235e-02 1.12589616e+02] [ 6.54700958e-02 -1.05667532e-03 9.97853972e-01 1.41371156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.50, Y:112.56, Z:141.38 [[ 8.74286057e-01 4.82060290e-01 -5.69365228e-02 3.17504752e+02] [-4.80975288e-01 8.76137598e-01 3.23370060e-02 1.12556816e+02] [ 6.54726148e-02 -8.86732988e-04 9.97853973e-01 1.41375814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.55, Y:112.53, Z:141.38 [[ 8.73794058e-01 4.82952752e-01 -5.69261238e-02 3.17553797e+02] [-4.81868450e-01 8.75646008e-01 3.23553021e-02 1.12525939e+02] [ 6.54732153e-02 -8.40967732e-04 9.97853973e-01 1.41383076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.61, Y:112.49, Z:141.39 [[ 8.72585276e-01 4.85133017e-01 -5.69288407e-02 3.17607763e+02] [-4.84053653e-01 8.74440109e-01 3.23505210e-02 1.12492759e+02] [ 6.54751675e-02 -6.71974971e-04 9.97853973e-01 1.41385725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.66, Y:112.46, Z:141.39 [[ 8.73086397e-01 4.84232026e-01 -5.69165077e-02 3.17660465e+02] [-4.83149335e-01 8.74939290e-01 3.23722048e-02 1.12462656e+02] [ 6.54741471e-02 -7.64558747e-04 9.97853973e-01 1.41390769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:112.43, Z:141.39 [[ 8.73261992e-01 4.83916339e-01 -5.69075522e-02 3.17711965e+02] [-4.82831953e-01 8.75113893e-01 3.23879401e-02 1.12431501e+02] [ 6.54736430e-02 -8.06372524e-04 9.97853973e-01 1.41393940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.76, Y:112.40, Z:141.40 [[ 8.73452942e-01 4.83571936e-01 -5.69046645e-02 3.17762452e+02] [-4.82486490e-01 8.75304221e-01 3.23930130e-02 1.12402959e+02] [ 6.54732451e-02 -8.38040641e-04 9.97853973e-01 1.41397355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.81, Y:112.37, Z:141.40 [[ 8.72709822e-01 4.84911359e-01 -5.69081798e-02 3.17813401e+02] [-4.83829157e-01 8.74563000e-01 3.23868361e-02 1.12373597e+02] [ 6.54745332e-02 -7.30473277e-04 9.97853973e-01 1.41399459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.86, Y:112.34, Z:141.40 [[ 8.73993063e-01 4.82594333e-01 -5.69107630e-02 3.17864719e+02] [-4.81507513e-01 8.75843537e-01 3.23822963e-02 1.12344625e+02] [ 6.54724366e-02 -8.98942350e-04 9.97853973e-01 1.41404375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.92, Y:112.32, Z:141.41 [[ 8.74342285e-01 4.81961013e-01 -5.69135417e-02 3.17915764e+02] [-4.80873171e-01 8.76192158e-01 3.23774118e-02 1.12315587e+02] [ 6.54718491e-02 -9.40744947e-04 9.97853973e-01 1.41410644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.97, Y:112.28, Z:141.42 [[ 8.74416407e-01 4.81826183e-01 -5.69164039e-02 3.17970345e+02] [-4.80738383e-01 8.76266304e-01 3.23723795e-02 1.12284832e+02] [ 6.54717870e-02 -9.45039780e-04 9.97853973e-01 1.41415433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.02, Y:112.25, Z:141.42 [[ 8.74332775e-01 4.81979145e-01 -5.69060883e-02 3.18023868e+02] [-4.80890489e-01 8.76182169e-01 3.23905027e-02 1.12253230e+02] [ 6.54716467e-02 -9.54481488e-04 9.97853974e-01 1.41420342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.08, Y:112.22, Z:141.42 [[ 8.73935306e-01 4.82700219e-01 -5.68997325e-02 3.18077433e+02] [-4.81612363e-01 8.75785170e-01 3.24016641e-02 1.12222478e+02] [ 6.54722323e-02 -9.13343601e-04 9.97853974e-01 1.41418817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.13, Y:112.19, Z:141.43 [[ 8.73117984e-01 4.84177186e-01 -5.68984854e-02 3.18129101e+02] [-4.83092317e-01 8.74969602e-01 3.24038539e-02 1.12194233e+02] [ 6.54736519e-02 -8.05166486e-04 9.97853974e-01 1.41426517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.18, Y:112.17, Z:141.43 [[ 8.73167479e-01 4.84087618e-01 -5.69010672e-02 3.18178891e+02] [-4.83002854e-01 8.75019158e-01 3.23993196e-02 1.12166417e+02] [ 6.54736334e-02 -8.06654395e-04 9.97853974e-01 1.41429059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.242755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:318.23, Y:112.13, Z:141.43 [[ 8.72585607e-01 4.85135150e-01 -5.69055848e-02 3.18231730e+02] [-4.84053126e-01 8.74438888e-01 3.23913830e-02 1.12132725e+02] [ 6.54746548e-02 -7.18928405e-04 9.97853974e-01 1.41433945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.29, Y:112.10, Z:141.43 [[ 8.74634430e-01 4.81433028e-01 -5.68933499e-02 3.18286164e+02] [-4.80341764e-01 8.76482285e-01 3.24128587e-02 1.12104879e+02] [ 6.54706340e-02 -1.02115021e-03 9.97853974e-01 1.41432600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.34, Y:112.08, Z:141.44 [[ 8.74848139e-01 4.81045707e-01 -5.68837531e-02 3.18337201e+02] [-4.79952530e-01 8.76694864e-01 3.24296920e-02 1.12076867e+02] [ 6.54698583e-02 -1.06955449e-03 9.97853974e-01 1.41441021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.39, Y:112.05, Z:141.45 [[ 8.74247271e-01 4.82136541e-01 -5.68864276e-02 3.18386607e+02] [-4.81045973e-01 8.76095538e-01 3.24249999e-02 1.12046686e+02] [ 6.54712227e-02 -9.82480766e-04 9.97853974e-01 1.41446695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.44, Y:112.02, Z:141.45 [[ 8.76546885e-01 4.77942513e-01 -5.68903606e-02 3.18441125e+02] [-4.76843550e-01 8.78390173e-01 3.24180979e-02 1.12021504e+02] [ 6.54659208e-02 -1.28818119e-03 9.97853974e-01 1.41447643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.49, Y:111.99, Z:141.46 [[ 8.76041766e-01 4.78867594e-01 -5.68915834e-02 3.18492651e+02] [-4.77770717e-01 8.77886295e-01 3.24159518e-02 1.11992950e+02] [ 6.54672903e-02 -1.21659508e-03 9.97853974e-01 1.41455485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.54, Y:111.96, Z:141.46 [[ 8.74961709e-01 4.80838034e-01 -5.68928151e-02 3.18544841e+02] [-4.79745453e-01 8.76808786e-01 3.24137900e-02 1.11959212e+02] [ 6.54699032e-02 -1.06675573e-03 9.97853974e-01 1.41459926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.60, Y:111.93, Z:141.47 [[ 8.76507102e-01 4.78016270e-01 -5.68836214e-02 3.18601329e+02] [-4.76916697e-01 8.78350024e-01 3.24299162e-02 1.11931187e+02] [ 6.54657578e-02 -1.29630305e-03 9.97853974e-01 1.41465114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.65, Y:111.90, Z:141.47 [[ 8.77793477e-01 4.75651197e-01 -5.68731001e-02 3.18652014e+02] [-4.74545465e-01 8.79632711e-01 3.24483572e-02 1.11903193e+02] [ 6.54615392e-02 -1.49408460e-03 9.97853975e-01 1.41469175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.70, Y:111.87, Z:141.47 [[ 8.77466775e-01 4.76253283e-01 -5.68759085e-02 3.18702795e+02] [-4.75149131e-01 8.79306958e-01 3.24434338e-02 1.11874444e+02] [ 6.54626740e-02 -1.44349674e-03 9.97853975e-01 1.41473070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.75, Y:111.85, Z:141.48 [[ 8.76998308e-01 4.77114960e-01 -5.68795445e-02 3.18752892e+02] [-4.76013030e-01 8.78839822e-01 3.24370580e-02 1.11845671e+02] [ 6.54642144e-02 -1.37184063e-03 9.97853975e-01 1.41477485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.81, Y:111.82, Z:141.48 [[ 8.75694845e-01 4.79502702e-01 -5.68831823e-02 3.18806857e+02] [-4.78406208e-01 8.77539601e-01 3.24306773e-02 1.11816248e+02] [ 6.54678425e-02 -1.18610934e-03 9.97853975e-01 1.41482593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.86, Y:111.79, Z:141.49 [[ 8.73435049e-01 4.83606929e-01 -5.68819243e-02 3.18858903e+02] [-4.82518960e-01 8.75284846e-01 3.24328836e-02 1.11788643e+02] [ 6.54726536e-02 -8.81410325e-04 9.97853975e-01 1.41485640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.91, Y:111.76, Z:141.49 [[ 8.70455857e-01 4.88948705e-01 -5.68837816e-02 3.18911509e+02] [-4.87872301e-01 8.72312408e-01 3.24296257e-02 1.11758133e+02] [ 6.54768520e-02 -4.76536228e-04 9.97853975e-01 1.41490936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.96, Y:111.73, Z:141.49 [[ 8.70582174e-01 4.88723909e-01 -5.68825036e-02 3.18964264e+02] [-4.87646880e-01 8.72438361e-01 3.24318673e-02 1.11733601e+02] [ 6.54767072e-02 -4.96030148e-04 9.97853975e-01 1.41491338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.02, Y:111.71, Z:141.50 [[ 8.69097539e-01 4.91358873e-01 -5.68851997e-02 3.19015900e+02] [-4.90287781e-01 8.70957159e-01 3.24271376e-02 1.11705252e+02] [ 6.54779337e-02 -2.92227144e-04 9.97853975e-01 1.41498000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.07, Y:111.68, Z:141.50 [[ 8.69538323e-01 4.90578082e-01 -5.68880567e-02 3.19067038e+02] [-4.89505648e-01 8.71397169e-01 3.24221248e-02 1.11677193e+02] [ 6.54776753e-02 -3.45254920e-04 9.97853975e-01 1.41500709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.12, Y:111.64, Z:141.51 [[ 8.68148503e-01 4.93033152e-01 -5.68901462e-02 3.19116442e+02] [-4.91966215e-01 8.70010510e-01 3.24184579e-02 1.11643212e+02] [ 6.54783996e-02 -1.56005802e-04 9.97853975e-01 1.41509457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.17, Y:111.61, Z:141.51 [[ 8.70950135e-01 4.88066885e-01 -5.68909218e-02 3.19171518e+02] [-4.86989420e-01 8.72806070e-01 3.24170969e-02 1.11612694e+02] [ 6.54764534e-02 -5.28397877e-04 9.97853975e-01 1.41513965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.23, Y:111.59, Z:141.52 [[ 8.75857704e-01 4.79205571e-01 -5.68797149e-02 3.19226847e+02] [-4.78108057e-01 8.77701853e-01 3.24367489e-02 1.11586398e+02] [ 6.54673019e-02 -1.21532648e-03 9.97853975e-01 1.41515769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.28, Y:111.56, Z:141.52 [[ 8.77701811e-01 4.75820597e-01 -5.68708236e-02 3.19277617e+02] [-4.74714962e-01 8.79541103e-01 3.24523303e-02 1.11557961e+02] [ 6.54617141e-02 -1.48603825e-03 9.97853975e-01 1.41517971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.33, Y:111.53, Z:141.52 [[ 8.79699297e-01 4.72116898e-01 -5.68751362e-02 3.19328647e+02] [-4.71004008e-01 8.81534209e-01 3.24447703e-02 1.11530690e+02] [ 6.54551025e-02 -1.75322453e-03 9.97853975e-01 1.41522260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.38, Y:111.50, Z:141.53 [[ 8.80129437e-01 4.71314000e-01 -5.68795884e-02 3.19384905e+02] [-4.70199941e-01 8.81963638e-01 3.24369633e-02 1.11501601e+02] [ 6.54537236e-02 -1.80394712e-03 9.97853975e-01 1.41525854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.44, Y:111.47, Z:141.53 [[ 8.79769541e-01 4.71986712e-01 -5.68691383e-02 3.19437968e+02] [-4.70872873e-01 8.81603875e-01 3.24552743e-02 1.11474484e+02] [ 6.54545109e-02 -1.77502724e-03 9.97853975e-01 1.41529863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.49, Y:111.45, Z:141.53 [[ 8.78911081e-01 4.73583298e-01 -5.68697784e-02 3.19491373e+02] [-4.72472863e-01 8.80747479e-01 3.24541527e-02 1.11445563e+02] [ 6.54576586e-02 -1.65488740e-03 9.97853975e-01 1.41534645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.54, Y:111.42, Z:141.54 [[ 8.77922065e-01 4.75414373e-01 -5.68684705e-02 3.19543137e+02] [-4.74307620e-01 8.79760684e-01 3.24564443e-02 1.11417088e+02] [ 6.54609046e-02 -1.52107966e-03 9.97853975e-01 1.41538935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.59, Y:111.39, Z:141.54 [[ 8.75966684e-01 4.79007515e-01 -5.68697637e-02 3.19594304e+02] [-4.77908452e-01 8.77809910e-01 3.24541782e-02 1.11390450e+02] [ 6.54666374e-02 -1.25023816e-03 9.97853975e-01 1.41542984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.65, Y:111.36, Z:141.55 [[ 8.74241840e-01 4.82147980e-01 -5.68729397e-02 3.19646157e+02] [-4.81055901e-01 8.76089212e-01 3.24486116e-02 1.11363486e+02] [ 6.54708015e-02 -1.00887062e-03 9.97853975e-01 1.41546333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.70, Y:111.34, Z:141.55 [[ 8.75978487e-01 4.78985078e-01 -5.68769286e-02 3.19699399e+02] [-4.77886783e-01 8.77822171e-01 3.24416183e-02 1.11340289e+02] [ 6.54668800e-02 -1.23742726e-03 9.97853976e-01 1.41546827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.982755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:319.75, Y:111.30, Z:141.56 [[ 8.71045082e-01 4.87897951e-01 -5.68863250e-02 3.19746107e+02] [-4.86819601e-01 8.72900502e-01 3.24251333e-02 1.11304515e+02] [ 6.54762578e-02 -5.50374803e-04 9.97853976e-01 1.41557116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.80, Y:111.28, Z:141.56 [[ 8.72022240e-01 4.86148948e-01 -5.68894788e-02 3.19801164e+02] [-4.85067238e-01 8.73875703e-01 3.24195991e-02 1.11278101e+02] [ 6.54750873e-02 -6.75389127e-04 9.97853976e-01 1.41557802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.86, Y:111.25, Z:141.56 [[ 8.72730968e-01 4.84876529e-01 -5.68806674e-02 3.19855555e+02] [-4.83791109e-01 8.74582260e-01 3.24350514e-02 1.11245905e+02] [ 6.54738178e-02 -7.88712628e-04 9.97853976e-01 1.41562319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.162755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:319.91, Y:111.21, Z:141.57 [[ 8.73217610e-01 4.84000866e-01 -5.68697324e-02 3.19910522e+02] [-4.82912343e-01 8.75067079e-01 3.24542130e-02 1.11214510e+02] [ 6.54726978e-02 -8.76494647e-04 9.97853976e-01 1.41565983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.96, Y:111.18, Z:141.57 [[ 8.75747941e-01 4.79408641e-01 -5.68585827e-02 3.19963717e+02] [-4.78309154e-01 8.77590913e-01 3.24737351e-02 1.11184457e+02] [ 6.54667647e-02 -1.24282603e-03 9.97853976e-01 1.41568769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.02, Y:111.16, Z:141.58 [[ 8.77294108e-01 4.76574396e-01 -5.68497426e-02 3.20016030e+02] [-4.75467953e-01 8.79132912e-01 3.24892036e-02 1.11155628e+02] [ 6.54620023e-02 -1.47235622e-03 9.97853977e-01 1.41576116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.07, Y:111.13, Z:141.58 [[ 8.81252613e-01 4.69214016e-01 -5.68510330e-02 3.20066942e+02] [-4.68092365e-01 8.83082180e-01 3.24869455e-02 1.11128586e+02] [ 6.54474643e-02 -2.01767112e-03 9.97853977e-01 1.41577647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:111.10, Z:141.58 [[ 8.80052127e-01 4.71461159e-01 -5.68562142e-02 3.20116170e+02] [-4.70344766e-01 8.81884907e-01 3.24778751e-02 1.11098951e+02] [ 6.54526938e-02 -1.84020031e-03 9.97853977e-01 1.41581760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.17, Y:111.07, Z:141.59 [[ 8.78455621e-01 4.74428713e-01 -5.68605213e-02 3.20167159e+02] [-4.73318999e-01 8.80292453e-01 3.24703328e-02 1.11070620e+02] [ 6.54587459e-02 -1.61058130e-03 9.97853977e-01 1.41588136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.22, Y:111.04, Z:141.59 [[ 8.76961977e-01 4.77182779e-01 -5.68707898e-02 3.20218503e+02] [-4.76080001e-01 8.78802981e-01 3.24523379e-02 1.11042039e+02] [ 6.54639163e-02 -1.38442071e-03 9.97853977e-01 1.41592993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.27, Y:111.01, Z:141.60 [[ 8.75121825e-01 4.80548868e-01 -5.68733456e-02 3.20270532e+02] [-4.79453462e-01 8.76967225e-01 3.24478581e-02 1.11013422e+02] [ 6.54688416e-02 -1.12770636e-03 9.97853977e-01 1.41598190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.32, Y:110.99, Z:141.60 [[ 8.73665146e-01 4.83191976e-01 -5.68746604e-02 3.20320179e+02] [-4.82102303e-01 8.75513938e-01 3.24455534e-02 1.10985516e+02] [ 6.54719889e-02 -9.27144381e-04 9.97853977e-01 1.41600980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.37, Y:110.96, Z:141.61 [[ 8.72844459e-01 4.84672332e-01 -5.68795297e-02 3.20370827e+02] [-4.83586351e-01 8.74695422e-01 3.24370149e-02 1.10956676e+02] [ 6.54735879e-02 -8.06304459e-04 9.97853977e-01 1.41606677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.42, Y:110.93, Z:141.61 [[ 8.71985380e-01 4.86215897e-01 -5.68823188e-02 3.20420542e+02] [-4.85133513e-01 8.73838447e-01 3.24321232e-02 1.10927309e+02] [ 6.54749710e-02 -6.84818160e-04 9.97853977e-01 1.41611181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.822755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:320.47, Y:110.90, Z:141.61 [[ 8.71085361e-01 4.87826006e-01 -5.68865762e-02 3.20469189e+02] [-4.86747534e-01 8.72940708e-01 3.24246539e-02 1.10896855e+02] [ 6.54761975e-02 -5.55240625e-04 9.97853977e-01 1.41614357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.52, Y:110.87, Z:141.62 [[ 8.69915864e-01 4.89907892e-01 -5.68915423e-02 3.20518212e+02] [-4.88834430e-01 8.71774115e-01 3.24159381e-02 1.10866803e+02] [ 6.54773978e-02 -3.88594163e-04 9.97853977e-01 1.41618452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.57, Y:110.84, Z:141.62 [[ 8.70611979e-01 4.88668566e-01 -5.69018044e-02 3.20567387e+02] [-4.87593637e-01 8.72469381e-01 3.23979144e-02 1.10836571e+02] [ 6.54769244e-02 -4.61054550e-04 9.97853977e-01 1.41623273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.62, Y:110.80, Z:141.63 [[ 8.71082860e-01 4.87828196e-01 -5.69060881e-02 3.20615585e+02] [-4.86751967e-01 8.72939509e-01 3.23903884e-02 1.10803654e+02] [ 6.54765173e-02 -5.15561838e-04 9.97853977e-01 1.41625941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.66, Y:110.77, Z:141.63 [[ 8.71641959e-01 4.86828112e-01 -5.69094447e-02 3.20663095e+02] [-4.85750138e-01 8.73497595e-01 3.23844899e-02 1.10772678e+02] [ 6.54759431e-02 -5.83909586e-04 9.97853977e-01 1.41627610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.71, Y:110.74, Z:141.63 [[ 8.73255451e-01 4.83927380e-01 -5.69140419e-02 3.20711834e+02] [-4.82843768e-01 8.75107801e-01 3.23764086e-02 1.10741328e+02] [ 6.54737526e-02 -7.92284819e-04 9.97853977e-01 1.41631807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.76, Y:110.71, Z:141.63 [[ 8.75794564e-01 4.79316395e-01 -5.69181441e-02 3.20760287e+02] [-4.78223501e-01 8.77641452e-01 3.23691953e-02 1.10707788e+02] [ 6.54688086e-02 -1.12917112e-03 9.97853977e-01 1.41634693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.81, Y:110.67, Z:141.64 [[ 8.77470300e-01 4.76241499e-01 -5.69201879e-02 3.20809134e+02] [-4.75142366e-01 8.79313482e-01 3.23656008e-02 1.10674380e+02] [ 6.54645309e-02 -1.35466065e-03 9.97853977e-01 1.41638950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.86, Y:110.64, Z:141.64 [[ 8.77881692e-01 4.75482402e-01 -5.69229396e-02 3.20862304e+02] [-4.74381989e-01 8.79724110e-01 3.23607606e-02 1.10640405e+02] [ 6.54634545e-02 -1.40570193e-03 9.97853977e-01 1.41638410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.91, Y:110.61, Z:141.64 [[ 8.77343022e-01 4.76476861e-01 -5.69124082e-02 3.20914610e+02] [-4.75377336e-01 8.79185971e-01 3.23792715e-02 1.10606940e+02] [ 6.54645645e-02 -1.35285892e-03 9.97853978e-01 1.41640402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.422755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:320.96, Y:110.57, Z:141.65 [[ 8.75060969e-01 4.80656201e-01 -5.69026911e-02 3.20964377e+02] [-4.79564370e-01 8.76908486e-01 3.23963392e-02 1.10569470e+02] [ 6.54699540e-02 -1.06026876e-03 9.97853978e-01 1.41649278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.02, Y:110.53, Z:141.66 [[ 8.70342075e-01 4.89150070e-01 -5.68936052e-02 3.21015441e+02] [-4.88075229e-01 8.72199527e-01 3.24122877e-02 1.10533005e+02] [ 6.54770483e-02 -4.41418349e-04 9.97853978e-01 1.41655181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.07, Y:110.50, Z:141.66 [[ 8.67970266e-01 4.93347703e-01 -5.68828832e-02 3.21069233e+02] [-4.92280613e-01 8.69832181e-01 3.24310936e-02 1.10500192e+02] [ 6.54783679e-02 -1.46884350e-04 9.97853978e-01 1.41659685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.12, Y:110.47, Z:141.66 [[ 8.68599804e-01 4.92239790e-01 -5.68715132e-02 3.21124625e+02] [-4.91169020e-01 8.70459606e-01 3.24510200e-02 1.10473232e+02] [ 6.54780382e-02 -2.53424233e-04 9.97853978e-01 1.41662432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.18, Y:110.44, Z:141.67 [[ 8.66967021e-01 4.95111103e-01 -5.68610599e-02 3.21176082e+02] [-4.94045292e-01 8.68829668e-01 3.24693261e-02 1.10437647e+02] [ 6.54784997e-02 -5.78959784e-05 9.97853979e-01 1.41669464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.722755096 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:321.23, Y:110.41, Z:141.67 [[ 8.71118862e-01 4.87769552e-01 -5.68576515e-02 3.21231775e+02] [-4.86687655e-01 8.72972211e-01 3.24752935e-02 1.10411870e+02] [ 6.54756092e-02 -6.17923609e-04 9.97853979e-01 1.41670631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.28, Y:110.38, Z:141.68 [[ 8.68842051e-01 4.91814275e-01 -5.68525228e-02 3.21282528e+02] [-4.90740419e-01 8.70700071e-01 3.24842696e-02 1.10378533e+02] [ 6.54777232e-02 -3.23868600e-04 9.97853979e-01 1.41676077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.34, Y:110.35, Z:141.68 [[ 8.70381178e-01 4.89086217e-01 -5.68443194e-02 3.21338044e+02] [-4.88005600e-01 8.72235275e-01 3.24986184e-02 1.10349139e+02] [ 6.54762469e-02 -5.45839546e-04 9.97853979e-01 1.41680550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.39, Y:110.32, Z:141.68 [[ 8.72874607e-01 4.84623444e-01 -5.68334143e-02 3.21394206e+02] [-4.83532108e-01 8.74722414e-01 3.25176781e-02 1.10324864e+02] [ 6.54722905e-02 -9.03074946e-04 9.97853979e-01 1.41681380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.45, Y:110.30, Z:141.68 [[ 8.73261972e-01 4.83926105e-01 -5.68247536e-02 3.21449602e+02] [-4.82832308e-01 8.75108324e-01 3.25328057e-02 1.10295486e+02] [ 6.54712888e-02 -9.72835118e-04 9.97853979e-01 1.41684778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.50, Y:110.26, Z:141.69 [[ 8.73100425e-01 4.84218713e-01 -5.68144777e-02 3.21503267e+02] [-4.83124369e-01 8.74946452e-01 3.25507414e-02 1.10264734e+02] [ 6.54713038e-02 -9.71607487e-04 9.97853979e-01 1.41689384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.56, Y:110.24, Z:141.69 [[ 8.74878903e-01 4.80999062e-01 -5.68050032e-02 3.21558992e+02] [-4.79896852e-01 8.76720243e-01 3.25672671e-02 1.10235495e+02] [ 6.54669212e-02 -1.23187270e-03 9.97853980e-01 1.41694639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.61, Y:110.21, Z:141.70 [[ 8.75038455e-01 4.80709950e-01 -5.67947752e-02 3.21612812e+02] [-4.79605975e-01 8.76878738e-01 3.25850942e-02 1.10205897e+02] [ 6.54661098e-02 -1.27409700e-03 9.97853980e-01 1.41697554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.66, Y:110.18, Z:141.70 [[ 8.76928750e-01 4.77253858e-01 -5.67866428e-02 3.21664252e+02] [-4.76141714e-01 8.78764108e-01 3.25992607e-02 1.10179071e+02] [ 6.54601864e-02 -1.54873952e-03 9.97853980e-01 1.41702100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.71, Y:110.15, Z:141.70 [[ 8.77905912e-01 4.75453483e-01 -5.67908021e-02 3.21713950e+02] [-4.74338043e-01 8.79739269e-01 3.25920132e-02 1.10150082e+02] [ 6.54570849e-02 -1.67468316e-03 9.97853980e-01 1.41704603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.322755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:321.77, Y:110.12, Z:141.71 [[ 8.79568622e-01 4.72369950e-01 -5.67949807e-02 3.21765216e+02] [-4.71248554e-01 8.81398341e-01 3.25847298e-02 1.10122990e+02] [ 6.54510490e-02 -1.89595331e-03 9.97853980e-01 1.41712933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.81, Y:110.09, Z:141.72 [[ 8.77215622e-01 4.76724900e-01 -5.67989638e-02 3.21811912e+02] [-4.75613039e-01 8.79051150e-01 3.25777853e-02 1.10088744e+02] [ 6.54598360e-02 -1.56341440e-03 9.97853980e-01 1.41720992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.87, Y:110.06, Z:141.72 [[ 8.78971272e-01 4.73479677e-01 -5.68022826e-02 3.21868840e+02] [-4.72361413e-01 8.80802907e-01 3.25719977e-02 1.10062396e+02] [ 6.54537946e-02 -1.79864377e-03 9.97853980e-01 1.41720016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.92, Y:110.04, Z:141.72 [[ 8.79816305e-01 4.71908647e-01 -5.67934705e-02 3.21922757e+02] [-4.70786122e-01 8.81645332e-01 3.25873555e-02 1.10035121e+02] [ 6.54499530e-02 -1.93330900e-03 9.97853980e-01 1.41720924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.98, Y:110.00, Z:141.73 [[ 8.78742102e-01 4.73905994e-01 -5.67928499e-02 3.21976259e+02] [-4.72787557e-01 8.80573631e-01 3.25884370e-02 1.10004606e+02] [ 6.54541417e-02 -1.78587886e-03 9.97853980e-01 1.41727859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.03, Y:109.98, Z:141.73 [[ 8.77954517e-01 4.75364551e-01 -5.67838792e-02 3.22029234e+02] [-4.74248148e-01 8.79787287e-01 3.26040606e-02 1.09976804e+02] [ 6.54565497e-02 -1.69523274e-03 9.97853980e-01 1.41730639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.682755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:322.08, Y:109.95, Z:141.74 [[ 8.75521469e-01 4.79831032e-01 -5.67832511e-02 3.22083077e+02] [-4.78723909e-01 8.77359859e-01 3.26051546e-02 1.09946113e+02] [ 6.54643101e-02 -1.36301294e-03 9.97853980e-01 1.41735028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.13, Y:109.91, Z:141.74 [[ 8.71528471e-01 4.87047057e-01 -5.67740197e-02 3.22134723e+02] [-4.85954111e-01 8.73375325e-01 3.26212208e-02 1.09911351e+02] [ 6.54730975e-02 -8.40754417e-04 9.97853981e-01 1.41741528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.19, Y:109.88, Z:141.74 [[ 8.69366129e-01 4.90897422e-01 -5.67649033e-02 3.22189216e+02] [-4.89811621e-01 8.71217193e-01 3.26370768e-02 1.09881710e+02] [ 6.54760166e-02 -5.69459744e-04 9.97853981e-01 1.41744996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.24, Y:109.85, Z:141.75 [[ 8.66184733e-01 4.96490471e-01 -5.67557964e-02 3.22239366e+02] [-4.95415586e-01 8.68042156e-01 3.26529061e-02 1.09845173e+02] [ 6.54782806e-02 -1.65742571e-04 9.97853981e-01 1.41753656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.29, Y:109.81, Z:141.76 [[ 8.67291155e-01 4.94556241e-01 -5.67466012e-02 3.22293149e+02] [-4.93476169e-01 8.69145566e-01 3.26688783e-02 1.09814346e+02] [ 6.54776545e-02 -3.30333871e-04 9.97853981e-01 1.41755575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.34, Y:109.78, Z:141.76 [[ 8.66565158e-01 4.95828356e-01 -5.67368419e-02 3.22344074e+02] [-4.94749896e-01 8.68420507e-01 3.26858188e-02 1.09780933e+02] [ 6.54779928e-02 -2.53845062e-04 9.97853981e-01 1.41759854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.40, Y:109.75, Z:141.76 [[ 8.68263148e-01 4.92849047e-01 -5.67355505e-02 3.22397676e+02] [-4.91764075e-01 8.70114697e-01 3.26880603e-02 1.09749795e+02] [ 6.54767156e-02 -4.81332633e-04 9.97853981e-01 1.41762127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.45, Y:109.72, Z:141.77 [[ 8.70670139e-01 4.88585304e-01 -5.67266215e-02 3.22451915e+02] [-4.87490256e-01 8.72515747e-01 3.27035482e-02 1.09718306e+02] [ 6.54733436e-02 -8.20327615e-04 9.97853981e-01 1.41766336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.50, Y:109.68, Z:141.77 [[ 8.70726285e-01 4.88486424e-01 -5.67163994e-02 3.22502895e+02] [-4.87390013e-01 8.72571082e-01 3.27212664e-02 1.09681838e+02] [ 6.54729845e-02 -8.48260077e-04 9.97853982e-01 1.41770682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.56, Y:109.65, Z:141.77 [[ 8.72869937e-01 4.84646602e-01 -5.67075295e-02 3.22556870e+02] [-4.83541078e-01 8.74709288e-01 3.27366311e-02 1.09650667e+02] [ 6.54682998e-02 -1.15440118e-03 9.97853982e-01 1.41773236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.61, Y:109.62, Z:141.78 [[ 8.71286726e-01 4.87488138e-01 -5.66988247e-02 3.22608729e+02] [-4.86387633e-01 8.73129083e-01 3.27517008e-02 1.09615113e+02] [ 6.54714585e-02 -9.58514979e-04 9.97853982e-01 1.41778289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.66, Y:109.59, Z:141.78 [[ 8.70627824e-01 4.88665202e-01 -5.66878554e-02 3.22663173e+02] [-4.87565952e-01 8.72470931e-01 3.27706759e-02 1.09585121e+02] [ 6.54723949e-02 -8.91994011e-04 9.97853982e-01 1.41781320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.72, Y:109.56, Z:141.78 [[ 8.70144547e-01 4.89526013e-01 -5.66811228e-02 3.22719034e+02] [-4.88427828e-01 8.71988289e-01 3.27823166e-02 1.09555715e+02] [ 6.54730720e-02 -8.40716296e-04 9.97853982e-01 1.41783395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.77, Y:109.52, Z:141.79 [[ 8.68414944e-01 4.92588975e-01 -5.66708636e-02 3.22768991e+02] [-4.91496137e-01 8.70261860e-01 3.28000421e-02 1.09519857e+02] [ 6.54754303e-02 -6.30536149e-04 9.97853983e-01 1.41792189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.82, Y:109.49, Z:141.80 [[ 8.68883284e-01 4.91763498e-01 -5.66612817e-02 3.22824208e+02] [-4.90667827e-01 8.70728520e-01 3.28165863e-02 1.09489106e+02] [ 6.54745932e-02 -7.11915303e-04 9.97853983e-01 1.41795749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.88, Y:109.46, Z:141.80 [[ 8.70341508e-01 4.89179334e-01 -5.66501453e-02 3.22880118e+02] [-4.88076934e-01 8.72182731e-01 3.28357995e-02 1.09462818e+02] [ 6.54718730e-02 -9.28730018e-04 9.97853983e-01 1.41797263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.94, Y:109.43, Z:141.80 [[ 8.69780179e-01 4.90177728e-01 -5.66412849e-02 3.22935367e+02] [-4.89076447e-01 8.71622072e-01 3.28510764e-02 1.09431967e+02] [ 6.54726601e-02 -8.71296763e-04 9.97853983e-01 1.41800954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.99, Y:109.40, Z:141.81 [[ 8.68856239e-01 4.91814809e-01 -5.66306436e-02 3.22989697e+02] [-4.90715803e-01 8.70699490e-01 3.28694105e-02 1.09400465e+02] [ 6.54739353e-02 -7.69240621e-04 9.97853983e-01 1.41805126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.04, Y:109.37, Z:141.81 [[ 8.67791770e-01 4.93691800e-01 -5.66202243e-02 3.23044438e+02] [-4.92595612e-01 8.69636698e-01 3.28873487e-02 1.09368916e+02] [ 6.54752393e-02 -6.48496509e-04 9.97853984e-01 1.41809731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.10, Y:109.34, Z:141.81 [[ 8.66968986e-01 4.95136438e-01 -5.66099364e-02 3.23099097e+02] [-4.94042168e-01 8.68815052e-01 3.29050481e-02 1.09337043e+02] [ 6.54760531e-02 -5.59960462e-04 9.97853984e-01 1.41813321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.15, Y:109.31, Z:141.82 [[ 8.66834215e-01 4.95373515e-01 -5.65996943e-02 3.23151598e+02] [-4.94278600e-01 8.68679898e-01 3.29226560e-02 1.09306257e+02] [ 6.54760285e-02 -5.62466972e-04 9.97853984e-01 1.41816294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.20, Y:109.28, Z:141.82 [[ 8.68095927e-01 4.93159283e-01 -5.65984389e-02 3.23204676e+02] [-4.92059520e-01 8.69938725e-01 3.29248140e-02 1.09276969e+02] [ 6.54743515e-02 -7.32096276e-04 9.97853984e-01 1.41818319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.26, Y:109.25, Z:141.82 [[ 8.68262443e-01 4.92866054e-01 -5.65984389e-02 3.23256641e+02] [-4.91765669e-01 8.70104870e-01 3.29248140e-02 1.09246296e+02] [ 6.54741005e-02 -7.54210293e-04 9.97853984e-01 1.41820720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.31, Y:109.22, Z:141.82 [[ 8.69017711e-01 4.91533146e-01 -5.65984389e-02 3.23307215e+02] [-4.90429935e-01 8.70858447e-01 3.29248140e-02 1.09217564e+02] [ 6.54728661e-02 -8.54677803e-04 9.97853984e-01 1.41823586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.122755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:323.36, Y:109.19, Z:141.82 [[ 8.70140682e-01 4.89542092e-01 -5.66015452e-02 3.23363098e+02] [-4.88435016e-01 8.71979096e-01 3.29194732e-02 1.09188010e+02] [ 6.54708320e-02 -9.98396239e-04 9.97853984e-01 1.41822569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.182755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:323.41, Y:109.16, Z:141.82 [[ 8.71772971e-01 4.86630787e-01 -5.65894378e-02 3.23414537e+02] [-4.85516223e-01 8.73606854e-01 3.29402730e-02 1.09159012e+02] [ 6.54666717e-02 -1.24134961e-03 9.97853984e-01 1.41824869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.242755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:323.47, Y:109.13, Z:141.83 [[ 8.73299626e-01 4.83885830e-01 -5.65885661e-02 3.23465473e+02] [-4.82765405e-01 8.75129935e-01 3.29417705e-02 1.09130470e+02] [ 6.54624041e-02 -1.44903383e-03 9.97853984e-01 1.41826928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.52, Y:109.10, Z:141.83 [[ 8.75236062e-01 4.80373998e-01 -5.65920264e-02 3.23517483e+02] [-4.79246613e-01 8.77062093e-01 3.29358247e-02 1.09102136e+02] [ 6.54562349e-02 -1.70508450e-03 9.97853984e-01 1.41829490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.57, Y:109.08, Z:141.83 [[ 8.76205949e-01 4.78602361e-01 -5.65942968e-02 3.23568946e+02] [-4.77471537e-01 8.78029851e-01 3.29319230e-02 1.09076579e+02] [ 6.54527781e-02 -1.83298091e-03 9.97853984e-01 1.41833069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.422755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:323.62, Y:109.05, Z:141.84 [[ 8.75593932e-01 4.79720659e-01 -5.65982061e-02 3.23622720e+02] [-4.78592598e-01 8.77419544e-01 3.29252030e-02 1.09047018e+02] [ 6.54552722e-02 -1.74162552e-03 9.97853984e-01 1.41840968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.68, Y:109.02, Z:141.84 [[ 8.75967049e-01 4.79040142e-01 -5.65886105e-02 3.23677667e+02] [-4.77909599e-01 8.77791126e-01 3.29416867e-02 1.09019562e+02] [ 6.54533704e-02 -1.81159189e-03 9.97853985e-01 1.41841058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.73, Y:108.99, Z:141.85 [[ 8.74622720e-01 4.81491242e-01 -5.65798622e-02 3.23732482e+02] [-4.80364841e-01 8.76449357e-01 3.29567058e-02 1.08991985e+02] [ 6.54577490e-02 -1.64570718e-03 9.97853985e-01 1.41847419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.79, Y:108.97, Z:141.85 [[ 8.73079771e-01 4.84283573e-01 -5.65785640e-02 3.23786196e+02] [-4.83162870e-01 8.74909909e-01 3.29589343e-02 1.08965098e+02] [ 6.54626168e-02 -1.43911748e-03 9.97853985e-01 1.41852162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.84, Y:108.94, Z:141.86 [[ 8.71678798e-01 4.86800567e-01 -5.65798575e-02 3.23837431e+02] [-4.85685293e-01 8.73512250e-01 3.29567136e-02 1.08937736e+02] [ 6.54665455e-02 -1.24766379e-03 9.97853985e-01 1.41856296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.89, Y:108.91, Z:141.86 [[ 8.71040499e-01 4.87941399e-01 -5.65830371e-02 3.23888649e+02] [-4.86828881e-01 8.72875624e-01 3.29512537e-02 1.08909394e+02] [ 6.54682347e-02 -1.15561979e-03 9.97853985e-01 1.41860738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.94, Y:108.88, Z:141.87 [[ 8.70621954e-01 4.88687511e-01 -5.65855941e-02 3.23938511e+02] [-4.87576851e-01 8.72458205e-01 3.29468620e-02 1.08881296e+02] [ 6.54692859e-02 -1.09443564e-03 9.97853985e-01 1.41865196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.99, Y:108.85, Z:141.87 [[ 8.70914093e-01 4.88166322e-01 -5.65887358e-02 3.23990417e+02] [-4.87054914e-01 8.72749890e-01 3.29414651e-02 1.08850262e+02] [ 6.54687268e-02 -1.12736435e-03 9.97853985e-01 1.41869980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.04, Y:108.82, Z:141.87 [[ 8.71084098e-01 4.87862901e-01 -5.65887358e-02 3.24043349e+02] [-4.86750853e-01 8.72919508e-01 3.29414651e-02 1.08818967e+02] [ 6.54683301e-02 -1.15017097e-03 9.97853985e-01 1.41874514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.09, Y:108.79, Z:141.88 [[ 8.72039972e-01 4.86152397e-01 -5.65874131e-02 3.24093935e+02] [-4.85036601e-01 8.73873106e-01 3.29437370e-02 1.08787403e+02] [ 6.54658952e-02 -1.28128895e-03 9.97853985e-01 1.41878206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.14, Y:108.75, Z:141.88 [[ 8.73382531e-01 4.83736236e-01 -5.65880629e-02 3.24144091e+02] [-4.82615442e-01 8.75212613e-01 3.29426210e-02 1.08754454e+02] [ 6.54621259e-02 -1.46123671e-03 9.97853985e-01 1.41883081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.20, Y:108.72, Z:141.89 [[ 8.74461408e-01 4.81783185e-01 -5.65880629e-02 3.24195062e+02] [-4.80658304e-01 8.76288981e-01 3.29426210e-02 1.08720501e+02] [ 6.54586968e-02 -1.60752838e-03 9.97853985e-01 1.41888447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.24, Y:108.68, Z:141.90 [[ 8.70912081e-01 4.88170138e-01 -5.65867799e-02 3.24241303e+02] [-4.87058520e-01 8.72747751e-01 3.29448247e-02 1.08679563e+02] [ 6.54686645e-02 -1.13097256e-03 9.97853985e-01 1.41901383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.29, Y:108.65, Z:141.90 [[ 8.70671240e-01 4.88599639e-01 -5.65860780e-02 3.24294229e+02] [-4.87488848e-01 8.72507411e-01 3.29460302e-02 1.08648084e+02] [ 6.54691909e-02 -1.10007896e-03 9.97853985e-01 1.41903027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.35, Y:108.62, Z:141.90 [[ 8.72003888e-01 4.86218329e-01 -5.65769933e-02 3.24348940e+02] [-4.85101513e-01 8.73836400e-01 3.29616236e-02 1.08621057e+02] [ 6.54655817e-02 -1.29707885e-03 9.97853985e-01 1.41900585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.40, Y:108.59, Z:141.90 [[ 8.71744537e-01 4.86683247e-01 -5.65763072e-02 3.24400780e+02] [-4.85567332e-01 8.73577598e-01 3.29628013e-02 1.08587092e+02] [ 6.54662377e-02 -1.26353542e-03 9.97853985e-01 1.41904906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.45, Y:108.55, Z:141.91 [[ 8.72223711e-01 4.85825102e-01 -5.65664977e-02 3.24453495e+02] [-4.84706292e-01 8.74055007e-01 3.29796264e-02 1.08552730e+02] [ 6.54645609e-02 -1.34747476e-03 9.97853985e-01 1.41912241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.51, Y:108.52, Z:141.92 [[ 8.72651588e-01 4.85057337e-01 -5.65560465e-02 3.24507196e+02] [-4.83935756e-01 8.74481187e-01 3.29975393e-02 1.08519479e+02] [ 6.54628972e-02 -1.42586200e-03 9.97853985e-01 1.41918336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.56, Y:108.48, Z:141.92 [[ 8.73241506e-01 4.83995766e-01 -5.65453004e-02 3.24559900e+02] [-4.82870769e-01 8.75069007e-01 3.30159437e-02 1.08484810e+02] [ 6.54606169e-02 -1.52681970e-03 9.97853986e-01 1.41924549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.61, Y:108.45, Z:141.93 [[ 8.73810100e-01 4.82969717e-01 -5.65345983e-02 3.24612465e+02] [-4.81841391e-01 8.75635547e-01 3.30342594e-02 1.08451809e+02] [ 6.54582508e-02 -1.62496008e-03 9.97853986e-01 1.41929328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.67, Y:108.42, Z:141.93 [[ 8.74318461e-01 4.82049979e-01 -5.65247377e-02 3.24667943e+02] [-4.80918643e-01 8.76142044e-01 3.30511231e-02 1.08423702e+02] [ 6.54559925e-02 -1.71340691e-03 9.97853986e-01 1.41932570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.72, Y:108.39, Z:141.94 [[ 8.71948520e-01 4.86324780e-01 -5.65153682e-02 3.24720229e+02] [-4.85201348e-01 8.73776983e-01 3.30671368e-02 1.08389585e+02] [ 6.54631959e-02 -1.41150814e-03 9.97853986e-01 1.41939385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.77, Y:108.36, Z:141.94 [[ 8.70269311e-01 4.89323734e-01 -5.65120377e-02 3.24774192e+02] [-4.88206235e-01 8.72101405e-01 3.30728276e-02 1.08358523e+02] [ 6.54675470e-02 -1.19273771e-03 9.97853986e-01 1.41943638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.83, Y:108.33, Z:141.95 [[ 8.67592421e-01 4.94055484e-01 -5.65028232e-02 3.24827786e+02] [-4.92946953e-01 8.69429956e-01 3.30885624e-02 1.08326601e+02] [ 6.54728329e-02 -8.54491407e-04 9.97853986e-01 1.41947180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.88, Y:108.29, Z:141.95 [[ 8.64913407e-01 4.98731682e-01 -5.64934262e-02 3.24880274e+02] [-4.97632039e-01 8.66756274e-01 3.31045987e-02 1.08294273e+02] [ 6.54763438e-02 -5.19672394e-04 9.97853986e-01 1.41953956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.94, Y:108.27, Z:141.95 [[ 8.64068273e-01 5.00195574e-01 -5.64836882e-02 3.24935947e+02] [-4.99097968e-01 8.65912354e-01 3.31212054e-02 1.08268115e+02] [ 6.54770038e-02 -4.28088805e-04 9.97853987e-01 1.41954768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.99, Y:108.24, Z:141.96 [[ 8.61432745e-01 5.04721942e-01 -5.64746697e-02 3.24991781e+02] [-5.03633017e-01 8.63281965e-01 3.31365757e-02 1.08238429e+02] [ 6.54783207e-02 -1.02423093e-04 9.97853987e-01 1.41959385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.05, Y:108.21, Z:141.96 [[ 8.59844053e-01 5.07424879e-01 -5.64641239e-02 3.25047321e+02] [-5.06340588e-01 8.61695994e-01 3.31545359e-02 1.08209349e+02] [ 6.54783457e-02 8.23471353e-05 9.97853987e-01 1.41963622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.10, Y:108.18, Z:141.97 [[ 8.59649331e-01 5.07755874e-01 -5.64535241e-02 3.25099341e+02] [-5.06671111e-01 8.61500995e-01 3.31725747e-02 1.08179912e+02] [ 6.54783369e-02 8.65881342e-05 9.97853987e-01 1.41967481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.15, Y:108.15, Z:141.97 [[ 8.61136755e-01 5.05229218e-01 -5.64528742e-02 3.25154257e+02] [-5.04138950e-01 8.62985183e-01 3.31736807e-02 1.08151168e+02] [ 6.54783067e-02 -1.06983045e-04 9.97853987e-01 1.41971611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.21, Y:108.12, Z:141.98 [[ 8.62510230e-01 5.02881970e-01 -5.64431237e-02 3.25207410e+02] [-5.01785587e-01 8.64355038e-01 3.31902624e-02 1.08120619e+02] [ 6.54776829e-02 -3.04594854e-04 9.97853987e-01 1.41977856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.26, Y:108.09, Z:141.98 [[ 8.65044903e-01 4.98510428e-01 -5.64328690e-02 3.25262109e+02] [-4.97403585e-01 8.66883454e-01 3.32076892e-02 1.08090242e+02] [ 6.54750997e-02 -6.56230963e-04 9.97853988e-01 1.41981816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.32, Y:108.06, Z:141.98 [[ 8.67355396e-01 4.94480678e-01 -5.64223107e-02 3.25315524e+02] [-4.93364128e-01 8.69188067e-01 3.32256189e-02 1.08060808e+02] [ 6.54710257e-02 -9.81675706e-04 9.97853988e-01 1.41984019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.402755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:325.37, Y:108.03, Z:141.98 [[ 8.69705925e-01 4.90334710e-01 -5.64223107e-02 3.25370010e+02] [-4.89209424e-01 8.71533245e-01 3.32256189e-02 1.08030309e+02] [ 6.54655937e-02 -1.29419145e-03 9.97853988e-01 1.41984967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.462755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:325.42, Y:108.00, Z:141.99 [[ 8.70641158e-01 4.88673260e-01 -5.64129327e-02 3.25423576e+02] [-4.87543457e-01 8.72465689e-01 3.32415339e-02 1.07999111e+02] [ 6.54625969e-02 -1.43769129e-03 9.97853988e-01 1.41988858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.522755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:325.48, Y:107.97, Z:141.99 [[ 8.71197484e-01 4.87681905e-01 -5.64030527e-02 3.25476333e+02] [-4.86548941e-01 8.73020053e-01 3.32582895e-02 1.07968647e+02] [ 6.54604621e-02 -1.53169254e-03 9.97853988e-01 1.41991987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.582755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:325.53, Y:107.94, Z:142.00 [[ 8.70668037e-01 4.88626658e-01 -5.64017576e-02 3.25529904e+02] [-4.87495530e-01 8.72491747e-01 3.32604857e-02 1.07936452e+02] [ 6.54620280e-02 -1.46323712e-03 9.97853988e-01 1.41996441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.58, Y:107.91, Z:142.00 [[ 8.69422437e-01 4.90839941e-01 -5.63983973e-02 3.25579555e+02] [-4.89713087e-01 8.71248790e-01 3.32661826e-02 1.07907470e+02] [ 6.54654065e-02 -1.30333231e-03 9.97853988e-01 1.41998281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.70275509600003 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:325.63, Y:107.88, Z:142.01 [[ 8.68893697e-01 4.91774912e-01 -5.64019519e-02 3.25628715e+02] [-4.90650414e-01 8.70721502e-01 3.32601548e-02 1.07876528e+02] [ 6.54669020e-02 -1.22589784e-03 9.97853988e-01 1.42005676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.68, Y:107.84, Z:142.01 [[ 8.67947726e-01 4.93442232e-01 -5.64048594e-02 3.25681728e+02] [-4.92321566e-01 8.69777883e-01 3.32552234e-02 1.07843955e+02] [ 6.54692308e-02 -1.09446685e-03 9.97853988e-01 1.42014958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.73, Y:107.81, Z:142.02 [[ 8.67744016e-01 4.93801616e-01 -5.63940264e-02 3.25734390e+02] [-4.92680515e-01 8.69573907e-01 3.32735838e-02 1.07812201e+02] [ 6.54693233e-02 -1.08871526e-03 9.97853989e-01 1.42019249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.79, Y:107.78, Z:142.03 [[ 8.67717572e-01 4.93849213e-01 -5.63841317e-02 3.25787922e+02] [-4.92727124e-01 8.69546856e-01 3.32903426e-02 1.07780255e+02] [ 6.54690539e-02 -1.10462426e-03 9.97853989e-01 1.42026628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.942755096 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:325.84, Y:107.75, Z:142.03 [[ 8.69190034e-01 4.91254218e-01 -5.63735559e-02 3.25841006e+02] [-4.90125508e-01 8.71015240e-01 3.33082419e-02 1.07747938e+02] [ 6.54650406e-02 -1.32107420e-03 9.97853989e-01 1.42029850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.002755096 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:325.90, Y:107.72, Z:142.03 [[ 8.70488214e-01 4.88951246e-01 -5.63644305e-02 3.25895459e+02] [-4.87816708e-01 8.72309803e-01 3.33236769e-02 1.07718020e+02] [ 6.54608986e-02 -1.51235701e-03 9.97853989e-01 1.42032065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.95, Y:107.69, Z:142.04 [[ 8.70325926e-01 4.89241182e-01 -5.63546595e-02 3.25947085e+02] [-4.88106182e-01 8.72147228e-01 3.33401928e-02 1.07686234e+02] [ 6.54609553e-02 -1.50977650e-03 9.97853989e-01 1.42039895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.00, Y:107.66, Z:142.04 [[ 8.69834805e-01 4.90114853e-01 -5.63457380e-02 3.25996923e+02] [-4.88980707e-01 8.71656638e-01 3.33552634e-02 1.07657363e+02] [ 6.54620466e-02 -1.46159024e-03 9.97853989e-01 1.42041202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.05, Y:107.63, Z:142.04 [[ 8.68888428e-01 4.91790295e-01 -5.63489557e-02 3.26047332e+02] [-4.90660014e-01 8.70712662e-01 3.33498268e-02 1.07628781e+02] [ 6.54648703e-02 -1.32909918e-03 9.97853989e-01 1.42043341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.10, Y:107.60, Z:142.05 [[ 8.66660304e-01 4.95705864e-01 -5.63525837e-02 3.26098793e+02] [-4.94584224e-01 8.68489863e-01 3.33436953e-02 1.07599715e+02] [ 6.54703130e-02 -1.02655820e-03 9.97853989e-01 1.42047091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.15, Y:107.57, Z:142.05 [[ 8.65435874e-01 4.97840185e-01 -5.63551161e-02 3.26148864e+02] [-4.96723336e-01 8.67268361e-01 3.33394146e-02 1.07569528e+02] [ 6.54727095e-02 -8.60224070e-04 9.97853989e-01 1.42050738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.20, Y:107.54, Z:142.06 [[ 8.64818354e-01 4.98911891e-01 -5.63572532e-02 3.26198187e+02] [-4.97797549e-01 8.66652367e-01 3.33358017e-02 1.07538526e+02] [ 6.54737747e-02 -7.74910614e-04 9.97853990e-01 1.42057795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.25, Y:107.51, Z:142.06 [[ 8.64971334e-01 4.98646296e-01 -5.63601148e-02 3.26247973e+02] [-4.97531706e-01 8.66805197e-01 3.33309628e-02 1.07508565e+02] [ 6.54736016e-02 -7.89383342e-04 9.97853990e-01 1.42063433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.30, Y:107.48, Z:142.07 [[ 8.65162186e-01 4.98314730e-01 -5.63632914e-02 3.26300721e+02] [-4.97199788e-01 8.66995834e-01 3.33255904e-02 1.07476946e+02] [ 6.54733714e-02 -8.08224144e-04 9.97853990e-01 1.42069015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.35, Y:107.45, Z:142.07 [[ 8.65552289e-01 4.97637878e-01 -5.63540393e-02 3.26349169e+02] [-4.96520483e-01 8.67384443e-01 3.33412285e-02 1.07445784e+02] [ 6.54724752e-02 -8.77641876e-04 9.97853990e-01 1.42072691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.40, Y:107.42, Z:142.08 [[ 8.67060453e-01 4.95005040e-01 -5.63576111e-02 3.26398528e+02] [-4.93882475e-01 8.68889444e-01 3.33351898e-02 1.07416257e+02] [ 6.54696204e-02 -1.06958838e-03 9.97853990e-01 1.42076488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.45, Y:107.38, Z:142.08 [[ 8.67722192e-01 4.93843627e-01 -5.63619559e-02 3.26451630e+02] [-4.92719090e-01 8.69549972e-01 3.33278422e-02 1.07383495e+02] [ 6.54682796e-02 -1.14869668e-03 9.97853990e-01 1.42078996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.50, Y:107.35, Z:142.08 [[ 8.68355884e-01 4.92729572e-01 -5.63527078e-02 3.26500704e+02] [-4.91601677e-01 8.70181592e-01 3.33434721e-02 1.07349903e+02] [ 6.54664038e-02 -1.25091455e-03 9.97853990e-01 1.42079230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.55, Y:107.32, Z:142.08 [[ 8.70441118e-01 4.89036099e-01 -5.63556018e-02 3.26550225e+02] [-4.87900774e-01 8.72262216e-01 3.33385801e-02 1.07317917e+02] [ 6.54606313e-02 -1.52332923e-03 9.97853990e-01 1.42081021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.60, Y:107.29, Z:142.09 [[ 8.73382231e-01 4.83763570e-01 -5.63585459e-02 3.26599635e+02] [-4.82617575e-01 8.75196633e-01 3.33336024e-02 1.07286283e+02] [ 6.54503921e-02 -1.91335126e-03 9.97853990e-01 1.42088466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.902755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:326.65, Y:107.25, Z:142.09 [[ 8.75225397e-01 4.80420520e-01 -5.63615921e-02 3.26651002e+02] [-4.79267926e-01 8.77035615e-01 3.33284509e-02 1.07252796e+02] [ 6.54427953e-02 -2.15760329e-03 9.97853990e-01 1.42089418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.71, Y:107.22, Z:142.10 [[ 8.74834654e-01 4.81132689e-01 -5.63530344e-02 3.26705998e+02] [-4.79980639e-01 8.76645217e-01 3.33429145e-02 1.07221979e+02] [ 6.54439841e-02 -2.12117162e-03 9.97853990e-01 1.42097158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.76, Y:107.19, Z:142.10 [[ 8.74343602e-01 4.82025711e-01 -5.63425186e-02 3.26759345e+02] [-4.80874367e-01 8.76154614e-01 3.33606745e-02 1.07190694e+02] [ 6.54454605e-02 -2.07501929e-03 9.97853990e-01 1.42100756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.81, Y:107.16, Z:142.11 [[ 8.72896882e-01 4.84641772e-01 -5.63328229e-02 3.26813871e+02] [-4.83494802e-01 8.74710666e-01 3.33770386e-02 1.07159398e+02] [ 6.54508282e-02 -1.89808589e-03 9.97853991e-01 1.42107141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.87, Y:107.13, Z:142.11 [[ 8.70770661e-01 4.88452914e-01 -5.63223535e-02 3.26867955e+02] [-4.87312742e-01 8.72588727e-01 3.33946959e-02 1.07131022e+02] [ 6.54579873e-02 -1.63252088e-03 9.97853991e-01 1.42111773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.20275509600003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:326.92, Y:107.10, Z:142.12 [[ 8.69580358e-01 4.90569437e-01 -5.63172093e-02 3.26921731e+02] [-4.89433130e-01 8.71400842e-01 3.34033689e-02 1.07100916e+02] [ 6.54615355e-02 -1.48340547e-03 9.97853991e-01 1.42116205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.97, Y:107.07, Z:142.12 [[ 8.68223396e-01 4.92967190e-01 -5.63159368e-02 3.26971508e+02] [-4.91835771e-01 8.70046922e-01 3.34055143e-02 1.07070619e+02] [ 6.54653299e-02 -1.30525681e-03 9.97853991e-01 1.42121728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.02, Y:107.04, Z:142.12 [[ 8.68621064e-01 4.92265907e-01 -5.63180724e-02 3.27021429e+02] [-4.91133249e-01 8.70443820e-01 3.34019134e-02 1.07040738e+02] [ 6.54643413e-02 -1.35392763e-03 9.97853991e-01 1.42123829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.07, Y:107.01, Z:142.13 [[ 8.69620457e-01 4.90497843e-01 -5.63216339e-02 3.27072307e+02] [-4.89361868e-01 8.71441148e-01 3.33959070e-02 1.07011767e+02] [ 6.54616097e-02 -1.48010390e-03 9.97853991e-01 1.42131482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.12, Y:106.98, Z:142.14 [[ 8.69712338e-01 4.90334579e-01 -5.63245119e-02 3.27124823e+02] [-4.89198576e-01 8.71533012e-01 3.33910523e-02 1.06980736e+02] [ 6.54614591e-02 -1.48673910e-03 9.97853991e-01 1.42135603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.18, Y:106.95, Z:142.14 [[ 8.69066455e-01 4.91479395e-01 -5.63160797e-02 3.27175345e+02] [-4.90344870e-01 8.70888050e-01 3.34052677e-02 1.06950585e+02] [ 6.54630016e-02 -1.41709677e-03 9.97853991e-01 1.42140708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.23, Y:106.92, Z:142.14 [[ 8.68413779e-01 4.92631425e-01 -5.63186291e-02 3.27226299e+02] [-4.91499596e-01 8.70237050e-01 3.34009692e-02 1.06921223e+02] [ 6.54649246e-02 -1.32527844e-03 9.97853991e-01 1.42142848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.28, Y:106.89, Z:142.15 [[ 8.67180778e-01 4.94798373e-01 -5.63211177e-02 3.27279146e+02] [-4.93671373e-01 8.69007038e-01 3.33967724e-02 1.06889618e+02] [ 6.54681162e-02 -1.15691556e-03 9.97853991e-01 1.42145872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.33, Y:106.86, Z:142.15 [[ 8.66921924e-01 4.95252800e-01 -5.63119952e-02 3.27330872e+02] [-4.94125759e-01 8.68748159e-01 3.34121471e-02 1.06858421e+02] [ 6.54684016e-02 -1.14051550e-03 9.97853991e-01 1.42148056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.38, Y:106.83, Z:142.15 [[ 8.66768536e-01 4.95521278e-01 -5.63113547e-02 3.27384444e+02] [-4.94394732e-01 8.68595076e-01 3.34132266e-02 1.06826132e+02] [ 6.54687301e-02 -1.12149645e-03 9.97853991e-01 1.42153355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.44, Y:106.79, Z:142.16 [[ 8.66876968e-01 4.95332747e-01 -5.63009081e-02 3.27438188e+02] [-4.94204662e-01 8.68702557e-01 3.34308198e-02 1.06794281e+02] [ 6.54681226e-02 -1.15623650e-03 9.97853991e-01 1.42158045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.49, Y:106.76, Z:142.16 [[ 8.67404643e-01 4.94409312e-01 -5.62904743e-02 3.27490891e+02] [-4.93278144e-01 8.69228323e-01 3.34483788e-02 1.06762718e+02] [ 6.54664646e-02 -1.24641834e-03 9.97853992e-01 1.42163315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.54, Y:106.73, Z:142.17 [[ 8.67910906e-01 4.93520644e-01 -5.62852853e-02 3.27544434e+02] [-4.92387043e-01 8.69733075e-01 3.34571084e-02 1.06730637e+02] [ 6.54649479e-02 -1.32364413e-03 9.97853992e-01 1.42168382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.60, Y:106.70, Z:142.17 [[ 8.69344408e-01 4.90992322e-01 -5.62746929e-02 3.27597811e+02] [-4.89852269e-01 8.71162548e-01 3.34749152e-02 1.06698012e+02] [ 6.54603312e-02 -1.53494430e-03 9.97853992e-01 1.42172834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.65, Y:106.67, Z:142.18 [[ 8.69972764e-01 4.89878637e-01 -5.62699832e-02 3.27648737e+02] [-4.88735746e-01 8.71789120e-01 3.34828303e-02 1.06668160e+02] [ 6.54580824e-02 -1.62799821e-03 9.97853992e-01 1.42176579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.70, Y:106.64, Z:142.18 [[ 8.70144426e-01 4.89573582e-01 -5.62706526e-02 3.27702094e+02] [-4.88430127e-01 8.71960427e-01 3.34817053e-02 1.06637214e+02] [ 6.54575406e-02 -1.64963725e-03 9.97853992e-01 1.42178648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.76, Y:106.60, Z:142.18 [[ 8.70056052e-01 4.89730767e-01 -5.62693714e-02 3.27756170e+02] [-4.88587501e-01 8.71872173e-01 3.34838583e-02 1.06604667e+02] [ 6.54577747e-02 -1.64032198e-03 9.97853992e-01 1.42181322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.81, Y:106.57, Z:142.18 [[ 8.69721151e-01 4.90326491e-01 -5.62587895e-02 3.27810351e+02] [-4.89183320e-01 8.71537331e-01 3.35016283e-02 1.06572172e+02] [ 6.54583711e-02 -1.61621330e-03 9.97853992e-01 1.42184624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.86, Y:106.54, Z:142.19 [[ 8.68787521e-01 4.91980078e-01 -5.62480729e-02 3.27862938e+02] [-4.90839201e-01 8.70605143e-01 3.35196115e-02 1.06539728e+02] [ 6.54608426e-02 -1.51266107e-03 9.97853992e-01 1.42188573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.92, Y:106.51, Z:142.19 [[ 8.67692381e-01 4.93910112e-01 -5.62381824e-02 3.27916387e+02] [-4.92772203e-01 8.69511863e-01 3.35361973e-02 1.06506509e+02] [ 6.54636337e-02 -1.38648990e-03 9.97853992e-01 1.42193593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.97, Y:106.47, Z:142.20 [[ 8.66294488e-01 4.96359068e-01 -5.62275388e-02 3.27970564e+02] [-4.95225146e-01 8.68116456e-01 3.35540331e-02 1.06473983e+02] [ 6.54669003e-02 -1.22238284e-03 9.97853993e-01 1.42198708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.02, Y:106.44, Z:142.20 [[ 8.64979589e-01 4.98648137e-01 -5.62169594e-02 3.28022467e+02] [-4.97517886e-01 8.66803836e-01 3.35717487e-02 1.06443125e+02] [ 6.54695660e-02 -1.06993453e-03 9.97853993e-01 1.42203129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.07, Y:106.41, Z:142.21 [[ 8.63708066e-01 5.00847384e-01 -5.62163100e-02 3.28073620e+02] [-4.99721708e-01 8.65535140e-01 3.35728360e-02 1.06411620e+02] [ 6.54720589e-02 -9.04618839e-04 9.97853993e-01 1.42206629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.13, Y:106.38, Z:142.21 [[ 8.62985653e-01 5.02091046e-01 -5.62169471e-02 3.28127731e+02] [-5.00968072e-01 8.64814389e-01 3.35717693e-02 1.06379974e+02] [ 6.54733095e-02 -8.09059675e-04 9.97853993e-01 1.42209482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.18, Y:106.35, Z:142.21 [[ 8.62947680e-01 5.02157521e-01 -5.62060983e-02 3.28180930e+02] [-5.01033505e-01 8.64775777e-01 3.35899225e-02 1.06348507e+02] [ 6.54731046e-02 -8.25207261e-04 9.97853993e-01 1.42212003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.23, Y:106.32, Z:142.22 [[ 8.64054552e-01 5.00251666e-01 -5.61960998e-02 3.28234825e+02] [-4.99122532e-01 8.65879490e-01 3.36066419e-02 1.06316177e+02] [ 6.54708288e-02 -9.89232353e-04 9.97853993e-01 1.42215609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.76275509600003 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:328.29, Y:106.29, Z:142.22 [[ 8.65301709e-01 4.98092514e-01 -5.61854177e-02 3.28288635e+02] [-4.96957667e-01 8.67123100e-01 3.36244914e-02 1.06285155e+02] [ 6.54677810e-02 -1.17355572e-03 9.97853994e-01 1.42218854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.34, Y:106.25, Z:142.22 [[ 8.65718850e-01 4.97368186e-01 -5.61761573e-02 3.28340692e+02] [-4.96230812e-01 8.67538665e-01 3.36399555e-02 1.06254406e+02] [ 6.54664321e-02 -1.24640346e-03 9.97853994e-01 1.42224452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.882755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:328.39, Y:106.22, Z:142.23 [[ 8.64845413e-01 4.98885481e-01 -5.61755072e-02 3.28393014e+02] [-4.97751230e-01 8.66667176e-01 3.36410410e-02 1.06224848e+02] [ 6.54684951e-02 -1.13287216e-03 9.97853994e-01 1.42227568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.44, Y:106.20, Z:142.23 [[ 8.62519867e-01 5.02895337e-01 -5.61761490e-02 3.28444861e+02] [-5.01769626e-01 8.64346918e-01 3.36399693e-02 1.06197326e+02] [ 6.54730650e-02 -8.27656609e-04 9.97853994e-01 1.42230782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.50, Y:106.17, Z:142.23 [[ 8.60196742e-01 5.06858481e-01 -5.61786904e-02 3.28495369e+02] [-5.05741465e-01 8.62029123e-01 3.36357247e-02 1.06168605e+02] [ 6.54762195e-02 -5.21447606e-04 9.97853994e-01 1.42234059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.55, Y:106.14, Z:142.24 [[ 8.58579155e-01 5.09593405e-01 -5.61818187e-02 3.28547270e+02] [-5.08482568e-01 8.60415288e-01 3.36304987e-02 1.06138933e+02] [ 6.54775760e-02 -3.06969688e-04 9.97853994e-01 1.42238314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.60, Y:106.11, Z:142.24 [[ 8.58307754e-01 5.10050246e-01 -5.61831410e-02 3.28598884e+02] [-5.08940531e-01 8.60144566e-01 3.36282894e-02 1.06108579e+02] [ 6.54777407e-02 -2.69543922e-04 9.97853994e-01 1.42242840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.65, Y:106.08, Z:142.25 [[ 8.58959418e-01 5.08952034e-01 -5.61831410e-02 3.28648909e+02] [-5.07839971e-01 8.60794809e-01 3.36282894e-02 1.06077890e+02] [ 6.54773424e-02 -3.53291209e-04 9.97853994e-01 1.42248344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.70, Y:106.05, Z:142.25 [[ 8.60860351e-01 5.05729910e-01 -5.61846528e-02 3.28700118e+02] [-5.04611142e-01 8.62691662e-01 3.36257635e-02 1.06048032e+02] [ 6.54755858e-02 -5.95684769e-04 9.97853994e-01 1.42252797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.75, Y:106.02, Z:142.26 [[ 8.62399830e-01 5.03100060e-01 -5.61859625e-02 3.28753624e+02] [-5.01975851e-01 8.64227806e-01 3.36235748e-02 1.06016468e+02] [ 6.54734936e-02 -7.92968871e-04 9.97853994e-01 1.42256957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.81, Y:105.99, Z:142.26 [[ 8.64423977e-01 4.99615275e-01 -5.61761997e-02 3.28807925e+02] [-4.98482638e-01 8.66246742e-01 3.36398780e-02 1.05986381e+02] [ 6.54694469e-02 -1.07625691e-03 9.97853994e-01 1.42259803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.86, Y:105.95, Z:142.26 [[ 8.65097371e-01 4.98449528e-01 -5.61658927e-02 3.28860035e+02] [-4.97313318e-01 8.66917911e-01 3.36570780e-02 1.05954604e+02] [ 6.54675731e-02 -1.18460324e-03 9.97853994e-01 1.42264630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.91, Y:105.92, Z:142.27 [[ 8.66395721e-01 4.96190311e-01 -5.61571962e-02 3.28913696e+02] [-4.95048414e-01 8.68212700e-01 3.36715820e-02 1.05924015e+02] [ 6.54639037e-02 -1.37238364e-03 9.97853994e-01 1.42267395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.97, Y:105.89, Z:142.27 [[ 8.67693595e-01 4.93917345e-01 -5.61558652e-02 3.28967029e+02] [-4.92770546e-01 8.69507484e-01 3.36738016e-02 1.05894608e+02] [ 6.54600198e-02 -1.54658561e-03 9.97853994e-01 1.42270637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.02, Y:105.87, Z:142.27 [[ 8.67989453e-01 4.93397232e-01 -5.61558652e-02 3.29017712e+02] [-4.92249346e-01 8.69802654e-01 3.36738016e-02 1.05866545e+02] [ 6.54590811e-02 -1.58581673e-03 9.97853994e-01 1.42273761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.07, Y:105.84, Z:142.28 [[ 8.68138628e-01 4.93134193e-01 -5.61603920e-02 3.29066975e+02] [-4.91986246e-01 8.69951790e-01 3.36662504e-02 1.05836523e+02] [ 6.54588128e-02 -1.59683198e-03 9.97853994e-01 1.42275985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.12, Y:105.80, Z:142.28 [[ 8.67516476e-01 4.94227218e-01 -5.61660169e-02 3.29119906e+02] [-4.93082162e-01 8.69331466e-01 3.36568635e-02 1.05804949e+02] [ 6.54610238e-02 -1.50342259e-03 9.97853994e-01 1.42278836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.17, Y:105.78, Z:142.28 [[ 8.65991829e-01 4.96894035e-01 -5.61646783e-02 3.29170398e+02] [-4.95754424e-01 8.67810242e-01 3.36590972e-02 1.05775083e+02] [ 6.54652877e-02 -1.30461536e-03 9.97853994e-01 1.42281448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.22, Y:105.74, Z:142.29 [[ 8.64476084e-01 4.99526182e-01 -5.61666520e-02 3.29220339e+02] [-4.98392323e-01 8.66298089e-01 3.36558033e-02 1.05744664e+02] [ 6.54690183e-02 -1.10160893e-03 9.97853994e-01 1.42286496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.27, Y:105.71, Z:142.29 [[ 8.63155869e-01 5.01803705e-01 -5.61692739e-02 3.29268934e+02] [-5.00674937e-01 8.64981034e-01 3.36514271e-02 1.05713702e+02] [ 6.54717674e-02 -9.23879118e-04 9.97853994e-01 1.42290095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.962755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:329.32, Y:105.68, Z:142.29 [[ 8.62347085e-01 5.03191967e-01 -5.61724907e-02 3.29318586e+02] [-5.02066488e-01 8.64174279e-01 3.36460566e-02 1.05681880e+02] [ 6.54732470e-02 -8.12253751e-04 9.97853994e-01 1.42294337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.37, Y:105.65, Z:142.30 [[ 8.60603127e-01 5.06168563e-01 -5.61751196e-02 3.29368364e+02] [-5.05049690e-01 8.62434374e-01 3.36416669e-02 1.05650230e+02] [ 6.54757082e-02 -5.80896980e-04 9.97853994e-01 1.42300674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.082755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:329.42, Y:105.62, Z:142.30 [[ 8.61491353e-01 5.04655044e-01 -5.61777186e-02 3.29415874e+02] [-5.03533237e-01 8.63320803e-01 3.36373262e-02 1.05616361e+02] [ 6.54746395e-02 -6.90917094e-04 9.97853994e-01 1.42301225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.46, Y:105.58, Z:142.30 [[ 8.61251223e-01 5.05064310e-01 -5.61816184e-02 3.29464304e+02] [-5.03943797e-01 8.63081467e-01 3.36308114e-02 1.05583520e+02] [ 6.54750362e-02 -6.52199334e-04 9.97853994e-01 1.42304139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.51, Y:105.55, Z:142.31 [[ 8.60539159e-01 5.06276204e-01 -5.61850567e-02 3.29511037e+02] [-5.05158644e-01 8.62371207e-01 3.36250663e-02 1.05548878e+02] [ 6.54759461e-02 -5.53319220e-04 9.97853995e-01 1.42309333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.56, Y:105.52, Z:142.31 [[ 8.62498418e-01 5.02930611e-01 -5.61896740e-02 3.29558432e+02] [-5.01806448e-01 8.64326422e-01 3.36173488e-02 1.05515731e+02] [ 6.54734136e-02 -7.98569492e-04 9.97853995e-01 1.42313410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.61, Y:105.48, Z:142.32 [[ 8.64688113e-01 4.99155942e-01 -5.61944195e-02 3.29607691e+02] [-4.98024315e-01 8.66511505e-01 3.36094144e-02 1.05479018e+02] [ 6.54694499e-02 -1.07547387e-03 9.97853995e-01 1.42315743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.66, Y:105.44, Z:142.32 [[ 8.65119623e-01 4.98408738e-01 -5.61851219e-02 3.29659912e+02] [-4.97274527e-01 8.66941409e-01 3.36249500e-02 1.05443419e+02] [ 6.54681777e-02 -1.15017418e-03 9.97853995e-01 1.42319517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.71, Y:105.41, Z:142.32 [[ 8.63227949e-01 5.01679121e-01 -5.61744370e-02 3.29709479e+02] [-5.00550652e-01 8.65053298e-01 3.36427910e-02 1.05413128e+02] [ 6.54717678e-02 -9.23246466e-04 9.97853995e-01 1.42323129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.76, Y:105.38, Z:142.33 [[ 8.61661990e-01 5.04363770e-01 -5.61765312e-02 3.29760276e+02] [-5.03241216e-01 8.63490982e-01 3.36392937e-02 1.05382479e+02] [ 6.54743691e-02 -7.15354877e-04 9.97853995e-01 1.42325491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.81, Y:105.35, Z:142.33 [[ 8.59551949e-01 5.07951187e-01 -5.61786307e-02 3.29813028e+02] [-5.06836496e-01 8.61385744e-01 3.36357872e-02 1.05348345e+02] [ 6.54768096e-02 -4.38326110e-04 9.97853995e-01 1.42330555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.87, Y:105.32, Z:142.33 [[ 8.59352132e-01 5.08290386e-01 -5.61675708e-02 3.29866564e+02] [-5.07175213e-01 8.61185633e-01 3.36542456e-02 1.05315873e+02] [ 6.54768346e-02 -4.34048036e-04 9.97853995e-01 1.42333990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.92, Y:105.29, Z:142.34 [[ 8.61223359e-01 5.05114623e-01 -5.61564240e-02 3.29920974e+02] [-5.03991477e-01 8.63051986e-01 3.36728353e-02 1.05286109e+02] [ 6.54745548e-02 -6.97473210e-04 9.97853995e-01 1.42337853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.97, Y:105.25, Z:142.34 [[ 8.63196718e-01 5.01736041e-01 -5.61459904e-02 3.29974071e+02] [-5.00604607e-01 8.65020229e-01 3.36902234e-02 1.05251367e+02] [ 6.54710167e-02 -9.74348766e-04 9.97853996e-01 1.42339844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.03, Y:105.22, Z:142.35 [[ 8.64870302e-01 4.98846865e-01 -5.61352462e-02 3.30028582e+02] [-4.97708180e-01 8.66689293e-01 3.37081160e-02 1.05222235e+02] [ 6.54670049e-02 -1.21417722e-03 9.97853996e-01 1.42346600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.862755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:330.08, Y:105.19, Z:142.35 [[ 8.65175286e-01 4.98318846e-01 -5.61253299e-02 3.30083031e+02] [-4.97177981e-01 8.66992910e-01 3.37246191e-02 1.05191387e+02] [ 6.54658763e-02 -1.27342874e-03 9.97853996e-01 1.42349380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.13, Y:105.16, Z:142.35 [[ 8.64857138e-01 4.98871975e-01 -5.61149102e-02 3.30134037e+02] [-4.97731147e-01 8.66674787e-01 3.37419477e-02 1.05162643e+02] [ 6.54662899e-02 -1.25182571e-03 9.97853996e-01 1.42349876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.18, Y:105.14, Z:142.35 [[ 8.65566045e-01 4.97640664e-01 -5.61176544e-02 3.30183648e+02] [-4.96497547e-01 8.67382254e-01 3.37373831e-02 1.05135675e+02] [ 6.54645513e-02 -1.33965555e-03 9.97853996e-01 1.42354386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.24, Y:105.11, Z:142.36 [[ 8.66391318e-01 4.96201929e-01 -5.61224562e-02 3.30237263e+02] [-4.95056314e-01 8.68205952e-01 3.37293933e-02 1.05106478e+02] [ 6.54624405e-02 -1.43907720e-03 9.97853996e-01 1.42356924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.29, Y:105.08, Z:142.36 [[ 8.67085476e-01 4.94988071e-01 -5.61211805e-02 3.30291319e+02] [-4.93839777e-01 8.68898417e-01 3.37315158e-02 1.05076427e+02] [ 6.54603028e-02 -1.53323618e-03 9.97853996e-01 1.42357912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.34, Y:105.05, Z:142.36 [[ 8.67664226e-01 4.93973906e-01 -5.61121282e-02 3.30342047e+02] [-4.92822521e-01 8.69475205e-01 3.37465675e-02 1.05048152e+02] [ 6.54580279e-02 -1.62736883e-03 9.97853996e-01 1.42363863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.222755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:330.40, Y:105.02, Z:142.37 [[ 8.67936168e-01 4.93495775e-01 -5.61135309e-02 3.30396020e+02] [-4.92343543e-01 8.69746608e-01 3.37442349e-02 1.05017054e+02] [ 6.54571905e-02 -1.66070733e-03 9.97853996e-01 1.42365453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.45, Y:104.99, Z:142.37 [[ 8.67345928e-01 4.94533537e-01 -5.61036759e-02 3.30449027e+02] [-4.93382413e-01 8.69157072e-01 3.37606120e-02 1.04986609e+02] [ 6.54586616e-02 -1.60156234e-03 9.97853997e-01 1.42372102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.50, Y:104.96, Z:142.37 [[ 8.66787423e-01 4.95512906e-01 -5.60938874e-02 3.30503576e+02] [-4.94362777e-01 8.68599199e-01 3.37768680e-02 1.04956908e+02] [ 6.54599797e-02 -1.54663446e-03 9.97853997e-01 1.42372419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.56, Y:104.93, Z:142.38 [[ 8.65322779e-01 4.98067322e-01 -5.60841392e-02 3.30555517e+02] [-4.96921494e-01 8.67137278e-01 3.37930465e-02 1.04925591e+02] [ 6.54638600e-02 -1.37247864e-03 9.97853997e-01 1.42377404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.61, Y:104.89, Z:142.38 [[ 8.64029812e-01 5.00307964e-01 -5.60751810e-02 3.30606682e+02] [-4.99165878e-01 8.65846668e-01 3.38079049e-02 1.04892372e+02] [ 6.54668727e-02 -1.22022077e-03 9.97853997e-01 1.42380352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.66, Y:104.86, Z:142.39 [[ 8.63645678e-01 5.00971356e-01 -5.60699874e-02 3.30658694e+02] [-4.99830106e-01 8.65463060e-01 3.38165164e-02 1.04860037e+02] [ 6.54676089e-02 -1.18002051e-03 9.97853997e-01 1.42386676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.71, Y:104.83, Z:142.39 [[ 8.63591998e-01 5.01064035e-01 -5.60686539e-02 3.30712278e+02] [-4.99922837e-01 8.65409412e-01 3.38187272e-02 1.04826600e+02] [ 6.54676887e-02 -1.17558162e-03 9.97853997e-01 1.42390810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.76, Y:104.79, Z:142.39 [[ 8.63582395e-01 5.01081867e-01 -5.60571928e-02 3.30763417e+02] [-4.99939474e-01 8.65399059e-01 3.38377142e-02 1.04791334e+02] [ 6.54673069e-02 -1.19645078e-03 9.97853997e-01 1.42394597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.81, Y:104.76, Z:142.40 [[ 8.64624891e-01 4.99282056e-01 -5.60466387e-02 3.30814364e+02] [-4.98134750e-01 8.66438455e-01 3.38551863e-02 1.04758097e+02] [ 6.54642501e-02 -1.35325840e-03 9.97853998e-01 1.42399748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.86, Y:104.73, Z:142.40 [[ 8.64515480e-01 4.99471626e-01 -5.60453395e-02 3.30864977e+02] [-4.98324578e-01 8.66329207e-01 3.38573370e-02 1.04725615e+02] [ 6.54644937e-02 -1.34142176e-03 9.97853998e-01 1.42402210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.92, Y:104.70, Z:142.40 [[ 8.64799690e-01 4.98979374e-01 -5.60453395e-02 3.30916064e+02] [-4.97831294e-01 8.66612765e-01 3.38573370e-02 1.04697793e+02] [ 6.54637194e-02 -1.37869067e-03 9.97853998e-01 1.42402726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.97, Y:104.67, Z:142.41 [[ 8.66460693e-01 4.96089142e-01 -5.60484737e-02 3.30965895e+02] [-4.94935350e-01 8.68270138e-01 3.38521477e-02 1.04670530e+02] [ 6.54588989e-02 -1.59118440e-03 9.97853998e-01 1.42408191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.02, Y:104.64, Z:142.41 [[ 8.64534110e-01 4.99438583e-01 -5.60524276e-02 3.31017906e+02] [-4.98292227e-01 8.66348274e-01 3.38455997e-02 1.04637508e+02] [ 6.54647222e-02 -1.33018644e-03 9.97853998e-01 1.42414388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.07, Y:104.61, Z:142.42 [[ 8.64464867e-01 4.99559672e-01 -5.60413048e-02 3.31071846e+02] [-4.98412377e-01 8.66278438e-01 3.38640067e-02 1.04607837e+02] [ 6.54644660e-02 -1.34256416e-03 9.97853998e-01 1.42415733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.12, Y:104.58, Z:142.42 [[ 8.63350717e-01 5.01483746e-01 -5.60320569e-02 3.31122770e+02] [-5.00339500e-01 8.65166214e-01 3.38793016e-02 1.04577603e+02] [ 6.54669616e-02 -1.21466800e-03 9.97853998e-01 1.42419730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.17, Y:104.55, Z:142.42 [[ 8.62825463e-01 5.02386789e-01 -5.60333453e-02 3.31173080e+02] [-5.01244582e-01 8.64642242e-01 3.38771705e-02 1.04548453e+02] [ 6.54682402e-02 -1.14367455e-03 9.97853998e-01 1.42423576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.23, Y:104.52, Z:142.43 [[ 8.61546012e-01 5.04577426e-01 -5.60365144e-02 3.31226240e+02] [-5.03440179e-01 8.63365901e-01 3.38719277e-02 1.04517072e+02] [ 6.54710258e-02 -9.71191321e-04 9.97853998e-01 1.42426975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.28, Y:104.48, Z:142.44 [[ 8.60828820e-01 5.05801131e-01 -5.60264106e-02 3.31276875e+02] [-5.04665385e-01 8.62649645e-01 3.38886318e-02 1.04484326e+02] [ 6.54720715e-02 -8.97720812e-04 9.97853998e-01 1.42436267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.33, Y:104.45, Z:142.44 [[ 8.60557630e-01 5.06263409e-01 -5.60171934e-02 3.31326644e+02] [-5.05127650e-01 8.62378447e-01 3.39038608e-02 1.04452229e+02] [ 6.54723044e-02 -8.80392860e-04 9.97853998e-01 1.42438449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.38, Y:104.42, Z:142.45 [[ 8.61557732e-01 5.04559277e-01 -5.60197317e-02 3.31377597e+02] [-5.03420189e-01 8.63376468e-01 3.38996663e-02 1.04422795e+02] [ 6.54705092e-02 -1.00505568e-03 9.97853998e-01 1.42445890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.43, Y:104.39, Z:142.44 [[ 8.62129368e-01 5.03581633e-01 -5.60222339e-02 3.31431432e+02] [-5.02440752e-01 8.63946980e-01 3.38955306e-02 1.04391333e+02] [ 6.54694065e-02 -1.07447908e-03 9.97853999e-01 1.42443614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.48, Y:104.36, Z:142.45 [[ 8.63300096e-01 5.01573099e-01 -5.60122288e-02 3.31484941e+02] [-5.00426917e-01 8.65114370e-01 3.39120560e-02 1.04360779e+02] [ 6.54663590e-02 -1.24625429e-03 9.97853999e-01 1.42445029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.54, Y:104.33, Z:142.45 [[ 8.63674335e-01 5.00929433e-01 -5.60030993e-02 3.31537839e+02] [-4.99780922e-01 8.65487135e-01 3.39271259e-02 1.04328155e+02] [ 6.54650579e-02 -1.31270732e-03 9.97853999e-01 1.42448294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.602755096 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:331.59, Y:104.29, Z:142.45 [[ 8.63700970e-01 5.00884591e-01 -5.59933968e-02 3.31587822e+02] [-4.99734949e-01 8.65513053e-01 3.39431315e-02 1.04294292e+02] [ 6.54646073e-02 -1.33485832e-03 9.97853999e-01 1.42454750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.64, Y:104.27, Z:142.46 [[ 8.64248300e-01 4.99940448e-01 -5.59859341e-02 3.31638385e+02] [-4.98788030e-01 8.66058618e-01 3.39554361e-02 1.04265570e+02] [ 6.54627966e-02 -1.42081412e-03 9.97853999e-01 1.42460562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.69, Y:104.24, Z:142.47 [[ 8.65203379e-01 4.98285588e-01 -5.59873766e-02 3.31688462e+02] [-4.97129861e-01 8.67011586e-01 3.39530573e-02 1.04237795e+02] [ 6.54600234e-02 -1.54330312e-03 9.97853999e-01 1.42467118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.74, Y:104.21, Z:142.46 [[ 8.66939640e-01 4.95257535e-01 -5.59967340e-02 3.31741192e+02] [-4.94096489e-01 8.68744437e-01 3.39376178e-02 1.04210996e+02] [ 6.54547121e-02 -1.75407647e-03 9.97853999e-01 1.42460557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.79, Y:104.18, Z:142.46 [[ 8.68107224e-01 4.93207752e-01 -5.59996539e-02 3.31793108e+02] [-4.92042756e-01 8.69909473e-01 3.39327990e-02 1.04184559e+02] [ 6.54505490e-02 -1.90308390e-03 9.97853999e-01 1.42462892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.84, Y:104.16, Z:142.47 [[ 8.67503065e-01 4.94269274e-01 -5.60028359e-02 3.31843809e+02] [-4.93106822e-01 8.69306956e-01 3.39275467e-02 1.04155088e+02] [ 6.54529987e-02 -1.81687036e-03 9.97853999e-01 1.42468625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.90, Y:104.13, Z:142.47 [[ 8.67096148e-01 4.94982497e-01 -5.60053331e-02 3.31896860e+02] [-4.93821795e-01 8.68901166e-01 3.39234239e-02 1.04129653e+02] [ 6.54546003e-02 -1.75821604e-03 9.97853999e-01 1.42471120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.95, Y:104.10, Z:142.48 [[ 8.64767953e-01 4.99038590e-01 -5.60077943e-02 3.31946864e+02] [-4.97886618e-01 8.66578555e-01 3.39193601e-02 1.04101596e+02] [ 6.54622230e-02 -1.44684430e-03 9.97853999e-01 1.42475376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.00, Y:104.07, Z:142.48 [[ 8.60343470e-01 5.06627972e-01 -5.60108231e-02 3.31996979e+02] [-5.05492301e-01 8.62164341e-01 3.39143579e-02 1.04072791e+02] [ 6.54724967e-02 -8.64956501e-04 9.97853999e-01 1.42480789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.14275509600003 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:332.05, Y:104.04, Z:142.49 [[ 8.59567468e-01 5.07942967e-01 -5.60152629e-02 3.32051260e+02] [-5.06810560e-01 8.61390371e-01 3.39070231e-02 1.04043801e+02] [ 6.54738420e-02 -7.56247310e-04 9.97853999e-01 1.42485008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.20275509600003 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:332.10, Y:104.01, Z:142.49 [[ 8.58649234e-01 5.09494694e-01 -5.60058064e-02 3.32104931e+02] [-5.08364563e-01 8.60473548e-01 3.39226358e-02 1.04011755e+02] [ 6.54749178e-02 -6.56277945e-04 9.97854000e-01 1.42489276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.26275509600003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:332.16, Y:103.98, Z:142.49 [[ 8.58615551e-01 5.09552741e-01 -5.59941057e-02 3.32157039e+02] [-5.08421474e-01 8.60439161e-01 3.39419384e-02 1.03979418e+02] [ 6.54747291e-02 -6.74470341e-04 9.97854000e-01 1.42494625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.21, Y:103.95, Z:142.50 [[ 8.60718244e-01 5.05994039e-01 -5.59833659e-02 3.32210113e+02] [-5.04854081e-01 8.62536434e-01 3.39596432e-02 1.03946096e+02] [ 6.54710698e-02 -9.66253713e-04 9.97854000e-01 1.42497068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.382755096 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:332.26, Y:103.91, Z:142.50 [[ 8.62007612e-01 5.03795596e-01 -5.59720905e-02 3.32263025e+02] [-5.02649796e-01 8.63822125e-01 3.39782173e-02 1.03912773e+02] [ 6.54680063e-02 -1.15512204e-03 9.97854000e-01 1.42498599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.442755096 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:332.32, Y:103.88, Z:142.50 [[ 8.63370355e-01 5.01457903e-01 -5.59607107e-02 3.32315540e+02] [-5.00305977e-01 8.65180985e-01 3.39969489e-02 1.03880083e+02] [ 6.54641816e-02 -1.35447980e-03 9.97854001e-01 1.42503413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.37, Y:103.85, Z:142.50 [[ 8.64982424e-01 4.98673135e-01 -5.59509679e-02 3.32367473e+02] [-4.97514344e-01 8.66788668e-01 3.40129758e-02 1.03850526e+02] [ 6.54590222e-02 -1.58421709e-03 9.97854001e-01 1.42504110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.42, Y:103.82, Z:142.51 [[ 8.65426094e-01 4.97902689e-01 -5.59516500e-02 3.32417550e+02] [-4.96742363e-01 8.67231352e-01 3.40118537e-02 1.03820223e+02] [ 6.54576185e-02 -1.64119087e-03 9.97854001e-01 1.42507820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.622755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:332.46, Y:103.79, Z:142.51 [[ 8.63458687e-01 5.01306510e-01 -5.59542649e-02 3.32463949e+02] [-5.00153579e-01 8.65268677e-01 3.40075512e-02 1.03786477e+02] [ 6.54636796e-02 -1.37838964e-03 9.97854001e-01 1.42514778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.51, Y:103.76, Z:142.52 [[ 8.62817342e-01 5.02409192e-01 -5.59574751e-02 3.32513068e+02] [-5.01258917e-01 8.64629021e-01 3.40022683e-02 1.03757040e+02] [ 6.54655090e-02 -1.28856333e-03 9.97854001e-01 1.42519947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.742755096 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:332.56, Y:103.73, Z:142.52 [[ 8.62651960e-01 5.02692612e-01 -5.59619024e-02 3.32562229e+02] [-5.01543405e-01 8.64464316e-01 3.39949802e-02 1.03726546e+02] [ 6.54660931e-02 -1.25851319e-03 9.97854001e-01 1.42521272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.61, Y:103.70, Z:142.53 [[ 8.62445091e-01 5.03047013e-01 -5.59657623e-02 3.32612959e+02] [-5.01898964e-01 8.64258181e-01 3.39886244e-02 1.03696325e+02] [ 6.54667439e-02 -1.22416419e-03 9.97854001e-01 1.42526871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.66, Y:103.67, Z:142.54 [[ 8.62835897e-01 5.02375422e-01 -5.59745542e-02 3.32663067e+02] [-5.01226900e-01 8.64648688e-01 3.39741393e-02 1.03667592e+02] [ 6.54660973e-02 -1.25815471e-03 9.97854001e-01 1.42538617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.71, Y:103.63, Z:142.55 [[ 8.59681015e-01 5.07754931e-01 -5.59775244e-02 3.32712540e+02] [-5.06618073e-01 8.61501143e-01 3.39692446e-02 1.03630261e+02] [ 6.54727527e-02 -8.43489159e-04 9.97854001e-01 1.42549835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.77, Y:103.60, Z:142.55 [[ 8.60288131e-01 5.06726678e-01 -5.59678948e-02 3.32766895e+02] [-5.05586613e-01 8.62106252e-01 3.39851031e-02 1.03601758e+02] [ 6.54714304e-02 -9.40362544e-04 9.97854001e-01 1.42551261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.82, Y:103.57, Z:142.56 [[ 8.58069458e-01 5.10475247e-01 -5.59627429e-02 3.32818791e+02] [-5.09342572e-01 8.59892191e-01 3.39935846e-02 1.03567971e+02] [ 6.54748091e-02 -6.64649300e-04 9.97854001e-01 1.42557994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.87, Y:103.54, Z:142.56 [[ 8.58507983e-01 5.09738516e-01 -5.59525643e-02 3.32871744e+02] [-5.08603185e-01 8.60329063e-01 3.40103301e-02 1.03538015e+02] [ 6.54739924e-02 -7.40487434e-04 9.97854001e-01 1.42558806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.162755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:332.92, Y:103.51, Z:142.56 [[ 8.56840214e-01 5.12537998e-01 -5.59432615e-02 3.32923347e+02] [-5.11407619e-01 8.58664372e-01 3.40256252e-02 1.03508570e+02] [ 6.54759113e-02 -5.44713775e-04 9.97854002e-01 1.42560079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.222755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:332.97, Y:103.48, Z:142.56 [[ 8.56813039e-01 5.12583339e-01 -5.59440524e-02 3.32974778e+02] [-5.11453141e-01 8.58637310e-01 3.40243247e-02 1.03480102e+02] [ 6.54759527e-02 -5.39723720e-04 9.97854002e-01 1.42562285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.02, Y:103.45, Z:142.57 [[ 8.56582281e-01 5.12968605e-01 -5.59464510e-02 3.33023580e+02] [-5.11839486e-01 8.58407219e-01 3.40203803e-02 1.03448970e+02] [ 6.54762245e-02 -5.05652248e-04 9.97854002e-01 1.42568728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.08, Y:103.42, Z:142.57 [[ 8.58931169e-01 5.09025337e-01 -5.59504511e-02 3.33076537e+02] [-5.07888269e-01 8.60751165e-01 3.40138004e-02 1.03419925e+02] [ 6.54733022e-02 -7.98935548e-04 9.97854002e-01 1.42569107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.13, Y:103.39, Z:142.57 [[ 8.59787657e-01 5.07577391e-01 -5.59497691e-02 3.33126653e+02] [-5.06437184e-01 8.61605689e-01 3.40149223e-02 1.03390950e+02] [ 6.54718448e-02 -9.10566855e-04 9.97854002e-01 1.42571998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.18, Y:103.36, Z:142.57 [[ 8.62323054e-01 5.03257467e-01 -5.59542025e-02 3.33178918e+02] [-5.02108627e-01 8.64135642e-01 3.40076278e-02 1.03363802e+02] [ 6.54666133e-02 -1.23047371e-03 9.97854002e-01 1.42569137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.23, Y:103.33, Z:142.58 [[ 8.63289652e-01 5.01597222e-01 -5.59571590e-02 3.33227949e+02] [-5.00445212e-01 8.65100227e-01 3.40027624e-02 1.03332081e+02] [ 6.54642421e-02 -1.35074059e-03 9.97854002e-01 1.42579625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.28, Y:103.30, Z:142.58 [[ 8.63109735e-01 5.01906445e-01 -5.59598613e-02 3.33276766e+02] [-5.00755371e-01 8.64920906e-01 3.39983145e-02 1.03297817e+02] [ 6.54648271e-02 -1.32207514e-03 9.97854002e-01 1.42582936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.33, Y:103.26, Z:142.59 [[ 8.63679962e-01 5.00924411e-01 -5.59612262e-02 3.33328822e+02] [-4.99771423e-01 8.65489914e-01 3.39960676e-02 1.03264974e+02] [ 6.54633370e-02 -1.39390071e-03 9.97854002e-01 1.42586173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.38, Y:103.24, Z:142.59 [[ 8.65678804e-01 4.97463205e-01 -5.59514761e-02 3.33382618e+02] [-4.96301946e-01 8.67483461e-01 3.40121070e-02 1.03238111e+02] [ 6.54567519e-02 -1.67473369e-03 9.97854002e-01 1.42589606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.43, Y:103.21, Z:142.59 [[ 8.65201508e-01 4.98292868e-01 -5.59514761e-02 3.33432006e+02] [-4.97133339e-01 8.67007278e-01 3.40121070e-02 1.03207281e+02] [ 6.54583273e-02 -1.61198215e-03 9.97854002e-01 1.42592430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.48, Y:103.18, Z:142.60 [[ 8.64519520e-01 4.99474795e-01 -5.59547035e-02 3.33480995e+02] [-4.98318079e-01 8.66327092e-01 3.40067967e-02 1.03176687e+02] [ 6.54606134e-02 -1.51629918e-03 9.97854002e-01 1.42595032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.53, Y:103.15, Z:142.60 [[ 8.63774008e-01 5.00762598e-01 -5.59578740e-02 3.33530557e+02] [-4.99608915e-01 8.65583517e-01 3.40015790e-02 1.03145014e+02] [ 6.54629324e-02 -1.41262746e-03 9.97854002e-01 1.42596758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.58, Y:103.11, Z:142.60 [[ 8.64212918e-01 5.00003775e-01 -5.59665677e-02 3.33579277e+02] [-4.98849429e-01 8.66022005e-01 3.39872630e-02 1.03112595e+02] [ 6.54620390e-02 -1.45334136e-03 9.97854002e-01 1.42601006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.63, Y:103.08, Z:142.61 [[ 8.64148887e-01 5.00114114e-01 -5.59694067e-02 3.33629138e+02] [-4.98960302e-01 8.65958313e-01 3.39825872e-02 1.03080795e+02] [ 6.54623445e-02 -1.43950282e-03 9.97854002e-01 1.42605422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.062755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:333.68, Y:103.05, Z:142.61 [[ 8.62601715e-01 5.02777341e-01 -5.59752248e-02 3.33678075e+02] [-5.01629738e-01 8.64415086e-01 3.39730011e-02 1.03048360e+02] [ 6.54666839e-02 -1.22633169e-03 9.97854002e-01 1.42606056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.73, Y:103.02, Z:142.61 [[ 8.61479507e-01 5.04697412e-01 -5.59783975e-02 3.33731067e+02] [-5.03554190e-01 8.63295644e-01 3.39677726e-02 1.03015210e+02] [ 6.54693536e-02 -1.07438338e-03 9.97854002e-01 1.42608998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.78, Y:102.98, Z:142.61 [[ 8.57854875e-01 5.10835319e-01 -5.59668605e-02 3.33780784e+02] [-5.09703854e-01 8.59678359e-01 3.39867709e-02 1.02980020e+02] [ 6.54751417e-02 -6.29192624e-04 9.97854002e-01 1.42613849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.83, Y:102.95, Z:142.61 [[ 8.57013382e-01 5.12246816e-01 -5.59576819e-02 3.33834087e+02] [-5.11117368e-01 8.58838115e-01 3.40018762e-02 1.02947727e+02] [ 6.54759430e-02 -5.39119812e-04 9.97854002e-01 1.42613288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.89, Y:102.92, Z:142.62 [[ 8.56572515e-01 5.12984762e-01 -5.59478456e-02 3.33885196e+02] [-5.11855829e-01 8.58397567e-01 3.40180535e-02 1.02915405e+02] [ 6.54762377e-02 -5.01698765e-04 9.97854003e-01 1.42620461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.94, Y:102.88, Z:142.62 [[ 8.57338735e-01 5.11703757e-01 -5.59424622e-02 3.33936915e+02] [-5.10571520e-01 8.59161739e-01 3.40269043e-02 1.02880453e+02] [ 6.54753178e-02 -6.09955093e-04 9.97854003e-01 1.42620334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.99, Y:102.84, Z:142.63 [[ 8.58813377e-01 5.09226051e-01 -5.59322236e-02 3.33986032e+02] [-5.08087459e-01 8.60632418e-01 3.40437259e-02 1.02844300e+02] [ 6.54730369e-02 -8.18745866e-04 9.97854003e-01 1.42628376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.04, Y:102.81, Z:142.63 [[ 8.60635419e-01 5.06141586e-01 -5.59228967e-02 3.34037342e+02] [-5.04995480e-01 8.62449736e-01 3.40590400e-02 1.02809811e+02] [ 6.54693840e-02 -1.07160609e-03 9.97854003e-01 1.42634508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.09, Y:102.78, Z:142.64 [[ 8.62330497e-01 5.03249274e-01 -5.59131716e-02 3.34085701e+02] [-5.02096049e-01 8.64140297e-01 3.40749979e-02 1.02777869e+02] [ 6.54650426e-02 -1.31012728e-03 9.97854003e-01 1.42642226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.14, Y:102.75, Z:142.64 [[ 8.62559976e-01 5.02855517e-01 -5.59161657e-02 3.34136718e+02] [-5.01701784e-01 8.64369452e-01 3.40700840e-02 1.02749116e+02] [ 6.54645551e-02 -1.33425073e-03 9.97854003e-01 1.42642688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.19, Y:102.72, Z:142.65 [[ 8.60307328e-01 5.06699439e-01 -5.59194073e-02 3.34189558e+02] [-5.05554138e-01 8.62122152e-01 3.40647626e-02 1.02718074e+02] [ 6.54699559e-02 -1.03587711e-03 9.97854003e-01 1.42645842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.24, Y:102.69, Z:142.65 [[ 8.58438258e-01 5.09860554e-01 -5.59104008e-02 3.34240737e+02] [-5.08720974e-01 8.60256680e-01 3.40795385e-02 1.02688771e+02] [ 6.54731082e-02 -8.12386135e-04 9.97854003e-01 1.42646742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.29, Y:102.66, Z:142.65 [[ 8.59019464e-01 5.08880504e-01 -5.59123737e-02 3.34293599e+02] [-5.07739061e-01 8.60836716e-01 3.40763015e-02 1.02662606e+02] [ 6.54721896e-02 -8.83310177e-04 9.97854003e-01 1.42648389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.35, Y:102.63, Z:142.65 [[ 8.59578902e-01 5.07934667e-01 -5.59149909e-02 3.34349303e+02] [-5.06791503e-01 8.61395073e-01 3.40720064e-02 1.02633151e+02] [ 6.54712509e-02 -9.50335613e-04 9.97854003e-01 1.42648552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.40, Y:102.60, Z:142.65 [[ 8.60316605e-01 5.06685437e-01 -5.59035515e-02 3.34402603e+02] [-5.05538417e-01 8.62130343e-01 3.40907653e-02 1.02601231e+02] [ 6.54694423e-02 -1.06745854e-03 9.97854004e-01 1.42653007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.46, Y:102.57, Z:142.66 [[ 8.62789918e-01 5.02463460e-01 -5.58930158e-02 3.34456079e+02] [-5.01306448e-01 8.64597298e-01 3.41080302e-02 1.02570607e+02] [ 6.54629893e-02 -1.40853536e-03 9.97854004e-01 1.42657666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.51, Y:102.54, Z:142.66 [[ 8.64200268e-01 5.00035008e-01 -5.58828002e-02 3.34508699e+02] [-4.98871837e-01 8.66003690e-01 3.41247593e-02 1.02539299e+02] [ 6.54582855e-02 -1.61227100e-03 9.97854004e-01 1.42664905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.56, Y:102.51, Z:142.67 [[ 8.65288113e-01 4.98151379e-01 -5.58720544e-02 3.34562725e+02] [-4.96983147e-01 8.67088261e-01 3.41423442e-02 1.02509495e+02] [ 6.54540583e-02 -1.77549512e-03 9.97854004e-01 1.42669606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.61, Y:102.48, Z:142.68 [[ 8.64180713e-01 5.00071088e-01 -5.58623458e-02 3.34613302e+02] [-4.98905830e-01 8.65982788e-01 3.41582218e-02 1.02475866e+02] [ 6.54573690e-02 -1.64882650e-03 9.97854004e-01 1.42678903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.66, Y:102.45, Z:142.68 [[ 8.62461888e-01 5.03029863e-01 -5.58609803e-02 3.34664310e+02] [-5.01870644e-01 8.64267852e-01 3.41604546e-02 1.02446640e+02] [ 6.54625783e-02 -1.42710398e-03 9.97854004e-01 1.42681207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.72, Y:102.42, Z:142.68 [[ 8.59865667e-01 5.07454786e-01 -5.58630004e-02 3.34715904e+02] [-5.06305076e-01 8.61677700e-01 3.41571509e-02 1.02416437e+02] [ 6.54691114e-02 -1.08684069e-03 9.97854004e-01 1.42683099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.77, Y:102.38, Z:142.69 [[ 8.57128269e-01 5.12064745e-01 -5.58643626e-02 3.34767296e+02] [-5.10924928e-01 8.58946541e-01 3.41549228e-02 1.02382115e+02] [ 6.54740329e-02 -7.32654481e-04 9.97854004e-01 1.42687739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.82, Y:102.35, Z:142.69 [[ 8.57763712e-01 5.11000696e-01 -5.58542971e-02 3.34816664e+02] [-5.09857552e-01 8.59579894e-01 3.41713752e-02 1.02351232e+02] [ 6.54728273e-02 -8.33230509e-04 9.97854005e-01 1.42686843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.87, Y:102.32, Z:142.69 [[ 8.57484826e-01 5.11468217e-01 -5.58572827e-02 3.34865617e+02] [-5.10326380e-01 8.59301831e-01 3.41664942e-02 1.02318455e+02] [ 6.54733412e-02 -7.91805441e-04 9.97854005e-01 1.42692231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.91, Y:102.29, Z:142.70 [[ 8.58530045e-01 5.09711495e-01 -5.58601217e-02 3.34913149e+02] [-5.08566243e-01 8.60344899e-01 3.41618520e-02 1.02286058e+02] [ 6.54716594e-02 -9.20404134e-04 9.97854005e-01 1.42696769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.96, Y:102.26, Z:142.70 [[ 8.58727714e-01 5.09378021e-01 -5.58636346e-02 3.34964532e+02] [-5.08232437e-01 8.60542358e-01 3.41561066e-02 1.02255344e+02] [ 6.54713938e-02 -9.39084172e-04 9.97854005e-01 1.42702404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.01, Y:102.22, Z:142.71 [[ 8.58804506e-01 5.09248393e-01 -5.58649776e-02 3.35014338e+02] [-5.08102678e-01 8.60619067e-01 3.41539099e-02 1.02224231e+02] [ 6.54712886e-02 -9.46386939e-04 9.97854005e-01 1.42705139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.06, Y:102.19, Z:142.71 [[ 8.58708975e-01 5.09409174e-01 -5.58676186e-02 3.35064144e+02] [-5.08264080e-01 8.60523928e-01 3.41495892e-02 1.02192364e+02] [ 6.54715366e-02 -9.29054939e-04 9.97854005e-01 1.42707849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.11, Y:102.16, Z:142.71 [[ 8.58292248e-01 5.10110704e-01 -5.58702569e-02 3.35114157e+02] [-5.08967375e-01 8.60108314e-01 3.41452722e-02 1.02163086e+02] [ 6.54723414e-02 -8.70484459e-04 9.97854005e-01 1.42709329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.17, Y:102.13, Z:142.71 [[ 8.57627266e-01 5.11227567e-01 -5.58735017e-02 3.35165647e+02] [-5.10086948e-01 8.59445035e-01 3.41399619e-02 1.02134031e+02] [ 6.54734933e-02 -7.79018217e-04 9.97854005e-01 1.42713076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.22, Y:102.10, Z:142.72 [[ 8.57868178e-01 5.10822911e-01 -5.58761339e-02 3.35215243e+02] [-5.09681716e-01 8.59685585e-01 3.41356533e-02 1.02105000e+02] [ 6.54731806e-02 -8.04846881e-04 9.97854005e-01 1.42717309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.26, Y:102.08, Z:142.72 [[ 8.58623602e-01 5.09551770e-01 -5.58793683e-02 3.35264748e+02] [-5.08408229e-01 8.60439534e-01 3.41303577e-02 1.02075232e+02] [ 6.54720018e-02 -8.95599987e-04 9.97854005e-01 1.42721705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.31, Y:102.04, Z:142.73 [[ 8.61022962e-01 5.05486506e-01 -5.58824722e-02 3.35313351e+02] [-5.04334722e-01 8.62833677e-01 3.41252749e-02 1.02044159e+02] [ 6.54671450e-02 -1.19917418e-03 9.97854005e-01 1.42726467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.36, Y:102.02, Z:142.73 [[ 8.64411135e-01 4.99670003e-01 -5.58862956e-02 3.35364213e+02] [-4.98506441e-01 8.66214304e-01 3.41190123e-02 1.02015011e+02] [ 6.54577556e-02 -1.63317577e-03 9.97854005e-01 1.42731329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.42, Y:101.99, Z:142.73 [[ 8.66881532e-01 4.95371427e-01 -5.58888059e-02 3.35420070e+02] [-4.94199191e-01 8.68679074e-01 3.41148998e-02 1.01986220e+02] [ 6.54489827e-02 -1.95337396e-03 9.97854005e-01 1.42728971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.47, Y:101.95, Z:142.74 [[ 8.65770919e-01 4.97311039e-01 -5.58788533e-02 3.35470459e+02] [-4.96141780e-01 8.67570398e-01 3.41311940e-02 1.01952337e+02] [ 6.54526586e-02 -1.82596143e-03 9.97854005e-01 1.42740654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.52, Y:101.92, Z:142.74 [[ 8.65255897e-01 4.98207593e-01 -5.58697445e-02 3.35520321e+02] [-4.97039236e-01 8.67055962e-01 3.41460978e-02 1.01923565e+02] [ 6.54540403e-02 -1.77565730e-03 9.97854005e-01 1.42743493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.57, Y:101.89, Z:142.75 [[ 8.63753800e-01 5.00806883e-01 -5.58734147e-02 3.35571167e+02] [-4.99644332e-01 8.65557621e-01 3.41400912e-02 1.01893585e+02] [ 6.54592526e-02 -1.57179852e-03 9.97854005e-01 1.42745508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.62, Y:101.86, Z:142.75 [[ 8.62784667e-01 5.02474372e-01 -5.58759623e-02 3.35620586e+02] [-5.01315578e-01 8.64590903e-01 3.41359212e-02 1.01863497e+02] [ 6.54622742e-02 -1.44045907e-03 9.97854005e-01 1.42749139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.67, Y:101.83, Z:142.75 [[ 8.61762440e-01 5.04225088e-01 -5.58798511e-02 3.35670521e+02] [-5.03070376e-01 8.63571288e-01 3.41295540e-02 1.01833170e+02] [ 6.54652124e-02 -1.30006997e-03 9.97854005e-01 1.42754007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.72, Y:101.80, Z:142.76 [[ 8.61666495e-01 5.04388743e-01 -5.58824381e-02 3.35720468e+02] [-5.03234649e-01 8.63475738e-01 3.41253176e-02 1.01802813e+02] [ 6.54655556e-02 -1.28266373e-03 9.97854005e-01 1.42757028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.77, Y:101.77, Z:142.76 [[ 8.61412542e-01 5.04821301e-01 -5.58917431e-02 3.35769040e+02] [-5.03669104e-01 8.63222994e-01 3.41100708e-02 1.01771569e+02] [ 6.54665281e-02 -1.23189868e-03 9.97854005e-01 1.42764638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.82, Y:101.74, Z:142.77 [[ 8.60288373e-01 5.06734279e-01 -5.58953162e-02 3.35817174e+02] [-5.05586489e-01 8.62101621e-01 3.41042147e-02 1.01740114e+02] [ 6.54692173e-02 -1.07954271e-03 9.97854005e-01 1.42766852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.87, Y:101.71, Z:142.77 [[ 8.61535542e-01 5.04610433e-01 -5.59000911e-02 3.35867088e+02] [-5.03458680e-01 8.63346277e-01 3.40963863e-02 1.01709730e+02] [ 6.54665278e-02 -1.23186256e-03 9.97854005e-01 1.42768377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.92, Y:101.68, Z:142.78 [[ 8.61101681e-01 5.05350080e-01 -5.59034150e-02 3.35918225e+02] [-5.04200237e-01 8.62913628e-01 3.40909356e-02 1.01675366e+02] [ 6.54676757e-02 -1.16924686e-03 9.97854006e-01 1.42775184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.97, Y:101.64, Z:142.78 [[ 8.60599774e-01 5.06205144e-01 -5.58961614e-02 3.35968451e+02] [-5.05056329e-01 8.62412373e-01 3.41028246e-02 1.01643573e+02] [ 6.54685665e-02 -1.11817305e-03 9.97854006e-01 1.42778692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.02, Y:101.61, Z:142.78 [[ 8.60709610e-01 5.06018218e-01 -5.58974965e-02 3.36017793e+02] [-5.04869152e-01 8.62522050e-01 3.41006362e-02 1.01613120e+02] [ 6.54683664e-02 -1.12982362e-03 9.97854006e-01 1.42779108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.07, Y:101.58, Z:142.78 [[ 8.60196732e-01 5.06889277e-01 -5.59002956e-02 3.36068238e+02] [-5.05742344e-01 8.62010522e-01 3.40960471e-02 1.01583045e+02] [ 6.54695637e-02 -1.05816173e-03 9.97854006e-01 1.42782799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.12, Y:101.55, Z:142.79 [[ 8.60191940e-01 5.06897094e-01 -5.59031482e-02 3.36117756e+02] [-5.05750481e-01 8.62005933e-01 3.40913694e-02 1.01551242e+02] [ 6.54696615e-02 -1.05207707e-03 9.97854006e-01 1.42788307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.17, Y:101.52, Z:142.79 [[ 8.63294177e-01 5.01595134e-01 -5.59060434e-02 3.36167647e+02] [-5.00437690e-01 8.65101278e-01 3.40866210e-02 1.01522000e+02] [ 6.54620728e-02 -1.44929021e-03 9.97854006e-01 1.42787832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.22, Y:101.49, Z:142.80 [[ 8.61983957e-01 5.03843087e-01 -5.59088593e-02 3.36217237e+02] [-5.02690655e-01 8.63794259e-01 3.40820017e-02 1.01491153e+02] [ 6.54657326e-02 -1.27327762e-03 9.97854006e-01 1.42796215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.27, Y:101.47, Z:142.79 [[ 8.62987370e-01 5.02122156e-01 -5.59118879e-02 3.36270563e+02] [-5.00966436e-01 8.64795574e-01 3.40770325e-02 1.01465398e+02] [ 6.54631862e-02 -1.39806946e-03 9.97854006e-01 1.42793954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.32, Y:101.44, Z:142.79 [[ 8.62543566e-01 5.02883961e-01 -5.59134831e-02 3.36322259e+02] [-5.01730008e-01 8.64352899e-01 3.40744148e-02 1.01438073e+02] [ 6.54644579e-02 -1.33719493e-03 9.97854006e-01 1.42794659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.37, Y:101.41, Z:142.80 [[ 8.62155585e-01 5.03548472e-01 -5.59167576e-02 3.36372503e+02] [-5.02396262e-01 8.63966027e-01 3.40690405e-02 1.01409581e+02] [ 6.54655922e-02 -1.28044349e-03 9.97854006e-01 1.42799256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.42, Y:101.38, Z:142.81 [[ 8.61130083e-01 5.05299782e-01 -5.59205760e-02 3.36420578e+02] [-5.04151661e-01 8.62943121e-01 3.40627719e-02 1.01376905e+02] [ 6.54681876e-02 -1.14002636e-03 9.97854006e-01 1.42808679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.47, Y:101.35, Z:142.81 [[ 8.62582396e-01 5.02816341e-01 -5.59225959e-02 3.36472227e+02] [-5.01663215e-01 8.64392256e-01 3.40594554e-02 1.01348346e+02] [ 6.54647096e-02 -1.32477736e-03 9.97854006e-01 1.42812356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.52, Y:101.32, Z:142.82 [[ 8.61533646e-01 5.04610867e-01 -5.59254004e-02 3.36521027e+02] [-5.03461810e-01 8.63346091e-01 3.40548498e-02 1.01317626e+02] [ 6.54674231e-02 -1.18309561e-03 9.97854006e-01 1.42816656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.57, Y:101.29, Z:142.82 [[ 8.63718746e-01 5.00861220e-01 -5.59282284e-02 3.36571092e+02] [-4.99704596e-01 8.65526372e-01 3.40502048e-02 1.01288195e+02] [ 6.54617837e-02 -1.46220738e-03 9.97854006e-01 1.42821087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.62, Y:101.26, Z:142.83 [[ 8.64319818e-01 4.99822952e-01 -5.59309278e-02 3.36620109e+02] [-4.98664444e-01 8.66126237e-01 3.40457701e-02 1.01257904e+02] [ 6.54601014e-02 -1.53566883e-03 9.97854006e-01 1.42827046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.67, Y:101.23, Z:142.83 [[ 8.63985291e-01 5.00399790e-01 -5.59416330e-02 3.36670621e+02] [-4.99243626e-01 8.65793212e-01 3.40281711e-02 1.01226773e+02] [ 6.54615757e-02 -1.47133557e-03 9.97854006e-01 1.42833043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.72, Y:101.20, Z:142.84 [[ 8.62514576e-01 5.02930401e-01 -5.59429867e-02 3.36720747e+02] [-5.01779686e-01 8.64325970e-01 3.40259453e-02 1.01195516e+02] [ 6.54656586e-02 -1.27681949e-03 9.97854006e-01 1.42836929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.77, Y:101.17, Z:142.84 [[ 8.60920893e-01 5.05653486e-01 -5.59443302e-02 3.36770279e+02] [-5.04508644e-01 8.62736004e-01 3.40237363e-02 1.01165044e+02] [ 6.54694088e-02 -1.06734725e-03 9.97854006e-01 1.42840262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.82, Y:101.13, Z:142.84 [[ 8.59047696e-01 5.08828967e-01 -5.59476356e-02 3.36821194e+02] [-5.07691189e-01 8.60867244e-01 3.40183002e-02 1.01133717e+02] [ 6.54729834e-02 -8.19220764e-04 9.97854006e-01 1.42843575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.87, Y:101.10, Z:142.84 [[ 8.58026922e-01 5.10548245e-01 -5.59490054e-02 3.36874623e+02] [-5.09414260e-01 8.59848836e-01 3.40160471e-02 1.01100926e+02] [ 6.54745203e-02 -6.85463030e-04 9.97854006e-01 1.42844555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.93, Y:101.07, Z:142.85 [[ 8.57649726e-01 5.11182907e-01 -5.59373196e-02 3.36926845e+02] [-5.10049018e-01 8.59471699e-01 3.40352529e-02 1.01068039e+02] [ 6.54747826e-02 -6.59550372e-04 9.97854006e-01 1.42848450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.98, Y:101.04, Z:142.86 [[ 8.57806282e-01 5.10921328e-01 -5.59265564e-02 3.36976718e+02] [-5.09785731e-01 8.59627190e-01 3.40529298e-02 1.01035106e+02] [ 6.54743566e-02 -7.00256705e-04 9.97854007e-01 1.42856434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.03, Y:101.00, Z:142.86 [[ 8.58435560e-01 5.09863173e-01 -5.59279269e-02 3.37025297e+02] [-5.08725479e-01 8.60255159e-01 3.40506787e-02 1.01004387e+02] [ 6.54734748e-02 -7.78352059e-04 9.97854007e-01 1.42861506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.07, Y:100.97, Z:142.87 [[ 8.59699385e-01 5.07728893e-01 -5.59315552e-02 3.37074726e+02] [-5.06587069e-01 8.61516395e-01 3.40447179e-02 1.00973647e+02] [ 6.54714387e-02 -9.34020422e-04 9.97854007e-01 1.42866227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.12, Y:100.94, Z:142.87 [[ 8.60268617e-01 5.06763332e-01 -5.59359588e-02 3.37123817e+02] [-5.05619939e-01 8.62084641e-01 3.40374812e-02 1.00941332e+02] [ 6.54704783e-02 -9.99040816e-04 9.97854007e-01 1.42871303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.17, Y:100.91, Z:142.88 [[ 8.62062905e-01 5.03704645e-01 -5.59390623e-02 3.37173672e+02] [-5.02555140e-01 8.63875066e-01 3.40323800e-02 1.00911929e+02] [ 6.54666289e-02 -1.22558908e-03 9.97854007e-01 1.42875635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.22, Y:100.88, Z:142.88 [[ 8.62427845e-01 5.03079134e-01 -5.59427980e-02 3.37222655e+02] [-5.01928713e-01 8.64239424e-01 3.40262380e-02 1.00882229e+02] [ 6.54658619e-02 -1.26587857e-03 9.97854007e-01 1.42881159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.27, Y:100.85, Z:142.88 [[ 8.62785809e-01 5.02464574e-01 -5.59464084e-02 3.37273524e+02] [-5.01313247e-01 8.64596812e-01 3.40203006e-02 1.00851999e+02] [ 6.54650823e-02 -1.30555694e-03 9.97854007e-01 1.42884799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.32, Y:100.82, Z:142.89 [[ 8.62797176e-01 5.02444726e-01 -5.59493529e-02 3.37322907e+02] [-5.01293672e-01 8.64608353e-01 3.40154575e-02 1.00821712e+02] [ 6.54651651e-02 -1.30138407e-03 9.97854007e-01 1.42887313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.37, Y:100.79, Z:142.88 [[ 8.62439171e-01 5.03058580e-01 -5.59530333e-02 3.37373607e+02] [-5.01909207e-01 8.64251415e-01 3.40094025e-02 1.00793108e+02] [ 6.54662099e-02 -1.24769832e-03 9.97854007e-01 1.42884232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.42, Y:100.76, Z:142.89 [[ 8.61266417e-01 5.05063403e-01 -5.59563951e-02 3.37424376e+02] [-5.03918608e-01 8.63081557e-01 3.40038703e-02 1.00763234e+02] [ 6.54690430e-02 -1.08892286e-03 9.97854007e-01 1.42890410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.48, Y:100.73, Z:142.89 [[ 8.60552488e-01 5.06278561e-01 -5.59592144e-02 3.37475499e+02] [-5.05136631e-01 8.62369432e-01 3.39992301e-02 1.00734564e+02] [ 6.54705972e-02 -9.91073015e-04 9.97854007e-01 1.42892398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.52, Y:100.70, Z:142.90 [[ 8.58964896e-01 5.08967125e-01 -5.59622388e-02 3.37524915e+02] [-5.07831207e-01 8.60785604e-01 3.39942512e-02 1.00703232e+02] [ 6.54734458e-02 -7.80497178e-04 9.97854007e-01 1.42900183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.58, Y:100.68, Z:142.90 [[ 8.60589624e-01 5.06214921e-01 -5.59638475e-02 3.37581616e+02] [-5.05073353e-01 8.62406795e-01 3.39916026e-02 1.00675978e+02] [ 6.54706588e-02 -9.86972442e-04 9.97854007e-01 1.42899486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.63, Y:100.64, Z:142.91 [[ 8.60400104e-01 5.06538079e-01 -5.59538675e-02 3.37632308e+02] [-5.05396125e-01 8.62217032e-01 3.40080230e-02 1.00643038e+02] [ 6.54707362e-02 -9.81638682e-04 9.97854007e-01 1.42908708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.69, Y:100.61, Z:142.91 [[ 8.62293040e-01 5.03309528e-01 -5.59484724e-02 3.37686499e+02] [-5.02160197e-01 8.64105310e-01 3.40168963e-02 1.00613311e+02] [ 6.54664002e-02 -1.23743700e-03 9.97854007e-01 1.42907323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.74, Y:100.58, Z:142.91 [[ 8.64028111e-01 5.00325241e-01 -5.59470946e-02 3.37736975e+02] [-4.99169504e-01 8.65836303e-01 3.40191623e-02 1.00583972e+02] [ 6.54616711e-02 -1.46642907e-03 9.97854007e-01 1.42911010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.79, Y:100.55, Z:142.92 [[ 8.65328420e-01 4.98072705e-01 -5.59491276e-02 3.37786431e+02] [-4.96912478e-01 8.67133734e-01 3.40158183e-02 1.00552349e+02] [ 6.54577266e-02 -1.63303468e-03 9.97854007e-01 1.42917260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.84, Y:100.52, Z:142.92 [[ 8.67536672e-01 4.94216064e-01 -5.59518122e-02 3.37837093e+02] [-4.93048097e-01 8.69336988e-01 3.40114020e-02 1.00524086e+02] [ 6.54499611e-02 -1.91920399e-03 9.97854007e-01 1.42916769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.89, Y:100.49, Z:142.92 [[ 8.69047605e-01 4.91553950e-01 -5.59551115e-02 3.37889368e+02] [-4.90380817e-01 8.70844560e-01 3.40059732e-02 1.00492335e+02] [ 6.54439749e-02 -2.11349627e-03 9.97854007e-01 1.42920829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.94, Y:100.46, Z:142.93 [[ 8.68561193e-01 4.92413072e-01 -5.59537326e-02 3.37938169e+02] [-4.91241571e-01 8.70359212e-01 3.40082419e-02 1.00461048e+02] [ 6.54459495e-02 -2.05143961e-03 9.97854007e-01 1.42927232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.99, Y:100.43, Z:142.93 [[ 8.66261677e-01 4.96446675e-01 -5.59589763e-02 3.37987354e+02] [-4.95284105e-01 8.68065483e-01 3.39996115e-02 1.00430604e+02] [ 6.54550498e-02 -1.73696901e-03 9.97854007e-01 1.42932997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.04, Y:100.40, Z:142.93 [[ 8.64301029e-01 4.99851904e-01 -5.59625356e-02 3.38040508e+02] [-4.98696821e-01 8.66109639e-01 3.39937519e-02 1.00404707e+02] [ 6.54615331e-02 -1.47249613e-03 9.97854007e-01 1.42931786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.09, Y:100.37, Z:142.93 [[ 8.59745073e-01 5.07647749e-01 -5.59658190e-02 3.38092110e+02] [-5.06509421e-01 8.61564274e-01 3.39883453e-02 1.00373765e+02] [ 6.54722573e-02 -8.74097814e-04 9.97854007e-01 1.42933267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.14, Y:100.34, Z:142.94 [[ 8.56921846e-01 5.12399118e-01 -5.59651100e-02 3.38139853e+02] [-5.11270801e-01 8.58747274e-01 3.39895127e-02 1.00342661e+02] [ 6.54760820e-02 -5.13029301e-04 9.97854007e-01 1.42944109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.19, Y:100.31, Z:142.95 [[ 8.55603647e-01 5.14596794e-01 -5.59690877e-02 3.38193108e+02] [-5.13473595e-01 8.57432228e-01 3.39829617e-02 1.00312670e+02] [ 6.54772227e-02 -3.37297286e-04 9.97854007e-01 1.42946512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.24, Y:100.28, Z:142.95 [[ 8.56206669e-01 5.13592991e-01 -5.59676612e-02 3.38241788e+02] [-5.12467494e-01 8.58033837e-01 3.39853108e-02 1.00282187e+02] [ 6.54767645e-02 -4.16842653e-04 9.97854007e-01 1.42953427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.29, Y:100.25, Z:142.96 [[ 8.56604389e-01 5.12928964e-01 -5.59714086e-02 3.38290954e+02] [-5.11802454e-01 8.58430933e-01 3.39791379e-02 1.00250982e+02] [ 6.54764725e-02 -4.60374394e-04 9.97854007e-01 1.42959239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.34, Y:100.22, Z:142.96 [[ 8.59369189e-01 5.08282717e-01 -5.59756728e-02 3.38340993e+02] [-5.07146790e-01 8.61189891e-01 3.39721119e-02 1.00218476e+02] [ 6.54731209e-02 -8.06703506e-04 9.97854007e-01 1.42960081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.39, Y:100.19, Z:142.96 [[ 8.61374184e-01 5.04877300e-01 -5.59770289e-02 3.38389576e+02] [-5.03734321e-01 8.63190466e-01 3.39698773e-02 1.00187892e+02] [ 6.54694576e-02 -1.06322467e-03 9.97854007e-01 1.42961668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.44, Y:100.15, Z:142.96 [[ 8.63640686e-01 5.00989984e-01 -5.59803617e-02 3.38441227e+02] [-4.99839187e-01 8.65452025e-01 3.39643841e-02 1.00154767e+02] [ 6.54641337e-02 -1.35184555e-03 9.97854007e-01 1.42963934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.49, Y:100.12, Z:142.97 [[ 8.64030328e-01 5.00317846e-01 -5.59789817e-02 3.38489358e+02] [-4.99165492e-01 8.65840677e-01 3.39666584e-02 1.00123672e+02] [ 6.54630048e-02 -1.40544706e-03 9.97854007e-01 1.42970018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.54, Y:100.09, Z:142.97 [[ 8.64678181e-01 4.99196937e-01 -5.59826835e-02 3.38536845e+02] [-4.98042632e-01 8.66487287e-01 3.39605561e-02 1.00091873e+02] [ 6.54612891e-02 -1.48318887e-03 9.97854007e-01 1.42974197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.59, Y:100.06, Z:142.98 [[ 8.67044067e-01 4.95075755e-01 -5.59873390e-02 3.38586548e+02] [-4.93913347e-01 8.68847977e-01 3.39528794e-02 1.00061618e+02] [ 6.54537336e-02 -1.78574873e-03 9.97854007e-01 1.42978218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.64, Y:100.03, Z:142.98 [[ 8.66831643e-01 4.95446363e-01 -5.59982542e-02 3.38638570e+02] [-4.94285888e-01 8.68636797e-01 3.39348675e-02 1.00027703e+02] [ 6.54550508e-02 -1.73667009e-03 9.97854008e-01 1.42977516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.69, Y:100.00, Z:142.99 [[ 8.66129483e-01 4.96673976e-01 -5.59882213e-02 3.38689678e+02] [-4.95514991e-01 8.67935594e-01 3.39514124e-02 9.99954726e+01] [ 6.54569531e-02 -1.66331626e-03 9.97854008e-01 1.42985657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.74, Y:99.96, Z:142.99 [[ 8.62624237e-01 5.02738274e-01 -5.59790478e-02 3.38740142e+02] [-5.01591008e-01 8.64437815e-01 3.39665309e-02 9.99595063e+01] [ 6.54666809e-02 -1.22176575e-03 9.97854008e-01 1.42992080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.79, Y:99.93, Z:142.99 [[ 8.61851926e-01 5.04062217e-01 -5.59690963e-02 3.38791350e+02] [-5.02916674e-01 8.63666591e-01 3.39829208e-02 9.99320329e+01] [ 6.54681451e-02 -1.14045400e-03 9.97854008e-01 1.42992740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.84, Y:99.90, Z:143.00 [[ 8.60853210e-01 5.05765541e-01 -5.59729227e-02 3.38839356e+02] [-5.04623997e-01 8.62670395e-01 3.39766173e-02 9.99006673e+01] [ 6.54703856e-02 -1.00360012e-03 9.97854008e-01 1.42997267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.89, Y:99.87, Z:143.00 [[ 8.58847967e-01 5.09162667e-01 -5.59781119e-02 3.38887626e+02] [-5.08028869e-01 8.60669994e-01 3.39680657e-02 9.98682084e+01] [ 6.54739522e-02 -7.34907239e-04 9.97854008e-01 1.43001116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.93, Y:99.84, Z:143.00 [[ 8.57467218e-01 5.11484127e-01 -5.59817610e-02 3.38934576e+02] [-5.10355655e-01 8.59292549e-01 3.39620506e-02 9.98359508e+01] [ 6.54757599e-02 -5.50736797e-04 9.97854008e-01 1.43003923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.98, Y:99.80, Z:143.00 [[ 8.56964734e-01 5.12325009e-01 -5.59868721e-02 3.38983290e+02] [-5.11198879e-01 8.58791510e-01 3.39536228e-02 9.98042972e+01] [ 6.54763406e-02 -4.76631065e-04 9.97854008e-01 1.43004845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.03, Y:99.78, Z:143.01 [[ 8.56490611e-01 5.13116775e-01 -5.59911531e-02 3.39034053e+02] [-5.11992795e-01 8.58318711e-01 3.39465619e-02 9.97768568e+01] [ 6.54768047e-02 -4.07844587e-04 9.97854008e-01 1.43008769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.08, Y:99.74, Z:143.01 [[ 8.55071526e-01 5.15477755e-01 -5.59943699e-02 3.39082680e+02] [-5.14359170e-01 8.56902933e-01 3.39412549e-02 9.97449715e+01] [ 6.54777017e-02 -2.20983002e-04 9.97854008e-01 1.43013098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.14, Y:99.71, Z:143.02 [[ 8.55132383e-01 5.15376300e-01 -5.59989074e-02 3.39136775e+02] [-5.14257988e-01 8.56963956e-01 3.39337670e-02 9.97127974e+01] [ 6.54777045e-02 -2.19977623e-04 9.97854008e-01 1.43018657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.19, Y:99.69, Z:143.02 [[ 8.57827785e-01 5.10878527e-01 -5.59876905e-02 3.39192457e+02] [-5.09749405e-01 8.59652714e-01 3.39522638e-02 9.96851760e+01] [ 6.54754526e-02 -5.85503411e-04 9.97854009e-01 1.43015877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.24, Y:99.65, Z:143.02 [[ 8.57519252e-01 5.11397372e-01 -5.59773242e-02 3.39240859e+02] [-5.10268239e-01 8.59344173e-01 3.39693462e-02 9.96528821e+01] [ 6.54756218e-02 -5.65917718e-04 9.97854009e-01 1.43023892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.29, Y:99.62, Z:143.03 [[ 8.58917776e-01 5.09044737e-01 -5.59795455e-02 3.39294234e+02] [-5.07910845e-01 8.60739744e-01 3.39656852e-02 9.96234976e+01] [ 6.54738730e-02 -7.41112529e-04 9.97854009e-01 1.43026552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.34, Y:99.59, Z:143.03 [[ 8.61113280e-01 5.05321887e-01 -5.59795455e-02 3.39345000e+02] [-5.04180118e-01 8.62930322e-01 3.39656852e-02 9.95944722e+01] [ 6.54700514e-02 -1.02452874e-03 9.97854009e-01 1.43030143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.40, Y:99.56, Z:143.03 [[ 8.62576337e-01 5.02820180e-01 -5.59815136e-02 3.39398153e+02] [-5.01673352e-01 8.64390190e-01 3.39624412e-02 9.95618387e+01] [ 6.54668720e-02 -1.21076462e-03 9.97854009e-01 1.43034954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.45, Y:99.53, Z:143.04 [[ 8.63642187e-01 5.00988323e-01 -5.59720728e-02 3.39450771e+02] [-4.99836640e-01 8.65452962e-01 3.39779930e-02 9.95278551e+01] [ 6.54637739e-02 -1.36793534e-03 9.97854009e-01 1.43038706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.50, Y:99.50, Z:143.04 [[ 8.64353470e-01 4.99761419e-01 -5.59607228e-02 3.39503883e+02] [-4.98605957e-01 8.66161836e-01 3.39966760e-02 9.94970645e+01] [ 6.54612694e-02 -1.48279511e-03 9.97854009e-01 1.43043753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.55, Y:99.47, Z:143.05 [[ 8.63298860e-01 5.01582139e-01 -5.59503009e-02 3.39554207e+02] [-5.00429381e-01 8.65108950e-01 3.40138193e-02 9.94674505e+01] [ 6.54638302e-02 -1.36491698e-03 9.97854009e-01 1.43047481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.61, Y:99.44, Z:143.05 [[ 8.61787317e-01 5.04174466e-01 -5.59529168e-02 3.39605297e+02] [-5.03027433e-01 8.63601039e-01 3.40095154e-02 9.94362826e+01] [ 6.54677264e-02 -1.16311694e-03 9.97854009e-01 1.43049202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.66, Y:99.41, Z:143.05 [[ 8.60907155e-01 5.05675778e-01 -5.59542457e-02 3.39657082e+02] [-5.04532049e-01 8.62722964e-01 3.40073291e-02 9.94091081e+01] [ 6.54696952e-02 -1.04644269e-03 9.97854009e-01 1.43054588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.71, Y:99.38, Z:143.06 [[ 8.60728030e-01 5.05980324e-01 -5.59568614e-02 3.39706708e+02] [-5.04837518e-01 8.62544419e-01 3.40030244e-02 9.93802488e+01] [ 6.54701399e-02 -1.01823321e-03 9.97854009e-01 1.43059036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.76, Y:99.35, Z:143.06 [[ 8.61258290e-01 5.05076853e-01 -5.59600819e-02 3.39757203e+02] [-5.03932486e-01 8.63073696e-01 3.39977236e-02 9.93518698e+01] [ 6.54691379e-02 -1.08071813e-03 9.97854009e-01 1.43063239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.81, Y:99.32, Z:143.07 [[ 8.61876322e-01 5.04021047e-01 -5.59641828e-02 3.39807389e+02] [-5.02874894e-01 8.63690601e-01 3.39909716e-02 9.93222231e+01] [ 6.54679038e-02 -1.15303108e-03 9.97854009e-01 1.43068993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.86, Y:99.29, Z:143.07 [[ 8.64310083e-01 4.99834830e-01 -5.59752009e-02 3.39858133e+02] [-4.98681065e-01 8.66119531e-01 3.39728177e-02 9.92933308e+01] [ 6.54620124e-02 -1.44927609e-03 9.97854010e-01 1.43072238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.91, Y:99.26, Z:143.07 [[ 8.66043883e-01 4.96823488e-01 -5.59858353e-02 3.39909007e+02] [-4.95664565e-01 8.67850032e-01 3.39552836e-02 9.92637507e+01] [ 6.54570914e-02 -1.65657096e-03 9.97854010e-01 1.43070937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.96, Y:99.23, Z:143.07 [[ 8.64726107e-01 4.99112529e-01 -5.59950232e-02 3.39958385e+02] [-4.97959368e-01 8.66535940e-01 3.39401254e-02 9.92323594e+01] [ 6.54616418e-02 -1.46566611e-03 9.97854010e-01 1.43074419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.01, Y:99.20, Z:143.08 [[ 8.63552455e-01 5.01140068e-01 -5.59981141e-02 3.40010360e+02] [-4.99991488e-01 8.65365198e-01 3.39350249e-02 9.92022214e+01] [ 6.54650198e-02 -1.30609366e-03 9.97854010e-01 1.43077748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.06, Y:99.17, Z:143.08 [[ 8.62456666e-01 5.03023925e-01 -5.59949013e-02 3.40062214e+02] [-5.01878961e-01 8.64271695e-01 3.39403254e-02 9.91712908e+01] [ 6.54676040e-02 -1.16939700e-03 9.97854010e-01 1.43082216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.11, Y:99.14, Z:143.09 [[ 8.61345449e-01 5.04924339e-01 -5.59949013e-02 3.40112067e+02] [-5.03783379e-01 8.63162998e-01 3.39403254e-02 9.91401328e+01] [ 6.54700232e-02 -1.02504421e-03 9.97854010e-01 1.43089147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.16, Y:99.11, Z:143.09 [[ 8.60459416e-01 5.06432542e-01 -5.59970840e-02 3.40159636e+02] [-5.05295002e-01 8.62279108e-01 3.39367238e-02 9.91068322e+01] [ 6.54717769e-02 -9.06126910e-04 9.97854010e-01 1.43092312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.21, Y:99.08, Z:143.10 [[ 8.62019071e-01 5.03772805e-01 -5.60007239e-02 3.40209844e+02] [-5.02630042e-01 8.63835487e-01 3.39307164e-02 9.90758251e+01] [ 6.54687847e-02 -1.10127841e-03 9.97854010e-01 1.43098844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.26, Y:99.04, Z:143.11 [[ 8.62865802e-01 5.02320846e-01 -5.60033441e-02 3.40262951e+02] [-5.01175307e-01 8.64680468e-01 3.39263911e-02 9.90433717e+01] [ 6.54669313e-02 -1.20642949e-03 9.97854010e-01 1.43105535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.32, Y:99.01, Z:143.11 [[ 8.63736567e-01 5.00823205e-01 -5.59933885e-02 3.40316027e+02] [-4.99673455e-01 8.65548568e-01 3.39428143e-02 9.90114949e+01] [ 6.54643463e-02 -1.33924006e-03 9.97854010e-01 1.43105870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.36, Y:98.98, Z:143.11 [[ 8.62851661e-01 5.02347404e-01 -5.59829993e-02 3.40364862e+02] [-5.01199744e-01 8.64664986e-01 3.39599410e-02 9.89798291e+01] [ 6.54662275e-02 -1.24372658e-03 9.97854010e-01 1.43111518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.042755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:340.42, Y:98.95, Z:143.12 [[ 8.62225960e-01 5.03420308e-01 -5.59855985e-02 3.40415435e+02] [-5.02275183e-01 8.64040887e-01 3.39556554e-02 9.89497081e+01] [ 6.54678127e-02 -1.15727084e-03 9.97854010e-01 1.43115236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.47, Y:98.92, Z:143.11 [[ 8.61213781e-01 5.05149629e-01 -5.59881714e-02 3.40467275e+02] [-5.04008424e-01 8.63031176e-01 3.39514125e-02 9.89209202e+01] [ 6.54700808e-02 -1.02091430e-03 9.97854011e-01 1.43114993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.51, Y:98.89, Z:143.12 [[ 8.60535916e-01 5.06303291e-01 -5.59903107e-02 3.40514682e+02] [-5.05164752e-01 8.62354982e-01 3.39478842e-02 9.88888557e+01] [ 6.54714488e-02 -9.29042141e-04 9.97854011e-01 1.43121290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.57, Y:98.86, Z:143.12 [[ 8.61982342e-01 5.03836409e-01 -5.59938782e-02 3.40566058e+02] [-5.02693047e-01 8.63798380e-01 3.39419989e-02 9.88614621e+01] [ 6.54686361e-02 -1.10967046e-03 9.97854011e-01 1.43120880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.282755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:340.61, Y:98.83, Z:143.13 [[ 8.60716080e-01 5.05995417e-01 -5.60041792e-02 3.40614168e+02] [-5.04857716e-01 8.62535670e-01 3.39249938e-02 9.88290686e+01] [ 6.54714936e-02 -9.25645626e-04 9.97854011e-01 1.43130275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.66, Y:98.80, Z:143.13 [[ 8.60563231e-01 5.06254993e-01 -5.60072057e-02 3.40662394e+02] [-5.05118166e-01 8.62383367e-01 3.39199966e-02 9.87993773e+01] [ 6.54718503e-02 -9.00044813e-04 9.97854011e-01 1.43134372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.71, Y:98.77, Z:143.14 [[ 8.61409822e-01 5.04812673e-01 -5.60114556e-02 3.40711691e+02] [-5.03673255e-01 8.63228337e-01 3.39129773e-02 9.87689220e+01] [ 6.54703764e-02 -1.00149952e-03 9.97854011e-01 1.43140049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.76, Y:98.74, Z:143.15 [[ 8.61587366e-01 5.04509201e-01 -5.60149650e-02 3.40762756e+02] [-5.03369519e-01 8.63405716e-01 3.39071798e-02 9.87388628e+01] [ 6.54701251e-02 -1.01777175e-03 9.97854011e-01 1.43146253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.81, Y:98.71, Z:143.15 [[ 8.61262571e-01 5.05063323e-01 -5.60162871e-02 3.40814121e+02] [-5.03924953e-01 8.63081742e-01 3.39049955e-02 9.87095381e+01] [ 6.54708043e-02 -9.73098735e-04 9.97854011e-01 1.43151350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.86, Y:98.68, Z:143.16 [[ 8.61156467e-01 5.05243924e-01 -5.60188885e-02 3.40864794e+02] [-5.04106215e-01 8.62976052e-01 3.39006968e-02 9.86797888e+01] [ 6.54710803e-02 -9.54334391e-04 9.97854011e-01 1.43155276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.92, Y:98.65, Z:143.16 [[ 8.60817651e-01 5.05820684e-01 -5.60214920e-02 3.40916458e+02] [-5.04684474e-01 8.62638172e-01 3.38963939e-02 9.86493346e+01] [ 6.54717746e-02 -9.05436978e-04 9.97854011e-01 1.43159488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.97, Y:98.62, Z:143.16 [[ 8.60535579e-01 5.06300266e-01 -5.60228389e-02 3.40966269e+02] [-5.05165216e-01 8.62356823e-01 3.38941676e-02 9.86194208e+01] [ 6.54723035e-02 -8.66347620e-04 9.97854011e-01 1.43163527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.02, Y:98.59, Z:143.17 [[ 8.60358035e-01 5.06601542e-01 -5.60261464e-02 3.41016666e+02] [-5.05467486e-01 8.62179898e-01 3.38886996e-02 9.85894012e+01] [ 6.54726847e-02 -8.37019593e-04 9.97854011e-01 1.43167885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.07, Y:98.56, Z:143.17 [[ 8.59476997e-01 5.08094544e-01 -5.60287943e-02 3.41067387e+02] [-5.06963938e-01 8.61301003e-01 3.38843213e-02 9.85581041e+01] [ 6.54740955e-02 -7.18216515e-04 9.97854011e-01 1.43172466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.12, Y:98.53, Z:143.17 [[ 8.59289682e-01 5.08411120e-01 -5.60301346e-02 3.41117385e+02] [-5.07281331e-01 8.61114194e-01 3.38821047e-02 9.85278924e+01] [ 6.54743830e-02 -6.91501747e-04 9.97854011e-01 1.43174956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.17, Y:98.50, Z:143.18 [[ 8.61233372e-01 5.05111338e-01 -5.60322648e-02 3.41168256e+02] [-5.03974788e-01 8.63053680e-01 3.38785815e-02 9.84982540e+01] [ 6.54713080e-02 -9.38516256e-04 9.97854011e-01 1.43178979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.22, Y:98.47, Z:143.19 [[ 8.63137109e-01 5.01850940e-01 -5.60353936e-02 3.41220791e+02] [-5.00707850e-01 8.64953318e-01 3.38734058e-02 9.84660597e+01] [ 6.54674001e-02 -1.18003214e-03 9.97854011e-01 1.43185739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.27, Y:98.44, Z:143.19 [[ 8.65372412e-01 4.97987747e-01 -5.60249279e-02 3.41273890e+02] [-4.96835431e-01 8.67182781e-01 3.38907067e-02 9.84362455e+01] [ 6.54610094e-02 -1.49291340e-03 9.97854011e-01 1.43191192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.32, Y:98.41, Z:143.19 [[ 8.66143092e-01 4.96646254e-01 -5.60235822e-02 3.41324829e+02] [-4.95490990e-01 8.67951582e-01 3.38929311e-02 9.84081236e+01] [ 6.54585540e-02 -1.59694796e-03 9.97854011e-01 1.43194420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.38, Y:98.38, Z:143.20 [[ 8.67437164e-01 4.94382159e-01 -5.60271954e-02 3.41377756e+02] [-4.93222561e-01 8.69242877e-01 3.38869571e-02 9.83827772e+01] [ 6.54543476e-02 -1.76092920e-03 9.97854011e-01 1.43196846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.43, Y:98.35, Z:143.20 [[ 8.66837524e-01 4.95432444e-01 -5.60303471e-02 3.41432102e+02] [-4.94275370e-01 8.68644856e-01 3.38817451e-02 9.83526720e+01] [ 6.54565886e-02 -1.67554749e-03 9.97854011e-01 1.43202073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.48, Y:98.33, Z:143.20 [[ 8.66102289e-01 4.96717829e-01 -5.60198459e-02 3.41483391e+02] [-4.95562316e-01 8.67910619e-01 3.38990989e-02 9.83255423e+01] [ 6.54585060e-02 -1.59876260e-03 9.97854011e-01 1.43204609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.54, Y:98.30, Z:143.20 [[ 8.67460895e-01 4.94340082e-01 -5.60310529e-02 3.41538906e+02] [-4.93180808e-01 8.69266816e-01 3.38805651e-02 9.83034996e+01] [ 6.54544563e-02 -1.75662540e-03 9.97854012e-01 1.43201114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.59, Y:98.28, Z:143.21 [[ 8.66163802e-01 4.96608175e-01 -5.60409496e-02 3.41591132e+02] [-4.95454689e-01 8.67973426e-01 3.38641873e-02 9.82753927e+01] [ 6.54592872e-02 -1.56618197e-03 9.97854012e-01 1.43205225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.64, Y:98.24, Z:143.22 [[ 8.63802642e-01 5.00703362e-01 -5.60458709e-02 3.41640909e+02] [-4.99558985e-01 8.65618039e-01 3.38560404e-02 9.82443028e+01] [ 6.54661501e-02 -1.24671879e-03 9.97854012e-01 1.43215788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.69, Y:98.22, Z:143.22 [[ 8.63743095e-01 5.00805772e-01 -5.60485949e-02 3.41693440e+02] [-4.99661902e-01 8.65558812e-01 3.38515304e-02 9.82166582e+01] [ 6.54663970e-02 -1.23367811e-03 9.97854012e-01 1.43216918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.74, Y:98.19, Z:143.22 [[ 8.63353797e-01 5.01476436e-01 -5.60500308e-02 3.41743596e+02] [-5.00334132e-01 8.65170499e-01 3.38491526e-02 9.81884908e+01] [ 6.54673855e-02 -1.18005087e-03 9.97854012e-01 1.43220265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.80, Y:98.16, Z:143.22 [[ 8.63325470e-01 5.01524804e-01 -5.60535766e-02 3.41795781e+02] [-5.00382982e-01 8.65142476e-01 3.38432798e-02 9.81617195e+01] [ 6.54675743e-02 -1.16950964e-03 9.97854012e-01 1.43220906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.85, Y:98.13, Z:143.23 [[ 8.63213769e-01 5.01716725e-01 -5.60563812e-02 3.41845585e+02] [-5.00575609e-01 8.65031217e-01 3.38386338e-02 9.81322818e+01] [ 6.54679282e-02 -1.14951743e-03 9.97854012e-01 1.43226831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.90, Y:98.10, Z:143.23 [[ 8.64899330e-01 4.98805020e-01 -5.60598035e-02 3.41895587e+02] [-4.97658154e-01 8.66713155e-01 3.38329631e-02 9.81022424e+01] [ 6.54638210e-02 -1.36348880e-03 9.97854012e-01 1.43228912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.95, Y:98.07, Z:143.22 [[ 8.66409067e-01 4.96177578e-01 -5.60637181e-02 3.41947115e+02] [-4.95025631e-01 8.68219669e-01 3.38264752e-02 9.80742232e+01] [ 6.54595613e-02 -1.55458743e-03 9.97854012e-01 1.43224765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.99, Y:98.04, Z:143.23 [[ 8.68246203e-01 4.92955313e-01 -5.60677303e-02 3.41994133e+02] [-4.91797077e-01 8.70052789e-01 3.38198237e-02 9.80419178e+01] [ 6.54535468e-02 -1.78998762e-03 9.97854012e-01 1.43234824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.04, Y:98.01, Z:143.24 [[ 8.70318045e-01 4.89286856e-01 -5.60791665e-02 3.42042595e+02] [-4.88122226e-01 8.72120516e-01 3.38008498e-02 9.80111104e+01] [ 6.54461032e-02 -2.04400196e-03 9.97854012e-01 1.43239665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.09, Y:97.98, Z:143.24 [[ 8.70329825e-01 4.89264602e-01 -5.60905083e-02 3.42091587e+02] [-4.88101138e-01 8.72133048e-01 3.37820184e-02 9.79795904e+01] [ 6.54467317e-02 -2.02365719e-03 9.97854012e-01 1.43241935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.14, Y:97.95, Z:143.25 [[ 8.68413184e-01 4.92657300e-01 -5.61010367e-02 3.42140511e+02] [-4.91502011e-01 8.70221656e-01 3.37645249e-02 9.79479506e+01] [ 6.54546768e-02 -1.74778620e-03 9.97854013e-01 1.43245932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.19, Y:97.92, Z:143.24 [[ 8.69119804e-01 4.91408347e-01 -5.61124142e-02 3.42193194e+02] [-4.90251679e-01 8.70927394e-01 3.37456064e-02 9.79211945e+01] [ 6.54527113e-02 -1.81976952e-03 9.97854013e-01 1.43243053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.24, Y:97.89, Z:143.25 [[ 8.65646258e-01 4.97500558e-01 -5.61226430e-02 3.42242010e+02] [-4.96357717e-01 8.67462621e-01 3.37285862e-02 9.78880251e+01] [ 6.54642855e-02 -1.34011750e-03 9.97854013e-01 1.43249109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.29, Y:97.85, Z:143.26 [[ 8.61426174e-01 5.04772106e-01 -5.61254739e-02 3.42288770e+02] [-5.03644907e-01 8.63252285e-01 3.37238749e-02 9.78544268e+01] [ 6.54733149e-02 -7.83319414e-04 9.97854013e-01 1.43257174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.34, Y:97.82, Z:143.26 [[ 8.61193248e-01 5.05168969e-01 -5.61293341e-02 3.42341467e+02] [-5.04043031e-01 8.63020137e-01 3.37174488e-02 9.78230768e+01] [ 6.54737545e-02 -7.45639511e-04 9.97854013e-01 1.43257102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.39, Y:97.79, Z:143.26 [[ 8.59970083e-01 5.07248574e-01 -5.61278926e-02 3.42387677e+02] [-5.06126897e-01 8.61799592e-01 3.37198483e-02 9.77875323e+01] [ 6.54753399e-02 -5.90224631e-04 9.97854013e-01 1.43264075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.43, Y:97.75, Z:143.27 [[ 8.60476175e-01 5.06389175e-01 -5.61315964e-02 3.42434473e+02] [-5.05266073e-01 8.62304809e-01 3.37136817e-02 9.77531091e+01] [ 6.54747889e-02 -6.48428606e-04 9.97854013e-01 1.43268764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.48, Y:97.72, Z:143.27 [[ 8.62207320e-01 5.03435496e-01 -5.61358931e-02 3.42481970e+02] [-5.02306596e-01 8.64032380e-01 3.37065258e-02 9.77198847e+01] [ 6.54722908e-02 -8.64583972e-04 9.97854013e-01 1.43267399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.53, Y:97.69, Z:143.27 [[ 8.64052458e-01 5.00261672e-01 -5.61391985e-02 3.42528345e+02] [-4.99126426e-01 8.65873578e-01 3.37010196e-02 9.76861087e+01] [ 6.54687771e-02 -1.09889135e-03 9.97854013e-01 1.43274595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.58, Y:97.65, Z:143.28 [[ 8.63498751e-01 5.01216512e-01 -5.61419267e-02 3.42575743e+02] [-5.00083575e-01 8.65321308e-01 3.36964742e-02 9.76495478e+01] [ 6.54700347e-02 -1.02120793e-03 9.97854013e-01 1.43282312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.63, Y:97.61, Z:143.29 [[ 8.65411704e-01 4.97906108e-01 -5.61434716e-02 3.42627410e+02] [-4.96766368e-01 8.67230014e-01 3.36938999e-02 9.76131089e+01] [ 6.54657022e-02 -1.26890688e-03 9.97854013e-01 1.43286906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.68, Y:97.58, Z:143.29 [[ 8.65525401e-01 4.97709712e-01 -5.61321870e-02 3.42678599e+02] [-4.96568340e-01 8.67342688e-01 3.37126890e-02 9.75776820e+01] [ 6.54649747e-02 -1.30572173e-03 9.97854013e-01 1.43291496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.73, Y:97.55, Z:143.30 [[ 8.64257148e-01 4.99909915e-01 -5.61218198e-02 3.42732629e+02] [-4.98772051e-01 8.66076632e-01 3.37299386e-02 9.75470734e+01] [ 6.54677274e-02 -1.15934537e-03 9.97854014e-01 1.43296475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.78, Y:97.51, Z:143.30 [[ 8.59944244e-01 5.07294169e-01 -5.61117003e-02 3.42784668e+02] [-5.06170833e-01 8.61772733e-01 3.37467645e-02 9.75148260e+01] [ 6.54750702e-02 -6.18229819e-04 9.97854014e-01 1.43298134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.84, Y:97.49, Z:143.30 [[ 8.57358047e-01 5.11653013e-01 -5.61103623e-02 3.42836193e+02] [-5.10538828e-01 8.59192127e-01 3.37489890e-02 9.74881429e+01] [ 6.54773535e-02 -2.88448692e-04 9.97854014e-01 1.43299288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.89, Y:97.46, Z:143.30 [[ 8.56219937e-01 5.13554940e-01 -5.61136553e-02 3.42887301e+02] [-5.12445188e-01 8.58056703e-01 3.37435130e-02 9.74607977e+01] [ 6.54778458e-02 -1.36695974e-04 9.97854014e-01 1.43297667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.94, Y:97.43, Z:143.31 [[ 8.57901848e-01 5.10739981e-01 -5.61167558e-02 3.42937900e+02] [-5.09624539e-01 8.59735164e-01 3.37383561e-02 9.74331238e+01] [ 6.54770755e-02 -3.45722222e-04 9.97854014e-01 1.43306269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.99, Y:97.40, Z:143.31 [[ 8.61026133e-01 5.05454151e-01 -5.61257501e-02 3.42987904e+02] [-5.04328431e-01 8.62853155e-01 3.37233867e-02 9.74041697e+01] [ 6.54739064e-02 -7.30905749e-04 9.97854014e-01 1.43307385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.04, Y:97.38, Z:143.31 [[ 8.66102736e-01 4.96704635e-01 -5.61298156e-02 3.43038121e+02] [-4.95560901e-01 8.67918535e-01 3.37166187e-02 9.73757575e+01] [ 6.54633082e-02 -1.38631370e-03 9.97854014e-01 1.43310569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.09, Y:97.35, Z:143.31 [[ 8.69573716e-01 4.90602263e-01 -5.61335246e-02 3.43088993e+02] [-4.89446187e-01 8.71381683e-01 3.37104427e-02 9.73476353e+01] [ 6.54521446e-02 -1.83937540e-03 9.97854014e-01 1.43314648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.14, Y:97.32, Z:143.32 [[ 8.70150084e-01 4.89578870e-01 -5.61369943e-02 3.43138634e+02] [-4.88421039e-01 8.71956928e-01 3.37046637e-02 9.73185510e+01] [ 6.54501322e-02 -1.90962686e-03 9.97854014e-01 1.43322007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.19, Y:97.29, Z:143.32 [[ 8.69078717e-01 4.91477693e-01 -5.61414411e-02 3.43191361e+02] [-4.90324289e-01 8.70888390e-01 3.36972552e-02 9.72882800e+01] [ 6.54543784e-02 -1.75805513e-03 9.97854014e-01 1.43319487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.24, Y:97.26, Z:143.33 [[ 8.67060351e-01 4.95029783e-01 -5.61414411e-02 3.43240348e+02] [-4.93883793e-01 8.68874728e-01 3.36972552e-02 9.72583717e+01] [ 6.54610242e-02 -1.49020601e-03 9.97854014e-01 1.43326672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.29, Y:97.23, Z:143.33 [[ 8.65294577e-01 4.98109536e-01 -5.61443294e-02 3.43289971e+02] [-4.96970317e-01 8.67113212e-01 3.36924421e-02 9.72291760e+01] [ 6.54660165e-02 -1.25182229e-03 9.97854014e-01 1.43330317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.34, Y:97.20, Z:143.33 [[ 8.63816758e-01 5.00666699e-01 -5.61557258e-02 3.43339079e+02] [-4.99534099e-01 8.65639523e-01 3.36734368e-02 9.71963620e+01] [ 6.54697841e-02 -1.03597907e-03 9.97854014e-01 1.43334913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.582755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:343.39, Y:97.16, Z:143.34 [[ 8.63849632e-01 5.00609650e-01 -5.61586293e-02 3.43388076e+02] [-4.99477245e-01 8.65672518e-01 3.36685939e-02 9.71638853e+01] [ 6.54698050e-02 -1.03464507e-03 9.97854014e-01 1.43340499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.44, Y:97.13, Z:143.35 [[ 8.64090578e-01 5.00193324e-01 -5.61614775e-02 3.43437418e+02] [-4.99060349e-01 8.65913110e-01 3.36638421e-02 9.71339536e+01] [ 6.54693888e-02 -1.06064224e-03 9.97854014e-01 1.43345075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.49, Y:97.10, Z:143.35 [[ 8.64631561e-01 4.99257238e-01 -5.61646999e-02 3.43486993e+02] [-4.98122639e-01 8.66453082e-01 3.36584652e-02 9.71041984e+01] [ 6.54683097e-02 -1.12526276e-03 9.97854014e-01 1.43347981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.54, Y:97.07, Z:143.35 [[ 8.65466599e-01 4.97807832e-01 -5.61687551e-02 3.43538184e+02] [-4.96670622e-01 8.67286491e-01 3.36516964e-02 9.70743643e+01] [ 6.54664806e-02 -1.22704871e-03 9.97854015e-01 1.43350025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.59, Y:97.05, Z:143.36 [[ 8.64363558e-01 4.99720319e-01 -5.61715381e-02 3.43588196e+02] [-4.98587438e-01 8.66186148e-01 3.36470504e-02 9.70460664e+01] [ 6.54691230e-02 -1.07686095e-03 9.97854015e-01 1.43357126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.64, Y:97.02, Z:143.36 [[ 8.64137012e-01 5.00111396e-01 -5.61766612e-02 3.43640116e+02] [-4.98979895e-01 8.65960459e-01 3.36384949e-02 9.70175185e+01] [ 6.54697619e-02 -1.03724395e-03 9.97854015e-01 1.43356632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.69, Y:96.99, Z:143.36 [[ 8.64739870e-01 4.99067982e-01 -5.61792433e-02 3.43691646e+02] [-4.97934561e-01 8.66562124e-01 3.36341819e-02 9.69897639e+01] [ 6.54685477e-02 -1.11123121e-03 9.97854015e-01 1.43358990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.74, Y:96.96, Z:143.37 [[ 8.65206619e-01 4.98258075e-01 -5.61818127e-02 3.43741533e+02] [-4.97123228e-01 8.67027985e-01 3.36298895e-02 9.69606530e+01] [ 6.54675679e-02 -1.16751893e-03 9.97854015e-01 1.43367435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.79, Y:96.93, Z:143.37 [[ 8.66145626e-01 4.96623529e-01 -5.61856253e-02 3.43791152e+02] [-4.95485657e-01 8.67965104e-01 3.36235186e-02 9.69314663e+01] [ 6.54653926e-02 -1.28369214e-03 9.97854015e-01 1.43370227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.84, Y:96.90, Z:143.38 [[ 8.68301980e-01 4.92843328e-01 -5.61883058e-02 3.43842114e+02] [-4.91697825e-01 8.70116664e-01 3.36190386e-02 9.69016324e+01] [ 6.54593001e-02 -1.56380998e-03 9.97854015e-01 1.43376629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.89, Y:96.87, Z:143.39 [[ 8.68468496e-01 4.92549531e-01 -5.61910261e-02 3.43892798e+02] [-4.91403709e-01 8.70282977e-01 3.36144913e-02 9.68710958e+01] [ 6.54588954e-02 -1.58064810e-03 9.97854015e-01 1.43385339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.94, Y:96.84, Z:143.39 [[ 8.68162766e-01 4.93088057e-01 -5.61923525e-02 3.43944327e+02] [-4.91943504e-01 8.69978048e-01 3.36122738e-02 9.68410128e+01] [ 6.54599239e-02 -1.53746180e-03 9.97854015e-01 1.43389920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.302755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:344.00, Y:96.81, Z:143.39 [[ 8.67093571e-01 4.94965666e-01 -5.61936682e-02 3.43997048e+02] [-4.93825186e-01 8.68911416e-01 3.36100740e-02 9.68124065e+01] [ 6.54631525e-02 -1.39323044e-03 9.97854015e-01 1.43392839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.362755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:344.05, Y:96.79, Z:143.39 [[ 8.65790997e-01 4.97240455e-01 -5.61950133e-02 3.44047065e+02] [-4.96104898e-01 8.67611920e-01 3.36078249e-02 9.67852200e+01] [ 6.54666336e-02 -1.21873082e-03 9.97854015e-01 1.43393583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.10, Y:96.76, Z:143.40 [[ 8.65259598e-01 4.98164024e-01 -5.61999389e-02 3.44096443e+02] [-4.97030945e-01 8.67082065e-01 3.35995862e-02 9.67571031e+01] [ 6.54680641e-02 -1.13925571e-03 9.97854015e-01 1.43396505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.15, Y:96.73, Z:143.40 [[ 8.66187343e-01 4.96548595e-01 -5.62048011e-02 3.44147920e+02] [-4.95412645e-01 8.68008022e-01 3.35914508e-02 9.67287847e+01] [ 6.54660059e-02 -1.25192030e-03 9.97854015e-01 1.43396399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.20, Y:96.70, Z:143.40 [[ 8.65840876e-01 4.97152179e-01 -5.62075416e-02 3.44197870e+02] [-4.96017796e-01 8.67662531e-01 3.35868646e-02 9.66975776e+01] [ 6.54669608e-02 -1.20093938e-03 9.97854015e-01 1.43398918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.25, Y:96.67, Z:143.41 [[ 8.64557022e-01 4.99381170e-01 -5.62103530e-02 3.44246023e+02] [-4.98251789e-01 8.66381783e-01 3.35821589e-02 9.66651358e+01] [ 6.54699236e-02 -1.02678235e-03 9.97854015e-01 1.43414454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.30, Y:96.63, Z:143.42 [[ 8.64471036e-01 4.99529642e-01 -5.62135711e-02 3.44299407e+02] [-4.98400925e-01 8.66296207e-01 3.35767712e-02 9.66341021e+01] [ 6.54701959e-02 -1.00925030e-03 9.97854015e-01 1.43417442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.35, Y:96.61, Z:143.42 [[ 8.65880863e-01 4.97082982e-01 -5.62035662e-02 3.44354217e+02] [-4.95948022e-01 8.67702158e-01 3.35935099e-02 9.66070424e+01] [ 6.54667178e-02 -1.21392987e-03 9.97854015e-01 1.43416863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.40, Y:96.58, Z:143.42 [[ 8.65013154e-01 4.98592452e-01 -5.61944022e-02 3.44404840e+02] [-4.97459675e-01 8.66835808e-01 3.36088322e-02 9.65773507e+01] [ 6.54684301e-02 -1.11763288e-03 9.97854015e-01 1.43420534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.842755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:344.45, Y:96.55, Z:143.42 [[ 8.62832242e-01 5.02356859e-01 -5.61970494e-02 3.44454001e+02] [-5.01232324e-01 8.64659992e-01 3.36044053e-02 9.65486973e+01] [ 6.54727438e-02 -8.27186656e-04 9.97854015e-01 1.43423182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.50, Y:96.52, Z:143.43 [[ 8.60558829e-01 5.06240933e-01 -5.62016016e-02 3.44504335e+02] [-5.05125144e-01 8.62391932e-01 3.35967902e-02 9.65187813e+01] [ 6.54758782e-02 -5.23172272e-04 9.97854015e-01 1.43425482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.56, Y:96.49, Z:143.43 [[ 8.58990000e-01 5.08898094e-01 -5.62041794e-02 3.44555055e+02] [-5.07788258e-01 8.60826713e-01 3.35924772e-02 9.64891053e+01] [ 6.54772067e-02 -3.15779603e-04 9.97854015e-01 1.43428727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.60, Y:96.46, Z:143.43 [[ 8.58054566e-01 5.10473459e-01 -5.62068438e-02 3.44604504e+02] [-5.09367287e-01 8.59893489e-01 3.35880186e-02 9.64581863e+01] [ 6.54776910e-02 -1.90425153e-04 9.97854015e-01 1.43429652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.65, Y:96.43, Z:143.44 [[ 8.59771083e-01 5.07575951e-01 -5.62168894e-02 3.44653929e+02] [-5.06464682e-01 8.61606929e-01 3.35711967e-02 9.64279856e+01] [ 6.54767936e-02 -3.91675074e-04 9.97854015e-01 1.43437944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.70, Y:96.40, Z:143.44 [[ 8.60345326e-01 5.06601400e-01 -5.62222498e-02 3.44703306e+02] [-5.05488638e-01 8.62180268e-01 3.35622172e-02 9.63961426e+01] [ 6.54763806e-02 -4.55388226e-04 9.97854015e-01 1.43442847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.75, Y:96.37, Z:143.45 [[ 8.62912661e-01 5.02215578e-01 -5.62250123e-02 3.44753656e+02] [-5.01093792e-01 8.64742100e-01 3.35575887e-02 9.63653842e+01] [ 6.54732790e-02 -7.83263489e-04 9.97854016e-01 1.43446877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.80, Y:96.33, Z:143.45 [[ 8.62405356e-01 5.03085896e-01 -5.62279575e-02 3.44800952e+02] [-5.01966278e-01 8.64236122e-01 3.35526531e-02 9.63328807e+01] [ 6.54740985e-02 -7.11449184e-04 9.97854016e-01 1.43451069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.85, Y:96.30, Z:143.45 [[ 8.64602264e-01 4.99300448e-01 -5.62315526e-02 3.44851261e+02] [-4.98173207e-01 8.66428346e-01 3.35466269e-02 9.63030419e+01] [ 6.54704570e-02 -9.91436694e-04 9.97854016e-01 1.43453443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.382755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:344.90, Y:96.27, Z:143.45 [[ 8.63267432e-01 5.01604450e-01 -5.62344900e-02 3.44901341e+02] [-5.00482403e-01 8.65096710e-01 3.35417022e-02 9.62718029e+01] [ 6.54729394e-02 -8.11086414e-04 9.97854016e-01 1.43454153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.442755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:344.95, Y:96.24, Z:143.46 [[ 8.61270823e-01 5.05024705e-01 -5.62371451e-02 3.44951372e+02] [-5.03910214e-01 8.63104715e-01 3.35372500e-02 9.62411824e+01] [ 6.54756849e-02 -5.46183054e-04 9.97854016e-01 1.43457753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.00, Y:96.21, Z:143.46 [[ 8.61237281e-01 5.05081609e-01 -5.62397824e-02 3.45000643e+02] [-5.03967528e-01 8.63071422e-01 3.35328268e-02 9.62094037e+01] [ 6.54757631e-02 -5.36696458e-04 9.97854016e-01 1.43458601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.05, Y:96.18, Z:143.47 [[ 8.61465425e-01 5.04692101e-01 -5.62423831e-02 3.45049757e+02] [-5.03577475e-01 8.63299235e-01 3.35284643e-02 9.61768455e+01] [ 6.54755573e-02 -5.61215443e-04 9.97854016e-01 1.43466729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.10, Y:96.15, Z:143.47 [[ 8.62196125e-01 5.03442495e-01 -5.62449681e-02 3.45103704e+02] [-5.02325495e-01 8.64028489e-01 3.35241272e-02 9.61453487e+01] [ 6.54747251e-02 -6.51091108e-04 9.97854016e-01 1.43469312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.16, Y:96.11, Z:143.47 [[ 8.63139358e-01 5.01824881e-01 -5.62337728e-02 3.45155389e+02] [-5.00703224e-01 8.64968876e-01 3.35428959e-02 9.61117050e+01] [ 6.54731230e-02 -7.95762320e-04 9.97854016e-01 1.43473857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.20, Y:96.08, Z:143.48 [[ 8.62946345e-01 5.02157488e-01 -5.62268925e-02 3.45203309e+02] [-5.01035785e-01 8.64775834e-01 3.35544253e-02 9.60806712e+01] [ 6.54732637e-02 -7.83983473e-04 9.97854016e-01 1.43480326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.26, Y:96.05, Z:143.49 [[ 8.63365973e-01 5.01435240e-01 -5.62307433e-02 3.45256023e+02] [-5.00312427e-01 8.65194781e-01 3.35479708e-02 9.60486067e+01] [ 6.54726804e-02 -8.31236801e-04 9.97854016e-01 1.43485390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.31, Y:96.02, Z:143.49 [[ 8.62143831e-01 5.03534678e-01 -5.62213681e-02 3.45305723e+02] [-5.02415294e-01 8.63974740e-01 3.35636749e-02 9.60174745e+01] [ 6.54743161e-02 -6.90240080e-04 9.97854016e-01 1.43492537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.35, Y:95.99, Z:143.50 [[ 8.61428350e-01 5.04757500e-01 -5.62233430e-02 3.45354955e+02] [-5.03640931e-01 8.63260977e-01 3.35603663e-02 9.59880181e+01] [ 6.54752646e-02 -5.93474162e-04 9.97854016e-01 1.43496641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.41, Y:95.96, Z:143.50 [[ 8.60066885e-01 5.07073476e-01 -5.62267134e-02 3.45407198e+02] [-5.05962212e-01 8.61902733e-01 3.35547186e-02 9.59571533e+01] [ 6.54766658e-02 -4.10710019e-04 9.97854016e-01 1.43501147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.46, Y:95.93, Z:143.51 [[ 8.59551796e-01 5.07946125e-01 -5.62267134e-02 3.45457459e+02] [-5.06836725e-01 8.61388771e-01 3.35547186e-02 9.59274903e+01] [ 6.54770489e-02 -3.44255365e-04 9.97854016e-01 1.43505765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.51, Y:95.90, Z:143.51 [[ 8.60159778e-01 5.06915717e-01 -5.62282120e-02 3.45506636e+02] [-5.05804280e-01 8.61995522e-01 3.35522073e-02 9.58976551e+01] [ 6.54766081e-02 -4.19788965e-04 9.97854016e-01 1.43511715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.56, Y:95.87, Z:143.52 [[ 8.60906382e-01 5.05646294e-01 -5.62318976e-02 3.45558489e+02] [-5.04532554e-01 8.62740729e-01 3.35460291e-02 9.58662071e+01] [ 6.54759737e-02 -5.09167684e-04 9.97854016e-01 1.43516775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.61, Y:95.84, Z:143.52 [[ 8.62172952e-01 5.03483788e-01 -5.62305636e-02 3.45610843e+02] [-5.02365301e-01 8.64004409e-01 3.35482652e-02 9.58350079e+01] [ 6.54744625e-02 -6.76122818e-04 9.97854016e-01 1.43521999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.67, Y:95.80, Z:143.52 [[ 8.61673356e-01 5.04338479e-01 -5.62292353e-02 3.45665681e+02] [-5.03221663e-01 8.63505832e-01 3.35504913e-02 9.58044595e+01] [ 6.54750764e-02 -6.13795070e-04 9.97854016e-01 1.43521020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.342755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:345.72, Y:95.77, Z:143.53 [[ 8.60888541e-01 5.05678100e-01 -5.62190284e-02 3.45718423e+02] [-5.04563020e-01 8.62722074e-01 3.35675859e-02 9.57736836e+01] [ 6.54757898e-02 -5.31907282e-04 9.97854016e-01 1.43526780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.77, Y:95.74, Z:143.53 [[ 8.60405056e-01 5.06501336e-01 -5.62097551e-02 3.45770377e+02] [-5.05386996e-01 8.62239038e-01 3.35831070e-02 9.57443078e+01] [ 6.54761338e-02 -4.87395774e-04 9.97854017e-01 1.43530748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.82, Y:95.72, Z:143.54 [[ 8.59124505e-01 5.08670224e-01 -5.62111012e-02 3.45824449e+02] [-5.07560662e-01 8.60961382e-01 3.35808538e-02 9.57151886e+01] [ 6.54771678e-02 -3.19590694e-04 9.97854017e-01 1.43535219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.88, Y:95.68, Z:143.54 [[ 8.57588098e-01 5.11256412e-01 -5.62097383e-02 3.45877369e+02] [-5.10152239e-01 8.59428220e-01 3.35831350e-02 9.56846874e+01] [ 6.54778284e-02 -1.24973052e-04 9.97854017e-01 1.43536264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.582755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:345.93, Y:95.65, Z:143.54 [[ 8.54675466e-01 5.16110906e-01 -5.62083710e-02 3.45928419e+02] [-5.15017035e-01 8.56521730e-01 3.35854233e-02 9.56511234e+01] [ 6.54774944e-02 2.43631303e-04 9.97854017e-01 1.43542929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.98, Y:95.62, Z:143.55 [[ 8.54680818e-01 5.16102193e-01 -5.62069900e-02 3.45982842e+02] [-5.15008151e-01 8.56526981e-01 3.35877343e-02 9.56190394e+01] [ 6.54775068e-02 2.40265713e-04 9.97854017e-01 1.43547807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.04, Y:95.59, Z:143.55 [[ 8.56348856e-01 5.13331014e-01 -5.61952592e-02 3.46036616e+02] [-5.12229710e-01 8.58190696e-01 3.36073495e-02 9.55879473e+01] [ 6.54779434e-02 5.26601823e-06 9.97854017e-01 1.43553434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.09, Y:95.56, Z:143.56 [[ 8.58236477e-01 5.10170022e-01 -5.61844928e-02 3.46086806e+02] [-5.09060757e-01 8.60073533e-01 3.36253392e-02 9.55552282e+01] [ 6.54774352e-02 -2.57172252e-04 9.97854017e-01 1.43556892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.14, Y:95.52, Z:143.56 [[ 8.59055327e-01 5.08789838e-01 -5.61858151e-02 3.46138487e+02] [-5.07677766e-01 8.60890685e-01 3.36231296e-02 9.55199733e+01] [ 6.54769515e-02 -3.59839506e-04 9.97854017e-01 1.43558682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.882755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:346.19, Y:95.49, Z:143.56 [[ 8.59954834e-01 5.07269222e-01 -5.61749014e-02 3.46192626e+02] [-5.06152714e-01 8.61787497e-01 3.36413534e-02 9.54880200e+01] [ 6.54760508e-02 -4.96965735e-04 9.97854017e-01 1.43562658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.942755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:346.25, Y:95.46, Z:143.57 [[ 8.61693500e-01 5.04311392e-01 -5.61634449e-02 3.46247248e+02] [-5.03187348e-01 8.63521549e-01 3.36604690e-02 9.54596149e+01] [ 6.54737029e-02 -7.44272500e-04 9.97854018e-01 1.43566972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.30, Y:95.43, Z:143.57 [[ 8.62568847e-01 5.02813525e-01 -5.61564084e-02 3.46300214e+02] [-5.01685543e-01 8.64394469e-01 3.36722041e-02 9.54280026e+01] [ 6.54721285e-02 -8.71736038e-04 9.97854018e-01 1.43570202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.35, Y:95.39, Z:143.57 [[ 8.63231748e-01 5.01674754e-01 -5.61550597e-02 3.46349308e+02] [-5.00544217e-01 8.65055789e-01 3.36744531e-02 9.53946262e+01] [ 6.54708824e-02 -9.60766594e-04 9.97854018e-01 1.43573026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.40, Y:95.36, Z:143.58 [[ 8.63004307e-01 5.02065987e-01 -5.61543465e-02 3.46401546e+02] [-5.00936199e-01 8.64828813e-01 3.36756424e-02 9.53600060e+01] [ 6.54712914e-02 -9.32479530e-04 9.97854018e-01 1.43578793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.46, Y:95.33, Z:143.58 [[ 8.64853633e-01 4.98874922e-01 -5.61427310e-02 3.46455786e+02] [-4.97737147e-01 8.66673168e-01 3.36949962e-02 9.53306345e+01] [ 6.54669871e-02 -1.19691715e-03 9.97854018e-01 1.43582657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.51, Y:95.29, Z:143.59 [[ 8.65036019e-01 4.98559409e-01 -5.61355732e-02 3.46507590e+02] [-4.97420197e-01 8.66854654e-01 3.37069168e-02 9.52949641e+01] [ 6.54662834e-02 -1.23472930e-03 9.97854018e-01 1.43587521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.56, Y:95.26, Z:143.59 [[ 8.66307842e-01 4.96347435e-01 -5.61243783e-02 3.46559487e+02] [-4.95202374e-01 8.68122800e-01 3.37255468e-02 9.52616900e+01] [ 6.54624411e-02 -1.42378028e-03 9.97854018e-01 1.43592305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.61, Y:95.23, Z:143.59 [[ 8.67884067e-01 4.93587338e-01 -5.61140367e-02 3.46614423e+02] [-4.92435394e-01 8.69694665e-01 3.37427450e-02 9.52309547e+01] [ 6.54570700e-02 -1.65225295e-03 9.97854018e-01 1.43594224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.67, Y:95.20, Z:143.60 [[ 8.69353807e-01 4.90995355e-01 -5.61027537e-02 3.46668850e+02] [-4.89836805e-01 8.71160184e-01 3.37614943e-02 9.52035796e+01] [ 6.54512221e-02 -1.86948997e-03 9.97854019e-01 1.43597463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.72, Y:95.17, Z:143.61 [[ 8.67539840e-01 4.94194406e-01 -5.60938135e-02 3.46719736e+02] [-4.93041558e-01 8.69349861e-01 3.37763417e-02 9.51696634e+01] [ 6.54572281e-02 -1.64574086e-03 9.97854019e-01 1.43607436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.78, Y:95.14, Z:143.61 [[ 8.69028782e-01 4.91572424e-01 -5.60850124e-02 3.46776120e+02] [-4.90413174e-01 8.70834709e-01 3.37909495e-02 9.51437015e+01] [ 6.54514744e-02 -1.86047879e-03 9.97854019e-01 1.43609046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.83, Y:95.11, Z:143.61 [[ 8.66983261e-01 4.95171330e-01 -5.60836813e-02 3.46825944e+02] [-4.94019434e-01 8.68793889e-01 3.37931586e-02 9.51108921e+01] [ 6.54585628e-02 -1.59167434e-03 9.97854019e-01 1.43614761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.88, Y:95.08, Z:143.62 [[ 8.65921655e-01 4.97025311e-01 -5.60850023e-02 3.46877902e+02] [-4.95877434e-01 8.67734833e-01 3.37909661e-02 9.50848455e+01] [ 6.54618755e-02 -1.44904228e-03 9.97854019e-01 1.43616810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.93, Y:95.06, Z:143.62 [[ 8.65205286e-01 4.98270905e-01 -5.60884828e-02 3.46929605e+02] [-4.97126014e-01 8.67020350e-01 3.37851879e-02 9.50574906e+01] [ 6.54640322e-02 -1.34807930e-03 9.97854019e-01 1.43622373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.98, Y:95.03, Z:143.62 [[ 8.65200059e-01 4.98279694e-01 -5.60910474e-02 3.46983204e+02] [-4.97135096e-01 8.67015308e-01 3.37809296e-02 9.50342953e+01] [ 6.54641480e-02 -1.34243403e-03 9.97854019e-01 1.43623617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.03, Y:95.01, Z:143.63 [[ 8.64795713e-01 4.98980627e-01 -5.60955263e-02 3.47032664e+02] [-4.97837983e-01 8.66612193e-01 3.37734904e-02 9.50064311e+01] [ 6.54653845e-02 -1.28068608e-03 9.97854019e-01 1.43627211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.09, Y:94.98, Z:143.63 [[ 8.66475532e-01 4.96057139e-01 -5.61022995e-02 3.47085817e+02] [-4.94909095e-01 8.68288604e-01 3.37622355e-02 9.49813937e+01] [ 6.54609852e-02 -1.48861268e-03 9.97854019e-01 1.43629811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.14, Y:94.96, Z:143.63 [[ 8.67685799e-01 4.93936818e-01 -5.61050323e-02 3.47137242e+02] [-4.92784638e-01 8.69496245e-01 3.37576935e-02 9.49553624e+01] [ 6.54572826e-02 -1.64337328e-03 9.97854019e-01 1.43632839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.19, Y:94.93, Z:143.64 [[ 8.67908996e-01 4.93544031e-01 -5.61094005e-02 3.47189189e+02] [-4.92391500e-01 8.69719219e-01 3.37504316e-02 9.49302255e+01] [ 6.54567480e-02 -1.66451131e-03 9.97854019e-01 1.43638098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.24, Y:94.90, Z:143.64 [[ 8.68544965e-01 4.92422604e-01 -5.61214952e-02 3.47242711e+02] [-4.91269035e-01 8.70354526e-01 3.37303080e-02 9.49035114e+01] [ 6.54551635e-02 -1.72553636e-03 9.97854019e-01 1.43640744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.30, Y:94.88, Z:143.63 [[ 8.70885316e-01 4.88271423e-01 -5.61229369e-02 3.47297472e+02] [-4.87109384e-01 8.72689450e-01 3.37279091e-02 9.48818493e+01] [ 6.54462691e-02 -2.03513160e-03 9.97854019e-01 1.43634658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.35, Y:94.85, Z:143.64 [[ 8.69046192e-01 4.91536914e-01 -5.61264492e-02 3.47346228e+02] [-4.90382033e-01 8.70854916e-01 3.37220632e-02 9.48488982e+01] [ 6.54536331e-02 -1.78262838e-03 9.97854019e-01 1.43644333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.40, Y:94.83, Z:143.64 [[ 8.71671161e-01 4.86866421e-01 -5.61290907e-02 3.47400748e+02] [-4.85702134e-01 8.73473844e-01 3.37176660e-02 9.48283549e+01] [ 6.54432920e-02 -2.12869796e-03 9.97854019e-01 1.43640036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.322755096 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:347.45, Y:94.79, Z:143.65 [[ 8.69521162e-01 4.90695384e-01 -5.61336697e-02 3.47447266e+02] [-4.89539527e-01 8.71329263e-01 3.37100411e-02 9.47916724e+01] [ 6.54522706e-02 -1.83194400e-03 9.97854020e-01 1.43650468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.382755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:347.50, Y:94.76, Z:143.66 [[ 8.71113176e-01 4.87863381e-01 -5.61351575e-02 3.47498790e+02] [-4.86701807e-01 8.72917609e-01 3.37075633e-02 9.47634982e+01] [ 6.54460533e-02 -2.04201992e-03 9.97854020e-01 1.43657496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.55, Y:94.74, Z:143.66 [[ 8.71196746e-01 4.87712895e-01 -5.61459071e-02 3.47549116e+02] [-4.86552162e-01 8.73001719e-01 3.36896485e-02 9.47358490e+01] [ 6.54463494e-02 -2.03239968e-03 9.97854020e-01 1.43663260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.502755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:347.60, Y:94.71, Z:143.66 [[ 8.70407425e-01 4.89118737e-01 -5.61584859e-02 3.47600509e+02] [-4.87962271e-01 8.72215136e-01 3.36686675e-02 9.47071848e+01] [ 6.54502575e-02 -1.90223590e-03 9.97854020e-01 1.43664580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.65, Y:94.68, Z:143.67 [[ 8.69507917e-01 4.90715656e-01 -5.61616168e-02 3.47650258e+02] [-4.89562848e-01 8.71317962e-01 3.36634440e-02 9.46771935e+01] [ 6.54538045e-02 -1.77598999e-03 9.97854020e-01 1.43667697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.70, Y:94.65, Z:143.67 [[ 8.68740633e-01 4.92072208e-01 -5.61663208e-02 3.47699666e+02] [-4.90922733e-01 8.70552796e-01 3.36555937e-02 9.46469122e+01] [ 6.54567300e-02 -1.66465806e-03 9.97854020e-01 1.43671201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.682755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:347.75, Y:94.62, Z:143.68 [[ 8.65724131e-01 4.97358892e-01 -5.61770569e-02 3.47748473e+02] [-4.96221648e-01 8.67543995e-01 3.36376638e-02 9.46166209e+01] [ 6.54660596e-02 -1.24466554e-03 9.97854020e-01 1.43676045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.80, Y:94.58, Z:143.68 [[ 8.63760629e-01 5.00759815e-01 -5.61888174e-02 3.47797276e+02] [-4.99631015e-01 8.65585743e-01 3.36180075e-02 9.45844987e+01] [ 6.54707864e-02 -9.64235506e-04 9.97854021e-01 1.43679313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.85, Y:94.55, Z:143.68 [[ 8.63629902e-01 5.00984933e-01 -5.61915427e-02 3.47846014e+02] [-4.99856905e-01 8.65455493e-01 3.36134516e-02 9.45546787e+01] [ 6.54711121e-02 -9.41851252e-04 9.97854021e-01 1.43681030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.90, Y:94.52, Z:143.68 [[ 8.63430303e-01 5.01328334e-01 -5.61962036e-02 3.47895195e+02] [-5.00201540e-01 8.65256655e-01 3.36056576e-02 9.45236788e+01] [ 6.54716075e-02 -9.06715580e-04 9.97854021e-01 1.43683929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.922755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:347.94, Y:94.49, Z:143.69 [[ 8.62572886e-01 5.02801791e-01 -5.61994142e-02 3.47942863e+02] [-5.01678467e-01 8.64401375e-01 3.36002876e-02 9.44910387e+01] [ 6.54731357e-02 -7.88661078e-04 9.97854021e-01 1.43686850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.99, Y:94.46, Z:143.69 [[ 8.64303191e-01 4.99820416e-01 -5.62098336e-02 3.47991055e+02] [-4.98691918e-01 8.66128491e-01 3.35828479e-02 9.44585637e+01] [ 6.54703314e-02 -9.94372913e-04 9.97854021e-01 1.43693647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.04, Y:94.43, Z:143.70 [[ 8.64543636e-01 4.99403105e-01 -5.62213482e-02 3.48037308e+02] [-4.98274980e-01 8.66369166e-01 3.35635602e-02 9.44257605e+01] [ 6.54701887e-02 -1.00347117e-03 9.97854021e-01 1.43697333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.09, Y:94.39, Z:143.70 [[ 8.64550664e-01 4.99390167e-01 -5.62281964e-02 3.48085215e+02] [-4.98262760e-01 8.66376638e-01 3.35520837e-02 9.43940436e+01] [ 6.54703764e-02 -9.91059887e-04 9.97854021e-01 1.43701242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.13, Y:94.36, Z:143.71 [[ 8.64403315e-01 4.99644698e-01 -5.62324213e-02 3.48132452e+02] [-4.98518290e-01 8.66229905e-01 3.35450014e-02 9.43597095e+01] [ 6.54707870e-02 -9.63519936e-04 9.97854021e-01 1.43706468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.18, Y:94.33, Z:143.71 [[ 8.64537877e-01 4.99411396e-01 -5.62362560e-02 3.48180859e+02] [-4.98284913e-01 8.66364421e-01 3.35385714e-02 9.43256481e+01] [ 6.54706361e-02 -9.73687430e-04 9.97854021e-01 1.43710550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.23, Y:94.29, Z:143.71 [[ 8.65416091e-01 4.97887725e-01 -5.62387996e-02 3.48228518e+02] [-4.96758303e-01 8.67240819e-01 3.35343057e-02 9.42919047e+01] [ 6.54689018e-02 -1.08403713e-03 9.97854021e-01 1.43714764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.28, Y:94.26, Z:143.72 [[ 8.66263047e-01 4.96412364e-01 -5.62414354e-02 3.48277190e+02] [-4.95280121e-01 8.68086026e-01 3.35298845e-02 9.42588167e+01] [ 6.54670534e-02 -1.19043490e-03 9.97854021e-01 1.43718963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.32, Y:94.23, Z:143.72 [[ 8.67140583e-01 4.94877576e-01 -5.62440565e-02 3.48324569e+02] [-4.93742393e-01 8.68961732e-01 3.35254873e-02 9.42256177e+01] [ 6.54649446e-02 -1.30123559e-03 9.97854021e-01 1.43722959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.37, Y:94.19, Z:143.73 [[ 8.67263086e-01 4.94662494e-01 -5.62472749e-02 3.48374645e+02] [-4.93527209e-01 8.69084172e-01 3.35200867e-02 9.41945555e+01] [ 6.54647460e-02 -1.31117320e-03 9.97854021e-01 1.43726816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.43, Y:94.16, Z:143.73 [[ 8.66548652e-01 4.95912684e-01 -5.62498256e-02 3.48425370e+02] [-4.94780304e-01 8.68371546e-01 3.35158058e-02 9.41598042e+01] [ 6.54666613e-02 -1.21177057e-03 9.97854021e-01 1.43730133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.48, Y:94.12, Z:143.73 [[ 8.64664396e-01 4.99190935e-01 -5.62484859e-02 3.48476883e+02] [-4.98065321e-01 8.66491475e-01 3.35180541e-02 9.41238595e+01] [ 6.54707423e-02 -9.66447831e-04 9.97854021e-01 1.43734556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.52, Y:94.08, Z:143.75 [[ 8.60371460e-01 5.06555307e-01 -5.62376317e-02 3.48524189e+02] [-5.05444144e-01 8.62207363e-01 3.35362558e-02 9.40843769e+01] [ 6.54764685e-02 -4.28655740e-04 9.97854022e-01 1.43745330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.58, Y:94.06, Z:143.74 [[ 8.61335286e-01 5.04914858e-01 -5.62362198e-02 3.48578335e+02] [-5.03800043e-01 8.63168974e-01 3.35386231e-02 9.40560266e+01] [ 6.54755093e-02 -5.56189564e-04 9.97854022e-01 1.43742885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.63, Y:94.02, Z:143.75 [[ 8.60064455e-01 5.07076696e-01 -5.62348505e-02 3.48628963e+02] [-5.05966340e-01 8.61900847e-01 3.35409190e-02 9.40205415e+01] [ 6.54766836e-02 -3.94410735e-04 9.97854022e-01 1.43748678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.68, Y:93.99, Z:143.75 [[ 8.60021678e-01 5.07150270e-01 -5.62255900e-02 3.48680958e+02] [-5.06039057e-01 8.61857551e-01 3.35564355e-02 9.39851614e+01] [ 6.54766046e-02 -4.06917431e-04 9.97854022e-01 1.43753084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.73, Y:93.95, Z:143.76 [[ 8.59336417e-01 5.08311711e-01 -5.62150098e-02 3.48733262e+02] [-5.07201821e-01 8.61173089e-01 3.35741504e-02 9.39521869e+01] [ 6.54769875e-02 -3.39134765e-04 9.97854022e-01 1.43757096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.79, Y:93.92, Z:143.76 [[ 8.58729267e-01 5.09337761e-01 -5.62058001e-02 3.48785783e+02] [-5.08229057e-01 8.60566655e-01 3.35895611e-02 9.39217495e+01] [ 6.54772693e-02 -2.78918370e-04 9.97854022e-01 1.43760118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.84, Y:93.89, Z:143.76 [[ 8.58738538e-01 5.09322130e-01 -5.62058001e-02 3.48838170e+02] [-5.08213392e-01 8.60575906e-01 3.35895611e-02 9.38922522e+01] [ 6.54772642e-02 -2.80110207e-04 9.97854022e-01 1.43762753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.89, Y:93.86, Z:143.77 [[ 8.60923093e-01 5.05620671e-01 -5.62064466e-02 3.48891226e+02] [-5.04504104e-01 8.62755714e-01 3.35884794e-02 9.38629684e+01] [ 6.54754624e-02 -5.60714597e-04 9.97854022e-01 1.43766281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.94, Y:93.83, Z:143.77 [[ 8.61691070e-01 5.04310753e-01 -5.62064466e-02 3.48943606e+02] [-5.03191401e-01 8.63521991e-01 3.35884794e-02 9.38320223e+01] [ 6.54745340e-02 -6.60292163e-04 9.97854022e-01 1.43773278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.00, Y:93.80, Z:143.78 [[ 8.62391107e-01 5.03112872e-01 -5.62051209e-02 3.48997953e+02] [-5.01990832e-01 8.64220382e-01 3.35906976e-02 9.38020888e+01] [ 6.54735234e-02 -7.53863500e-04 9.97854022e-01 1.43776922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.05, Y:93.77, Z:143.78 [[ 8.62302295e-01 5.03266114e-01 -5.61958327e-02 3.49052462e+02] [-5.02143387e-01 8.64131148e-01 3.36062292e-02 9.37715850e+01] [ 6.54734458e-02 -7.60362812e-04 9.97854022e-01 1.43780211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.10, Y:93.74, Z:143.78 [[ 8.62162800e-01 5.03506092e-01 -5.61864862e-02 3.49104482e+02] [-5.02382856e-01 8.63991341e-01 3.36218483e-02 9.37424100e+01] [ 6.54734430e-02 -7.60379502e-04 9.97854022e-01 1.43784322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.16, Y:93.71, Z:143.79 [[ 8.60570905e-01 5.06222009e-01 -5.61871414e-02 3.49156663e+02] [-5.05104616e-01 8.62403022e-01 3.36207534e-02 9.37099811e+01] [ 6.54755259e-02 -5.52657676e-04 9.97854022e-01 1.43790807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.21, Y:93.68, Z:143.80 [[ 8.60313607e-01 5.06660259e-01 -5.61772200e-02 3.49210120e+02] [-5.05542717e-01 8.62145632e-01 3.36373231e-02 9.36800172e+01] [ 6.54756397e-02 -5.38662291e-04 9.97854023e-01 1.43795018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.26, Y:93.65, Z:143.80 [[ 8.60161853e-01 5.06918860e-01 -5.61681047e-02 3.49261643e+02] [-5.05800876e-01 8.61993608e-01 3.36525371e-02 9.36474333e+01] [ 6.54756530e-02 -5.36752130e-04 9.97854023e-01 1.43801799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.31, Y:93.62, Z:143.81 [[ 8.60827656e-01 5.05787544e-01 -5.61667844e-02 3.49312260e+02] [-5.04667009e-01 8.62657852e-01 3.36547405e-02 9.36157147e+01] [ 6.54748661e-02 -6.25408336e-04 9.97854023e-01 1.43808078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.36, Y:93.58, Z:143.81 [[ 8.62050264e-01 5.03700865e-01 -5.61674386e-02 3.49362890e+02] [-5.02575970e-01 8.63877784e-01 3.36536486e-02 9.35839890e+01] [ 6.54731743e-02 -7.82731648e-04 9.97854023e-01 1.43813195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.662755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:349.41, Y:93.55, Z:143.82 [[ 8.62595600e-01 5.02766253e-01 -5.61687292e-02 3.49414965e+02] [-5.01639519e-01 8.64421986e-01 3.36514945e-02 9.35509615e+01] [ 6.54723202e-02 -8.51176837e-04 9.97854023e-01 1.43816777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.47, Y:93.52, Z:143.82 [[ 8.63642616e-01 5.00965721e-01 -5.61674239e-02 3.49465394e+02] [-4.99835037e-01 8.65466560e-01 3.36536729e-02 9.35198999e+01] [ 6.54703637e-02 -9.90299689e-04 9.97854023e-01 1.43822030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.52, Y:93.49, Z:143.83 [[ 8.63918307e-01 5.00490067e-01 -5.61680652e-02 3.49515775e+02] [-4.99358449e-01 8.65741672e-01 3.36526027e-02 9.34882943e+01] [ 6.54698280e-02 -1.02510165e-03 9.97854023e-01 1.43827588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.57, Y:93.46, Z:143.83 [[ 8.64610261e-01 4.99293603e-01 -5.61693292e-02 3.49566211e+02] [-4.98159599e-01 8.66432143e-01 3.36504927e-02 9.34593609e+01] [ 6.54683880e-02 -1.11327079e-03 9.97854023e-01 1.43830903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.62, Y:93.43, Z:143.83 [[ 8.64517122e-01 4.99454501e-01 -5.61724754e-02 3.49615767e+02] [-4.98321177e-01 8.66339427e-01 3.36452401e-02 9.34298833e+01] [ 6.54686967e-02 -1.09495208e-03 9.97854023e-01 1.43834607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.67, Y:93.40, Z:143.84 [[ 8.63002215e-01 5.02067143e-01 -5.61761673e-02 3.49666676e+02] [-5.00939737e-01 8.64828187e-01 3.36390746e-02 9.33999549e+01] [ 6.54718070e-02 -8.89721390e-04 9.97854023e-01 1.43839015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.72, Y:93.37, Z:143.84 [[ 8.61230460e-01 5.05100036e-01 -5.61787163e-02 3.49716670e+02] [-5.03979339e-01 8.63060557e-01 3.36348173e-02 9.33719167e+01] [ 6.54745816e-02 -6.54416883e-04 9.97854023e-01 1.43844263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.77, Y:93.34, Z:143.85 [[ 8.59755827e-01 5.07605672e-01 -5.61818506e-02 3.49767177e+02] [-5.06490651e-01 8.61589387e-01 3.36295809e-02 9.33416954e+01] [ 6.54762523e-02 -4.57646075e-04 9.97854023e-01 1.43849182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.82, Y:93.31, Z:143.85 [[ 8.59957323e-01 5.07263600e-01 -5.61875662e-02 3.49816178e+02] [-5.06148474e-01 8.61790819e-01 3.36200288e-02 9.33129092e+01] [ 6.54761456e-02 -4.72539082e-04 9.97854023e-01 1.43852459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.87, Y:93.28, Z:143.86 [[ 8.59789051e-01 5.07547888e-01 -5.61954512e-02 3.49867373e+02] [-5.06434229e-01 8.61623439e-01 3.36068440e-02 9.32815659e+01] [ 6.54764006e-02 -4.35496510e-04 9.97854023e-01 1.43856461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.92, Y:93.25, Z:143.86 [[ 8.58157327e-01 5.10301801e-01 -5.61967462e-02 3.49919148e+02] [-5.09194171e-01 8.59995362e-01 3.36046784e-02 9.32482056e+01] [ 6.54774690e-02 -2.23045441e-04 9.97854023e-01 1.43861772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.97, Y:93.22, Z:143.86 [[ 8.59614560e-01 5.07844333e-01 -5.61866592e-02 3.49973463e+02] [-5.06730347e-01 8.61448750e-01 3.36215353e-02 9.32203205e+01] [ 6.54764335e-02 -4.30075970e-04 9.97854023e-01 1.43863833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.02, Y:93.19, Z:143.87 [[ 8.60126327e-01 5.06978101e-01 -5.61774559e-02 3.50023657e+02] [-5.05861263e-01 8.61958781e-01 3.36369059e-02 9.31918996e+01] [ 6.54758261e-02 -5.13989492e-04 9.97854023e-01 1.43866692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.08, Y:93.16, Z:143.87 [[ 8.59272810e-01 5.08423014e-01 -5.61807584e-02 3.50077954e+02] [-5.07309618e-01 8.61107357e-01 3.36313890e-02 9.31592945e+01] [ 6.54766366e-02 -3.97499010e-04 9.97854023e-01 1.43869589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.13, Y:93.13, Z:143.87 [[ 8.61977336e-01 5.03825448e-01 -5.61693053e-02 3.50131971e+02] [-5.02701022e-01 8.63805143e-01 3.36505066e-02 9.31285366e+01] [ 6.54733164e-02 -7.69606828e-04 9.97854024e-01 1.43870757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.18, Y:93.10, Z:143.88 [[ 8.66504899e-01 4.95999052e-01 -5.61622709e-02 3.50182562e+02] [-4.94857360e-01 8.68321972e-01 3.36622429e-02 9.31011531e+01] [ 6.54633743e-02 -1.37618526e-03 9.97854024e-01 1.43875530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.23, Y:93.07, Z:143.88 [[ 8.68573528e-01 4.92367247e-01 -5.61651158e-02 3.50232519e+02] [-4.91218265e-01 8.70386000e-01 3.36574955e-02 9.30711747e+01] [ 6.54571789e-02 -1.64467889e-03 9.97854024e-01 1.43879276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.28, Y:93.04, Z:143.88 [[ 8.70682160e-01 4.88628148e-01 -5.61703705e-02 3.50284970e+02] [-4.87471949e-01 8.72490036e-01 3.36487237e-02 9.30407856e+01] [ 6.54498021e-02 -1.91586346e-03 9.97854024e-01 1.43880620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.34, Y:93.01, Z:143.89 [[ 8.70679098e-01 4.88633603e-01 -5.61703705e-02 3.50337746e+02] [-4.87477415e-01 8.72486982e-01 3.36487237e-02 9.30102874e+01] [ 6.54498141e-02 -1.91545340e-03 9.97854024e-01 1.43889334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.39, Y:92.98, Z:143.89 [[ 8.69904741e-01 4.90011487e-01 -5.61647992e-02 3.50388860e+02] [-4.88857563e-01 8.71714070e-01 3.36580205e-02 9.29825165e+01] [ 6.54524624e-02 -1.82268476e-03 9.97854024e-01 1.43892861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.44, Y:92.96, Z:143.89 [[ 8.66946514e-01 4.95225985e-01 -5.61690824e-02 3.50440997e+02] [-4.94083409e-01 8.68763031e-01 3.36508712e-02 9.29566102e+01] [ 6.54624081e-02 -1.42129375e-03 9.97854024e-01 1.43894949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.49, Y:92.93, Z:143.90 [[ 8.63139037e-01 5.01832079e-01 -5.61744323e-02 3.50491640e+02] [-5.00703990e-01 8.64964586e-01 3.36419380e-02 9.29289366e+01] [ 6.54714983e-02 -9.10907584e-04 9.97854024e-01 1.43903375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.54, Y:92.90, Z:143.90 [[ 8.60620188e-01 5.06138852e-01 -5.61814383e-02 3.50542049e+02] [-5.05020663e-01 8.62451818e-01 3.36302340e-02 9.29000767e+01] [ 6.54753516e-02 -5.70071093e-04 9.97854024e-01 1.43904708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.59, Y:92.87, Z:143.91 [[ 8.58795663e-01 5.09227992e-01 -5.61859462e-02 3.50593288e+02] [-5.08116885e-01 8.60631597e-01 3.36227010e-02 9.28706164e+01] [ 6.54770211e-02 -3.26001923e-04 9.97854024e-01 1.43910037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.64, Y:92.84, Z:143.91 [[ 8.59442400e-01 5.08135562e-01 -5.61872981e-02 3.50643736e+02] [-5.07022268e-01 8.61277009e-01 3.36204416e-02 9.28417865e+01] [ 6.54765701e-02 -4.06621675e-04 9.97854024e-01 1.43914165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.69, Y:92.81, Z:143.92 [[ 8.58453021e-01 5.09804889e-01 -5.61906265e-02 3.50693365e+02] [-5.08695527e-01 8.60290010e-01 3.36148779e-02 9.28113715e+01] [ 6.54772637e-02 -2.72873064e-04 9.97854024e-01 1.43919339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.74, Y:92.78, Z:143.93 [[ 8.57816494e-01 5.10874912e-01 -5.61932983e-02 3.50740195e+02] [-5.09768134e-01 8.59655041e-01 3.36104110e-02 9.27791492e+01] [ 6.54775679e-02 -1.86012104e-04 9.97854024e-01 1.43933331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.79, Y:92.75, Z:143.93 [[ 8.61613217e-01 5.04444629e-01 -5.61985838e-02 3.50791985e+02] [-5.03324708e-01 8.63443787e-01 3.36015710e-02 9.27499050e+01] [ 6.54744500e-02 -6.65421903e-04 9.97854024e-01 1.43929041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.85, Y:92.72, Z:143.93 [[ 8.63984215e-01 5.00371728e-01 -5.62086280e-02 3.50846772e+02] [-4.99244271e-01 8.65810154e-01 3.35847606e-02 9.27180892e+01] [ 6.54708656e-02 -9.54867510e-04 9.97854024e-01 1.43926536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.90, Y:92.68, Z:143.94 [[ 8.64084555e-01 5.00199706e-01 -5.61972977e-02 3.50898005e+02] [-4.99070653e-01 8.65909507e-01 3.36037089e-02 9.26832297e+01] [ 6.54703397e-02 -9.90023783e-04 9.97854025e-01 1.43935492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.95, Y:92.65, Z:143.93 [[ 8.66285332e-01 4.96379652e-01 -5.61868719e-02 3.50950514e+02] [-4.95241422e-01 8.68104575e-01 3.36211323e-02 9.26540382e+01] [ 6.54649265e-02 -1.29942740e-03 9.97854025e-01 1.43933377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.00, Y:92.62, Z:143.94 [[ 8.65892215e-01 4.97064946e-01 -5.61881860e-02 3.50999800e+02] [-4.95928299e-01 8.67712446e-01 3.36189360e-02 9.26233082e+01] [ 6.54659830e-02 -1.24506345e-03 9.97854025e-01 1.43941448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.582755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:351.05, Y:92.59, Z:143.95 [[ 8.64375737e-01 4.99696915e-01 -5.61923383e-02 3.51048911e+02] [-4.98566262e-01 8.66199698e-01 3.36119944e-02 9.25932961e+01] [ 6.54695963e-02 -1.03778836e-03 9.97854025e-01 1.43945704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.10, Y:92.56, Z:143.95 [[ 8.63275527e-01 5.01594764e-01 -5.61965902e-02 3.51098246e+02] [-5.00468584e-01 8.65102253e-01 3.36048839e-02 9.25637217e+01] [ 6.54718306e-02 -8.85646010e-04 9.97854025e-01 1.43949998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.70275509600003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:351.15, Y:92.53, Z:143.95 [[ 8.59957268e-01 5.07262215e-01 -5.62009085e-02 3.51148397e+02] [-5.06148547e-01 8.61791649e-01 3.35976604e-02 9.25325142e+01] [ 6.54762973e-02 -4.46544100e-04 9.97854025e-01 1.43953723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.20, Y:92.50, Z:143.96 [[ 8.58076798e-01 5.10436392e-01 -5.62040818e-02 3.51202213e+02] [-5.09329858e-01 8.59915490e-01 3.35923512e-02 9.25005976e+01] [ 6.54775191e-02 -1.98400138e-04 9.97854025e-01 1.43957470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.26, Y:92.47, Z:143.96 [[ 8.57324623e-01 5.11699981e-01 -5.61927090e-02 3.51255032e+02] [-5.10594910e-01 8.59164195e-01 3.36113647e-02 9.24669851e+01] [ 6.54776982e-02 -1.24139303e-04 9.97854025e-01 1.43962894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.31, Y:92.43, Z:143.97 [[ 8.57083137e-01 5.12105592e-01 -5.61814780e-02 3.51306489e+02] [-5.11000162e-01 8.58922493e-01 3.36301268e-02 9.24323075e+01] [ 6.54777112e-02 -1.15070227e-04 9.97854025e-01 1.43966253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.36, Y:92.40, Z:143.97 [[ 8.57763987e-01 5.10965506e-01 -5.61711228e-02 3.51356490e+02] [-5.09856498e-01 8.59601188e-01 3.36474138e-02 9.23974684e+01] [ 6.54774317e-02 -2.22327849e-04 9.97854026e-01 1.43972945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.41, Y:92.36, Z:143.98 [[ 8.59022347e-01 5.08848110e-01 -5.61623377e-02 3.51405761e+02] [-5.07733616e-01 8.60856225e-01 3.36620711e-02 9.23626699e+01] [ 6.54765793e-02 -4.00964559e-04 9.97854026e-01 1.43975150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.45, Y:92.33, Z:143.98 [[ 8.60655922e-01 5.06080207e-01 -5.61623377e-02 3.51453682e+02] [-5.04959816e-01 8.62486203e-01 3.36620711e-02 9.23271787e+01] [ 6.54749493e-02 -6.11737179e-04 9.97854026e-01 1.43977176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.50, Y:92.29, Z:143.98 [[ 8.62088660e-01 5.03635644e-01 -5.61629825e-02 3.51502663e+02] [-5.02510132e-01 8.63915797e-01 3.36609952e-02 9.22925488e+01] [ 6.54729648e-02 -7.96294467e-04 9.97854026e-01 1.43980312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.55, Y:92.26, Z:143.98 [[ 8.62459745e-01 5.02999767e-01 -5.61642509e-02 3.51552321e+02] [-5.01873046e-01 8.64286136e-01 3.36588787e-02 9.22614865e+01] [ 6.54723916e-02 -8.42104225e-04 9.97854026e-01 1.43984772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.60, Y:92.23, Z:143.99 [[ 8.61720890e-01 5.04264222e-01 -5.61667413e-02 3.51603103e+02] [-5.03140452e-01 8.63549098e-01 3.36547225e-02 9.22313499e+01] [ 6.54736113e-02 -7.41217774e-04 9.97854026e-01 1.43989881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.65, Y:92.20, Z:143.99 [[ 8.60898600e-01 5.05666511e-01 -5.61692092e-02 3.51653618e+02] [-5.04545988e-01 8.62728800e-01 3.36506031e-02 9.22007017e+01] [ 6.54747775e-02 -6.29807980e-04 9.97854026e-01 1.43994538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.70, Y:92.17, Z:144.00 [[ 8.60104798e-01 5.07015268e-01 -5.61716438e-02 3.51702524e+02] [-5.05897881e-01 8.61936915e-01 3.36465387e-02 9.21713952e+01] [ 6.54757222e-02 -5.22433802e-04 9.97854026e-01 1.43998888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.422755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:351.75, Y:92.14, Z:144.00 [[ 8.60610154e-01 5.06156535e-01 -5.61758346e-02 3.51751660e+02] [-5.05037776e-01 8.62441433e-01 3.36395403e-02 9.21429875e+01] [ 6.54752405e-02 -5.79611415e-04 9.97854026e-01 1.44002256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.80, Y:92.11, Z:144.01 [[ 8.61051248e-01 5.05405344e-01 -5.61799557e-02 3.51802021e+02] [-5.04285436e-01 8.62881825e-01 3.36326564e-02 9.21134000e+01] [ 6.54747870e-02 -6.28707327e-04 9.97854026e-01 1.44005732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.85, Y:92.08, Z:144.01 [[ 8.61558881e-01 5.04539223e-01 -5.61824534e-02 3.51852639e+02] [-5.03417747e-01 8.63388497e-01 3.36284836e-02 9.20837816e+01] [ 6.54741730e-02 -6.89674635e-04 9.97854026e-01 1.44011463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.90, Y:92.06, Z:144.02 [[ 8.62420591e-01 5.03064586e-01 -5.61849345e-02 3.51902584e+02] [-5.01940252e-01 8.64248452e-01 3.36243377e-02 9.20556704e+01] [ 6.54729562e-02 -7.96841057e-04 9.97854026e-01 1.44017331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.95, Y:92.02, Z:144.02 [[ 8.63306828e-01 5.01541853e-01 -5.61879868e-02 3.51954617e+02] [-5.00414627e-01 8.65132908e-01 3.36192364e-02 9.20242041e+01] [ 6.54715305e-02 -9.06425834e-04 9.97854026e-01 1.44020356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.01, Y:91.99, Z:144.03 [[ 8.65140987e-01 4.98371475e-01 -5.61867079e-02 3.52007689e+02] [-4.97237419e-01 8.66962832e-01 3.36213737e-02 9.19913670e+01] [ 6.54677210e-02 -1.14909480e-03 9.97854026e-01 1.44025901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.06, Y:91.96, Z:144.03 [[ 8.65015050e-01 4.98591256e-01 -5.61758233e-02 3.52059484e+02] [-4.97456483e-01 8.66836448e-01 3.36395502e-02 9.19564805e+01] [ 6.54676368e-02 -1.15368972e-03 9.97854026e-01 1.44030834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.11, Y:91.93, Z:144.03 [[ 8.65581447e-01 4.97608605e-01 -5.61643522e-02 3.52113319e+02] [-4.96470523e-01 8.67400780e-01 3.36586915e-02 9.19264361e+01] [ 6.54658574e-02 -1.25039358e-03 9.97854026e-01 1.44031114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.17, Y:91.89, Z:144.04 [[ 8.64380486e-01 4.99692705e-01 -5.61567069e-02 3.52166476e+02] [-4.98558182e-01 8.66202040e-01 3.36714422e-02 9.18929016e+01] [ 6.54684281e-02 -1.10755192e-03 9.97854027e-01 1.44036615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.22, Y:91.87, Z:144.04 [[ 8.65087028e-01 4.98469953e-01 -5.61439260e-02 3.52221963e+02] [-4.97331473e-01 8.66906111e-01 3.36927397e-02 9.18653185e+01] [ 6.54663309e-02 -1.22501059e-03 9.97854027e-01 1.44037456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.28, Y:91.83, Z:144.04 [[ 8.64405471e-01 4.99652110e-01 -5.61333221e-02 3.52275972e+02] [-4.98514972e-01 8.66225393e-01 3.37103969e-02 9.18325937e+01] [ 6.54675800e-02 -1.15615000e-03 9.97854027e-01 1.44037767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.33, Y:91.80, Z:144.04 [[ 8.64715268e-01 4.99116965e-01 -5.61227325e-02 3.52327702e+02] [-4.97977557e-01 8.66533770e-01 3.37280179e-02 9.18043744e+01] [ 6.54664688e-02 -1.21727081e-03 9.97854027e-01 1.44040590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.38, Y:91.78, Z:144.04 [[ 8.65131269e-01 4.98395312e-01 -5.61248632e-02 3.52379901e+02] [-4.97254617e-01 8.66948964e-01 3.37244719e-02 9.17770933e+01] [ 6.54655107e-02 -1.26774778e-03 9.97854027e-01 1.44042599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.43, Y:91.75, Z:144.05 [[ 8.65502911e-01 4.97749313e-01 -5.61278113e-02 3.52430437e+02] [-4.96607580e-01 8.67319954e-01 3.37195647e-02 9.17488715e+01] [ 6.54646609e-02 -1.31088487e-03 9.97854027e-01 1.44046945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.48, Y:91.72, Z:144.05 [[ 8.65443047e-01 4.97852984e-01 -5.61314536e-02 3.52481733e+02] [-4.96711861e-01 8.67260473e-01 3.37135004e-02 9.17194907e+01] [ 6.54649577e-02 -1.29595577e-03 9.97854027e-01 1.44047810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.53, Y:91.69, Z:144.05 [[ 8.66407552e-01 4.96172256e-01 -5.61341828e-02 3.52531968e+02] [-4.95027902e-01 8.68222945e-01 3.37089556e-02 9.16900414e+01] [ 6.54624340e-02 -1.41770700e-03 9.97854027e-01 1.44052571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.58, Y:91.66, Z:144.06 [[ 8.65137168e-01 4.98383684e-01 -5.61371880e-02 3.52583249e+02] [-4.97244295e-01 8.66955682e-01 3.37039501e-02 9.16554139e+01] [ 6.54659529e-02 -1.24464341e-03 9.97854027e-01 1.44057070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.64, Y:91.63, Z:144.06 [[ 8.67190419e-01 4.94803458e-01 -5.61276751e-02 3.52637431e+02] [-4.93655538e-01 8.69003559e-01 3.37197846e-02 9.16265149e+01] [ 6.54598155e-02 -1.53373645e-03 9.97854028e-01 1.44059405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.69, Y:91.60, Z:144.07 [[ 8.68422773e-01 4.92637536e-01 -5.61261552e-02 3.52687719e+02] [-4.91484932e-01 8.70232939e-01 3.37223144e-02 9.15981122e+01] [ 6.54557068e-02 -1.70006625e-03 9.97854028e-01 1.44065961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.74, Y:91.57, Z:144.07 [[ 8.68727036e-01 4.92100360e-01 -5.61299567e-02 3.52741807e+02] [-4.90947045e-01 8.70536749e-01 3.37159857e-02 9.15655866e+01] [ 6.54548387e-02 -1.73315198e-03 9.97854028e-01 1.44072270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.79, Y:91.53, Z:144.08 [[ 8.67253522e-01 4.94693816e-01 -5.61191250e-02 3.52794493e+02] [-4.93544748e-01 8.69065935e-01 3.37340050e-02 9.15314477e+01] [ 6.54592235e-02 -1.55863525e-03 9.97854028e-01 1.44075236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.85, Y:91.50, Z:144.08 [[ 8.66982153e-01 4.95170531e-01 -5.61078531e-02 3.52849100e+02] [-4.94021247e-01 8.68794429e-01 3.37527426e-02 9.15029832e+01] [ 6.54595537e-02 -1.54455385e-03 9.97854028e-01 1.44080237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.90, Y:91.47, Z:144.08 [[ 8.64491938e-01 4.99506139e-01 -5.61008641e-02 3.52899857e+02] [-4.98365192e-01 8.66309474e-01 3.37643550e-02 9.14720708e+01] [ 6.54662127e-02 -1.23029479e-03 9.97854028e-01 1.44084060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.95, Y:91.44, Z:144.09 [[ 8.61131403e-01 5.05277401e-01 -5.61021795e-02 3.52951679e+02] [-5.04148780e-01 8.62956618e-01 3.37621694e-02 9.14406888e+01] [ 6.54730082e-02 -7.89818969e-04 9.97854028e-01 1.44088793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.00, Y:91.41, Z:144.09 [[ 8.59513257e-01 5.08025104e-01 -5.61021795e-02 3.53001533e+02] [-5.06902317e-01 8.61342067e-01 3.37621694e-02 9.14107245e+01] [ 6.54751968e-02 -5.80707388e-04 9.97854028e-01 1.44092845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.05, Y:91.38, Z:144.10 [[ 8.59535798e-01 5.07986797e-01 -5.61037102e-02 3.53051090e+02] [-5.06864095e-01 8.61364660e-01 3.37596255e-02 9.13786836e+01] [ 6.54751973e-02 -5.80650372e-04 9.97854028e-01 1.44100365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.10, Y:91.34, Z:144.11 [[ 8.60787223e-01 5.05863208e-01 -5.61050078e-02 3.53102663e+02] [-5.04736135e-01 8.62613394e-01 3.37574688e-02 9.13438904e+01] [ 6.54735927e-02 -7.39773043e-04 9.97854028e-01 1.44108486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.15, Y:91.31, Z:144.11 [[ 8.62052034e-01 5.03705843e-01 -5.60955789e-02 3.53153982e+02] [-5.02573181e-01 8.63874744e-01 3.37731299e-02 9.13117333e+01] [ 6.54712767e-02 -9.22061845e-04 9.97854028e-01 1.44113525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.21, Y:91.28, Z:144.12 [[ 8.63465221e-01 5.01280054e-01 -5.60902831e-02 3.53206472e+02] [-5.00141700e-01 8.65284382e-01 3.37819228e-02 9.12771538e+01] [ 6.54682500e-02 -1.11642587e-03 9.97854028e-01 1.44118267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.26, Y:91.24, Z:144.12 [[ 8.64058289e-01 5.00258294e-01 -5.60795231e-02 3.53259691e+02] [-4.99116631e-01 8.65875374e-01 3.37997755e-02 9.12439112e+01] [ 6.54664961e-02 -1.21475350e-03 9.97854029e-01 1.44123893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.31, Y:91.21, Z:144.13 [[ 8.63806862e-01 5.00693569e-01 -5.60683007e-02 3.53312341e+02] [-4.99551615e-01 8.65623764e-01 3.38183814e-02 9.12115011e+01] [ 6.54666996e-02 -1.20353980e-03 9.97854029e-01 1.44126866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.37, Y:91.18, Z:144.13 [[ 8.64129348e-01 5.00137950e-01 -5.60580135e-02 3.53366017e+02] [-4.98993722e-01 8.65944819e-01 3.38354251e-02 9.11782818e+01] [ 6.54655265e-02 -1.26558693e-03 9.97854029e-01 1.44131087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.42, Y:91.14, Z:144.14 [[ 8.63802258e-01 5.00703856e-01 -5.60473745e-02 3.53415858e+02] [-4.99559675e-01 8.65617758e-01 3.38530391e-02 9.11406277e+01] [ 6.54659499e-02 -1.24332338e-03 9.97854029e-01 1.44141223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.47, Y:91.11, Z:144.15 [[ 8.64513995e-01 4.99474578e-01 -5.60419293e-02 3.53466709e+02] [-4.98327232e-01 8.66327496e-01 3.38620510e-02 9.11062876e+01] [ 6.54638980e-02 -1.34699747e-03 9.97854029e-01 1.44146515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.52, Y:91.07, Z:144.15 [[ 8.64382148e-01 4.99703893e-01 -5.60314313e-02 3.53519584e+02] [-4.98555903e-01 8.66195242e-01 3.38794132e-02 9.10746800e+01] [ 6.54638338e-02 -1.34995907e-03 9.97854029e-01 1.44149746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.522755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:353.57, Y:91.05, Z:144.15 [[ 8.64940177e-01 4.98738519e-01 -5.60212425e-02 3.53574007e+02] [-4.97587415e-01 8.66751295e-01 3.38962524e-02 9.10465222e+01] [ 6.54618513e-02 -1.44276532e-03 9.97854030e-01 1.44151642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.582755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:353.63, Y:91.01, Z:144.16 [[ 8.62894089e-01 5.02270872e-01 -5.60157347e-02 3.53626805e+02] [-5.01126593e-01 8.64709526e-01 3.39053521e-02 9.10148652e+01] [ 6.54670102e-02 -1.18575364e-03 9.97854030e-01 1.44155214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.68, Y:90.98, Z:144.16 [[ 8.59855043e-01 5.07457067e-01 -5.60056243e-02 3.53678530e+02] [-5.06322651e-01 8.61676661e-01 3.39220445e-02 9.09812993e+01] [ 6.54727205e-02 -8.11124844e-04 9.97854030e-01 1.44163721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.73, Y:90.95, Z:144.17 [[ 8.59936119e-01 5.07320735e-01 -5.59959181e-02 3.53731900e+02] [-5.06184988e-01 8.61756907e-01 3.39380592e-02 9.09498880e+01] [ 6.54723503e-02 -8.40269813e-04 9.97854030e-01 1.44170054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.79, Y:90.92, Z:144.17 [[ 8.61028777e-01 5.05465118e-01 -5.59862425e-02 3.53787300e+02] [-5.04324411e-01 8.62846460e-01 3.39540131e-02 9.09195137e+01] [ 6.54701004e-02 -1.00015359e-03 9.97854030e-01 1.44171349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.822755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:353.84, Y:90.89, Z:144.18 [[ 8.62718624e-01 5.02576716e-01 -5.59751712e-02 3.53838733e+02] [-5.01428740e-01 8.64531725e-01 3.39722550e-02 9.08874023e+01] [ 6.54659757e-02 -1.24093750e-03 9.97854030e-01 1.44175689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.89, Y:90.86, Z:144.18 [[ 8.64695583e-01 4.99168626e-01 -5.59663419e-02 3.53893157e+02] [-4.98012564e-01 8.66503539e-01 3.39867944e-02 9.08571273e+01] [ 6.54601748e-02 -1.51628956e-03 9.97854031e-01 1.44180280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.95, Y:90.83, Z:144.18 [[ 8.66653818e-01 4.95762055e-01 -5.59566323e-02 3.53948997e+02] [-4.94597857e-01 8.68456545e-01 3.40027730e-02 9.08274569e+01] [ 6.54531882e-02 -1.79260262e-03 9.97854031e-01 1.44181017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.00, Y:90.79, Z:144.19 [[ 8.64559950e-01 4.99405825e-01 -5.59456479e-02 3.54000394e+02] [-4.98248057e-01 8.66366814e-01 3.40208363e-02 9.07910110e+01] [ 6.54596565e-02 -1.53824217e-03 9.97854031e-01 1.44189681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.062755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:354.05, Y:90.76, Z:144.19 [[ 8.64834862e-01 4.98930839e-01 -5.59345937e-02 3.54053922e+02] [-4.97770906e-01 8.66640336e-01 3.40390011e-02 9.07603421e+01] [ 6.54582825e-02 -1.59550141e-03 9.97854031e-01 1.44191132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.11, Y:90.73, Z:144.20 [[ 8.62952565e-01 5.02180581e-01 -5.59243715e-02 3.54108057e+02] [-5.01026360e-01 8.64761695e-01 3.40557875e-02 9.07280134e+01] [ 6.54634094e-02 -1.36894486e-03 9.97854031e-01 1.44196369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.16, Y:90.70, Z:144.20 [[ 8.60960877e-01 5.05588839e-01 -5.59132748e-02 3.54161232e+02] [-5.04440598e-01 8.62773809e-01 3.40739965e-02 9.06970698e+01] [ 6.54679414e-02 -1.13145217e-03 9.97854032e-01 1.44199247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.21, Y:90.67, Z:144.20 [[ 8.59052649e-01 5.08825494e-01 -5.59031628e-02 3.54211777e+02] [-5.07683005e-01 8.60869211e-01 3.40905786e-02 9.06662866e+01] [ 6.54714671e-02 -9.04516164e-04 9.97854032e-01 1.44199563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.302755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:354.26, Y:90.63, Z:144.20 [[ 8.57700677e-01 5.11101077e-01 -5.59038242e-02 3.54263229e+02] [-5.09963479e-01 8.59520306e-01 3.40894939e-02 9.06338743e+01] [ 6.54736492e-02 -7.29673259e-04 9.97854032e-01 1.44203123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.32, Y:90.60, Z:144.21 [[ 8.57399913e-01 5.11605612e-01 -5.59024827e-02 3.54315648e+02] [-5.10468941e-01 8.59220121e-01 3.40916937e-02 9.06010499e+01] [ 6.54740398e-02 -6.93734116e-04 9.97854032e-01 1.44205378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.37, Y:90.57, Z:144.20 [[ 8.58356951e-01 5.09999320e-01 -5.58930984e-02 3.54366787e+02] [-5.08858242e-01 8.60174399e-01 3.41070722e-02 9.05697843e+01] [ 6.54723960e-02 -8.34378713e-04 9.97854032e-01 1.44202999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.42, Y:90.54, Z:144.21 [[ 8.60589531e-01 5.06222814e-01 -5.58938383e-02 3.54415481e+02] [-5.05073840e-01 8.62401998e-01 3.41058597e-02 9.05385184e+01] [ 6.54681221e-02 -1.12063028e-03 9.97854032e-01 1.44205862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.46, Y:90.51, Z:144.22 [[ 8.61694072e-01 5.04339956e-01 -5.58975406e-02 3.54463631e+02] [-5.03187415e-01 8.63504273e-01 3.40997907e-02 9.05069729e+01] [ 6.54656521e-02 -1.25664859e-03 9.97854032e-01 1.44216233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.51, Y:90.48, Z:144.22 [[ 8.62794742e-01 5.02454272e-01 -5.59011374e-02 3.54512625e+02] [-5.01298157e-01 8.64602663e-01 3.40938934e-02 9.04771098e+01] [ 6.54628946e-02 -1.39289482e-03 9.97854032e-01 1.44219141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.56, Y:90.45, Z:144.22 [[ 8.63403815e-01 5.01406589e-01 -5.59042569e-02 3.54563783e+02] [-5.00248611e-01 8.65210542e-01 3.40887775e-02 9.04473917e+01] [ 6.54612901e-02 -1.46635362e-03 9.97854032e-01 1.44220549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.62, Y:90.41, Z:144.22 [[ 8.63951169e-01 5.00462598e-01 -5.59067639e-02 3.54617523e+02] [-4.99302912e-01 8.65756801e-01 3.40846654e-02 9.04143734e+01] [ 6.54597613e-02 -1.53307653e-03 9.97854032e-01 1.44220267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.67, Y:90.38, Z:144.22 [[ 8.64273266e-01 4.99907361e-01 -5.58959001e-02 3.54672679e+02] [-4.98745365e-01 8.66077412e-01 3.41024719e-02 9.03826497e+01] [ 6.54582532e-02 -1.59603366e-03 9.97854032e-01 1.44216058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.72, Y:90.35, Z:144.22 [[ 8.64992137e-01 4.98663361e-01 -5.58878828e-02 3.54723916e+02] [-4.97497922e-01 8.66794061e-01 3.41156057e-02 9.03545169e+01] [ 6.54554875e-02 -1.70562518e-03 9.97854032e-01 1.44218437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.77, Y:90.33, Z:144.23 [[ 8.66105235e-01 4.96727300e-01 -5.58901729e-02 3.54773675e+02] [-4.95558075e-01 8.67904704e-01 3.41118535e-02 9.03261808e+01] [ 6.54516329e-02 -1.84762843e-03 9.97854032e-01 1.44227439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.83, Y:90.30, Z:144.23 [[ 8.67816392e-01 4.93731274e-01 -5.58939921e-02 3.54825849e+02] [-4.92556240e-01 8.69612074e-01 3.41055945e-02 9.02990658e+01] [ 6.54450890e-02 -2.06645935e-03 9.97854032e-01 1.44227113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.88, Y:90.27, Z:144.23 [[ 8.68453128e-01 4.92610171e-01 -5.58961832e-02 3.54878246e+02] [-4.91433050e-01 8.70247442e-01 3.41020031e-02 9.02714731e+01] [ 6.54425040e-02 -2.14675943e-03 9.97854032e-01 1.44232160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.93, Y:90.24, Z:144.24 [[ 8.67973342e-01 4.93454722e-01 -5.58991544e-02 3.54928769e+02] [-4.92279660e-01 8.69769005e-01 3.40971321e-02 9.02414543e+01] [ 6.54447427e-02 -2.07738495e-03 9.97854032e-01 1.44236629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.98, Y:90.21, Z:144.24 [[ 8.66801637e-01 4.95509701e-01 -5.59022239e-02 3.54981241e+02] [-4.94339221e-01 8.68600290e-01 3.40920988e-02 9.02146356e+01] [ 6.54496536e-02 -1.91642519e-03 9.97854033e-01 1.44238948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.03, Y:90.19, Z:144.24 [[ 8.65664546e-01 4.97493222e-01 -5.59051735e-02 3.55033252e+02] [-4.96327175e-01 8.67466076e-01 3.40872613e-02 9.01881131e+01] [ 6.54540230e-02 -1.76087673e-03 9.97854033e-01 1.44242123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.08, Y:90.16, Z:144.25 [[ 8.63727306e-01 5.00848421e-01 -5.59106459e-02 3.55084523e+02] [-4.99689954e-01 8.65533720e-01 3.40782830e-02 9.01594629e+01] [ 6.54606036e-02 -1.49635545e-03 9.97854033e-01 1.44246545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.14, Y:90.13, Z:144.25 [[ 8.63651064e-01 5.00978827e-01 -5.59200655e-02 3.55135111e+02] [-4.99821634e-01 8.65458294e-01 3.40628191e-02 9.01302891e+01] [ 6.54612357e-02 -1.46833147e-03 9.97854033e-01 1.44251855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.18, Y:90.10, Z:144.25 [[ 8.62822706e-01 5.02403799e-01 -5.59231693e-02 3.55184796e+02] [-5.01249921e-01 8.64632054e-01 3.40577227e-02 9.00992560e+01] [ 6.54636940e-02 -1.35429230e-03 9.97854033e-01 1.44253828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.442755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:355.24, Y:90.06, Z:144.26 [[ 8.62352644e-01 5.03209869e-01 -5.59262479e-02 3.55235718e+02] [-5.02058010e-01 8.64163278e-01 3.40526666e-02 9.00649051e+01] [ 6.54650476e-02 -1.28718640e-03 9.97854033e-01 1.44259871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.29, Y:90.04, Z:144.26 [[ 8.64895305e-01 4.98827600e-01 -5.59208055e-02 3.55287626e+02] [-4.97665990e-01 8.66699700e-01 3.40616017e-02 9.00395427e+01] [ 6.54574123e-02 -1.62983636e-03 9.97854033e-01 1.44263278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.562755096 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:355.34, Y:90.01, Z:144.26 [[ 8.65160076e-01 4.98367643e-01 -5.59261685e-02 3.55337708e+02] [-4.97205643e-01 8.66964218e-01 3.40527938e-02 9.00085844e+01] [ 6.54567975e-02 -1.65431108e-03 9.97854033e-01 1.44263191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.39, Y:89.98, Z:144.27 [[ 8.63931470e-01 5.00494069e-01 -5.59294442e-02 3.55390104e+02] [-4.99336858e-01 8.65738688e-01 3.40474129e-02 8.99764057e+01] [ 6.54608118e-02 -1.48699849e-03 9.97854033e-01 1.44269804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.44, Y:89.95, Z:144.27 [[ 8.63505112e-01 5.01230506e-01 -5.59187026e-02 3.55441015e+02] [-5.00073695e-01 8.65312586e-01 3.40650455e-02 8.99469561e+01] [ 6.54615971e-02 -1.45186876e-03 9.97854033e-01 1.44273041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.49, Y:89.92, Z:144.28 [[ 8.64431961e-01 4.99629440e-01 -5.59268163e-02 3.55491243e+02] [-4.98470143e-01 8.66237841e-01 3.40517195e-02 8.99170284e+01] [ 6.54591661e-02 -1.55754655e-03 9.97854033e-01 1.44276098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.54, Y:89.88, Z:144.27 [[ 8.63807290e-01 5.00707556e-01 -5.59366535e-02 3.55541288e+02] [-4.99551559e-01 8.65615285e-01 3.40355523e-02 8.98847538e+01] [ 6.54614804e-02 -1.45691570e-03 9.97854033e-01 1.44273696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.59, Y:89.85, Z:144.28 [[ 8.63007212e-01 5.02084944e-01 -5.59397946e-02 3.55590755e+02] [-5.00932167e-01 8.64817262e-01 3.40303888e-02 8.98508758e+01] [ 6.54638459e-02 -1.34642843e-03 9.97854033e-01 1.44278516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.64, Y:89.82, Z:144.28 [[ 8.62289752e-01 5.03316204e-01 -5.59391006e-02 3.55641211e+02] [-5.02165938e-01 8.64101398e-01 3.40315297e-02 8.98158086e+01] [ 6.54656753e-02 -1.25432839e-03 9.97854033e-01 1.44282446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.69, Y:89.78, Z:144.29 [[ 8.62693144e-01 5.02624623e-01 -5.59377198e-02 3.55691053e+02] [-5.01472757e-01 8.64503773e-01 3.40337991e-02 8.97825840e+01] [ 6.54645953e-02 -1.30948250e-03 9.97854033e-01 1.44286438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.74, Y:89.75, Z:144.29 [[ 8.62762528e-01 5.02505599e-01 -5.59369526e-02 3.55741771e+02] [-5.01353402e-01 8.64572947e-01 3.40350600e-02 8.97469061e+01] [ 6.54643842e-02 -1.31999294e-03 9.97854033e-01 1.44291163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.79, Y:89.71, Z:144.30 [[ 8.62792127e-01 5.02455845e-01 -5.59273562e-02 3.55792896e+02] [-5.01302522e-01 8.64601829e-01 3.40508219e-02 8.97111034e+01] [ 6.54639289e-02 -1.34225633e-03 9.97854034e-01 1.44295736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.84, Y:89.68, Z:144.30 [[ 8.62040213e-01 5.03745839e-01 -5.59178115e-02 3.55844319e+02] [-5.02594209e-01 8.63850991e-01 3.40664888e-02 8.96754590e+01] [ 6.54655089e-02 -1.26271505e-03 9.97854034e-01 1.44301399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.90, Y:89.64, Z:144.31 [[ 8.60609253e-01 5.06187846e-01 -5.59068673e-02 3.55897196e+02] [-5.05040189e-01 8.62422552e-01 3.40844400e-02 8.96409082e+01] [ 6.54684725e-02 -1.09816959e-03 9.97854034e-01 1.44305520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.95, Y:89.61, Z:144.31 [[ 8.58800081e-01 5.09252475e-01 -5.58957785e-02 3.55949563e+02] [-5.08110106e-01 8.60616716e-01 3.41026151e-02 8.96088054e+01] [ 6.54716825e-02 -8.86118650e-04 9.97854034e-01 1.44309152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.00, Y:89.57, Z:144.31 [[ 8.56497957e-01 5.13116024e-01 -5.58855683e-02 3.56001345e+02] [-5.11980759e-01 8.58319039e-01 3.41193388e-02 8.95738484e+01] [ 6.54748268e-02 -6.10808302e-04 9.97854034e-01 1.44311714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.05, Y:89.54, Z:144.32 [[ 8.54711633e-01 5.16087312e-01 -5.58740646e-02 3.56053762e+02] [-5.14957148e-01 8.56535885e-01 3.41381671e-02 8.95418349e+01] [ 6.54764162e-02 -4.05539621e-04 9.97854035e-01 1.44315375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.11, Y:89.51, Z:144.32 [[ 8.53398602e-01 5.18256789e-01 -5.58634643e-02 3.56106200e+02] [-5.17130127e-01 8.55225019e-01 3.41555045e-02 8.95099717e+01] [ 6.54771544e-02 -2.59579442e-04 9.97854035e-01 1.44320283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.16, Y:89.48, Z:144.32 [[ 8.53622649e-01 5.17888267e-01 -5.58580025e-02 3.56157324e+02] [-5.16760232e-01 8.55448218e-01 3.41644344e-02 8.94834940e+01] [ 6.54769885e-02 -2.98340638e-04 9.97854035e-01 1.44321546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.21, Y:89.45, Z:144.33 [[ 8.52166685e-01 5.20280181e-01 -5.58611967e-02 3.56206389e+02] [-5.19157613e-01 8.53995621e-01 3.41592109e-02 8.94519979e+01] [ 6.54775778e-02 -1.08575925e-04 9.97854035e-01 1.44328519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.26, Y:89.42, Z:144.33 [[ 8.53532779e-01 5.18035740e-01 -5.58638239e-02 3.56256253e+02] [-5.16908644e-01 8.55358928e-01 3.41549139e-02 8.94225388e+01] [ 6.54770866e-02 -2.75845090e-04 9.97854035e-01 1.44332837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.31, Y:89.39, Z:144.34 [[ 8.56268805e-01 5.13500352e-01 -5.58670054e-02 3.56308231e+02] [-5.12363923e-01 8.58089161e-01 3.41497092e-02 8.93902464e+01] [ 6.54747594e-02 -6.17092637e-04 9.97854035e-01 1.44338112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.36, Y:89.36, Z:144.34 [[ 8.60151809e-01 5.06969321e-01 -5.58656787e-02 3.56360622e+02] [-5.05818931e-01 8.61963374e-01 3.41518793e-02 8.93640629e+01] [ 6.54681240e-02 -1.11788288e-03 9.97854035e-01 1.44337627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.822755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:356.41, Y:89.33, Z:144.34 [[ 8.61927789e-01 5.03943648e-01 -5.58684733e-02 3.56411343e+02] [-5.02787196e-01 8.63735490e-01 3.41473072e-02 8.93346009e+01] [ 6.54639017e-02 -1.34255992e-03 9.97854035e-01 1.44343356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.46, Y:89.30, Z:144.35 [[ 8.62827144e-01 5.02401913e-01 -5.58716086e-02 3.56464847e+02] [-5.01242563e-01 8.64632988e-01 3.41421764e-02 8.93025329e+01] [ 6.54615306e-02 -1.45356829e-03 9.97854035e-01 1.44346144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.942755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:356.51, Y:89.27, Z:144.35 [[ 8.63163400e-01 5.01825157e-01 -5.58610491e-02 3.56514787e+02] [-5.00663483e-01 8.64967750e-01 3.41594443e-02 8.92724018e+01] [ 6.54600745e-02 -1.51759469e-03 9.97854035e-01 1.44351558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.80, Y:89.82, Z:145.54 [[ 8.79260399e-01 4.73053297e-01 -5.58724347e-02 3.56797700e+02] [-4.71833863e-01 8.81026226e-01 3.41408115e-02 8.98193771e+01] [ 6.53755037e-02 -3.65615686e-03 9.97854035e-01 1.45535077e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 506.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.85, Y:89.79, Z:145.54 [[ 8.78692163e-01 4.73979733e-01 -5.69499332e-02 3.56849286e+02] [-4.72884204e-01 8.80534646e-01 3.22376577e-02 8.97934754e+01] [ 6.54263856e-02 -1.39625333e-03 9.97856422e-01 1.45537368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.90, Y:89.77, Z:145.54 [[ 8.77926732e-01 4.75395613e-01 -5.69531765e-02 3.56900249e+02] [-4.74303427e-01 8.79771199e-01 3.22319268e-02 8.97650487e+01] [ 6.54286809e-02 -1.28418338e-03 9.97856422e-01 1.45541219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.95, Y:89.74, Z:145.55 [[ 8.77026504e-01 4.77053877e-01 -5.69570860e-02 3.56950032e+02] [-4.75965627e-01 8.78873296e-01 3.22250167e-02 8.97358851e+01] [ 6.54311311e-02 -1.15257853e-03 9.97856422e-01 1.45547285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.01, Y:89.71, Z:145.55 [[ 8.78793128e-01 4.73791185e-01 -5.69609572e-02 3.57006508e+02] [-4.72696523e-01 8.80636126e-01 3.22181727e-02 8.97079024e+01] [ 6.54265629e-02 -1.38786238e-03 9.97856422e-01 1.45549983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.06, Y:89.68, Z:145.55 [[ 8.78112172e-01 4.75053312e-01 -5.69505368e-02 3.57060858e+02] [-4.73960105e-01 8.79956034e-01 3.22365818e-02 8.96800865e+01] [ 6.54280634e-02 -1.31505252e-03 9.97856422e-01 1.45551817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.11, Y:89.65, Z:145.55 [[ 8.77592831e-01 4.76013032e-01 -5.69422236e-02 3.57113700e+02] [-4.74920890e-01 8.79437323e-01 3.22512594e-02 8.96530435e+01] [ 6.54291364e-02 -1.26042257e-03 9.97856422e-01 1.45552447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.16, Y:89.62, Z:145.56 [[ 8.75193109e-01 4.80410580e-01 -5.69446801e-02 3.57162862e+02] [-4.79327989e-01 8.77043223e-01 3.22469214e-02 8.96215778e+01] [ 6.54347080e-02 -9.27104345e-04 9.97856422e-01 1.45560186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.22, Y:89.59, Z:145.56 [[ 8.74568320e-01 4.81546758e-01 -5.69471093e-02 3.57217548e+02] [-4.80466850e-01 8.76420002e-01 3.22426311e-02 8.95907567e+01] [ 6.54359200e-02 -8.37185520e-04 9.97856422e-01 1.45562747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.27, Y:89.56, Z:145.57 [[ 8.73756755e-01 4.83019032e-01 -5.69363447e-02 3.57269485e+02] [-4.81941006e-01 8.75609533e-01 3.22616287e-02 8.95566055e+01] [ 6.54369869e-02 -7.48856754e-04 9.97856423e-01 1.45569915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.32, Y:89.52, Z:145.57 [[ 8.73214444e-01 4.83999853e-01 -5.69269425e-02 3.57323240e+02] [-4.82922828e-01 8.75067803e-01 3.22782108e-02 8.95244593e+01] [ 6.54375838e-02 -6.94479887e-04 9.97856423e-01 1.45572392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.38, Y:89.49, Z:145.58 [[ 8.70371245e-01 4.89095552e-01 -5.69160590e-02 3.57375940e+02] [-4.88028123e-01 8.72230147e-01 3.22973902e-02 8.94948322e+01] [ 6.54404124e-02 -3.34082229e-04 9.97856423e-01 1.45580947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.43, Y:89.47, Z:145.58 [[ 8.70604719e-01 4.88680844e-01 -5.69074301e-02 3.57430270e+02] [-4.87611536e-01 8.72462542e-01 3.23125872e-02 8.94669931e+01] [ 6.54401434e-02 -3.82771492e-04 9.97856423e-01 1.45582821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.48, Y:89.43, Z:145.59 [[ 8.70945946e-01 4.88073421e-01 -5.68989803e-02 3.57482436e+02] [-4.87001847e-01 8.72802462e-01 3.23274595e-02 8.94330974e+01] [ 6.54397438e-02 -4.45561288e-04 9.97856423e-01 1.45590269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.54, Y:89.41, Z:145.59 [[ 8.73592524e-01 4.83321455e-01 -5.68900142e-02 3.57536010e+02] [-4.82238755e-01 8.75442573e-01 3.23432303e-02 8.94076195e+01] [ 6.54361176e-02 -8.20234603e-04 9.97856423e-01 1.45590737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.59, Y:89.38, Z:145.60 [[ 8.75963978e-01 4.79009908e-01 -5.68912704e-02 3.57587017e+02] [-4.77918247e-01 8.77808754e-01 3.23410206e-02 8.93810377e+01] [ 6.54313245e-02 -1.14019282e-03 9.97856423e-01 1.45595334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.64, Y:89.35, Z:145.60 [[ 8.75472338e-01 4.79907512e-01 -5.68943392e-02 3.57639188e+02] [-4.78818093e-01 8.77318438e-01 3.23356210e-02 8.93479125e+01] [ 6.54325603e-02 -1.06690272e-03 9.97856423e-01 1.45602874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.69, Y:89.32, Z:145.60 [[ 8.77267515e-01 4.76619111e-01 -5.68852357e-02 3.57694335e+02] [-4.75521735e-01 8.79108896e-01 3.23516282e-02 8.93207880e+01] [ 6.54277210e-02 -1.33086652e-03 9.97856424e-01 1.45604442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.082755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:357.75, Y:89.29, Z:145.61 [[ 8.77855130e-01 4.75536947e-01 -5.68769161e-02 3.57747361e+02] [-4.74436354e-01 8.79694590e-01 3.23662482e-02 8.92923392e+01] [ 6.54256622e-02 -1.42840034e-03 9.97856424e-01 1.45608888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.80, Y:89.26, Z:145.61 [[ 8.78518137e-01 4.74310974e-01 -5.68769161e-02 3.57799551e+02] [-4.73207815e-01 8.80356059e-01 3.23662482e-02 8.92644158e+01] [ 6.54236044e-02 -1.51973493e-03 9.97856424e-01 1.45607756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.85, Y:89.23, Z:145.62 [[ 8.78825710e-01 4.73740619e-01 -5.68787878e-02 3.57853021e+02] [-4.72636479e-01 8.80663044e-01 3.23629586e-02 8.92331226e+01] [ 6.54226944e-02 -1.55841010e-03 9.97856424e-01 1.45615476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.90, Y:89.20, Z:145.62 [[ 8.79278911e-01 4.72900034e-01 -5.68696203e-02 3.57904949e+02] [-4.71793098e-01 8.81114561e-01 3.23790601e-02 8.92034755e+01] [ 6.54207092e-02 -1.63953040e-03 9.97856424e-01 1.45623668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.96, Y:89.17, Z:145.63 [[ 8.78781139e-01 4.73824470e-01 -5.68689795e-02 3.57956043e+02] [-4.72719392e-01 8.80617908e-01 3.23801855e-02 8.91749428e+01] [ 6.54223660e-02 -1.57202688e-03 9.97856424e-01 1.45625604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.01, Y:89.15, Z:145.63 [[ 8.79198896e-01 4.73048623e-01 -5.68709172e-02 3.58009714e+02] [-4.71942143e-01 8.81034822e-01 3.23767820e-02 8.91484017e+01] [ 6.54210505e-02 -1.62584841e-03 9.97856424e-01 1.45628770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.06, Y:89.12, Z:145.63 [[ 8.77691462e-01 4.75839493e-01 -5.68724434e-02 3.58063152e+02] [-4.74739026e-01 8.79530997e-01 3.23741007e-02 8.91176567e+01] [ 6.54259526e-02 -1.41490340e-03 9.97856424e-01 1.45634622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.11, Y:89.09, Z:145.64 [[ 8.76917576e-01 4.77265392e-01 -5.68622023e-02 3.58114085e+02] [-4.76166751e-01 8.78758202e-01 3.23920784e-02 8.90901041e+01] [ 6.54277447e-02 -1.32929276e-03 9.97856424e-01 1.45642385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.17, Y:89.06, Z:145.65 [[ 8.75260318e-01 4.80297524e-01 -5.68653165e-02 3.58165476e+02] [-4.79205615e-01 8.77104946e-01 3.23866105e-02 8.90618876e+01] [ 6.54320591e-02 -1.09653601e-03 9.97856424e-01 1.45646641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.22, Y:89.03, Z:145.65 [[ 8.73668133e-01 4.83187383e-01 -5.68677992e-02 3.58217180e+02] [-4.82101860e-01 8.75516526e-01 3.23822505e-02 8.90345852e+01] [ 6.54353928e-02 -8.75268616e-04 9.97856424e-01 1.45650085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.27, Y:89.01, Z:145.65 [[ 8.73261847e-01 4.83920981e-01 -5.68703020e-02 3.58267513e+02] [-4.82837297e-01 8.75111318e-01 3.23778543e-02 8.90060751e+01] [ 6.54361680e-02 -8.15241971e-04 9.97856424e-01 1.45652975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.32, Y:88.98, Z:145.65 [[ 8.74474858e-01 4.81725173e-01 -5.68733836e-02 3.58318702e+02] [-4.80637196e-01 8.76321808e-01 3.23724405e-02 8.89760228e+01] [ 6.54340058e-02 -9.73421702e-04 9.97856424e-01 1.45653060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.37, Y:88.95, Z:145.66 [[ 8.76458426e-01 4.78106386e-01 -5.68762810e-02 3.58367234e+02] [-4.77011115e-01 8.78301059e-01 3.23673491e-02 8.89456378e+01] [ 6.54295342e-02 -1.23801765e-03 9.97856424e-01 1.45659555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.42, Y:88.92, Z:145.66 [[ 8.77532515e-01 4.76131492e-01 -5.68813509e-02 3.58417012e+02] [-4.75032651e-01 8.79373022e-01 3.23584371e-02 8.89158063e+01] [ 6.54267963e-02 -1.37508174e-03 9.97856424e-01 1.45662519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.47, Y:88.89, Z:145.67 [[ 8.78828119e-01 4.73735344e-01 -5.68855111e-02 3.58466954e+02] [-4.72631959e-01 8.80665905e-01 3.23511219e-02 8.88861017e+01] [ 6.54229999e-02 -1.54516506e-03 9.97856424e-01 1.45665821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.52, Y:88.85, Z:145.67 [[ 8.78428203e-01 4.74475975e-01 -5.68897324e-02 3.58520129e+02] [-4.73374620e-01 8.80267206e-01 3.23436970e-02 8.88542580e+01] [ 6.54244729e-02 -1.48146017e-03 9.97856424e-01 1.45669859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.57, Y:88.82, Z:145.67 [[ 8.76664183e-01 4.77728487e-01 -5.68806032e-02 3.58570635e+02] [-4.76632915e-01 8.78506637e-01 3.23597439e-02 8.88239127e+01] [ 6.54291589e-02 -1.25746076e-03 9.97856425e-01 1.45669721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.62, Y:88.79, Z:145.67 [[ 8.76006006e-01 4.78933983e-01 -5.68833675e-02 3.58621552e+02] [-4.77841262e-01 8.77850153e-01 3.23548840e-02 8.87941395e+01] [ 6.54309263e-02 -1.16185268e-03 9.97856425e-01 1.45671796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.67, Y:88.76, Z:145.68 [[ 8.73432094e-01 4.83611771e-01 -5.68861316e-02 3.58670985e+02] [-4.82529244e-01 8.75282243e-01 3.23500233e-02 8.87622815e+01] [ 6.54362730e-02 -8.06326554e-04 9.97856425e-01 1.45676199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.72, Y:88.73, Z:145.68 [[ 8.73016075e-01 4.84362036e-01 -5.68889269e-02 3.58723081e+02] [-4.83281420e-01 8.74867341e-01 3.23451069e-02 8.87283092e+01] [ 6.54370061e-02 -7.44436944e-04 9.97856425e-01 1.45680780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.78, Y:88.70, Z:145.69 [[ 8.73558920e-01 4.83383369e-01 -5.68799897e-02 3.58775290e+02] [-4.82299655e-01 8.75408374e-01 3.23608158e-02 8.86952261e+01] [ 6.54358994e-02 -8.35879917e-04 9.97856425e-01 1.45685729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.82, Y:88.66, Z:145.69 [[ 8.75187710e-01 4.80429135e-01 -5.68710682e-02 3.58824690e+02] [-4.79338161e-01 8.77032890e-01 3.23764868e-02 8.86623731e+01] [ 6.54324049e-02 -1.07503009e-03 9.97856425e-01 1.45689597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.87, Y:88.63, Z:145.69 [[ 8.75662506e-01 4.79562939e-01 -5.68732184e-02 3.58874022e+02] [-4.78470385e-01 8.77506751e-01 3.23727093e-02 8.86317068e+01] [ 6.54313848e-02 -1.13541704e-03 9.97856425e-01 1.45693869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.92, Y:88.60, Z:145.70 [[ 8.74349453e-01 4.81952254e-01 -5.68775851e-02 3.58923743e+02] [-4.80865239e-01 8.76196968e-01 3.23650354e-02 8.86018736e+01] [ 6.54343694e-02 -9.47897400e-04 9.97856425e-01 1.45698426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.97, Y:88.57, Z:145.70 [[ 8.72446739e-01 4.85387712e-01 -5.68810696e-02 3.58972788e+02] [-4.84308372e-01 8.74298749e-01 3.23589104e-02 8.85716708e+01] [ 6.54376654e-02 -6.83447636e-04 9.97856425e-01 1.45702338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.02, Y:88.54, Z:145.70 [[ 8.70997519e-01 4.87983120e-01 -5.68840693e-02 3.59024897e+02] [-4.86909643e-01 8.72852933e-01 3.23536363e-02 8.85436519e+01] [ 6.54394551e-02 -4.82535037e-04 9.97856425e-01 1.45703392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.08, Y:88.52, Z:145.71 [[ 8.68752022e-01 4.91969363e-01 -5.68864720e-02 3.59076490e+02] [-4.90904677e-01 8.70612494e-01 3.23494112e-02 8.85161721e+01] [ 6.54409924e-02 -1.77781251e-04 9.97856425e-01 1.45709174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.13, Y:88.49, Z:145.71 [[ 8.68841588e-01 4.91810858e-01 -5.68891472e-02 3.59128504e+02] [-4.90746140e-01 8.70702042e-01 3.23447058e-02 8.84876908e+01] [ 6.54409742e-02 -1.84296213e-04 9.97856425e-01 1.45711660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.18, Y:88.46, Z:145.72 [[ 8.68997020e-01 4.91535849e-01 -5.68918913e-02 3.59180069e+02] [-4.90470859e-01 8.70857318e-01 3.23398785e-02 8.84591448e+01] [ 6.54409295e-02 -1.99443302e-04 9.97856425e-01 1.45716501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.23, Y:88.43, Z:145.72 [[ 8.70529330e-01 4.88816612e-01 -5.68946783e-02 3.59232067e+02] [-4.87746131e-01 8.72386475e-01 3.23349747e-02 8.84317037e+01] [ 6.54400206e-02 -3.98384653e-04 9.97856425e-01 1.45720298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.28, Y:88.40, Z:145.72 [[ 8.71970581e-01 4.86240751e-01 -5.68967243e-02 3.59281677e+02] [-4.85165019e-01 8.73824689e-01 3.23313741e-02 8.84041127e+01] [ 6.54385940e-02 -5.87706781e-04 9.97856425e-01 1.45724800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.33, Y:88.38, Z:145.73 [[ 8.72949582e-01 4.84480389e-01 -5.69015008e-02 3.59332580e+02] [-4.83401466e-01 8.74801834e-01 3.23229656e-02 8.83765668e+01] [ 6.54373802e-02 -7.10050365e-04 9.97856425e-01 1.45728973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.39, Y:88.35, Z:145.73 [[ 8.73425683e-01 4.83621066e-01 -5.69055417e-02 3.59386256e+02] [-4.82540784e-01 8.75277143e-01 3.23158499e-02 8.83511343e+01] [ 6.54367457e-02 -7.66248597e-04 9.97856425e-01 1.45729352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.062755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.44, Y:88.32, Z:145.73 [[ 8.72525328e-01 4.85243301e-01 -5.69077372e-02 3.59438964e+02] [-4.84166714e-01 8.74378939e-01 3.23119832e-02 8.83243154e+01] [ 6.54381002e-02 -6.40191663e-04 9.97856425e-01 1.45733761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.49, Y:88.30, Z:145.74 [[ 8.71630755e-01 4.86848018e-01 -5.69107580e-02 3.59490208e+02] [-4.85775190e-01 8.73486545e-01 3.23066617e-02 8.82960988e+01] [ 6.54392156e-02 -5.13645643e-04 9.97856425e-01 1.45735886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.182755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.54, Y:88.27, Z:145.74 [[ 8.72228876e-01 4.85775292e-01 -5.69135670e-02 3.59543114e+02] [-4.84700505e-01 8.74083531e-01 3.23017125e-02 8.82698062e+01] [ 6.54385854e-02 -5.88451707e-04 9.97856425e-01 1.45737713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.59, Y:88.24, Z:145.74 [[ 8.72422120e-01 4.85427793e-01 -5.69166254e-02 3.59593077e+02] [-4.84352619e-01 8.74276551e-01 3.22963225e-02 8.82410135e+01] [ 6.54384036e-02 -6.08309592e-04 9.97856425e-01 1.45744373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.302755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.64, Y:88.21, Z:145.75 [[ 8.74574342e-01 4.81538983e-01 -5.69203579e-02 3.59644473e+02] [-4.80455993e-01 8.76424219e-01 3.22897429e-02 8.82096331e+01] [ 6.54351502e-02 -8.92053587e-04 9.97856425e-01 1.45750233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.70, Y:88.18, Z:145.76 [[ 8.75755950e-01 4.79387026e-01 -5.69174429e-02 3.59698516e+02] [-4.78299156e-01 8.77602961e-01 3.22948804e-02 8.81767979e+01] [ 6.54326631e-02 -1.05886871e-03 9.97856425e-01 1.45755531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.75, Y:88.14, Z:145.76 [[ 8.77128023e-01 4.76873157e-01 -5.69071521e-02 3.59752275e+02] [-4.75778818e-01 8.78971209e-01 3.23130039e-02 8.81446669e+01] [ 6.54289524e-02 -1.26742364e-03 9.97856425e-01 1.45760211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.81, Y:88.11, Z:145.76 [[ 8.77766237e-01 4.75698610e-01 -5.68969734e-02 3.59807250e+02] [-4.74600645e-01 8.79607265e-01 3.23309166e-02 8.81134830e+01] [ 6.54267632e-02 -1.37564675e-03 9.97856426e-01 1.45763496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.86, Y:88.08, Z:145.76 [[ 8.76875465e-01 4.77339858e-01 -5.68865444e-02 3.59862255e+02] [-4.76244149e-01 8.78717837e-01 3.23492562e-02 8.80836139e+01] [ 6.54288106e-02 -1.27438512e-03 9.97856426e-01 1.45764376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.602755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.92, Y:88.05, Z:145.77 [[ 8.76033540e-01 4.78884482e-01 -5.68760934e-02 3.59916418e+02] [-4.77790830e-01 8.77877133e-01 3.23676206e-02 8.80517354e+01] [ 6.54305730e-02 -1.18024530e-03 9.97856426e-01 1.45767774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.97, Y:88.02, Z:145.77 [[ 8.74806080e-01 4.81124330e-01 -5.68656467e-02 3.59970127e+02] [-4.80034206e-01 8.76651761e-01 3.23859637e-02 8.80196821e+01] [ 6.54330444e-02 -1.03398234e-03 9.97856426e-01 1.45773485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.722755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.02, Y:87.99, Z:145.78 [[ 8.75011565e-01 4.80751800e-01 -5.68548044e-02 3.60024768e+02] [-4.79659655e-01 8.76856050e-01 3.24049867e-02 8.79904568e+01] [ 6.54322349e-02 -1.08378229e-03 9.97856427e-01 1.45778760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.08, Y:87.96, Z:145.78 [[ 8.73648687e-01 4.83225246e-01 -5.68448207e-02 3.60076882e+02] [-4.82137184e-01 8.75495584e-01 3.24224906e-02 8.79576008e+01] [ 6.54347555e-02 -9.18864530e-04 9.97856427e-01 1.45783269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.842755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.13, Y:87.93, Z:145.79 [[ 8.75405217e-01 4.80036874e-01 -5.68357805e-02 3.60131627e+02] [-4.78941058e-01 8.77247524e-01 3.24383302e-02 8.79284952e+01] [ 6.54306423e-02 -1.17569467e-03 9.97856427e-01 1.45787321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.18, Y:87.90, Z:145.79 [[ 8.76337629e-01 4.78333654e-01 -5.68267243e-02 3.60184438e+02] [-4.77233230e-01 8.78177186e-01 3.24541874e-02 8.78985310e+01] [ 6.54278629e-02 -1.32122442e-03 9.97856427e-01 1.45792097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.962755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.24, Y:87.87, Z:145.79 [[ 8.78037248e-01 4.75207587e-01 -5.68184901e-02 3.60241046e+02] [-4.74099683e-01 8.79872310e-01 3.24685969e-02 8.78711459e+01] [ 6.54223397e-02 -1.57100928e-03 9.97856427e-01 1.45791688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.30, Y:87.84, Z:145.80 [[ 8.78096077e-01 4.75100171e-01 -5.68076298e-02 3.60295144e+02] [-4.73990814e-01 8.79930261e-01 3.24875872e-02 8.78397321e+01] [ 6.54216108e-02 -1.60092823e-03 9.97856427e-01 1.45796297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.082755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.35, Y:87.81, Z:145.80 [[ 8.76691967e-01 4.77687523e-01 -5.67963428e-02 3.60348312e+02] [-4.76582303e-01 8.78528647e-01 3.25073078e-02 8.78072573e+01] [ 6.54255495e-02 -1.43076378e-03 9.97856428e-01 1.45800852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.14275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.40, Y:87.78, Z:145.81 [[ 8.75029524e-01 4.80726845e-01 -5.67893694e-02 3.60401699e+02] [-4.79627215e-01 8.76869556e-01 3.25194855e-02 8.77750640e+01] [ 6.54298588e-02 -1.21778283e-03 9.97856428e-01 1.45807946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.20275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.45, Y:87.74, Z:145.81 [[ 8.73056707e-01 4.84301758e-01 -5.67784541e-02 3.60454742e+02] [-4.83208425e-01 8.74900487e-01 3.25385323e-02 8.77442968e+01] [ 6.54339656e-02 -9.72156547e-04 9.97856428e-01 1.45812651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.26275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.50, Y:87.71, Z:145.82 [[ 8.71736578e-01 4.86674979e-01 -5.67697492e-02 3.60504797e+02] [-4.85585677e-01 8.73582742e-01 3.25537127e-02 8.77141151e+01] [ 6.54361505e-02 -8.11684989e-04 9.97856428e-01 1.45815005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.322755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.56, Y:87.69, Z:145.81 [[ 8.72802741e-01 4.84760041e-01 -5.67721635e-02 3.60555672e+02] [-4.83666963e-01 8.74646671e-01 3.25495016e-02 8.76857086e+01] [ 6.54342816e-02 -9.50474289e-04 9.97856428e-01 1.45813499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.61, Y:87.66, Z:145.82 [[ 8.70751414e-01 4.88434753e-01 -5.67755842e-02 3.60609354e+02] [-4.87349846e-01 8.72600164e-01 3.25435339e-02 8.76557760e+01] [ 6.54377770e-02 -6.67755983e-04 9.97856428e-01 1.45820516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.442755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.66, Y:87.62, Z:145.83 [[ 8.69928251e-01 4.89900406e-01 -5.67664524e-02 3.60660349e+02] [-4.88817575e-01 8.71778217e-01 3.25594549e-02 8.76240730e+01] [ 6.54386469e-02 -5.75949993e-04 9.97856428e-01 1.45828160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.71, Y:87.59, Z:145.83 [[ 8.70083197e-01 4.89625238e-01 -5.67658120e-02 3.60712255e+02] [-4.88541749e-01 8.71932778e-01 3.25605715e-02 8.75929103e+01] [ 6.54384497e-02 -5.97937076e-04 9.97856428e-01 1.45833081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.562755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.76, Y:87.56, Z:145.84 [[ 8.68779651e-01 4.91934508e-01 -5.67658120e-02 3.60764330e+02] [-4.90855935e-01 8.70632104e-01 3.25605715e-02 8.75599617e+01] [ 6.54398070e-02 -4.24126244e-04 9.97856428e-01 1.45840082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.82, Y:87.53, Z:145.84 [[ 8.71031815e-01 4.87936721e-01 -5.67568016e-02 3.60818842e+02] [-4.86848623e-01 8.72878688e-01 3.25762700e-02 8.75318308e+01] [ 6.54369609e-02 -7.42996799e-04 9.97856429e-01 1.45843105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.682755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.87, Y:87.50, Z:145.85 [[ 8.71495695e-01 4.87107857e-01 -5.67555203e-02 3.60872707e+02] [-4.86017858e-01 8.73341447e-01 3.25785021e-02 8.74992178e+01] [ 6.54361926e-02 -8.07827939e-04 9.97856429e-01 1.45846558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.93, Y:87.47, Z:145.85 [[ 8.71471585e-01 4.87152280e-01 -5.67444581e-02 3.60926814e+02] [-4.86061121e-01 8.73316651e-01 3.25977587e-02 8.74686490e+01] [ 6.54359526e-02 -8.26745482e-04 9.97856429e-01 1.45850497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.802755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.98, Y:87.44, Z:145.85 [[ 8.71751262e-01 4.86652820e-01 -5.67342093e-02 3.60979236e+02] [-4.85559444e-01 8.73595015e-01 3.26155863e-02 8.74390899e+01] [ 6.54351895e-02 -8.84847428e-04 9.97856429e-01 1.45853957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.03, Y:87.41, Z:145.86 [[ 8.72357416e-01 4.85565485e-01 -5.67335722e-02 3.61032761e+02] [-4.84469739e-01 8.74199762e-01 3.26166945e-02 8.74072285e+01] [ 6.54340164e-02 -9.67716439e-04 9.97856429e-01 1.45855066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.08, Y:87.38, Z:145.86 [[ 8.73668818e-01 4.83202975e-01 -5.67246027e-02 3.61082060e+02] [-4.82101236e-01 8.75507586e-01 3.26322862e-02 8.73780185e+01] [ 6.54308377e-02 -1.16280993e-03 9.97856429e-01 1.45860018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.13, Y:87.35, Z:145.86 [[ 8.73102973e-01 4.84224340e-01 -5.67273112e-02 3.61132133e+02] [-4.83125057e-01 8.74943210e-01 3.26275772e-02 8.73483039e+01] [ 6.54322427e-02 -1.08084915e-03 9.97856429e-01 1.45864279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.18, Y:87.32, Z:145.87 [[ 8.73917502e-01 4.82752414e-01 -5.67301201e-02 3.61181889e+02] [-4.81650349e-01 8.75756074e-01 3.26226925e-02 8.73208322e+01] [ 6.54304308e-02 -1.18545974e-03 9.97856429e-01 1.45866681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.102755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.23, Y:87.29, Z:145.87 [[ 8.72117784e-01 4.85995588e-01 -5.67349922e-02 3.61232103e+02] [-4.84900912e-01 8.73960765e-01 3.26142172e-02 8.72906814e+01] [ 6.54345228e-02 -9.32589388e-04 9.97856429e-01 1.45870020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.28, Y:87.26, Z:145.88 [[ 8.70785585e-01 4.88378220e-01 -5.67378042e-02 3.61283678e+02] [-4.87288906e-01 8.72631741e-01 3.26093244e-02 8.72628378e+01] [ 6.54368927e-02 -7.48027123e-04 9.97856429e-01 1.45876616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.222755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.34, Y:87.23, Z:145.88 [[ 8.69537972e-01 4.90595774e-01 -5.67406566e-02 3.61335572e+02] [-4.89511491e-01 8.71387087e-01 3.26043605e-02 8.72327503e+01] [ 6.54386369e-02 -5.75526044e-04 9.97856429e-01 1.45880804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.39, Y:87.20, Z:145.88 [[ 8.66709613e-01 4.95575441e-01 -5.67400181e-02 3.61389001e+02] [-4.94501710e-01 8.68564875e-01 3.26054716e-02 8.71997378e+01] [ 6.54408577e-02 -2.01439675e-04 9.97856429e-01 1.45883845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.342755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.44, Y:87.17, Z:145.89 [[ 8.66674115e-01 4.95638735e-01 -5.67293832e-02 3.61443280e+02] [-4.94563930e-01 8.68528754e-01 3.26239645e-02 8.71696848e+01] [ 6.54408010e-02 -2.18038879e-04 9.97856430e-01 1.45887419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.49, Y:87.14, Z:145.89 [[ 8.69484451e-01 4.90693062e-01 -5.67195556e-02 3.61494423e+02] [-4.89606593e-01 8.71332282e-01 3.26410417e-02 8.71390343e+01] [ 6.54383125e-02 -6.10609802e-04 9.97856430e-01 1.45889803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.462755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.54, Y:87.11, Z:145.89 [[ 8.71295364e-01 4.87470126e-01 -5.67209350e-02 3.61543484e+02] [-4.86376979e-01 8.73139252e-01 3.26386446e-02 8.71084874e+01] [ 6.54356389e-02 -8.50142762e-04 9.97856430e-01 1.45894732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.59, Y:87.08, Z:145.90 [[ 8.74182613e-01 4.82272852e-01 -5.67243831e-02 3.61594143e+02] [-4.81169132e-01 8.76020192e-01 3.26326508e-02 8.70800165e+01] [ 6.54295465e-02 -1.23287373e-03 9.97856430e-01 1.45901276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.582755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.65, Y:87.05, Z:145.91 [[ 8.74467033e-01 4.81756621e-01 -5.67271264e-02 3.61648777e+02] [-4.80652125e-01 8.76304146e-01 3.26278813e-02 8.70499474e+01] [ 6.54289139e-02 -1.26599271e-03 9.97856430e-01 1.45905302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.64275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.70, Y:87.02, Z:145.90 [[ 8.76182142e-01 4.78631281e-01 -5.67181761e-02 3.61702390e+02] [-4.77519227e-01 8.78014689e-01 3.26434325e-02 8.70238500e+01] [ 6.54235597e-02 -1.51757292e-03 9.97856430e-01 1.45903023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.70275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.75, Y:86.99, Z:145.91 [[ 8.73665210e-01 4.83210181e-01 -5.67188029e-02 3.61754042e+02] [-4.82107803e-01 8.75503594e-01 3.26423433e-02 8.69877106e+01] [ 6.54306284e-02 -1.17390222e-03 9.97856430e-01 1.45912397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.76275509600003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.81, Y:86.96, Z:145.91 [[ 8.74747848e-01 4.81248814e-01 -5.67078575e-02 3.61811926e+02] [-4.80141084e-01 8.76583011e-01 3.26613472e-02 8.69607450e+01] [ 6.54273791e-02 -1.34267104e-03 9.97856430e-01 1.45911228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.822755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.86, Y:86.93, Z:145.92 [[ 8.74761797e-01 4.81224779e-01 -5.66966551e-02 3.61864463e+02] [-4.80115739e-01 8.76596169e-01 3.26807819e-02 8.69329498e+01] [ 6.54268727e-02 -1.36694300e-03 9.97856430e-01 1.45917771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.92, Y:86.90, Z:145.92 [[ 8.72969298e-01 4.84468792e-01 -5.66973878e-02 3.61915556e+02] [-4.83366652e-01 8.74807824e-01 3.26795108e-02 8.69049908e+01] [ 6.54315215e-02 -1.12258305e-03 9.97856430e-01 1.45924428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.942755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.97, Y:86.87, Z:145.93 [[ 8.71544056e-01 4.87027768e-01 -5.67001888e-02 3.61969750e+02] [-4.85931343e-01 8.73385996e-01 3.26746501e-02 8.68734164e+01] [ 6.54346128e-02 -9.24998210e-04 9.97856430e-01 1.45928904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.02, Y:86.85, Z:145.93 [[ 8.68997295e-01 4.91558736e-01 -5.66895912e-02 3.62022911e+02] [-4.90470717e-01 8.70844212e-01 3.26930264e-02 8.68474457e+01] [ 6.54383451e-02 -6.05567058e-04 9.97856431e-01 1.45930367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.08, Y:86.82, Z:145.94 [[ 8.68760062e-01 4.91977667e-01 -5.66915391e-02 3.62075976e+02] [-4.90890758e-01 8.70607633e-01 3.26896483e-02 8.68181317e+01] [ 6.54386635e-02 -5.70108246e-04 9.97856431e-01 1.45936317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.13, Y:86.79, Z:145.94 [[ 8.67502853e-01 4.94191277e-01 -5.66902205e-02 3.62129289e+02] [-4.93108934e-01 8.69353103e-01 3.26919349e-02 8.67873162e+01] [ 6.54398881e-02 -4.05892598e-04 9.97856431e-01 1.45943667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.18, Y:86.76, Z:145.95 [[ 8.68690435e-01 4.92101824e-01 -5.66808806e-02 3.62182567e+02] [-4.91013975e-01 8.70537452e-01 3.27081202e-02 8.67591064e+01] [ 6.54385550e-02 -5.82126729e-04 9.97856431e-01 1.45949663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.23, Y:86.73, Z:145.95 [[ 8.69236353e-01 4.91137235e-01 -5.66778476e-02 3.62233450e+02] [-4.90046993e-01 8.71081959e-01 3.27133750e-02 8.67302132e+01] [ 6.54378071e-02 -6.60845973e-04 9.97856431e-01 1.45954911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.29, Y:86.70, Z:145.96 [[ 8.69717671e-01 4.90284108e-01 -5.66803934e-02 3.62285413e+02] [-4.89192343e-01 8.71562376e-01 3.27089635e-02 8.67020796e+01] [ 6.54371834e-02 -7.19949070e-04 9.97856431e-01 1.45958647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.34, Y:86.67, Z:145.96 [[ 8.69764199e-01 4.90201268e-01 -5.66829340e-02 3.62339407e+02] [-4.89109615e-01 8.71608970e-01 3.27045603e-02 8.66697992e+01] [ 6.54371706e-02 -7.21087689e-04 9.97856431e-01 1.45960049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.39, Y:86.64, Z:145.97 [[ 8.71159022e-01 4.87719425e-01 -5.66720468e-02 3.62392601e+02] [-4.86621290e-01 8.72999942e-01 3.27234152e-02 8.66389050e+01] [ 6.54345388e-02 -9.29473901e-04 9.97856431e-01 1.45965612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.45, Y:86.61, Z:145.97 [[ 8.72944379e-01 4.84517829e-01 -5.66620177e-02 3.62445459e+02] [-4.83411816e-01 8.74780577e-01 3.27407719e-02 8.66094017e+01] [ 6.54303203e-02 -1.18978387e-03 9.97856431e-01 1.45965611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.50, Y:86.58, Z:145.97 [[ 8.73881184e-01 4.82826151e-01 -5.66620177e-02 3.62500432e+02] [-4.81716584e-01 8.75715236e-01 3.27407719e-02 8.65786142e+01] [ 6.54278931e-02 -1.31651087e-03 9.97856431e-01 1.45969874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.55, Y:86.55, Z:145.98 [[ 8.73481264e-01 4.83550565e-01 -5.66509719e-02 3.62553529e+02] [-4.82441281e-01 8.75315487e-01 3.27598731e-02 8.65467994e+01] [ 6.54285282e-02 -1.28436792e-03 9.97856432e-01 1.45976184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.61, Y:86.52, Z:145.98 [[ 8.74818408e-01 4.81128438e-01 -5.66407994e-02 3.62605714e+02] [-4.80012938e-01 8.76648857e-01 3.27774518e-02 8.65191036e+01] [ 6.54242562e-02 -1.48600162e-03 9.97856432e-01 1.45982357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.66, Y:86.49, Z:145.99 [[ 8.74340232e-01 4.81996562e-01 -5.66433901e-02 3.62658429e+02] [-4.80883170e-01 8.76171963e-01 3.27729741e-02 8.64903586e+01] [ 6.54258111e-02 -1.41587684e-03 9.97856432e-01 1.45985937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.71, Y:86.47, Z:145.98 [[ 8.75344736e-01 4.80169886e-01 -5.66433901e-02 3.62711608e+02] [-4.79052672e-01 8.77174139e-01 3.27729741e-02 8.64656170e+01] [ 6.54227122e-02 -1.55248304e-03 9.97856432e-01 1.45978597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.76, Y:86.44, Z:145.99 [[ 8.74150475e-01 4.82340238e-01 -5.66466462e-02 3.62760049e+02] [-4.81227930e-01 8.75982866e-01 3.27673450e-02 8.64360472e+01] [ 6.54265005e-02 -1.38364189e-03 9.97856432e-01 1.45991212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.81, Y:86.41, Z:146.00 [[ 8.73993090e-01 4.82625025e-01 -5.66494873e-02 3.62809404e+02] [-4.81513632e-01 8.75826036e-01 3.27624325e-02 8.64053010e+01] [ 6.54270657e-02 -1.35663923e-03 9.97856432e-01 1.45995943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.86, Y:86.38, Z:146.00 [[ 8.76200489e-01 4.78604398e-01 -5.66615691e-02 3.62861697e+02] [-4.77485947e-01 8.78029136e-01 3.27415241e-02 8.63772621e+01] [ 6.54207460e-02 -1.63303650e-03 9.97856432e-01 1.46002611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.022755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:362.91, Y:86.35, Z:146.00 [[ 8.76080972e-01 4.78822983e-01 -5.66628801e-02 3.62912408e+02] [-4.77705135e-01 8.77909987e-01 3.27392552e-02 8.63450975e+01] [ 6.54212162e-02 -1.61408974e-03 9.97856432e-01 1.46000989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.96, Y:86.31, Z:146.01 [[ 8.73595423e-01 4.83342744e-01 -5.66641786e-02 3.62961890e+02] [-4.82234505e-01 8.75430277e-01 3.27370076e-02 8.63119878e+01] [ 6.54287327e-02 -1.27347788e-03 9.97856432e-01 1.46014721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.02, Y:86.29, Z:146.01 [[ 8.73518206e-01 4.83482280e-01 -5.66641786e-02 3.63016602e+02] [-4.82374334e-01 8.75353237e-01 3.27370076e-02 8.62882092e+01] [ 6.54289352e-02 -1.26302673e-03 9.97856432e-01 1.46014826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.07, Y:86.26, Z:146.02 [[ 8.70770267e-01 4.88413836e-01 -5.66662726e-02 3.63065412e+02] [-4.87316520e-01 8.72611675e-01 3.27333827e-02 8.62550636e+01] [ 6.54350880e-02 -8.88845593e-04 9.97856432e-01 1.46019923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.12, Y:86.23, Z:146.02 [[ 8.69390640e-01 4.90865085e-01 -5.66690751e-02 3.63117493e+02] [-4.89773277e-01 8.71235318e-01 3.27285302e-02 8.62254774e+01] [ 6.54373924e-02 -6.98879147e-04 9.97856432e-01 1.46019867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.17, Y:86.19, Z:146.03 [[ 8.68670945e-01 4.92137435e-01 -5.66703950e-02 3.63166602e+02] [-4.91048479e-01 8.70517309e-01 3.27262446e-02 8.61937354e+01] [ 6.54383698e-02 -6.00426564e-04 9.97856432e-01 1.46025697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.22, Y:86.17, Z:146.03 [[ 8.68729781e-01 4.92033346e-01 -5.66723430e-02 3.63216974e+02] [-4.90944388e-01 8.70576143e-01 3.27228708e-02 8.61658961e+01] [ 6.54383334e-02 -6.04363599e-04 9.97856432e-01 1.46025464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.27, Y:86.13, Z:146.03 [[ 8.71492712e-01 4.87122549e-01 -5.66751707e-02 3.63267468e+02] [-4.86023507e-01 8.73333090e-01 3.27179725e-02 8.61322129e+01] [ 6.54339641e-02 -9.68009382e-04 9.97856432e-01 1.46032656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.32, Y:86.10, Z:146.04 [[ 8.72697629e-01 4.84960741e-01 -5.66738755e-02 3.63317629e+02] [-4.83856994e-01 8.74535189e-01 3.27202159e-02 8.61016890e+01] [ 6.54313186e-02 -1.13280386e-03 9.97856432e-01 1.46038420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.37, Y:86.07, Z:146.04 [[ 8.74189811e-01 4.82265499e-01 -5.66759471e-02 3.63367909e+02] [-4.81156320e-01 8.76024097e-01 3.27166272e-02 8.60708507e+01] [ 6.54275959e-02 -1.33055196e-03 9.97856432e-01 1.46043937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.42, Y:86.04, Z:146.05 [[ 8.75429874e-01 4.80010469e-01 -5.66787867e-02 3.63417540e+02] [-4.78896884e-01 8.77261489e-01 3.27117071e-02 8.60401144e+01] [ 6.54240787e-02 -1.49351134e-03 9.97856432e-01 1.46045810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.47, Y:86.01, Z:146.05 [[ 8.76568871e-01 4.77926890e-01 -5.66824699e-02 3.63469516e+02] [-4.76809364e-01 8.78398083e-01 3.27053237e-02 8.60071808e+01] [ 6.54205265e-02 -1.64173630e-03 9.97856432e-01 1.46048340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.52, Y:85.97, Z:146.05 [[ 8.73641488e-01 4.83258468e-01 -5.66727733e-02 3.63521230e+02] [-4.82151018e-01 8.75476818e-01 3.27221176e-02 8.59709580e+01] [ 6.54289397e-02 -1.26256417e-03 9.97856432e-01 1.46054363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.57, Y:85.94, Z:146.06 [[ 8.71843313e-01 4.86496361e-01 -5.66615234e-02 3.63574301e+02] [-4.85394463e-01 8.73681981e-01 3.27415863e-02 8.59375627e+01] [ 6.54328147e-02 -1.04234336e-03 9.97856433e-01 1.46058295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.63, Y:85.90, Z:146.06 [[ 8.68910221e-01 4.91717169e-01 -5.66502703e-02 3.63626190e+02] [-4.90625051e-01 8.70754715e-01 3.27610453e-02 8.59040875e+01] [ 6.54376584e-02 -6.72365382e-04 9.97856433e-01 1.46060518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.68, Y:85.87, Z:146.07 [[ 8.66495228e-01 4.95961622e-01 -5.66400030e-02 3.63676120e+02] [-4.94877379e-01 8.68344362e-01 3.27787867e-02 8.58678177e+01] [ 6.54400474e-02 -3.72806040e-04 9.97856433e-01 1.46069961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.73, Y:85.83, Z:146.07 [[ 8.67144765e-01 4.94826155e-01 -5.66306770e-02 3.63726511e+02] [-4.93738439e-01 8.68991858e-01 3.27948909e-02 8.58334011e+01] [ 6.54393670e-02 -4.77175896e-04 9.97856433e-01 1.46073679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.78, Y:85.80, Z:146.08 [[ 8.68649323e-01 4.92181148e-01 -5.66221814e-02 3.63777679e+02] [-4.91086853e-01 8.70492525e-01 3.28095525e-02 8.57973132e+01] [ 6.54374289e-02 -6.93586678e-04 9.97856433e-01 1.46080452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.83, Y:85.76, Z:146.08 [[ 8.69635542e-01 4.90437048e-01 -5.66173660e-02 3.63830271e+02] [-4.89338515e-01 8.71476222e-01 3.28178600e-02 8.57643838e+01] [ 6.54357826e-02 -8.34519697e-04 9.97856434e-01 1.46082343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.88, Y:85.73, Z:146.09 [[ 8.70013205e-01 4.89767918e-01 -5.66074990e-02 3.63882141e+02] [-4.88666863e-01 8.71852377e-01 3.28348709e-02 8.57304640e+01] [ 6.54348489e-02 -9.04562289e-04 9.97856434e-01 1.46090355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.94, Y:85.70, Z:146.09 [[ 8.67491080e-01 4.94222542e-01 -5.65977519e-02 3.63937590e+02] [-4.93129836e-01 8.69335225e-01 3.28516634e-02 8.57004976e+01] [ 6.54384520e-02 -5.88484803e-04 9.97856434e-01 1.46093841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.99, Y:85.67, Z:146.10 [[ 8.66412124e-01 4.96112827e-01 -5.65870503e-02 3.63991964e+02] [-4.95022941e-01 8.68257937e-01 3.28700865e-02 8.56714189e+01] [ 6.54394271e-02 -4.67153396e-04 9.97856434e-01 1.46095783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.05, Y:85.64, Z:146.10 [[ 8.67383291e-01 4.94414047e-01 -5.65771763e-02 3.64046249e+02] [-4.93319439e-01 8.69226306e-01 3.28870734e-02 8.56405585e+01] [ 6.54382010e-02 -6.15077076e-04 9.97856434e-01 1.46098557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.10, Y:85.61, Z:146.10 [[ 8.68765765e-01 4.91981972e-01 -5.65666460e-02 3.64101361e+02] [-4.90881026e-01 8.70605001e-01 3.29051759e-02 8.56109756e+01] [ 6.54359582e-02 -8.19397040e-04 9.97856435e-01 1.46100931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.16, Y:85.58, Z:146.10 [[ 8.70623315e-01 4.88688545e-01 -5.65557236e-02 3.64155166e+02] [-4.87579423e-01 8.72457633e-01 3.29239381e-02 8.55810829e+01] [ 6.54320241e-02 -1.08894105e-03 9.97856435e-01 1.46103624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.21, Y:85.55, Z:146.11 [[ 8.72434323e-01 4.85449220e-01 -5.65456201e-02 3.64210802e+02] [-4.84332165e-01 8.74263820e-01 3.29412813e-02 8.55513614e+01] [ 6.54271091e-02 -1.35224189e-03 9.97856435e-01 1.46107086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.27, Y:85.52, Z:146.11 [[ 8.73257923e-01 4.83967362e-01 -5.65348832e-02 3.64265207e+02] [-4.82846011e-01 8.75084789e-01 3.29596979e-02 8.55210492e+01] [ 6.54242345e-02 -1.48467453e-03 9.97856435e-01 1.46109592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.32, Y:85.49, Z:146.12 [[ 8.75351103e-01 4.80172212e-01 -5.65251630e-02 3.64319682e+02] [-4.79041866e-01 8.77172417e-01 3.29763596e-02 8.54908791e+01] [ 6.54166454e-02 -1.78797320e-03 9.97856435e-01 1.46115352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.37, Y:85.46, Z:146.12 [[ 8.74138803e-01 4.82376694e-01 -5.65161731e-02 3.64372276e+02] [-4.81249947e-01 8.75962347e-01 3.29917596e-02 8.54587587e+01] [ 6.54204955e-02 -1.64097196e-03 9.97856436e-01 1.46120829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.43, Y:85.43, Z:146.12 [[ 8.74793464e-01 4.81189590e-01 -5.65064058e-02 3.64428440e+02] [-4.80059290e-01 8.76614806e-01 3.30084801e-02 8.54310647e+01] [ 6.54176890e-02 -1.74917757e-03 9.97856436e-01 1.46121365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.48, Y:85.40, Z:146.13 [[ 8.72377074e-01 4.85557854e-01 -5.64961265e-02 3.64479742e+02] [-4.84435536e-01 8.74203346e-01 3.30260644e-02 8.54002416e+01] [ 6.54251678e-02 -1.44245009e-03 9.97856436e-01 1.46125837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.53, Y:85.37, Z:146.13 [[ 8.70856687e-01 4.88279521e-01 -5.64954988e-02 3.64532064e+02] [-4.87162842e-01 8.72686412e-01 3.30271382e-02 8.53680645e+01] [ 6.54293293e-02 -1.23939639e-03 9.97856436e-01 1.46132233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.58, Y:85.34, Z:146.14 [[ 8.70535744e-01 4.88851633e-01 -5.64942400e-02 3.64583297e+02] [-4.87736017e-01 8.72366118e-01 3.30292913e-02 8.53377149e+01] [ 6.54300838e-02 -1.19890306e-03 9.97856436e-01 1.46136866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.63, Y:85.31, Z:146.14 [[ 8.68510012e-01 4.92441489e-01 -5.64954806e-02 3.64632974e+02] [-4.91333577e-01 8.70345059e-01 3.30271691e-02 8.53060693e+01] [ 6.54345107e-02 -9.26300493e-04 9.97856436e-01 1.46141386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.68, Y:85.28, Z:146.14 [[ 8.67243428e-01 4.94668389e-01 -5.64979734e-02 3.64683086e+02] [-4.93565467e-01 8.69081479e-01 3.30229042e-02 8.52773869e+01] [ 6.54367291e-02 -7.53447963e-04 9.97856436e-01 1.46143948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.73, Y:85.25, Z:146.15 [[ 8.66360883e-01 4.96212099e-01 -5.65010892e-02 3.64733756e+02] [-4.95112801e-01 8.68201103e-01 3.30175723e-02 8.52483702e+01] [ 6.54380268e-02 -6.30720513e-04 9.97856436e-01 1.46146876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.79, Y:85.22, Z:146.15 [[ 8.66269854e-01 4.96370719e-01 -5.65035308e-02 3.64787017e+02] [-4.95272030e-01 8.68110438e-01 3.30133934e-02 8.52182964e+01] [ 6.54381867e-02 -6.13889011e-04 9.97856436e-01 1.46149619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.84, Y:85.19, Z:146.15 [[ 8.66947396e-01 4.95186538e-01 -5.65022641e-02 3.64841597e+02] [-4.94085193e-01 8.68786392e-01 3.30155613e-02 8.51877816e+01] [ 6.54372596e-02 -7.05822866e-04 9.97856436e-01 1.46152575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.90, Y:85.16, Z:146.16 [[ 8.67919830e-01 4.93481344e-01 -5.64918770e-02 3.64896343e+02] [-4.92375230e-01 8.69755961e-01 3.30333248e-02 8.51561680e+01] [ 6.54354763e-02 -8.55076648e-04 9.97856436e-01 1.46156115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.95, Y:85.13, Z:146.16 [[ 8.68889631e-01 4.91772968e-01 -5.64814716e-02 3.64947695e+02] [-4.90662089e-01 8.70722883e-01 3.30511067e-02 8.51261618e+01] [ 6.54333506e-02 -1.00444705e-03 9.97856436e-01 1.46160047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.00, Y:85.10, Z:146.16 [[ 8.69086065e-01 4.91425458e-01 -5.64838952e-02 3.64998830e+02] [-4.90314115e-01 8.70919036e-01 3.30469644e-02 8.50972340e+01] [ 6.54330191e-02 -1.02580517e-03 9.97856436e-01 1.46164168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.05, Y:85.07, Z:146.17 [[ 8.69330906e-01 4.90991866e-01 -5.64868429e-02 3.65053287e+02] [-4.89879936e-01 8.71163520e-01 3.30419250e-02 8.50653381e+01] [ 6.54325934e-02 -1.05259560e-03 9.97856436e-01 1.46169110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.11, Y:85.03, Z:146.17 [[ 8.69459566e-01 4.90765230e-01 -5.64761158e-02 3.65106832e+02] [-4.89651632e-01 8.71291168e-01 3.30602500e-02 8.50331799e+01] [ 6.54319621e-02 -1.09092837e-03 9.97856437e-01 1.46174123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.16, Y:85.00, Z:146.18 [[ 8.69232457e-01 4.91168595e-01 -5.64654397e-02 3.65160648e+02] [-4.90054664e-01 8.71063856e-01 3.30784743e-02 8.50012028e+01] [ 6.54321114e-02 -1.08173143e-03 9.97856437e-01 1.46180086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.21, Y:84.97, Z:146.18 [[ 8.69311814e-01 4.91029369e-01 -5.64546537e-02 3.65214829e+02] [-4.89913950e-01 8.71142307e-01 3.30968724e-02 8.49695431e+01] [ 6.54315736e-02 -1.11357986e-03 9.97856437e-01 1.46184180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.27, Y:84.94, Z:146.19 [[ 8.69843419e-01 4.90088254e-01 -5.64440400e-02 3.65268914e+02] [-4.88969681e-01 8.71671985e-01 3.31149633e-02 8.49372741e+01] [ 6.54299430e-02 -1.20540858e-03 9.97856437e-01 1.46187839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.32, Y:84.91, Z:146.19 [[ 8.70605662e-01 4.88734115e-01 -5.64335647e-02 3.65323097e+02] [-4.87611542e-01 8.72431775e-01 3.31328055e-02 8.49053778e+01] [ 6.54275673e-02 -1.32795060e-03 9.97856438e-01 1.46192419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.37, Y:84.88, Z:146.20 [[ 8.71551376e-01 4.87046834e-01 -5.64232267e-02 3.65373873e+02] [-4.85919587e-01 8.73374608e-01 3.31504011e-02 8.48767521e+01] [ 6.54244114e-02 -1.47512664e-03 9.97856438e-01 1.46196695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.42, Y:84.85, Z:146.20 [[ 8.71984886e-01 4.86269941e-01 -5.64260883e-02 3.65423513e+02] [-4.85141385e-01 8.73807307e-01 3.31455296e-02 8.48478291e+01] [ 6.54232030e-02 -1.52777022e-03 9.97856438e-01 1.46200555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.48, Y:84.82, Z:146.20 [[ 8.72050237e-01 4.86152319e-01 -5.64296649e-02 3.65478432e+02] [-4.85023911e-01 8.73872750e-01 3.31394394e-02 8.48166804e+01] [ 6.54231618e-02 -1.52951914e-03 9.97856438e-01 1.46204331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.53, Y:84.79, Z:146.20 [[ 8.71318424e-01 4.87463997e-01 -5.64185771e-02 3.65531891e+02] [-4.86337112e-01 8.73141879e-01 3.31583052e-02 8.47869436e+01] [ 6.54249024e-02 -1.45299435e-03 9.97856438e-01 1.46204841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.58, Y:84.76, Z:146.21 [[ 8.70398112e-01 4.89106403e-01 -5.64096904e-02 3.65583144e+02] [-4.87981980e-01 8.72223086e-01 3.31734166e-02 8.47579444e+01] [ 6.54271647e-02 -1.34716674e-03 9.97856438e-01 1.46208132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.64, Y:84.73, Z:146.21 [[ 8.68708992e-01 4.92099949e-01 -5.64121232e-02 3.65636632e+02] [-4.90982084e-01 8.70537990e-01 3.31692790e-02 8.47251541e+01] [ 6.54314969e-02 -1.11710913e-03 9.97856438e-01 1.46214442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2027550959999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:365.69, Y:84.69, Z:146.22 [[ 8.67282965e-01 4.94610090e-01 -5.64013985e-02 3.65689293e+02] [-4.93496334e-01 8.69114468e-01 3.31875055e-02 8.46924520e+01] [ 6.54341465e-02 -9.49074839e-04 9.97856438e-01 1.46220151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.74, Y:84.66, Z:146.22 [[ 8.67877951e-01 4.93566448e-01 -5.63917009e-02 3.65743424e+02] [-4.92449420e-01 8.69707460e-01 3.32039754e-02 8.46639175e+01] [ 6.54326511e-02 -1.04693771e-03 9.97856439e-01 1.46221258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.80, Y:84.63, Z:146.23 [[ 8.67527992e-01 4.94182311e-01 -5.63828597e-02 3.65796877e+02] [-4.93065607e-01 8.69357698e-01 3.32189816e-02 8.46319042e+01] [ 6.54331062e-02 -1.01794749e-03 9.97856439e-01 1.46228175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.85, Y:84.60, Z:146.23 [[ 8.67078272e-01 4.94972147e-01 -5.63723702e-02 3.65849545e+02] [-4.93855953e-01 8.68908289e-01 3.32367728e-02 8.46009045e+01] [ 6.54336965e-02 -9.79052941e-04 9.97856439e-01 1.46232654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.90, Y:84.57, Z:146.24 [[ 8.65876526e-01 4.97071568e-01 -5.63710829e-02 3.65901202e+02] [-4.95959668e-01 8.67709156e-01 3.32389559e-02 8.45709598e+01] [ 6.54358447e-02 -8.23048053e-04 9.97856439e-01 1.46236824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.96, Y:84.54, Z:146.24 [[ 8.65122588e-01 4.98382448e-01 -5.63723581e-02 3.65955385e+02] [-4.97273466e-01 8.66956986e-01 3.32367931e-02 8.45392097e+01] [ 6.54370439e-02 -7.21422511e-04 9.97856439e-01 1.46242305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.01, Y:84.51, Z:146.24 [[ 8.65283586e-01 4.98104098e-01 -5.63615418e-02 3.66007834e+02] [-4.96993333e-01 8.67116903e-01 3.32551248e-02 8.45080883e+01] [ 6.54365595e-02 -7.63803088e-04 9.97856439e-01 1.46244197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.06, Y:84.47, Z:146.25 [[ 8.64954806e-01 4.98675781e-01 -5.63529028e-02 3.66060399e+02] [-4.97565274e-01 8.66788279e-01 3.32697576e-02 8.44749747e+01] [ 6.54368581e-02 -7.37589198e-04 9.97856439e-01 1.46251208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.11, Y:84.45, Z:146.25 [[ 8.65854613e-01 4.97112870e-01 -5.63434471e-02 3.66111117e+02] [-4.95998012e-01 8.67685444e-01 3.32857636e-02 8.44452618e+01] [ 6.54351704e-02 -8.74394187e-04 9.97856440e-01 1.46252524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.16, Y:84.42, Z:146.26 [[ 8.65203506e-01 4.98245071e-01 -5.63448498e-02 3.66161920e+02] [-4.97132764e-01 8.67035888e-01 3.32833889e-02 8.44151468e+01] [ 6.54362914e-02 -7.86033836e-04 9.97856440e-01 1.46257202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.21, Y:84.39, Z:146.26 [[ 8.65874914e-01 4.97077026e-01 -5.63477106e-02 3.66213289e+02] [-4.95962562e-01 8.67705985e-01 3.32785451e-02 8.43856298e+01] [ 6.54352459e-02 -8.68702468e-04 9.97856440e-01 1.46259573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.26, Y:84.35, Z:146.27 [[ 8.64356171e-01 4.99712944e-01 -5.63505441e-02 3.66261613e+02] [-4.98604377e-01 8.66190818e-01 3.32737464e-02 8.43548225e+01] [ 6.54376456e-02 -6.63740031e-04 9.97856440e-01 1.46266715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.31, Y:84.32, Z:146.27 [[ 8.64894323e-01 4.98780446e-01 -5.63549244e-02 3.66314490e+02] [-4.97670384e-01 8.66728066e-01 3.32663259e-02 8.43217824e+01] [ 6.54369875e-02 -7.25679569e-04 9.97856440e-01 1.46272235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.37, Y:84.29, Z:146.27 [[ 8.65821211e-01 4.97170956e-01 -5.63442238e-02 3.66367429e+02] [-4.96056307e-01 8.67652169e-01 3.32844401e-02 8.42890254e+01] [ 6.54352449e-02 -8.68466658e-04 9.97856440e-01 1.46273156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.42, Y:84.26, Z:146.28 [[ 8.66036745e-01 4.96796476e-01 -5.63348723e-02 3.66419483e+02] [-4.95680006e-01 8.67866594e-01 3.33002601e-02 8.42557898e+01] [ 6.54346056e-02 -9.15179043e-04 9.97856440e-01 1.46282929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.47, Y:84.22, Z:146.29 [[ 8.67176968e-01 4.94804538e-01 -5.63256227e-02 3.66472564e+02] [-4.93682850e-01 8.69003622e-01 3.33158982e-02 8.42224097e+01] [ 6.54320277e-02 -1.08378564e-03 9.97856440e-01 1.46287806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.52, Y:84.19, Z:146.29 [[ 8.68928706e-01 4.91723001e-01 -5.63151283e-02 3.66523472e+02] [-4.90593687e-01 8.70750655e-01 3.33336277e-02 8.41924789e+01] [ 6.54273464e-02 -1.33669958e-03 9.97856440e-01 1.46290274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.57, Y:84.16, Z:146.30 [[ 8.68916957e-01 4.91743608e-01 -5.63164811e-02 3.66573790e+02] [-4.90614485e-01 8.70739024e-01 3.33313421e-02 8.41617671e+01] [ 6.54274322e-02 -1.33248696e-03 9.97856440e-01 1.46296322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.63, Y:84.13, Z:146.30 [[ 8.67609461e-01 4.94046518e-01 -5.63192876e-02 3.66626933e+02] [-4.92922539e-01 8.69434706e-01 3.33265993e-02 8.41302449e+01] [ 6.54308336e-02 -1.15342662e-03 9.97856440e-01 1.46302599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.68, Y:84.10, Z:146.31 [[ 8.66046989e-01 4.96781446e-01 -5.63099172e-02 3.66681191e+02] [-4.95662204e-01 8.67875142e-01 3.33424244e-02 8.40997785e+01] [ 6.54338752e-02 -9.65408632e-04 9.97856441e-01 1.46308017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.74, Y:84.07, Z:146.31 [[ 8.65550042e-01 4.97647884e-01 -5.63001692e-02 3.66735612e+02] [-4.96529401e-01 8.67378660e-01 3.33588762e-02 8.40681168e+01] [ 6.54345395e-02 -9.19087397e-04 9.97856441e-01 1.46312124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.79, Y:84.04, Z:146.32 [[ 8.65018583e-01 4.98572275e-01 -5.62897650e-02 3.66789811e+02] [-4.97454605e-01 8.66847697e-01 3.33764232e-02 8.40368569e+01] [ 6.54352124e-02 -8.69623463e-04 9.97856441e-01 1.46315048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.84, Y:84.01, Z:146.32 [[ 8.65417418e-01 4.97880864e-01 -5.62791017e-02 3.66842201e+02] [-4.96760564e-01 8.67244923e-01 3.33943939e-02 8.40060554e+01] [ 6.54341949e-02 -9.42851821e-04 9.97856441e-01 1.46318696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.90, Y:83.97, Z:146.32 [[ 8.66823569e-01 4.95429650e-01 -5.62704468e-02 3.66896220e+02] [-4.94303236e-01 8.68647311e-01 3.34089713e-02 8.39745871e+01] [ 6.54309672e-02 -1.14501974e-03 9.97856441e-01 1.46320953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.95, Y:83.94, Z:146.32 [[ 8.67757926e-01 4.93792304e-01 -5.62613817e-02 3.66950730e+02] [-4.92661461e-01 8.69578924e-01 3.34242301e-02 8.39424313e+01] [ 6.54283394e-02 -1.28632610e-03 9.97856441e-01 1.46322335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.00, Y:83.91, Z:146.33 [[ 8.68415001e-01 4.92637063e-01 -5.62504226e-02 3.67004424e+02] [-4.91502604e-01 8.70233749e-01 3.34426633e-02 8.39125684e+01] [ 6.54261116e-02 -1.39488129e-03 9.97856442e-01 1.46328974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.06, Y:83.88, Z:146.33 [[ 8.67595218e-01 4.94080522e-01 -5.62403432e-02 3.67058476e+02] [-4.92947991e-01 8.69415167e-01 3.34596052e-02 8.38804102e+01] [ 6.54279466e-02 -1.30582927e-03 9.97856442e-01 1.46331511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.11, Y:83.85, Z:146.34 [[ 8.66769521e-01 4.95528906e-01 -5.62290071e-02 3.67112012e+02] [-4.94398182e-01 8.68590593e-01 3.34786448e-02 8.38526181e+01] [ 6.54296228e-02 -1.21875005e-03 9.97856442e-01 1.46335837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.16, Y:83.82, Z:146.34 [[ 8.65220642e-01 4.98228485e-01 -5.62282629e-02 3.67163602e+02] [-4.97103363e-01 8.67045180e-01 3.34798946e-02 8.38237365e+01] [ 6.54330815e-02 -1.01623728e-03 9.97856442e-01 1.46337238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.21, Y:83.80, Z:146.34 [[ 8.64300684e-01 4.99822354e-01 -5.62311577e-02 3.67213656e+02] [-4.98700912e-01 8.66127486e-01 3.34750319e-02 8.37954063e+01] [ 6.54349205e-02 -8.89963372e-04 9.97856442e-01 1.46341006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.27, Y:83.77, Z:146.34 [[ 8.64623166e-01 4.99263895e-01 -5.62347306e-02 3.67268776e+02] [-4.98141663e-01 8.66449484e-01 3.34690288e-02 8.37658591e+01] [ 6.54344309e-02 -9.25235450e-04 9.97856442e-01 1.46339359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.32, Y:83.73, Z:146.35 [[ 8.65775841e-01 4.97263465e-01 -5.62249013e-02 3.67319962e+02] [-4.96135942e-01 8.67598897e-01 3.34855330e-02 8.37333477e+01] [ 6.54317945e-02 -1.09577118e-03 9.97856442e-01 1.46346483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.37, Y:83.71, Z:146.35 [[ 8.68784757e-01 4.91988643e-01 -5.62158514e-02 3.67371961e+02] [-4.90849072e-01 8.70600305e-01 3.35007192e-02 8.37051804e+01] [ 6.54235107e-02 -1.51141568e-03 9.97856443e-01 1.46345837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1827550959999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:367.42, Y:83.67, Z:146.35 [[ 8.69844423e-01 4.90112392e-01 -5.62185369e-02 3.67423242e+02] [-4.88969196e-01 8.71657691e-01 3.34962119e-02 8.36715916e+01] [ 6.54202286e-02 -1.64736036e-03 9.97856443e-01 1.46354269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.48, Y:83.64, Z:146.36 [[ 8.70492202e-01 4.88961998e-01 -5.62093509e-02 3.67477024e+02] [-4.87815412e-01 8.72303328e-01 3.35116197e-02 8.36396956e+01] [ 6.54175124e-02 -1.75181599e-03 9.97856443e-01 1.46359812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3027550959999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:367.53, Y:83.61, Z:146.36 [[ 8.69852828e-01 4.90099746e-01 -5.61987283e-02 3.67531358e+02] [-4.88954379e-01 8.71664725e-01 3.35294244e-02 8.36079557e+01] [ 6.54192114e-02 -1.68705034e-03 9.97856443e-01 1.46362382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.59, Y:83.58, Z:146.37 [[ 8.67929922e-01 4.93498293e-01 -5.61879431e-02 3.67585592e+02] [-4.92358854e-01 8.69745552e-01 3.35474883e-02 8.35786402e+01] [ 6.54248418e-02 -1.45223767e-03 9.97856443e-01 1.46365374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.64, Y:83.55, Z:146.37 [[ 8.66030707e-01 4.96824702e-01 -5.61785561e-02 3.67637060e+02] [-4.95691218e-01 8.67850061e-01 3.35632003e-02 8.35493689e+01] [ 6.54295904e-02 -1.21954522e-03 9.97856443e-01 1.46368657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.69, Y:83.52, Z:146.37 [[ 8.65680456e-01 4.97434588e-01 -5.61798798e-02 3.67688200e+02] [-4.96302529e-01 8.67500697e-01 3.35609846e-02 8.35183997e+01] [ 6.54304794e-02 -1.17087199e-03 9.97856443e-01 1.46372829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.74, Y:83.49, Z:146.38 [[ 8.65660008e-01 4.97470025e-01 -5.61811820e-02 3.67739678e+02] [-4.96338182e-01 8.67480383e-01 3.35588046e-02 8.34878618e+01] [ 6.54305726e-02 -1.16564926e-03 9.97856443e-01 1.46377776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6027550959999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:367.79, Y:83.46, Z:146.38 [[ 8.66155872e-01 4.96606012e-01 -5.61825042e-02 3.67790154e+02] [-4.95472497e-01 8.67975207e-01 3.35565907e-02 8.34574813e+01] [ 6.54294254e-02 -1.22835246e-03 9.97856443e-01 1.46380262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.84, Y:83.43, Z:146.39 [[ 8.66917813e-01 4.95274482e-01 -5.61844525e-02 3.67840711e+02] [-4.94138384e-01 8.68735536e-01 3.35533284e-02 8.34273052e+01] [ 6.54275378e-02 -1.32508347e-03 9.97856443e-01 1.46385396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.89, Y:83.40, Z:146.39 [[ 8.66974665e-01 4.95174669e-01 -5.61869812e-02 3.67891901e+02] [-4.94038636e-01 8.68792429e-01 3.35490935e-02 8.33969567e+01] [ 6.54274851e-02 -1.32767452e-03 9.97856443e-01 1.46387689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.94, Y:83.37, Z:146.39 [[ 8.66714426e-01 4.95629884e-01 -5.61882766e-02 3.67941921e+02] [-4.94494946e-01 8.68532873e-01 3.35469238e-02 8.33684766e+01] [ 6.54282232e-02 -1.29078399e-03 9.97856443e-01 1.46392008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8427550959999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:367.99, Y:83.34, Z:146.39 [[ 8.66456111e-01 4.96080943e-01 -5.61916886e-02 3.67992874e+02] [-4.94947323e-01 8.68275380e-01 3.35412076e-02 8.33381788e+01] [ 6.54290137e-02 -1.25005844e-03 9.97856443e-01 1.46394252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.902755096 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:368.04, Y:83.31, Z:146.40 [[ 8.65742907e-01 4.97324266e-01 -5.61942495e-02 3.68042588e+02] [-4.96193537e-01 8.67563974e-01 3.35369166e-02 8.33074011e+01] [ 6.54308288e-02 -1.15112429e-03 9.97856443e-01 1.46397010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9627550959999 meters Centerline goodness : 0.998567 with order 1 Centerline is valid? [True, True] Translation: X:368.09, Y:83.28, Z:146.40 [[ 8.65529851e-01 4.97694320e-01 -5.62000016e-02 3.68093211e+02] [-4.96564996e-01 8.67351790e-01 3.35272746e-02 8.32781503e+01] [ 6.54315061e-02 -1.11190346e-03 9.97856443e-01 1.46401353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.022755096 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:368.14, Y:83.25, Z:146.41 [[ 8.65164648e-01 4.98328566e-01 -5.62029624e-02 3.68144138e+02] [-4.97200899e-01 8.66987613e-01 3.35223106e-02 8.32495564e+01] [ 6.54323972e-02 -1.05815461e-03 9.97856443e-01 1.46405092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0827550959999 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:368.20, Y:83.22, Z:146.41 [[ 8.64471774e-01 4.99529265e-01 -5.62055661e-02 3.68197002e+02] [-4.98404414e-01 8.66296478e-01 3.35179445e-02 8.32168051e+01] [ 6.54338781e-02 -9.62214715e-04 9.97856443e-01 1.46410025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.142755096 meters Centerline goodness : 0.998788 with order 1 Centerline is valid? [True, True] Translation: X:368.25, Y:83.19, Z:146.41 [[ 8.65490749e-01 4.97762799e-01 -5.61957356e-02 3.68250868e+02] [-4.96633154e-01 8.67312489e-01 3.35344182e-02 8.31872272e+01] [ 6.54314491e-02 -1.11506328e-03 9.97856444e-01 1.46413027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2027550959999 meters Centerline goodness : 0.998915 with order 1 Centerline is valid? [True, True] Translation: X:368.30, Y:83.16, Z:146.42 [[ 8.66688544e-01 4.95675305e-01 -5.61868299e-02 3.68301796e+02] [-4.94540307e-01 8.68506953e-01 3.35493329e-02 8.31587968e+01] [ 6.54282283e-02 -1.29017038e-03 9.97856444e-01 1.46415879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.262755096 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:368.35, Y:83.13, Z:146.42 [[ 8.67139983e-01 4.94884769e-01 -5.61899968e-02 3.68351791e+02] [-4.93748457e-01 8.68957571e-01 3.35440280e-02 8.31298306e+01] [ 6.54271517e-02 -1.34364363e-03 9.97856444e-01 1.46419250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3227550959999 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:368.41, Y:83.10, Z:146.42 [[ 8.66484934e-01 4.96030437e-01 -5.61931064e-02 3.68405165e+02] [-4.94896865e-01 8.68304233e-01 3.35388180e-02 8.30960320e+01] [ 6.54289867e-02 -1.25108825e-03 9.97856444e-01 1.46424886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.382755096 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:368.46, Y:83.07, Z:146.43 [[ 8.66475766e-01 4.96047722e-01 -5.61818819e-02 3.68459473e+02] [-4.94912969e-01 8.68294328e-01 3.35576101e-02 8.30652592e+01] [ 6.54285854e-02 -1.27171400e-03 9.97856444e-01 1.46425778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4427550959999 meters Centerline goodness : 0.998721 with order 1 Centerline is valid? [True, True] Translation: X:368.51, Y:83.03, Z:146.43 [[ 8.65336801e-01 4.98033113e-01 -5.61715109e-02 3.68511395e+02] [-4.96901407e-01 8.67157260e-01 3.35749610e-02 8.30335299e+01] [ 6.54309758e-02 -1.14194661e-03 9.97856444e-01 1.46428123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.502755096 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:368.56, Y:83.00, Z:146.43 [[ 8.64712481e-01 4.99116458e-01 -5.61701509e-02 3.68561875e+02] [-4.97986885e-01 8.66534265e-01 3.35772360e-02 8.30046375e+01] [ 6.54323115e-02 -1.06265659e-03 9.97856444e-01 1.46429459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5627550959999 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:368.61, Y:82.97, Z:146.43 [[ 8.63620916e-01 5.01002314e-01 -5.61746801e-02 3.68610059e+02] [-4.99877212e-01 8.65445464e-01 3.35696569e-02 8.29747766e+01] [ 6.54345979e-02 -9.11015417e-04 9.97856444e-01 1.46433020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.622755096 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:368.66, Y:82.94, Z:146.44 [[ 8.62056963e-01 5.03687668e-01 -5.61829739e-02 3.68661509e+02] [-5.02569154e-01 8.63885557e-01 3.35557706e-02 8.29383029e+01] [ 6.54372875e-02 -6.91156021e-04 9.97856444e-01 1.46439051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6827550959999 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:368.71, Y:82.90, Z:146.44 [[ 8.61859966e-01 5.04025896e-01 -5.61720122e-02 3.68712650e+02] [-5.02906904e-01 8.63688268e-01 3.35741103e-02 8.29040931e+01] [ 6.54373290e-02 -6.86888817e-04 9.97856445e-01 1.46444841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.742755096 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:368.76, Y:82.87, Z:146.45 [[ 8.62406955e-01 5.03089557e-01 -5.61706579e-02 3.68763836e+02] [-5.01968433e-01 8.64233950e-01 3.35763759e-02 8.28679009e+01] [ 6.54365136e-02 -7.60602972e-04 9.97856445e-01 1.46450426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8027550959999 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:368.82, Y:82.84, Z:146.45 [[ 8.65306906e-01 4.98086363e-01 -5.61598876e-02 3.68816717e+02] [-4.96953508e-01 8.67126651e-01 3.35943807e-02 8.28366473e+01] [ 6.54306382e-02 -1.16059645e-03 9.97856445e-01 1.46454160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.862755096 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:368.87, Y:82.80, Z:146.46 [[ 8.65946700e-01 4.96974192e-01 -5.61512766e-02 3.68867826e+02] [-4.95838068e-01 8.67764404e-01 3.36087675e-02 8.28015301e+01] [ 6.54287691e-02 -1.26146077e-03 9.97856445e-01 1.46458564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.922755096 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:368.92, Y:82.77, Z:146.46 [[ 8.64967290e-01 4.98677907e-01 -5.61420712e-02 3.68920517e+02] [-4.97544366e-01 8.66786606e-01 3.36241377e-02 8.27664440e+01] [ 6.54308100e-02 -1.15060801e-03 9.97856445e-01 1.46460489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.982755096 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:368.98, Y:82.74, Z:146.46 [[ 8.63073807e-01 5.01949122e-01 -5.61309391e-02 3.68975612e+02] [-5.00821269e-01 8.64896655e-01 3.36427110e-02 8.27352168e+01] [ 6.54343907e-02 -9.24574518e-04 9.97856445e-01 1.46461674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.042755096 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:369.03, Y:82.70, Z:146.47 [[ 8.60619070e-01 5.06147617e-01 -5.61195710e-02 3.69027994e+02] [-5.05027422e-01 8.62446633e-01 3.36616636e-02 8.27025636e+01] [ 6.54379059e-02 -6.27947311e-04 9.97856446e-01 1.46467017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1027550959999 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:369.08, Y:82.67, Z:146.47 [[ 8.59066987e-01 5.08778620e-01 -5.61090747e-02 3.69079615e+02] [-5.07662880e-01 8.60897273e-01 3.36791503e-02 8.26727326e+01] [ 6.54393810e-02 -4.48151657e-04 9.97856446e-01 1.46469942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.162755096 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:369.13, Y:82.64, Z:146.47 [[ 8.58884804e-01 5.09085964e-01 -5.61103769e-02 3.69134381e+02] [-5.07971021e-01 8.60715576e-01 3.36769806e-02 8.26425105e+01] [ 6.54395535e-02 -4.22201492e-04 9.97856446e-01 1.46473360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2227550959999 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:369.19, Y:82.61, Z:146.48 [[ 8.59552942e-01 5.07958261e-01 -5.60994129e-02 3.69188806e+02] [-5.06839725e-01 8.61381521e-01 3.36952347e-02 8.26117598e+01] [ 6.54387704e-02 -5.29427097e-04 9.97856446e-01 1.46479677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.282755096 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:369.24, Y:82.58, Z:146.48 [[ 8.61212563e-01 5.05140589e-01 -5.60883823e-02 3.69242274e+02] [-5.04014875e-01 8.63036731e-01 3.37135861e-02 8.25788618e+01] [ 6.54364349e-02 -7.65184882e-04 9.97856446e-01 1.46483304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3427550959999 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:369.30, Y:82.55, Z:146.49 [[ 8.61645060e-01 5.04403706e-01 -5.60775454e-02 3.69295185e+02] [-5.03275260e-01 8.63467540e-01 3.37316021e-02 8.25457052e+01] [ 6.54354852e-02 -8.42227082e-04 9.97856447e-01 1.46486900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.402755096 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:369.35, Y:82.51, Z:146.50 [[ 8.62790205e-01 5.02443644e-01 -5.60664509e-02 3.69348330e+02] [-5.01309860e-01 8.64609368e-01 3.37500325e-02 8.25142100e+01] [ 6.54330680e-02 -1.01253283e-03 9.97856447e-01 1.46496451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4627550959999 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:369.40, Y:82.48, Z:146.50 [[ 8.64142139e-01 5.00116053e-01 -5.60562032e-02 3.69397749e+02] [-4.98976266e-01 8.65957546e-01 3.37670447e-02 8.24849274e+01] [ 6.54297333e-02 -1.20881120e-03 9.97856447e-01 1.46499744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.522755096 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:369.45, Y:82.45, Z:146.50 [[ 8.61539171e-01 5.04586575e-01 -5.60592998e-02 3.69445956e+02] [-5.03456544e-01 8.63360668e-01 3.37619029e-02 8.24531041e+01] [ 6.54351975e-02 -8.63780561e-04 9.97856447e-01 1.46504498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5827550959999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:369.50, Y:82.43, Z:146.50 [[ 8.64169061e-01 5.00067995e-01 -5.60699027e-02 3.69498603e+02] [-4.98929583e-01 8.65985331e-01 3.37442851e-02 8.24259410e+01] [ 6.54301502e-02 -1.18583404e-03 9.97856447e-01 1.46503979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.642755096 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:369.55, Y:82.40, Z:146.50 [[ 8.63176907e-01 5.01778292e-01 -5.60729269e-02 3.69551540e+02] [-5.00643805e-01 8.64995632e-01 3.37392591e-02 8.23974205e+01] [ 6.54324646e-02 -1.05038583e-03 9.97856447e-01 1.46504866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7027550959999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:369.60, Y:82.37, Z:146.51 [[ 8.62971222e-01 5.02131877e-01 -5.60735854e-02 3.69604498e+02] [-5.00998207e-01 8.64790456e-01 3.37381646e-02 8.23650148e+01] [ 6.54329094e-02 -1.02229938e-03 9.97856447e-01 1.46510098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.762755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:369.66, Y:82.34, Z:146.51 [[ 8.62304867e-01 5.03276390e-01 -5.60641762e-02 3.69655179e+02] [-5.02144119e-01 8.64124971e-01 3.37537931e-02 8.23354744e+01] [ 6.54339417e-02 -9.53763716e-04 9.97856447e-01 1.46511232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8227550959999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:369.71, Y:82.31, Z:146.51 [[ 8.62943004e-01 5.02181251e-01 -5.60657032e-02 3.69705894e+02] [-5.01046834e-01 8.64761772e-01 3.37512565e-02 8.23060113e+01] [ 6.54327250e-02 -1.03386759e-03 9.97856447e-01 1.46514991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.882755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:369.76, Y:82.27, Z:146.52 [[ 8.64501837e-01 4.99492667e-01 -5.60682518e-02 3.69759837e+02] [-4.98352869e-01 8.66317238e-01 3.37470221e-02 8.22748700e+01] [ 6.54292831e-02 -1.23258844e-03 9.97856447e-01 1.46519504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9427550959999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:369.81, Y:82.24, Z:146.52 [[ 8.65335434e-01 4.98048216e-01 -5.60585555e-02 3.69812505e+02] [-4.96904345e-01 8.67148271e-01 3.37631215e-02 8.22434896e+01] [ 6.54267418e-02 -1.36068556e-03 9.97856448e-01 1.46522529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.002755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:369.87, Y:82.21, Z:146.52 [[ 8.66704957e-01 4.95662117e-01 -5.60498204e-02 3.69866646e+02] [-4.94512320e-01 8.68514040e-01 3.37776162e-02 8.22111553e+01] [ 6.54223408e-02 -1.55790075e-03 9.97856448e-01 1.46524457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0627550959999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:369.92, Y:82.18, Z:146.53 [[ 8.67742657e-01 4.93844466e-01 -5.60386021e-02 3.69920570e+02] [-4.92689679e-01 8.69548559e-01 3.37962177e-02 8.21791997e+01] [ 6.54183608e-02 -1.71677884e-03 9.97856448e-01 1.46527640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.122755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:369.97, Y:82.15, Z:146.53 [[ 8.67826283e-01 4.93698800e-01 -5.60271116e-02 3.69973044e+02] [-4.92542481e-01 8.69631205e-01 3.38152559e-02 8.21470773e+01] [ 6.54174758e-02 -1.75003531e-03 9.97856448e-01 1.46532484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1827550959999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:370.03, Y:82.11, Z:146.54 [[ 8.67629623e-01 4.94045531e-01 -5.60165171e-02 3.70027089e+02] [-4.92888802e-01 8.69434282e-01 3.38327971e-02 8.21145395e+01] [ 6.54176225e-02 -1.74442303e-03 9.97856448e-01 1.46537150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.242755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:370.08, Y:82.08, Z:146.55 [[ 8.67155070e-01 4.94879248e-01 -5.60054853e-02 3.70078457e+02] [-4.93723077e-01 8.68960085e-01 3.38510489e-02 8.20820118e+01] [ 6.54187129e-02 -1.70290816e-03 9.97856449e-01 1.46545577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3027550959999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:370.13, Y:82.05, Z:146.55 [[ 8.66557573e-01 4.95925744e-01 -5.59966916e-02 3.70130907e+02] [-4.94770814e-01 8.68363382e-01 3.38655893e-02 8.20504084e+01] [ 6.54202941e-02 -1.64095414e-03 9.97856449e-01 1.46546574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.362755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:370.18, Y:82.02, Z:146.55 [[ 8.64509362e-01 4.99487822e-01 -5.59953562e-02 3.70180620e+02] [-4.98340190e-01 8.66319818e-01 3.38677971e-02 8.20212109e+01] [ 6.54264390e-02 -1.37429124e-03 9.97856449e-01 1.46552534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.422755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:370.23, Y:81.99, Z:146.56 [[ 8.62022896e-01 5.03766492e-01 -5.59986461e-02 3.70231386e+02] [-5.02628201e-01 8.63839240e-01 3.38623567e-02 8.19922312e+01] [ 6.54325485e-02 -1.04362805e-03 9.97856449e-01 1.46556526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.28, Y:81.96, Z:146.56 [[ 8.60735870e-01 5.05962076e-01 -5.60012569e-02 3.70281311e+02] [-5.04828699e-01 8.62555284e-01 3.38580384e-02 8.19627355e+01] [ 6.54350634e-02 -8.71786475e-04 9.97856449e-01 1.46559769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.33, Y:81.93, Z:146.56 [[ 8.60471475e-01 5.06411237e-01 -5.60044668e-02 3.70329609e+02] [-5.05279156e-01 8.62291695e-01 3.38527281e-02 8.19334583e+01] [ 6.54355885e-02 -8.31417151e-04 9.97856449e-01 1.46562996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.38, Y:81.90, Z:146.57 [[ 8.61600860e-01 5.04486832e-01 -5.60088750e-02 3.70379125e+02] [-5.03351159e-01 8.63418842e-01 3.38454331e-02 8.19021188e+01] [ 6.54336933e-02 -9.69122113e-04 9.97856449e-01 1.46567928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.43, Y:81.87, Z:146.57 [[ 8.62524163e-01 5.02906336e-01 -5.60114807e-02 3.70430905e+02] [-5.01767612e-01 8.64340235e-01 3.38411204e-02 8.18703159e+01] [ 6.54318902e-02 -1.08403714e-03 9.97856449e-01 1.46572704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.48, Y:81.84, Z:146.58 [[ 8.63566855e-01 5.01113761e-01 -5.60114807e-02 3.70480813e+02] [-4.99971267e-01 8.65380558e-01 3.38411204e-02 8.18395546e+01] [ 6.54294975e-02 -1.21993893e-03 9.97856449e-01 1.46576088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.782755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:370.53, Y:81.81, Z:146.58 [[ 8.63752228e-01 5.00793952e-01 -5.60134446e-02 3.70529759e+02] [-4.99650998e-01 8.65565641e-01 3.38378694e-02 8.18094168e+01] [ 6.54291134e-02 -1.24036165e-03 9.97856449e-01 1.46579797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.58, Y:81.78, Z:146.58 [[ 8.63200177e-01 5.01744545e-01 -5.60166554e-02 3.70579179e+02] [-5.00603932e-01 8.65015064e-01 3.38325532e-02 8.17795960e+01] [ 6.54305498e-02 -1.16210794e-03 9.97856449e-01 1.46583829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.63, Y:81.75, Z:146.59 [[ 8.61652031e-01 5.04398140e-01 -5.60204711e-02 3.70628649e+02] [-5.03263528e-01 8.63470676e-01 3.38262340e-02 8.17508504e+01] [ 6.54339235e-02 -9.53383380e-04 9.97856449e-01 1.46588549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.68, Y:81.72, Z:146.59 [[ 8.57947146e-01 5.10673976e-01 -5.60248487e-02 3.70676447e+02] [-5.09553142e-01 8.59774314e-01 3.38189821e-02 8.17203164e+01] [ 6.54391999e-02 -4.67261461e-04 9.97856449e-01 1.46594743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.73, Y:81.69, Z:146.60 [[ 8.60553706e-01 5.06268720e-01 -5.60294847e-02 3.70727288e+02] [-5.05139033e-01 8.62375413e-01 3.38112996e-02 8.16924341e+01] [ 6.54360534e-02 -7.93759469e-04 9.97856449e-01 1.46595154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.78, Y:81.66, Z:146.60 [[ 8.59074074e-01 5.08774253e-01 -5.60401190e-02 3.70775904e+02] [-5.07651030e-01 8.60899774e-01 3.37936648e-02 8.16616600e+01] [ 6.54382723e-02 -5.82437186e-04 9.97856449e-01 1.46601621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.83, Y:81.63, Z:146.61 [[ 8.59495793e-01 5.08061146e-01 -5.60433260e-02 3.70825942e+02] [-5.06936754e-01 8.61320773e-01 3.37883455e-02 8.16329520e+01] [ 6.54378264e-02 -6.30518983e-04 9.97856449e-01 1.46607461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.87, Y:81.60, Z:146.61 [[ 8.58808429e-01 5.09221697e-01 -5.60477125e-02 3.70874261e+02] [-5.08100247e-01 8.60635218e-01 3.37810676e-02 8.16033607e+01] [ 6.54386879e-02 -5.33609001e-04 9.97856449e-01 1.46614221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.93, Y:81.58, Z:146.62 [[ 8.60602618e-01 5.06183089e-01 -5.60518893e-02 3.70925238e+02] [-5.05055640e-01 8.62425712e-01 3.37741357e-02 8.15764318e+01] [ 6.54364869e-02 -7.56786801e-04 9.97856449e-01 1.46618136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.98, Y:81.55, Z:146.62 [[ 8.61676050e-01 5.04353139e-01 -5.60561873e-02 3.70975914e+02] [-5.03222283e-01 8.63497032e-01 3.37670008e-02 8.15477240e+01] [ 6.54348441e-02 -8.87493299e-04 9.97856449e-01 1.46623024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.03, Y:81.52, Z:146.63 [[ 8.62898377e-01 5.02258699e-01 -5.60588112e-02 3.71026802e+02] [-5.01123707e-01 8.64716783e-01 3.37626441e-02 8.15180728e+01] [ 6.54325766e-02 -1.04133151e-03 9.97856449e-01 1.46627054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.08, Y:81.49, Z:146.63 [[ 8.63457408e-01 5.01296740e-01 -5.60614208e-02 3.71080289e+02] [-5.00160003e-01 8.65274724e-01 3.37583104e-02 8.14873734e+01] [ 6.54314613e-02 -1.10918280e-03 9.97856449e-01 1.46629392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.13, Y:81.46, Z:146.63 [[ 8.64685990e-01 4.99175661e-01 -5.60517413e-02 3.71132937e+02] [-4.98033425e-01 8.66499855e-01 3.37743743e-02 8.14605640e+01] [ 6.54281714e-02 -1.28858761e-03 9.97856450e-01 1.46633777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.19, Y:81.43, Z:146.64 [[ 8.65117385e-01 4.98427408e-01 -5.60538014e-02 3.71185167e+02] [-4.97283825e-01 8.66930401e-01 3.37709550e-02 8.14330295e+01] [ 6.54271141e-02 -1.34119151e-03 9.97856450e-01 1.46636168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.24, Y:81.40, Z:146.64 [[ 8.64781680e-01 4.99009342e-01 -5.60564217e-02 3.71237770e+02] [-4.97867261e-01 8.66595642e-01 3.37666049e-02 8.14047326e+01] [ 6.54281021e-02 -1.29208423e-03 9.97856450e-01 1.46638974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.29, Y:81.38, Z:146.64 [[ 8.64062114e-01 5.00254123e-01 -5.60577934e-02 3.71290194e+02] [-4.99114803e-01 8.65877811e-01 3.37643276e-02 8.13785864e+01] [ 6.54299436e-02 -1.19520180e-03 9.97856450e-01 1.46642631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.34, Y:81.35, Z:146.65 [[ 8.64063308e-01 5.00251757e-01 -5.60604972e-02 3.71340861e+02] [-4.99112723e-01 8.65879185e-01 3.37598378e-02 8.13503464e+01] [ 6.54300358e-02 -1.19012971e-03 9.97856450e-01 1.46646927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.39, Y:81.32, Z:146.65 [[ 8.64866438e-01 4.98861522e-01 -5.60644839e-02 3.71392958e+02] [-4.97719998e-01 8.66680751e-01 3.37532158e-02 8.13238022e+01] [ 6.54281896e-02 -1.28760874e-03 9.97856450e-01 1.46649981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.45, Y:81.30, Z:146.65 [[ 8.66213562e-01 4.96518409e-01 -5.60672287e-02 3.71446290e+02] [-4.95372273e-01 8.68024965e-01 3.37486558e-02 8.12981064e+01] [ 6.54245831e-02 -1.45939286e-03 9.97856450e-01 1.46652941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.50, Y:81.27, Z:146.65 [[ 8.67183526e-01 4.94822079e-01 -5.60699735e-02 3.71496878e+02] [-4.93672695e-01 8.68992869e-01 3.37440951e-02 8.12710586e+01] [ 6.54217304e-02 -1.58210851e-03 9.97856450e-01 1.46654335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.55, Y:81.25, Z:146.66 [[ 8.69008793e-01 4.91608978e-01 -5.60743211e-02 3.71549743e+02] [-4.90453370e-01 8.70814168e-01 3.37368688e-02 8.12457770e+01] [ 6.54156609e-02 -1.81579586e-03 9.97856450e-01 1.46657859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.60, Y:81.22, Z:146.66 [[ 8.70795058e-01 4.88436580e-01 -5.60863198e-02 3.71601890e+02] [-4.87275679e-01 8.72597033e-01 3.37169096e-02 8.12203365e+01] [ 6.54093283e-02 -2.03101869e-03 9.97856450e-01 1.46661121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.65, Y:81.19, Z:146.67 [[ 8.71673824e-01 4.86866116e-01 -5.60903740e-02 3.71652088e+02] [-4.85702403e-01 8.73473984e-01 3.37101639e-02 8.11926509e+01] [ 6.54058190e-02 -2.14103799e-03 9.97856450e-01 1.46665914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.70, Y:81.16, Z:146.67 [[ 8.72248708e-01 4.85835101e-01 -5.60931929e-02 3.71702804e+02] [-4.84669561e-01 8.74047686e-01 3.37054726e-02 8.11648867e+01] [ 6.54034272e-02 -2.21289170e-03 9.97856450e-01 1.46671693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.75, Y:81.14, Z:146.68 [[ 8.71655915e-01 4.86896520e-01 -5.61047685e-02 3.71754431e+02] [-4.85734410e-01 8.73457110e-01 3.36861933e-02 8.11384674e+01] [ 6.54067993e-02 -2.11075299e-03 9.97856450e-01 1.46675343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.80, Y:81.11, Z:146.68 [[ 8.68895180e-01 4.91805009e-01 -5.61159532e-02 3.71804457e+02] [-4.90654279e-01 8.70703666e-01 3.36675512e-02 8.11109824e+01] [ 6.54182365e-02 -1.72004041e-03 9.97856451e-01 1.46677395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.85, Y:81.08, Z:146.68 [[ 8.64859610e-01 4.98867024e-01 -5.61208353e-02 3.71854990e+02] [-4.97731592e-01 8.66677741e-01 3.36594111e-02 8.10825530e+01] [ 6.54302490e-02 -1.17755246e-03 9.97856451e-01 1.46679279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.90, Y:81.05, Z:146.68 [[ 8.62181489e-01 5.03480203e-01 -5.61316849e-02 3.71904786e+02] [-5.02355679e-01 8.64006386e-01 3.36413082e-02 8.10537035e+01] [ 6.54358669e-02 -8.06842529e-04 9.97856451e-01 1.46682364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.95, Y:81.02, Z:146.69 [[ 8.59518622e-01 5.08011656e-01 -5.61417475e-02 3.71954108e+02] [-5.06897851e-01 8.61350081e-01 3.36245071e-02 8.10237786e+01] [ 6.54393402e-02 -4.42758897e-04 9.97856451e-01 1.46685893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.00, Y:80.99, Z:146.69 [[ 8.59516175e-01 5.08015347e-01 -5.61458053e-02 3.72001391e+02] [-5.06901993e-01 8.61347908e-01 3.36177300e-02 8.09926722e+01] [ 6.54393947e-02 -4.34562099e-04 9.97856451e-01 1.46689903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.05, Y:80.96, Z:146.69 [[ 8.60518728e-01 5.06314763e-01 -5.61505022e-02 3.72049534e+02] [-5.05198301e-01 8.62348568e-01 3.36098831e-02 8.09613634e+01] [ 6.54384852e-02 -5.54795579e-04 9.97856451e-01 1.46694266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.10, Y:80.93, Z:146.70 [[ 8.61106958e-01 5.05313248e-01 -5.61545091e-02 3.72098697e+02] [-5.04195094e-01 8.62935764e-01 3.36031871e-02 8.09282694e+01] [ 6.54378699e-02 -6.23110206e-04 9.97856451e-01 1.46696400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.15, Y:80.90, Z:146.70 [[ 8.61584161e-01 5.04498858e-01 -5.61572404e-02 3.72147969e+02] [-5.03379272e-01 8.63412092e-01 3.35986220e-02 8.08961754e+01] [ 6.54373069e-02 -6.79649718e-04 9.97856451e-01 1.46703981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.20, Y:80.86, Z:146.71 [[ 8.61779938e-01 5.04163214e-01 -5.61675351e-02 3.72196653e+02] [-5.03044039e-01 8.63608120e-01 3.35814033e-02 8.08639114e+01] [ 6.54372476e-02 -6.85035941e-04 9.97856451e-01 1.46707835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.24, Y:80.83, Z:146.71 [[ 8.62805208e-01 5.02405218e-01 -5.61797996e-02 3.72243758e+02] [-5.01283654e-01 8.64631925e-01 3.35608730e-02 8.08320987e+01] [ 6.54360060e-02 -7.94480797e-04 9.97856452e-01 1.46710141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.29, Y:80.80, Z:146.71 [[ 8.63296870e-01 5.01559311e-01 -5.61851477e-02 3.72290127e+02] [-5.00436540e-01 8.65122846e-01 3.35519172e-02 8.07981267e+01] [ 6.54353314e-02 -8.48164185e-04 9.97856452e-01 1.46713263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.34, Y:80.77, Z:146.71 [[ 8.64323365e-01 4.99787793e-01 -5.61896995e-02 3.72338212e+02] [-4.98661775e-01 8.66147340e-01 3.35442925e-02 8.07658828e+01] [ 6.54335867e-02 -9.73460457e-04 9.97856452e-01 1.46714743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.38, Y:80.73, Z:146.72 [[ 8.64886943e-01 4.98810667e-01 -5.62004897e-02 3.72383697e+02] [-4.97683763e-01 8.66710370e-01 3.35262048e-02 8.07311068e+01] [ 6.54327758e-02 -1.02630559e-03 9.97856452e-01 1.46720021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.43, Y:80.70, Z:146.72 [[ 8.64778141e-01 4.98998704e-01 -5.62055131e-02 3.72429899e+02] [-4.97872745e-01 8.66602151e-01 3.35177813e-02 8.06958752e+01] [ 6.54331479e-02 -1.00225154e-03 9.97856452e-01 1.46723990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.48, Y:80.66, Z:146.73 [[ 8.65109470e-01 4.98423611e-01 -5.62095132e-02 3.72477767e+02] [-4.97296874e-01 8.66933000e-01 3.35110717e-02 8.06635684e+01] [ 6.54325913e-02 -1.03793024e-03 9.97856452e-01 1.46726694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.52, Y:80.63, Z:146.73 [[ 8.64537503e-01 4.99414222e-01 -5.62169150e-02 3.72523824e+02] [-4.98290382e-01 8.66362820e-01 3.34986501e-02 8.06290599e+01] [ 6.54339473e-02 -9.48491279e-04 9.97856452e-01 1.46729804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.57, Y:80.60, Z:146.73 [[ 8.64183220e-01 5.00026105e-01 -5.62250519e-02 3.72572567e+02] [-4.98904446e-01 8.66009878e-01 3.34849874e-02 8.05963462e+01] [ 6.54348181e-02 -8.86235895e-04 9.97856452e-01 1.46733490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.62, Y:80.56, Z:146.74 [[ 8.63892119e-01 5.00528575e-01 -5.62276826e-02 3.72619785e+02] [-4.99408267e-01 8.65719605e-01 3.34805693e-02 8.05621270e+01] [ 6.54353888e-02 -8.43030421e-04 9.97856452e-01 1.46737216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.67, Y:80.52, Z:146.74 [[ 8.61825423e-01 5.04078391e-01 -5.62309128e-02 3.72669139e+02] [-5.02965964e-01 8.63657718e-01 3.34751433e-02 8.05227444e+01] [ 6.54383582e-02 -5.67494354e-04 9.97856452e-01 1.46742075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.72, Y:80.49, Z:146.75 [[ 8.61741351e-01 5.04223349e-01 -5.62197338e-02 3.72720246e+02] [-5.03110007e-01 8.63573089e-01 3.34939073e-02 8.04882057e+01] [ 6.54382593e-02 -5.78374276e-04 9.97856452e-01 1.46745061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.77, Y:80.45, Z:146.75 [[ 8.61704324e-01 5.04287771e-01 -5.62094499e-02 3.72770522e+02] [-5.03173440e-01 8.63535461e-01 3.35111568e-02 8.04536030e+01] [ 6.54381198e-02 -5.93606456e-04 9.97856453e-01 1.46749266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.542755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:372.82, Y:80.42, Z:146.75 [[ 8.62419687e-01 5.03063542e-01 -5.62081519e-02 3.72822280e+02] [-5.01946470e-01 8.64249153e-01 3.35133338e-02 8.04183713e+01] [ 6.54371841e-02 -6.89075463e-04 9.97856453e-01 1.46751226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.88, Y:80.39, Z:146.76 [[ 8.60967789e-01 5.05545635e-01 -5.61967692e-02 3.72875061e+02] [-5.04432592e-01 8.62799709e-01 3.35324102e-02 8.03851934e+01] [ 6.54387197e-02 -5.22843124e-04 9.97856453e-01 1.46757875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.93, Y:80.35, Z:146.76 [[ 8.59443130e-01 5.08134545e-01 -5.61853244e-02 3.72927646e+02] [-5.07025768e-01 8.61277634e-01 3.35515756e-02 8.03522109e+01] [ 6.54398779e-02 -3.48263901e-04 9.97856453e-01 1.46762595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.98, Y:80.32, Z:146.76 [[ 8.59752667e-01 5.07611812e-01 -5.61747251e-02 3.72982148e+02] [-5.06500760e-01 8.61585795e-01 3.35693124e-02 8.03212077e+01] [ 6.54395247e-02 -4.08764934e-04 9.97856453e-01 1.46764393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.04, Y:80.29, Z:146.77 [[ 8.59548886e-01 5.07958013e-01 -5.61637729e-02 3.73035924e+02] [-5.06846503e-01 8.61381735e-01 3.35876262e-02 8.02893969e+01] [ 6.54395520e-02 -4.03794734e-04 9.97856454e-01 1.46767921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.09, Y:80.26, Z:146.77 [[ 8.60921974e-01 5.05628580e-01 -5.61524201e-02 3.73090984e+02] [-5.04510873e-01 8.62751051e-01 3.36065954e-02 8.02589313e+01] [ 6.54380145e-02 -6.03149965e-04 9.97856454e-01 1.46771473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.14, Y:80.23, Z:146.78 [[ 8.62254390e-01 5.03354273e-01 -5.61412826e-02 3.73144475e+02] [-5.02230531e-01 8.64079765e-01 3.36251907e-02 8.02284526e+01] [ 6.54359297e-02 -7.97602125e-04 9.97856454e-01 1.46775626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.20, Y:80.20, Z:146.78 [[ 8.63416090e-01 5.01360113e-01 -5.61310253e-02 3.73197214e+02] [-5.00231044e-01 8.65238174e-01 3.36423048e-02 8.01961646e+01] [ 6.54336156e-02 -9.68825860e-04 9.97856454e-01 1.46781322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.25, Y:80.17, Z:146.78 [[ 8.64883877e-01 4.98824864e-01 -5.61216118e-02 3.73250950e+02] [-4.97689435e-01 8.66702005e-01 3.36580009e-02 8.01658031e+01] [ 6.54301612e-02 -1.17912900e-03 9.97856454e-01 1.46784673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.30, Y:80.13, Z:146.79 [[ 8.65372555e-01 4.97977656e-01 -5.61123492e-02 3.73304455e+02] [-4.96839447e-01 8.67188943e-01 3.36734358e-02 8.01336797e+01] [ 6.54286275e-02 -1.26123860e-03 9.97856455e-01 1.46789078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.36, Y:80.10, Z:146.79 [[ 8.65193399e-01 4.98290043e-01 -5.61018271e-02 3.73355920e+02] [-4.97151354e-01 8.67009487e-01 3.36909572e-02 8.01029689e+01] [ 6.54286848e-02 -1.25809445e-03 9.97856455e-01 1.46794697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.41, Y:80.07, Z:146.80 [[ 8.64027589e-01 5.00308887e-01 -5.61011818e-02 3.73405702e+02] [-4.99174372e-01 8.65846287e-01 3.36920317e-02 8.00730757e+01] [ 6.54314228e-02 -1.10657277e-03 9.97856455e-01 1.46796983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.46, Y:80.04, Z:146.80 [[ 8.63199821e-01 5.01735361e-01 -5.61043425e-02 3.73455212e+02] [-5.00604193e-01 8.65020603e-01 3.36867676e-02 8.00441000e+01] [ 6.54332547e-02 -9.92342573e-04 9.97856455e-01 1.46803377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.50, Y:80.01, Z:146.81 [[ 8.62688620e-01 5.02613470e-01 -5.61074478e-02 3.73504063e+02] [-5.01484492e-01 8.64510760e-01 3.36815947e-02 8.00131067e+01] [ 6.54343155e-02 -9.19713485e-04 9.97856455e-01 1.46806311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.382755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:373.56, Y:79.98, Z:146.81 [[ 8.63749651e-01 5.00787463e-01 -5.61111186e-02 3.73558199e+02] [-4.99655031e-01 8.65569646e-01 3.36754784e-02 7.99810633e+01] [ 6.54323384e-02 -1.05098005e-03 9.97856455e-01 1.46810383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.61, Y:79.95, Z:146.82 [[ 8.64870521e-01 4.98850493e-01 -5.60996165e-02 3.73609664e+02] [-4.97712743e-01 8.66687197e-01 3.36946287e-02 7.99470672e+01] [ 6.54294015e-02 -1.21999699e-03 9.97856455e-01 1.46816184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.66, Y:79.92, Z:146.82 [[ 8.66065839e-01 4.96773574e-01 -5.60890261e-02 3.73663078e+02] [-4.95630327e-01 8.67879060e-01 3.37122487e-02 7.99172507e+01] [ 6.54258455e-02 -1.39760455e-03 9.97856455e-01 1.46816018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.71, Y:79.89, Z:146.82 [[ 8.65663286e-01 4.97475294e-01 -5.60839291e-02 3.73712411e+02] [-4.96332968e-01 8.67477088e-01 3.37207259e-02 7.98860754e+01] [ 6.54267515e-02 -1.35449141e-03 9.97856455e-01 1.46822376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.622755096 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:373.76, Y:79.86, Z:146.83 [[ 8.64480086e-01 4.99528240e-01 -5.60867100e-02 3.73761427e+02] [-4.98390522e-01 8.66296781e-01 3.37160998e-02 7.98563353e+01] [ 6.54298803e-02 -1.19381213e-03 9.97856455e-01 1.46830794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6827550959999 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:373.81, Y:79.83, Z:146.82 [[ 8.65848253e-01 4.97152586e-01 -5.60901859e-02 3.73812179e+02] [-4.96010259e-01 8.67662053e-01 3.37103163e-02 7.98266826e+01] [ 6.54264968e-02 -1.36671084e-03 9.97856455e-01 1.46823202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.742755096 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:373.86, Y:79.80, Z:146.83 [[ 8.63421857e-01 5.01354410e-01 -5.60932575e-02 3.73862117e+02] [-5.00221242e-01 8.65241393e-01 3.37052045e-02 7.97960058e+01] [ 6.54324612e-02 -1.04277131e-03 9.97856455e-01 1.46834253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8027550959999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:373.91, Y:79.76, Z:146.84 [[ 8.61404878e-01 5.04811724e-01 -5.60959818e-02 3.73912279e+02] [-5.03686155e-01 8.63229125e-01 3.37006698e-02 7.97628058e+01] [ 6.54361785e-02 -7.75151955e-04 9.97856455e-01 1.46839976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.862755096 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:373.97, Y:79.73, Z:146.84 [[ 8.61288083e-01 5.05010969e-01 -5.60959818e-02 3.73965539e+02] [-5.03885822e-01 8.63112590e-01 3.37006698e-02 7.97322043e+01] [ 6.54363561e-02 -7.60015333e-04 9.97856455e-01 1.46844433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.922755096 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:374.02, Y:79.70, Z:146.85 [[ 8.59899565e-01 5.07372788e-01 -5.60855752e-02 3.74017068e+02] [-5.06251523e-01 8.61726461e-01 3.37179798e-02 7.96973634e+01] [ 6.54380097e-02 -6.00668344e-04 9.97856456e-01 1.46850469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.982755096 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:374.07, Y:79.67, Z:146.85 [[ 8.61553899e-01 5.04559621e-01 -5.60755635e-02 3.74069970e+02] [-5.03431308e-01 8.63376450e-01 3.37346220e-02 7.96674709e+01] [ 6.54354490e-02 -8.34000866e-04 9.97856456e-01 1.46853712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.042755096 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:374.12, Y:79.63, Z:146.86 [[ 8.61910450e-01 5.03950905e-01 -5.60701432e-02 3.74122245e+02] [-5.02820719e-01 8.63731840e-01 3.37436285e-02 7.96334768e+01] [ 6.54347001e-02 -8.90756321e-04 9.97856456e-01 1.46855828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1027550959999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:374.17, Y:79.60, Z:146.86 [[ 8.60763816e-01 5.05908015e-01 -5.60600886e-02 3.74172544e+02] [-5.04780883e-01 8.62587097e-01 3.37603246e-02 7.95988559e+01] [ 6.54363279e-02 -7.61604754e-04 9.97856456e-01 1.46864129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.162755096 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:374.23, Y:79.57, Z:146.87 [[ 8.61490545e-01 5.04670524e-01 -5.60509063e-02 3.74226697e+02] [-5.03539782e-01 8.63311589e-01 3.37755627e-02 7.95680659e+01] [ 6.54349279e-02 -8.73466775e-04 9.97856456e-01 1.46868497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2227550959999 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:374.28, Y:79.54, Z:146.87 [[ 8.61437410e-01 5.04762344e-01 -5.60407395e-02 3.74281925e+02] [-5.03630699e-01 8.63257894e-01 3.37924232e-02 7.95370932e+01] [ 6.54347535e-02 -8.86220710e-04 9.97856456e-01 1.46871848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.282755096 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:374.33, Y:79.51, Z:146.87 [[ 8.61260394e-01 5.05065590e-01 -5.60293175e-02 3.74334550e+02] [-5.03933355e-01 8.63080510e-01 3.38113508e-02 7.95089039e+01] [ 6.54347617e-02 -8.85335382e-04 9.97856457e-01 1.46874796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3427550959999 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:374.39, Y:79.48, Z:146.88 [[ 8.61891017e-01 5.03988681e-01 -5.60293175e-02 3.74385465e+02] [-5.02854172e-01 8.63709717e-01 3.38113508e-02 7.94795549e+01] [ 6.54336040e-02 -9.67123528e-04 9.97856457e-01 1.46879826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.402755096 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:374.44, Y:79.45, Z:146.88 [[ 8.61184896e-01 5.05193979e-01 -5.60323084e-02 3.74438278e+02] [-5.04062338e-01 8.63005381e-01 3.38063936e-02 7.94478325e+01] [ 6.54349701e-02 -8.69779149e-04 9.97856457e-01 1.46880144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4627550959999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:374.49, Y:79.41, Z:146.89 [[ 8.61158290e-01 5.05240434e-01 -5.60223457e-02 3.74489538e+02] [-5.04107818e-01 8.62978169e-01 3.38228953e-02 7.94141495e+01] [ 6.54347556e-02 -8.85564255e-04 9.97856457e-01 1.46892004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.522755096 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:374.54, Y:79.38, Z:146.90 [[ 8.62401856e-01 5.03115942e-01 -5.60123940e-02 3.74542915e+02] [-5.01977773e-01 8.64218267e-01 3.38393678e-02 7.93822741e+01] [ 6.54320594e-02 -1.06615677e-03 9.97856457e-01 1.46896187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5827550959999 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:374.60, Y:79.35, Z:146.90 [[ 8.62330676e-01 5.03239102e-01 -5.60018894e-02 3.74596494e+02] [-5.02100065e-01 8.64146542e-01 3.38567433e-02 7.93502256e+01] [ 6.54318761e-02 -1.07715608e-03 9.97856457e-01 1.46900952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.642755096 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:374.65, Y:79.32, Z:146.91 [[ 8.63068122e-01 5.01974611e-01 -5.59902341e-02 3.74650378e+02] [-5.00831664e-01 8.64881530e-01 3.38760071e-02 7.93200453e+01] [ 6.54298148e-02 -1.19561977e-03 9.97856458e-01 1.46905579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7027550959999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:374.70, Y:79.28, Z:146.91 [[ 8.62034349e-01 5.03748625e-01 -5.59830727e-02 3.74701632e+02] [-5.02608642e-01 8.63849621e-01 3.38878379e-02 7.92845837e+01] [ 6.54319079e-02 -1.07490411e-03 9.97856458e-01 1.46910641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.762755096 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:374.76, Y:79.26, Z:146.91 [[ 8.64756786e-01 4.99061830e-01 -5.59731231e-02 3.74755216e+02] [-4.97910948e-01 8.66565167e-01 3.39042638e-02 7.92553908e+01] [ 6.54246828e-02 -1.44931142e-03 9.97856458e-01 1.46910657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8227550959999 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:374.81, Y:79.22, Z:146.91 [[ 8.66175959e-01 4.96595221e-01 -5.59677906e-02 3.74808342e+02] [-4.95438621e-01 8.67980689e-01 3.39130643e-02 7.92242239e+01] [ 6.54200271e-02 -1.64607595e-03 9.97856458e-01 1.46911587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.882755096 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:374.86, Y:79.19, Z:146.92 [[ 8.64631926e-01 4.99279708e-01 -5.59589539e-02 3.74860684e+02] [-4.98127769e-01 8.66439635e-01 3.39276392e-02 7.91898502e+01] [ 6.54244374e-02 -1.46021118e-03 9.97856458e-01 1.46921124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9427550959999 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:374.92, Y:79.16, Z:146.92 [[ 8.64580608e-01 4.99369753e-01 -5.59483810e-02 3.74915755e+02] [-4.98216876e-01 8.66387718e-01 3.39450655e-02 7.91597423e+01] [ 6.54241291e-02 -1.47381785e-03 9.97856458e-01 1.46923951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.002755096 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:374.97, Y:79.13, Z:146.93 [[ 8.61995051e-01 5.03820940e-01 -5.59373992e-02 3.74968626e+02] [-5.02676222e-01 8.63807340e-01 3.39631527e-02 7.91260974e+01] [ 6.54304835e-02 -1.15766902e-03 9.97856458e-01 1.46930320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0627550959999 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:375.02, Y:79.10, Z:146.93 [[ 8.61121160e-01 5.05314322e-01 -5.59265905e-02 3.75017577e+02] [-5.04171592e-01 8.62934703e-01 3.39809418e-02 7.90962716e+01] [ 6.54320523e-02 -1.06510984e-03 9.97856459e-01 1.46933730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.122755096 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:375.07, Y:79.07, Z:146.94 [[ 8.59289196e-01 5.08422949e-01 -5.59301536e-02 3.75068811e+02] [-5.07287162e-01 8.61107095e-01 3.39750762e-02 7.90675493e+01] [ 6.54355605e-02 -8.21767056e-04 9.97856459e-01 1.46939302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1827550959999 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:375.12, Y:79.04, Z:146.94 [[ 8.57707466e-01 5.11086477e-01 -5.59331439e-02 3.75122292e+02] [-5.09956656e-01 8.59529079e-01 3.39701526e-02 7.90374668e+01] [ 6.54378493e-02 -6.12974504e-04 9.97856459e-01 1.46943136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.242755096 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:375.17, Y:79.00, Z:146.95 [[ 8.56321496e-01 5.13405864e-01 -5.59277691e-02 3.75173638e+02] [-5.12280399e-01 8.58145803e-01 3.39789993e-02 7.90025408e+01] [ 6.54391978e-02 -4.46247640e-04 9.97856459e-01 1.46950160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3027550959999 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:375.23, Y:78.97, Z:146.95 [[ 8.57339323e-01 5.11705488e-01 -5.59176169e-02 3.75226332e+02] [-5.10575316e-01 8.59160718e-01 3.39956981e-02 7.89722679e+01] [ 6.54380051e-02 -5.95693854e-04 9.97856459e-01 1.46952158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.362755096 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:375.28, Y:78.94, Z:146.95 [[ 8.58463814e-01 5.09817735e-01 -5.59084772e-02 3.75279276e+02] [-5.08682580e-01 8.60282107e-01 3.40107224e-02 7.89420941e+01] [ 6.54363320e-02 -7.57306078e-04 9.97856459e-01 1.46953245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.422755096 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:375.33, Y:78.91, Z:146.95 [[ 8.60637243e-01 5.06140225e-01 -5.59071494e-02 3.75331214e+02] [-5.04997159e-01 8.62450573e-01 3.40129049e-02 7.89112160e+01] [ 6.54324524e-02 -1.03982100e-03 9.97856459e-01 1.46954175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.482755096 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:375.38, Y:78.88, Z:146.96 [[ 8.61460272e-01 5.04738141e-01 -5.59071494e-02 3.75384114e+02] [-5.03592124e-01 8.63271739e-01 3.40129049e-02 7.88799080e+01] [ 6.54306724e-02 -1.14636613e-03 9.97856459e-01 1.46958771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.542755096 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:375.44, Y:78.85, Z:146.97 [[ 8.62594855e-01 5.02797275e-01 -5.59018520e-02 3.75436091e+02] [-5.01646618e-01 8.64403378e-01 3.40216092e-02 7.88467031e+01] [ 6.54277221e-02 -1.30389004e-03 9.97856459e-01 1.46965481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6027550959999 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:375.49, Y:78.82, Z:146.97 [[ 8.64836171e-01 4.98933312e-01 -5.58922912e-02 3.75491472e+02] [-4.97773562e-01 8.66638877e-01 3.40373089e-02 7.88192847e+01] [ 6.54207797e-02 -1.61499106e-03 9.97856459e-01 1.46965720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.662755096 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:375.55, Y:78.79, Z:146.97 [[ 8.64734035e-01 4.99110887e-01 -5.58871206e-02 3.75545186e+02] [-4.97950960e-01 8.66536627e-01 3.40457966e-02 7.87871252e+01] [ 6.54208647e-02 -1.61151374e-03 9.97856459e-01 1.46970196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7227550959999 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:375.60, Y:78.76, Z:146.97 [[ 8.64116346e-01 5.00180763e-01 -5.58761633e-02 3.75597087e+02] [-4.99021906e-01 8.65919625e-01 3.40637704e-02 7.87570960e+01] [ 6.54223090e-02 -1.55163128e-03 9.97856460e-01 1.46971681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.782755096 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:375.65, Y:78.73, Z:146.98 [[ 8.64793721e-01 4.99008616e-01 -5.58768364e-02 3.75652483e+02] [-4.97847387e-01 8.66595473e-01 3.40626660e-02 7.87276487e+01] [ 6.54201774e-02 -1.63904271e-03 9.97856460e-01 1.46977882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8427550959999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:375.70, Y:78.70, Z:146.98 [[ 8.65574501e-01 4.97654299e-01 -5.58657438e-02 3.75702481e+02] [-4.96489078e-01 8.67373674e-01 3.40808492e-02 7.86987327e+01] [ 6.54169566e-02 -1.76278239e-03 9.97856460e-01 1.46979444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.902755096 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:375.75, Y:78.67, Z:146.99 [[ 8.65604865e-01 4.97601073e-01 -5.58694075e-02 3.75751986e+02] [-4.96436128e-01 8.67404217e-01 3.40748422e-02 7.86672973e+01] [ 6.54170377e-02 -1.75975685e-03 9.97856460e-01 1.46985843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9627550959999 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:375.80, Y:78.64, Z:146.99 [[ 8.66684394e-01 4.95718103e-01 -5.58723912e-02 3.75802593e+02] [-4.94549564e-01 8.68481414e-01 3.40699492e-02 7.86376601e+01] [ 6.54132239e-02 -1.89622658e-03 9.97856460e-01 1.46989573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.022755096 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:375.85, Y:78.61, Z:147.00 [[ 8.66939834e-01 4.95270995e-01 -5.58745539e-02 3.75854365e+02] [-4.94101759e-01 8.68736400e-01 3.40664020e-02 7.86099740e+01] [ 6.54123596e-02 -1.92580548e-03 9.97856460e-01 1.46997773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0827550959999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:375.90, Y:78.58, Z:147.00 [[ 8.64920253e-01 4.98789258e-01 -5.58769456e-02 3.75902779e+02] [-4.97627583e-01 8.66721718e-01 3.40624787e-02 7.85777151e+01] [ 6.54197607e-02 -1.65541827e-03 9.97856460e-01 1.47003773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.142755096 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:375.96, Y:78.55, Z:147.01 [[ 8.62843689e-01 5.02372531e-01 -5.58803021e-02 3.75957369e+02] [-5.01218696e-01 8.64650185e-01 3.40569712e-02 7.85456133e+01] [ 6.54262004e-02 -1.37759053e-03 9.97856460e-01 1.47005877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2027550959999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:376.01, Y:78.51, Z:147.01 [[ 8.61973641e-01 5.03865190e-01 -5.58687008e-02 3.76011805e+02] [-5.02713250e-01 8.63781347e-01 3.40759921e-02 7.85148750e+01] [ 6.54280478e-02 -1.28667082e-03 9.97856460e-01 1.47006877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.262755096 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:376.06, Y:78.49, Z:147.01 [[ 8.61370666e-01 5.04896483e-01 -5.58580106e-02 3.76062651e+02] [-5.03745572e-01 8.63179026e-01 3.40935066e-02 7.84858869e+01] [ 6.54291548e-02 -1.22892105e-03 9.97856460e-01 1.47014385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3227550959999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:376.11, Y:78.46, Z:147.02 [[ 8.61692236e-01 5.04347246e-01 -5.58600543e-02 3.76112934e+02] [-5.03195399e-01 8.63500001e-01 3.40901578e-02 7.84560409e+01] [ 6.54284341e-02 -1.26670201e-03 9.97856460e-01 1.47016874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.382755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:376.16, Y:78.43, Z:147.02 [[ 8.63056581e-01 5.02008663e-01 -5.58626994e-02 3.76161513e+02] [-5.00852199e-01 8.64861394e-01 3.40858228e-02 7.84250015e+01] [ 6.54248704e-02 -1.43903784e-03 9.97856460e-01 1.47017809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4427550959999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:376.21, Y:78.39, Z:147.03 [[ 8.65316930e-01 4.98101958e-01 -5.58663529e-02 3.76210578e+02] [-4.96937733e-01 8.67116748e-01 3.40798338e-02 7.83945148e+01] [ 6.54178821e-02 -1.72775838e-03 9.97856460e-01 1.47025906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.502755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:376.26, Y:78.36, Z:147.03 [[ 8.66241127e-01 4.96492550e-01 -5.58700081e-02 3.76259980e+02] [-4.95325368e-01 8.68039028e-01 3.40738403e-02 7.83645205e+01] [ 6.54147554e-02 -1.84232952e-03 9.97856460e-01 1.47029575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5627550959999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:376.31, Y:78.34, Z:147.03 [[ 8.66708650e-01 4.95675577e-01 -5.58734089e-02 3.76310501e+02] [-4.94507059e-01 8.68505683e-01 3.40682629e-02 7.83351052e+01] [ 6.54131791e-02 -1.89746307e-03 9.97856460e-01 1.47033055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.36, Y:78.30, Z:147.04 [[ 8.65299795e-01 4.98130648e-01 -5.58759581e-02 3.76358932e+02] [-4.96967499e-01 8.67100307e-01 3.40640815e-02 7.83035091e+01] [ 6.54184234e-02 -1.70710758e-03 9.97856460e-01 1.47035405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.41, Y:78.28, Z:147.04 [[ 8.65880985e-01 4.97119278e-01 -5.58797190e-02 3.76412454e+02] [-4.95954424e-01 8.67680395e-01 3.40579109e-02 7.82776262e+01] [ 6.54165807e-02 -1.77630358e-03 9.97856460e-01 1.47038255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.46, Y:78.25, Z:147.05 [[ 8.62317914e-01 5.03274235e-01 -5.58825624e-02 3.76461478e+02] [-5.02122529e-01 8.64125768e-01 3.40532446e-02 7.82460294e+01] [ 6.54276828e-02 -1.30482929e-03 9.97856461e-01 1.47046415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:376.51, Y:78.22, Z:147.05 [[ 8.61684893e-01 5.04356193e-01 -5.58925468e-02 3.76509944e+02] [-5.03207820e-01 8.63494865e-01 3.40368492e-02 7.82154649e+01] [ 6.54296228e-02 -1.20347215e-03 9.97856461e-01 1.47046508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.56, Y:78.18, Z:147.06 [[ 8.59025648e-01 5.08871577e-01 -5.58986118e-02 3.76557367e+02] [-5.07733368e-01 8.60842029e-01 3.40268857e-02 7.81810876e+01] [ 6.54351894e-02 -8.48377145e-04 9.97856461e-01 1.47055251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.922755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:376.61, Y:78.15, Z:147.05 [[ 8.60217576e-01 5.06853807e-01 -5.59011725e-02 3.76607731e+02] [-5.05711610e-01 8.62031452e-01 3.40226784e-02 7.81508202e+01] [ 6.54330929e-02 -9.97033976e-04 9.97856461e-01 1.47053692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.982755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:376.66, Y:78.12, Z:147.06 [[ 8.61235927e-01 5.05120882e-01 -5.59068181e-02 3.76657238e+02] [-5.03975639e-01 8.63047881e-01 3.40133989e-02 7.81203197e+01] [ 6.54311389e-02 -1.11788680e-03 9.97856461e-01 1.47058440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.042755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:376.70, Y:78.09, Z:147.06 [[ 8.62263712e-01 5.03363794e-01 -5.59122727e-02 3.76704888e+02] [-5.02215439e-01 8.64073696e-01 3.40044301e-02 7.80884424e+01] [ 6.54289230e-02 -1.24077957e-03 9.97856461e-01 1.47062837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.75, Y:78.06, Z:147.07 [[ 8.63400444e-01 5.01410806e-01 -5.59184804e-02 3.76753559e+02] [-5.00259018e-01 8.65208245e-01 3.39942188e-02 7.80562244e+01] [ 6.54261989e-02 -1.37689956e-03 9.97856461e-01 1.47065764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.80, Y:78.02, Z:147.07 [[ 8.63181486e-01 5.01787342e-01 -5.59212523e-02 3.76801787e+02] [-5.00636638e-01 8.64989977e-01 3.39896583e-02 7.80230903e+01] [ 6.54269030e-02 -1.34301594e-03 9.97856461e-01 1.47070921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.85, Y:77.99, Z:147.07 [[ 8.61715647e-01 5.04300141e-01 -5.59241642e-02 3.76854114e+02] [-5.03155022e-01 8.63527679e-01 3.39848666e-02 7.79888622e+01] [ 6.54306367e-02 -1.14676719e-03 9.97856461e-01 1.47071738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.90, Y:77.96, Z:147.07 [[ 8.60864683e-01 5.05752449e-01 -5.59147435e-02 3.76902754e+02] [-5.04609381e-01 8.62678010e-01 3.40003593e-02 7.79582299e+01] [ 6.54321846e-02 -1.05460445e-03 9.97856461e-01 1.47074476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.95, Y:77.93, Z:147.08 [[ 8.59059040e-01 5.08813036e-01 -5.59183431e-02 3.76951026e+02] [-5.07676814e-01 8.60876664e-01 3.39944382e-02 7.79275784e+01] [ 6.54356100e-02 -8.14783137e-04 9.97856461e-01 1.47079829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.00, Y:77.90, Z:147.08 [[ 8.57667267e-01 5.11155163e-01 -5.59218928e-02 3.77000758e+02] [-5.10024286e-01 8.59488221e-01 3.39885979e-02 7.78955754e+01] [ 6.54376555e-02 -6.29384430e-04 9.97856461e-01 1.47081028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4627550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:377.05, Y:77.86, Z:147.09 [[ 8.56751222e-01 5.12688803e-01 -5.59243691e-02 3.77053163e+02] [-5.11561451e-01 8.58574361e-01 3.39845228e-02 7.78630231e+01] [ 6.54387138e-02 -5.07530025e-04 9.97856461e-01 1.47085867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.11, Y:77.83, Z:147.09 [[ 8.58019775e-01 5.10564074e-01 -5.59141433e-02 3.77105973e+02] [-5.09431112e-01 8.59839433e-01 3.40013390e-02 7.78283484e+01] [ 6.54370474e-02 -6.89417092e-04 9.97856461e-01 1.47091829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.16, Y:77.80, Z:147.10 [[ 8.59734070e-01 5.07673352e-01 -5.59025711e-02 3.77158224e+02] [-5.06533035e-01 8.61549128e-01 3.40203545e-02 7.77957086e+01] [ 6.54340388e-02 -9.31958744e-04 9.97856462e-01 1.47100238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.21, Y:77.76, Z:147.10 [[ 8.59325121e-01 5.08366437e-01 -5.58918895e-02 3.77212306e+02] [-5.07226444e-01 8.61140381e-01 3.40378943e-02 7.77635155e+01] [ 6.54344861e-02 -8.99773300e-04 9.97856462e-01 1.47104654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.26, Y:77.73, Z:147.11 [[ 8.57119460e-01 5.12077689e-01 -5.58808764e-02 3.77263757e+02] [-5.10944378e-01 8.58938900e-01 3.40559652e-02 7.77330019e+01] [ 6.54375584e-02 -6.38010810e-04 9.97856462e-01 1.47107994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.32, Y:77.70, Z:147.11 [[ 8.57306787e-01 5.11764344e-01 -5.58778055e-02 3.77317583e+02] [-5.10630040e-01 8.59125608e-01 3.40610030e-02 7.77018214e+01] [ 6.54372605e-02 -6.67842936e-04 9.97856462e-01 1.47110607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.37, Y:77.67, Z:147.11 [[ 8.56315077e-01 5.13423035e-01 -5.58683921e-02 3.77367883e+02] [-5.12291247e-01 8.58135464e-01 3.40764363e-02 7.76707316e+01] [ 6.54382759e-02 -5.59277921e-04 9.97856462e-01 1.47114025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.42, Y:77.64, Z:147.12 [[ 8.56458949e-01 5.13182699e-01 -5.58711576e-02 3.77417524e+02] [-5.12050697e-01 8.58279203e-01 3.40719015e-02 7.76412329e+01] [ 6.54381630e-02 -5.72319780e-04 9.97856462e-01 1.47116480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.47, Y:77.61, Z:147.12 [[ 8.58118421e-01 5.10402589e-01 -5.58746142e-02 3.77467249e+02] [-5.09265058e-01 8.59935226e-01 3.40662321e-02 7.76105186e+01] [ 6.54360420e-02 -7.77872678e-04 9.97856462e-01 1.47122485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.52, Y:77.58, Z:147.13 [[ 8.60157557e-01 5.06958295e-01 -5.58772230e-02 3.77520716e+02] [-5.05813768e-01 8.61969962e-01 3.40619525e-02 7.75770105e+01] [ 6.54324771e-02 -1.03517711e-03 9.97856462e-01 1.47129014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.57, Y:77.54, Z:147.13 [[ 8.61899276e-01 5.03992657e-01 -5.58662666e-02 3.77573665e+02] [-5.02840730e-01 8.63706987e-01 3.40799130e-02 7.75441838e+01] [ 6.54281107e-02 -1.28161801e-03 9.97856463e-01 1.47133907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.63, Y:77.51, Z:147.14 [[ 8.62555832e-01 5.02869368e-01 -5.58554935e-02 3.77625626e+02] [-5.01713946e-01 8.64361309e-01 3.40975605e-02 7.75121518e+01] [ 6.54259462e-02 -1.38756956e-03 9.97856463e-01 1.47138726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.68, Y:77.48, Z:147.14 [[ 8.62394890e-01 5.03145912e-01 -5.58502101e-02 3.77677760e+02] [-5.01990508e-01 8.64200380e-01 3.41062123e-02 7.74823288e+01] [ 6.54261740e-02 -1.37674784e-03 9.97856463e-01 1.47141865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.73, Y:77.45, Z:147.14 [[ 8.61525986e-01 5.04632271e-01 -5.58502101e-02 3.77731760e+02] [-5.03479982e-01 8.63333466e-01 3.41062123e-02 7.74504471e+01] [ 6.54284508e-02 -1.26392539e-03 9.97856463e-01 1.47144807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.79, Y:77.42, Z:147.15 [[ 8.61517640e-01 5.04647724e-01 -5.58393304e-02 3.77785264e+02] [-5.03494314e-01 8.63324404e-01 3.41240155e-02 7.74181239e+01] [ 6.54280634e-02 -1.28365591e-03 9.97856463e-01 1.47148621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.362755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:377.84, Y:77.39, Z:147.15 [[ 8.63086088e-01 5.01961096e-01 -5.58342409e-02 3.77839432e+02] [-5.00801525e-01 8.64888904e-01 3.41323410e-02 7.73882417e+01] [ 6.54235227e-02 -1.49727573e-03 9.97856463e-01 1.47150562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.89, Y:77.35, Z:147.16 [[ 8.63468987e-01 5.01303245e-01 -5.58244133e-02 3.77890836e+02] [-5.00141262e-01 8.65270249e-01 3.41484068e-02 7.73549515e+01] [ 6.54219111e-02 -1.56599766e-03 9.97856463e-01 1.47157626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.94, Y:77.33, Z:147.16 [[ 8.65231008e-01 4.98256510e-01 -5.58189322e-02 3.77944888e+02] [-4.97087608e-01 8.67027788e-01 3.41573638e-02 7.73250724e+01] [ 6.54156942e-02 -1.80711081e-03 9.97856463e-01 1.47161400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.00, Y:77.29, Z:147.17 [[ 8.64656063e-01 4.99254666e-01 -5.58092318e-02 3.77996865e+02] [-4.98086817e-01 8.66453527e-01 3.41732058e-02 7.72921591e+01] [ 6.54172382e-02 -1.75022697e-03 9.97856463e-01 1.47168128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.05, Y:77.26, Z:147.17 [[ 8.64730376e-01 4.99127084e-01 -5.57990161e-02 3.78049682e+02] [-4.97957894e-01 8.66526969e-01 3.41898782e-02 7.72636437e+01] [ 6.54164465e-02 -1.77946570e-03 9.97856464e-01 1.47170181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.10, Y:77.23, Z:147.18 [[ 8.64130709e-01 5.00164473e-01 -5.57998048e-02 3.78099444e+02] [-4.98997523e-01 8.65928757e-01 3.41885909e-02 7.72343981e+01] [ 6.54185742e-02 -1.69944693e-03 9.97856464e-01 1.47176678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.15, Y:77.21, Z:147.18 [[ 8.62909663e-01 5.02267712e-01 -5.58037518e-02 3.78150335e+02] [-5.01105562e-01 8.64710817e-01 3.41821474e-02 7.72056497e+01] [ 6.54226967e-02 -1.53253488e-03 9.97856464e-01 1.47180614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.20, Y:77.18, Z:147.18 [[ 8.60783618e-01 5.05902442e-01 -5.58057472e-02 3.78202140e+02] [-5.04748109e-01 8.62589792e-01 3.41788893e-02 7.71780264e+01] [ 6.54286515e-02 -1.25278257e-03 9.97856464e-01 1.47183001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.25, Y:77.15, Z:147.19 [[ 8.59829645e-01 5.07521830e-01 -5.58083723e-02 3.78254773e+02] [-5.06371177e-01 8.61638165e-01 3.41746024e-02 7.71478716e+01] [ 6.54309803e-02 -1.12458500e-03 9.97856464e-01 1.47186804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.30, Y:77.12, Z:147.19 [[ 8.59012470e-01 5.08903726e-01 -5.58083723e-02 3.78304711e+02] [-5.07755983e-01 8.60822838e-01 3.41746024e-02 7.71177939e+01] [ 6.54327040e-02 -1.01937465e-03 9.97856464e-01 1.47191258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.36, Y:77.09, Z:147.20 [[ 8.58592540e-01 5.09611668e-01 -5.58103862e-02 3.78355565e+02] [-5.08465631e-01 8.60403989e-01 3.41713132e-02 7.70879007e+01] [ 6.54335788e-02 -9.61571342e-04 9.97856464e-01 1.47196453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.41, Y:77.06, Z:147.20 [[ 8.58429467e-01 5.09886017e-01 -5.58130802e-02 3.78406121e+02] [-5.08740846e-01 8.60241463e-01 3.41669124e-02 7.70600701e+01] [ 6.54339567e-02 -9.35490787e-04 9.97856464e-01 1.47200483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.46, Y:77.03, Z:147.21 [[ 8.59070020e-01 5.08805691e-01 -5.58163878e-02 3.78456946e+02] [-5.07658592e-01 8.60880797e-01 3.41615081e-02 7.70305653e+01] [ 6.54328262e-02 -1.01145866e-03 9.97856464e-01 1.47205308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.51, Y:77.00, Z:147.21 [[ 8.59465189e-01 5.08137602e-01 -5.58190479e-02 3.78507659e+02] [-5.06989377e-01 8.61275252e-01 3.41571612e-02 7.70006146e+01] [ 6.54321025e-02 -1.05722670e-03 9.97856464e-01 1.47210299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.56, Y:76.97, Z:147.21 [[ 8.59888226e-01 5.07421097e-01 -5.58217586e-02 3.78558840e+02] [-5.06271652e-01 8.61697514e-01 3.41527306e-02 7.69727684e+01] [ 6.54312866e-02 -1.10655697e-03 9.97856464e-01 1.47213562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.61, Y:76.94, Z:147.22 [[ 8.57840316e-01 5.10875252e-01 -5.58253513e-02 3.78605712e+02] [-5.09733475e-01 8.59654452e-01 3.41468570e-02 7.69375691e+01] [ 6.54352960e-02 -8.36500335e-04 9.97856464e-01 1.47219884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.66, Y:76.91, Z:147.22 [[ 8.57505440e-01 5.11436845e-01 -5.58280831e-02 3.78661061e+02] [-5.10296546e-01 8.59320506e-01 3.41423900e-02 7.69074877e+01] [ 6.54358929e-02 -7.88407163e-04 9.97856464e-01 1.47221645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.72, Y:76.88, Z:147.22 [[ 8.58137700e-01 5.10376572e-01 -5.58161462e-02 3.78717167e+02] [-5.09232762e-01 8.59950556e-01 3.41618934e-02 7.68789553e+01] [ 6.54345560e-02 -8.92198306e-04 9.97856464e-01 1.47221607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.77, Y:76.85, Z:147.23 [[ 8.59198439e-01 5.08590136e-01 -5.58042619e-02 3.78769954e+02] [-5.07441297e-01 8.61008112e-01 3.41812957e-02 7.68507433e+01] [ 6.54321920e-02 -1.05112884e-03 9.97856464e-01 1.47227528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.82, Y:76.82, Z:147.23 [[ 8.60019711e-01 5.07200220e-01 -5.58035335e-02 3.78820491e+02] [-5.06048379e-01 8.61827474e-01 3.41824849e-02 7.68233224e+01] [ 6.54303822e-02 -1.15832308e-03 9.97856464e-01 1.47233433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.87, Y:76.80, Z:147.23 [[ 8.61173987e-01 5.05237446e-01 -5.58075898e-02 3.78873218e+02] [-5.04081915e-01 8.62979393e-01 3.41758611e-02 7.67968660e+01] [ 6.54277248e-02 -1.29976579e-03 9.97856464e-01 1.47232416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.92, Y:76.77, Z:147.24 [[ 8.60785443e-01 5.05898797e-01 -5.58106435e-02 3.78923761e+02] [-5.04744976e-01 8.62591943e-01 3.41708736e-02 7.67699566e+01] [ 6.54288153e-02 -1.24364866e-03 9.97856464e-01 1.47243832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.98, Y:76.74, Z:147.25 [[ 8.60302021e-01 5.06720020e-01 -5.58144603e-02 3.78976518e+02] [-5.05568327e-01 8.62109879e-01 3.41646382e-02 7.67442460e+01] [ 6.54301037e-02 -1.17388396e-03 9.97856464e-01 1.47247603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.03, Y:76.72, Z:147.25 [[ 8.59149812e-01 5.08670421e-01 -5.58211706e-02 3.79029369e+02] [-5.07523546e-01 8.60960729e-01 3.41536707e-02 7.67190561e+01] [ 6.54327978e-02 -1.01256134e-03 9.97856464e-01 1.47251481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.08, Y:76.69, Z:147.25 [[ 8.57484625e-01 5.11471355e-01 -5.58316296e-02 3.79082242e+02] [-5.10331509e-01 8.59299974e-01 3.41365647e-02 7.66922173e+01] [ 6.54359929e-02 -7.78939546e-04 9.97856465e-01 1.47254233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.13, Y:76.66, Z:147.26 [[ 8.56740776e-01 5.12716072e-01 -5.58343387e-02 3.79132261e+02] [-5.11579152e-01 8.58557959e-01 3.41321330e-02 7.66637326e+01] [ 6.54371091e-02 -6.78706494e-04 9.97856465e-01 1.47258338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.18, Y:76.63, Z:147.26 [[ 8.57368368e-01 5.11665551e-01 -5.58376675e-02 3.79182651e+02] [-5.10526759e-01 8.59184379e-01 3.41266865e-02 7.66342255e+01] [ 6.54363016e-02 -7.52518044e-04 9.97856465e-01 1.47263092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.23, Y:76.60, Z:147.26 [[ 8.59237566e-01 5.08520072e-01 -5.58403194e-02 3.79232194e+02] [-5.07374915e-01 8.61049570e-01 3.41223468e-02 7.66030381e+01] [ 6.54331812e-02 -9.87224902e-04 9.97856465e-01 1.47264970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.28, Y:76.57, Z:147.27 [[ 8.60836383e-01 5.05808545e-01 -5.58429709e-02 3.79280474e+02] [-5.04657961e-01 8.62644947e-01 3.41180068e-02 7.65723679e+01] [ 6.54298361e-02 -1.18842176e-03 9.97856465e-01 1.47267882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.33, Y:76.54, Z:147.27 [[ 8.62000838e-01 5.03821010e-01 -5.58475230e-02 3.79330926e+02] [-5.02666739e-01 8.63807050e-01 3.41105539e-02 7.65421900e+01] [ 6.54270978e-02 -1.33063377e-03 9.97856465e-01 1.47268952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.38, Y:76.51, Z:147.27 [[ 8.62644222e-01 5.02718301e-01 -5.58503042e-02 3.79380759e+02] [-5.01562016e-01 8.64449145e-01 3.41059997e-02 7.65134462e+01] [ 6.54254579e-02 -1.40895236e-03 9.97856465e-01 1.47269397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.43, Y:76.48, Z:147.28 [[ 8.63139490e-01 5.01866325e-01 -5.58606537e-02 3.79428889e+02] [-5.00709355e-01 8.64943974e-01 3.40890402e-02 7.64822460e+01] [ 6.54244772e-02 -1.45364492e-03 9.97856465e-01 1.47276555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.48, Y:76.45, Z:147.28 [[ 8.63249751e-01 5.01675302e-01 -5.58727053e-02 3.79478008e+02] [-5.00519211e-01 8.65054798e-01 3.40692760e-02 7.64509595e+01] [ 6.54246661e-02 -1.44493169e-03 9.97856465e-01 1.47279286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3427550959999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:379.53, Y:76.42, Z:147.28 [[ 8.63284636e-01 5.01614896e-01 -5.58760497e-02 3.79527542e+02] [-5.00459034e-01 8.65089830e-01 3.40637900e-02 7.64186042e+01] [ 6.54247068e-02 -1.44307269e-03 9.97856465e-01 1.47278225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.57, Y:76.38, Z:147.28 [[ 8.60662188e-01 5.06100945e-01 -5.58787180e-02 3.79574338e+02] [-5.04954778e-01 8.62473553e-01 3.40594124e-02 7.63834232e+01] [ 6.54314172e-02 -1.09742276e-03 9.97856465e-01 1.47282560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.62, Y:76.35, Z:147.29 [[ 8.59432435e-01 5.08186066e-01 -5.58821310e-02 3.79624319e+02] [-5.07044658e-01 8.61246801e-01 3.40538116e-02 7.63504033e+01] [ 6.54339792e-02 -9.32214161e-04 9.97856465e-01 1.47288189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.67, Y:76.32, Z:147.29 [[ 8.57666777e-01 5.11160172e-01 -5.58836081e-02 3.79673559e+02] [-5.10025213e-01 8.59485186e-01 3.40513874e-02 7.63206857e+01] [ 6.54368464e-02 -7.02694527e-04 9.97856465e-01 1.47292125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.72, Y:76.28, Z:147.29 [[ 8.54891372e-01 5.15788098e-01 -5.58871998e-02 3.79720320e+02] [-5.14663369e-01 8.56716126e-01 3.40454915e-02 7.62849127e+01] [ 6.54397247e-02 -3.42102414e-04 9.97856465e-01 1.47294828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.642755096 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:379.77, Y:76.25, Z:147.30 [[ 8.55121366e-01 5.15406391e-01 -5.58900882e-02 3.79770488e+02] [-5.14281158e-01 8.56945808e-01 3.40407492e-02 7.62546091e+01] [ 6.54395965e-02 -3.65752697e-04 9.97856465e-01 1.47298208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7027550959999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:379.82, Y:76.22, Z:147.30 [[ 8.54592308e-01 5.16282833e-01 -5.58929683e-02 3.79818045e+02] [-5.15159780e-01 8.56418093e-01 3.40360196e-02 7.62221814e+01] [ 6.54399620e-02 -2.93111251e-04 9.97856465e-01 1.47304316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.87, Y:76.19, Z:147.31 [[ 8.54020046e-01 5.17228578e-01 -5.58959605e-02 3.79865576e+02] [-5.16107869e-01 8.55847271e-01 3.40311050e-02 7.61872261e+01] [ 6.54402653e-02 -2.14900807e-04 9.97856465e-01 1.47306859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.92, Y:76.16, Z:147.31 [[ 8.54119417e-01 5.17064139e-01 -5.58989964e-02 3.79915039e+02] [-5.15943404e-01 8.55946627e-01 3.40261174e-02 7.61554013e+01] [ 6.54402425e-02 -2.21649093e-04 9.97856465e-01 1.47310579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.96, Y:76.12, Z:147.31 [[ 8.53648076e-01 5.17841297e-01 -5.59048688e-02 3.79961996e+02] [-5.16722858e-01 8.55476691e-01 3.40164665e-02 7.61212805e+01] [ 6.54404432e-02 -1.50767583e-04 9.97856465e-01 1.47309587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.01, Y:76.09, Z:147.31 [[ 8.54172915e-01 5.16974632e-01 -5.59093970e-02 3.80008374e+02] [-5.15854825e-01 8.56000693e-01 3.40090223e-02 7.60859494e+01] [ 6.54402843e-02 -2.08453518e-04 9.97856466e-01 1.47312150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.06, Y:76.05, Z:147.31 [[ 8.56536314e-01 5.13049002e-01 -5.59130180e-02 3.80060482e+02] [-5.11921206e-01 8.58359173e-01 3.40030680e-02 7.60501730e+01] [ 6.54386920e-02 -5.01802901e-04 9.97856466e-01 1.47314725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.11, Y:76.01, Z:147.32 [[ 8.57752363e-01 5.11014616e-01 -5.59012280e-02 3.80108883e+02] [-5.09881234e-01 8.59571754e-01 3.40224398e-02 7.60096469e+01] [ 6.54370806e-02 -6.79841021e-04 9.97856466e-01 1.47320685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.16, Y:75.97, Z:147.32 [[ 8.57946060e-01 5.10690649e-01 -5.58893403e-02 3.80159752e+02] [-5.09555310e-01 8.59764230e-01 3.40419569e-02 7.59748314e+01] [ 6.54365647e-02 -7.27452714e-04 9.97856466e-01 1.47324373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.21, Y:75.94, Z:147.33 [[ 8.56843535e-01 5.12539518e-01 -5.58784316e-02 3.80207864e+02] [-5.11406934e-01 8.58663423e-01 3.40598536e-02 7.59378422e+01] [ 6.54377863e-02 -6.07347992e-04 9.97856466e-01 1.47332330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.26, Y:75.90, Z:147.34 [[ 8.55324705e-01 5.15071129e-01 -5.58693276e-02 3.80258330e+02] [-5.13942957e-01 8.57147331e-01 3.40747806e-02 7.59008161e+01] [ 6.54391808e-02 -4.31354224e-04 9.97856466e-01 1.47335186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.31, Y:75.87, Z:147.34 [[ 8.53068528e-01 5.18800301e-01 -5.58599410e-02 3.80310553e+02] [-5.17679090e-01 8.54895444e-01 3.40901615e-02 7.58653420e+01] [ 6.54403951e-02 -1.63720506e-04 9.97856467e-01 1.47339477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.36, Y:75.83, Z:147.34 [[ 8.50158193e-01 5.23557031e-01 -5.58487351e-02 3.80364222e+02] [-5.22444836e-01 8.51990612e-01 3.41085099e-02 7.58323061e+01] [ 6.54403482e-02 1.80254128e-04 9.97856467e-01 1.47343567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.42, Y:75.80, Z:147.34 [[ 8.50519569e-01 5.22970969e-01 -5.58375264e-02 3.80418243e+02] [-5.21856307e-01 8.52350487e-01 3.41268493e-02 7.58006742e+01] [ 6.54404943e-02 1.13612190e-04 9.97856467e-01 1.47344660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.47, Y:75.77, Z:147.35 [[ 8.52575112e-01 5.19614419e-01 -5.58259235e-02 3.80471152e+02] [-5.18491307e-01 8.54400859e-01 3.41458192e-02 7.57698568e+01] [ 6.54403770e-02 -1.66619587e-04 9.97856467e-01 1.47350493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.52, Y:75.74, Z:147.35 [[ 8.54923748e-01 5.15742223e-01 -5.58152705e-02 3.80524909e+02] [-5.14609706e-01 8.56743675e-01 3.41632240e-02 7.57378606e+01] [ 6.54387971e-02 -4.83871525e-04 9.97856468e-01 1.47353029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.58, Y:75.70, Z:147.36 [[ 8.55394005e-01 5.14963103e-01 -5.58041042e-02 3.80576671e+02] [-5.13827739e-01 8.57212158e-01 3.41814539e-02 7.57040631e+01] [ 6.54381442e-02 -5.64914125e-04 9.97856468e-01 1.47360297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.63, Y:75.68, Z:147.36 [[ 8.56680801e-01 5.12820684e-01 -5.57938365e-02 3.80632110e+02] [-5.11679682e-01 8.58495420e-01 3.41982056e-02 7.56750315e+01] [ 6.54363003e-02 -7.48373653e-04 9.97856468e-01 1.47363375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.68, Y:75.64, Z:147.37 [[ 8.55293435e-01 5.15132424e-01 -5.57828501e-02 3.80683400e+02] [-5.13995158e-01 8.57110398e-01 3.42161169e-02 7.56409340e+01] [ 6.54378920e-02 -5.92705280e-04 9.97856468e-01 1.47367129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.74, Y:75.61, Z:147.37 [[ 8.55319666e-01 5.15089924e-01 -5.57731003e-02 3.80736515e+02] [-5.13951533e-01 8.57135924e-01 3.42320018e-02 7.56087485e+01] [ 6.54376871e-02 -6.14633940e-04 9.97856468e-01 1.47371332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.79, Y:75.58, Z:147.38 [[ 8.55118606e-01 5.15424737e-01 -5.57629824e-02 3.80789205e+02] [-5.14285982e-01 8.56934636e-01 3.42484757e-02 7.55772880e+01] [ 6.54377426e-02 -6.08388644e-04 9.97856469e-01 1.47376157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.84, Y:75.55, Z:147.38 [[ 8.55720631e-01 5.14425396e-01 -5.57558344e-02 3.80841627e+02] [-5.13283763e-01 8.57534853e-01 3.42601085e-02 7.55481474e+01] [ 6.54368412e-02 -6.98517189e-04 9.97856469e-01 1.47378858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.89, Y:75.52, Z:147.38 [[ 8.57258488e-01 5.11858620e-01 -5.57551599e-02 3.80891694e+02] [-5.10711483e-01 8.59069235e-01 3.42612063e-02 7.55181667e+01] [ 6.54344363e-02 -8.95909480e-04 9.97856469e-01 1.47378155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.022755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:380.94, Y:75.49, Z:147.38 [[ 8.58428677e-01 5.09893332e-01 -5.57583741e-02 3.80941340e+02] [-5.08742390e-01 8.60237008e-01 3.42559746e-02 7.54881879e+01] [ 6.54323099e-02 -1.03966248e-03 9.97856469e-01 1.47382392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.99, Y:75.46, Z:147.38 [[ 8.57838485e-01 5.10885302e-01 -5.57614640e-02 3.80991884e+02] [-5.09736778e-01 8.59648353e-01 3.42509441e-02 7.54573555e+01] [ 6.54335546e-02 -9.58108993e-04 9.97856469e-01 1.47383853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.04, Y:75.42, Z:147.39 [[ 8.55715220e-01 5.14433523e-01 -5.57639106e-02 3.81042633e+02] [-5.13292763e-01 8.57529991e-01 3.42469603e-02 7.54221552e+01] [ 6.54370102e-02 -6.82433354e-04 9.97856469e-01 1.47393580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.10, Y:75.39, Z:147.40 [[ 8.56540950e-01 5.13058545e-01 -5.57541973e-02 3.81097488e+02] [-5.11913844e-01 8.58353237e-01 3.42627663e-02 7.53946431e+01] [ 6.54356008e-02 -8.06116919e-04 9.97856469e-01 1.47396150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.15, Y:75.36, Z:147.40 [[ 8.55908525e-01 5.14113859e-01 -5.57452832e-02 3.81147773e+02] [-5.12970448e-01 8.57721626e-01 3.42772634e-02 7.53636995e+01] [ 6.54363511e-02 -7.42519111e-04 9.97856469e-01 1.47401808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.20, Y:75.33, Z:147.41 [[ 8.53211959e-01 5.18576443e-01 -5.57478802e-02 3.81199781e+02] [-5.17442792e-01 8.55031179e-01 3.42730392e-02 7.53284374e+01] [ 6.54393664e-02 -3.95828198e-04 9.97856469e-01 1.47406846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.25, Y:75.30, Z:147.41 [[ 8.53209698e-01 5.18581367e-01 -5.57366844e-02 3.81253823e+02] [-5.17446537e-01 8.55028182e-01 3.42912368e-02 7.52994207e+01] [ 6.54392324e-02 -4.16861480e-04 9.97856469e-01 1.47409942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.30, Y:75.27, Z:147.41 [[ 8.52048653e-01 5.20487396e-01 -5.57311672e-02 3.81302621e+02] [-5.19356048e-01 8.53869306e-01 3.43002010e-02 7.52686036e+01] [ 6.54399554e-02 -2.81121327e-04 9.97856469e-01 1.47414085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.502755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:381.35, Y:75.24, Z:147.42 [[ 8.52423900e-01 5.19872166e-01 -5.57353194e-02 3.81351531e+02] [-5.18739946e-01 8.54244010e-01 3.42934528e-02 7.52378659e+01] [ 6.54397743e-02 -3.20422190e-04 9.97856469e-01 1.47415081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.40, Y:75.21, Z:147.42 [[ 8.52094389e-01 5.20411703e-01 -5.57387791e-02 3.81400375e+02] [-5.19281003e-01 8.53915444e-01 3.42878286e-02 7.52070766e+01] [ 6.54399916e-02 -2.72377291e-04 9.97856469e-01 1.47419053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.45, Y:75.17, Z:147.42 [[ 8.53824420e-01 5.17567987e-01 -5.57426203e-02 3.81454144e+02] [-5.16431629e-01 8.55641950e-01 3.42815828e-02 7.51742139e+01] [ 6.54387741e-02 -4.83200367e-04 9.97856469e-01 1.47422684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.51, Y:75.14, Z:147.43 [[ 8.54574977e-01 5.16329052e-01 -5.57307729e-02 3.81507359e+02] [-5.15188804e-01 8.56390068e-01 3.43008320e-02 7.51418393e+01] [ 6.54377965e-02 -6.00762496e-04 9.97856470e-01 1.47426247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.56, Y:75.11, Z:147.43 [[ 8.54990492e-01 5.15641478e-01 -5.57236367e-02 3.81558457e+02] [-5.14499016e-01 8.56804191e-01 3.43124212e-02 7.51084127e+01] [ 6.54371531e-02 -6.67037680e-04 9.97856470e-01 1.47433592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.61, Y:75.08, Z:147.44 [[ 8.55215976e-01 5.15267636e-01 -5.57216047e-02 3.81607113e+02] [-5.14124165e-01 8.57029039e-01 3.43157208e-02 7.50794055e+01] [ 6.54368137e-02 -6.99529172e-04 9.97856470e-01 1.47435854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.66, Y:75.05, Z:147.44 [[ 8.55060592e-01 5.15524699e-01 -5.57285287e-02 3.81656250e+02] [-5.14382506e-01 8.56874460e-01 3.43044726e-02 7.50466658e+01] [ 6.54371559e-02 -6.66622352e-04 9.97856470e-01 1.47443560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.71, Y:75.02, Z:147.44 [[ 8.57589250e-01 5.11306898e-01 -5.57309155e-02 3.81712318e+02] [-5.10156037e-01 8.59397630e-01 3.43005946e-02 7.50205997e+01] [ 6.54331473e-02 -9.84358248e-04 9.97856470e-01 1.47441211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.76, Y:74.99, Z:147.44 [[ 8.57766083e-01 5.11011194e-01 -5.57216938e-02 3.81763395e+02] [-5.09858737e-01 8.59573447e-01 3.43155688e-02 7.49932908e+01] [ 6.54325282e-02 -1.02453858e-03 9.97856470e-01 1.47442905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.81, Y:74.97, Z:147.45 [[ 8.58717277e-01 5.09410694e-01 -5.57259724e-02 3.81813851e+02] [-5.08255319e-01 8.60522777e-01 3.43086193e-02 7.49656684e+01] [ 6.54306461e-02 -1.13838225e-03 9.97856470e-01 1.47445533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.87, Y:74.94, Z:147.45 [[ 8.57762887e-01 5.11015702e-01 -5.57295374e-02 3.81865425e+02] [-5.09864082e-01 8.59570785e-01 3.43028275e-02 7.49372096e+01] [ 6.54327657e-02 -1.00920290e-03 9.97856470e-01 1.47453049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.162755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:381.92, Y:74.91, Z:147.46 [[ 8.55694500e-01 5.14471380e-01 -5.57325837e-02 3.81915210e+02] [-5.13327384e-01 8.57507231e-01 3.42978774e-02 7.49102581e+01] [ 6.54363699e-02 -7.39443685e-04 9.97856470e-01 1.47455562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.97, Y:74.88, Z:147.46 [[ 8.56969894e-01 5.12343531e-01 -5.57378401e-02 3.81967340e+02] [-5.11195590e-01 8.58780130e-01 3.42893330e-02 7.48840441e+01] [ 6.54344675e-02 -8.91988038e-04 9.97856470e-01 1.47461171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.02, Y:74.85, Z:147.47 [[ 8.54664285e-01 5.16180112e-01 -5.57409429e-02 3.82016018e+02] [-5.15040626e-01 8.56479854e-01 3.42842883e-02 7.48506652e+01] [ 6.54378625e-02 -5.92706565e-04 9.97856470e-01 1.47467958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.07, Y:74.82, Z:147.47 [[ 8.56315620e-01 5.13434806e-01 -5.57517576e-02 3.82069371e+02] [-5.12290645e-01 8.58128247e-01 3.42666929e-02 7.48245603e+01] [ 6.54358708e-02 -7.82000471e-04 9.97856470e-01 1.47468219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.12, Y:74.79, Z:147.47 [[ 8.56602292e-01 5.12956093e-01 -5.57544673e-02 3.82120461e+02] [-5.11811206e-01 8.58414460e-01 3.42622835e-02 7.47942947e+01] [ 6.54354880e-02 -8.13389402e-04 9.97856470e-01 1.47471586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.17, Y:74.76, Z:147.48 [[ 8.56959108e-01 5.12359612e-01 -5.57558505e-02 3.82173581e+02] [-5.11213610e-01 8.58770572e-01 3.42600324e-02 7.47626990e+01] [ 6.54349405e-02 -8.56297141e-04 9.97856470e-01 1.47477683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.23, Y:74.73, Z:147.48 [[ 8.57427603e-01 5.11576340e-01 -5.57454480e-02 3.82225794e+02] [-5.10427584e-01 8.59237320e-01 3.42769503e-02 7.47297094e+01] [ 6.54338461e-02 -9.35988968e-04 9.97856471e-01 1.47476675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.28, Y:74.70, Z:147.48 [[ 8.59525673e-01 5.08044412e-01 -5.57359303e-02 3.82279368e+02] [-5.06887217e-01 8.61330006e-01 3.42924196e-02 7.46985519e+01] [ 6.54291013e-02 -1.22338442e-03 9.97856471e-01 1.47479087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.642755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:382.33, Y:74.66, Z:147.48 [[ 8.61237261e-01 5.05138595e-01 -5.57259392e-02 3.82331376e+02] [-5.03974264e-01 8.63036997e-01 3.43086476e-02 7.46645604e+01] [ 6.54241693e-02 -1.46344649e-03 9.97856471e-01 1.47482841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.38, Y:74.63, Z:147.48 [[ 8.60963975e-01 5.05605365e-01 -5.57157796e-02 3.82382488e+02] [-5.04440943e-01 8.62763652e-01 3.43251385e-02 7.46301717e+01] [ 6.54245237e-02 -1.44738733e-03 9.97856471e-01 1.47484542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.43, Y:74.60, Z:147.49 [[ 8.58633791e-01 5.09553527e-01 -5.57065199e-02 3.82431536e+02] [-5.08396407e-01 8.60438172e-01 3.43401596e-02 7.45979069e+01] [ 6.54301655e-02 -1.16462690e-03 9.97856471e-01 1.47491143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.48, Y:74.57, Z:147.49 [[ 8.55935553e-01 5.14072791e-01 -5.57090136e-02 3.82484403e+02] [-5.12925462e-01 8.57746176e-01 3.43361136e-02 7.45662741e+01] [ 6.54354551e-02 -8.14928855e-04 9.97856471e-01 1.47494606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.54, Y:74.53, Z:147.50 [[ 8.52834619e-01 5.19202033e-01 -5.56988513e-02 3.82537361e+02] [-5.18064519e-01 8.54651423e-01 3.43525907e-02 7.45330804e+01] [ 6.54390374e-02 -4.41480030e-04 9.97856471e-01 1.47498946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.59, Y:74.50, Z:147.50 [[ 8.49796308e-01 5.24161426e-01 -5.56869402e-02 3.82588186e+02] [-5.23033250e-01 8.51618925e-01 3.43718883e-02 7.44995050e+01] [ 6.54404701e-02 -8.29824929e-05 9.97856472e-01 1.47502610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.64, Y:74.47, Z:147.51 [[ 8.49042722e-01 5.25382222e-01 -5.56774401e-02 3.82637188e+02] [-5.24255658e-01 8.50866335e-01 3.43872701e-02 7.44667458e+01] [ 6.54405198e-02 -7.04843826e-06 9.97856472e-01 1.47508659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.69, Y:74.44, Z:147.51 [[ 8.51152666e-01 5.21956758e-01 -5.56801691e-02 3.82685441e+02] [-5.20823144e-01 8.52971906e-01 3.43828507e-02 7.44356350e+01] [ 6.54399813e-02 -2.65534324e-04 9.97856472e-01 1.47512406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.73, Y:74.40, Z:147.52 [[ 8.52479945e-01 5.19785811e-01 -5.56835174e-02 3.82733549e+02] [-5.18647919e-01 8.54296511e-01 3.43774273e-02 7.44021161e+01] [ 6.54391336e-02 -4.25926924e-04 9.97856472e-01 1.47519257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:382.78, Y:74.37, Z:147.53 [[ 8.53659564e-01 5.17845918e-01 -5.56862183e-02 3.82782188e+02] [-5.16704182e-01 8.55473718e-01 3.43730517e-02 7.43716142e+01] [ 6.54380407e-02 -5.69582446e-04 9.97856472e-01 1.47528561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.83, Y:74.34, Z:147.53 [[ 8.53358695e-01 5.18341186e-01 -5.56897894e-02 3.82829939e+02] [-5.17200881e-01 8.55173748e-01 3.43672650e-02 7.43390210e+01] [ 6.54384148e-02 -5.24796306e-04 9.97856472e-01 1.47532092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.88, Y:74.31, Z:147.53 [[ 8.53723754e-01 5.17739233e-01 -5.56941487e-02 3.82878286e+02] [-5.16598109e-01 8.55538293e-01 3.43601990e-02 7.43062184e+01] [ 6.54381000e-02 -5.62626181e-04 9.97856472e-01 1.47534395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.93, Y:74.28, Z:147.54 [[ 8.54246311e-01 5.16876262e-01 -5.56971325e-02 3.82927651e+02] [-5.15733621e-01 8.56059894e-01 3.43553617e-02 7.42755202e+01] [ 6.54375523e-02 -6.23057176e-04 9.97856472e-01 1.47537751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.98, Y:74.24, Z:147.54 [[ 8.53541018e-01 5.18039634e-01 -5.57016029e-02 3.82977389e+02] [-5.16899938e-01 8.55356453e-01 3.43481122e-02 7.42433152e+01] [ 6.54384089e-02 -5.25367604e-04 9.97856472e-01 1.47539699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.03, Y:74.21, Z:147.55 [[ 8.52528814e-01 5.19703388e-01 -5.57046667e-02 3.83025816e+02] [-5.18567559e-01 8.54346672e-01 3.43431426e-02 7.42118279e+01] [ 6.54393442e-02 -3.91885622e-04 9.97856472e-01 1.47547161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.542755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:383.07, Y:74.18, Z:147.55 [[ 8.52756789e-01 5.19328816e-01 -5.57085263e-02 3.83074974e+02] [-5.18192598e-01 8.54574403e-01 3.43368808e-02 7.41814111e+01] [ 6.54392122e-02 -4.13262179e-04 9.97856472e-01 1.47551489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.13, Y:74.15, Z:147.55 [[ 8.53527816e-01 5.18060129e-01 -5.57132906e-02 3.83125645e+02] [-5.16921714e-01 8.55344055e-01 3.43291487e-02 7.41539143e+01] [ 6.54385951e-02 -5.01473708e-04 9.97856472e-01 1.47552244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.17, Y:74.12, Z:147.56 [[ 8.53604507e-01 5.17933167e-01 -5.57187582e-02 3.83173657e+02] [-5.16795061e-01 8.55420939e-01 3.43202721e-02 7.41220399e+01] [ 6.54385997e-02 -5.00759830e-04 9.97856472e-01 1.47560580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.22, Y:74.09, Z:147.56 [[ 8.56166169e-01 5.13687205e-01 -5.57220467e-02 3.83223283e+02] [-5.12540439e-01 8.57977147e-01 3.43149321e-02 7.40928479e+01] [ 6.54353842e-02 -8.19481685e-04 9.97856472e-01 1.47564681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.28, Y:74.06, Z:147.57 [[ 8.58442797e-01 5.09873115e-01 -5.57258497e-02 3.83276724e+02] [-5.08718704e-01 8.60248911e-01 3.43087551e-02 7.40609123e+01] [ 6.54312134e-02 -1.10332166e-03 9.97856472e-01 1.47570064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.33, Y:74.03, Z:147.57 [[ 8.60133015e-01 5.07017810e-01 -5.57147877e-02 3.83326208e+02] [-5.05856242e-01 8.61934533e-01 3.43267095e-02 7.40319874e+01] [ 6.54267527e-02 -1.34186301e-03 9.97856472e-01 1.47572282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.38, Y:74.00, Z:147.58 [[ 8.62755999e-01 5.02540993e-01 -5.57192715e-02 3.83376278e+02] [-5.01370548e-01 8.64551763e-01 3.43194299e-02 7.40027439e+01] [ 6.54191148e-02 -1.67329240e-03 9.97856472e-01 1.47575145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.43, Y:73.97, Z:147.58 [[ 8.62086604e-01 5.03687943e-01 -5.57238170e-02 3.83432075e+02] [-5.02520364e-01 8.63884233e-01 3.43120479e-02 7.39723506e+01] [ 6.54214917e-02 -1.57760409e-03 9.97856472e-01 1.47575920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.49, Y:73.94, Z:147.58 [[ 8.60011752e-01 5.07223751e-01 -5.57122331e-02 3.83485042e+02] [-5.06062347e-01 8.61813376e-01 3.43308463e-02 7.39408842e+01] [ 6.54269683e-02 -1.33106783e-03 9.97856473e-01 1.47581501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0827550959999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:383.54, Y:73.91, Z:147.58 [[ 8.58384713e-01 5.09973546e-01 -5.57015819e-02 3.83536201e+02] [-5.08816793e-01 8.60189327e-01 3.43481191e-02 7.39114170e+01] [ 6.54305384e-02 -1.14200012e-03 9.97856473e-01 1.47583182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.59, Y:73.88, Z:147.59 [[ 8.57125703e-01 5.12086485e-01 -5.57042341e-02 3.83587029e+02] [-5.10934460e-01 8.58933338e-01 3.43438175e-02 7.38815278e+01] [ 6.54332285e-02 -9.75755906e-04 9.97856473e-01 1.47588457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.64, Y:73.85, Z:147.59 [[ 8.56254873e-01 5.13540973e-01 -5.57069243e-02 3.83639076e+02] [-5.12392302e-01 8.58064642e-01 3.43394533e-02 7.38540274e+01] [ 6.54348583e-02 -8.59525067e-04 9.97856473e-01 1.47589231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.69, Y:73.82, Z:147.59 [[ 8.55726561e-01 5.14420538e-01 -5.57096331e-02 3.83687456e+02] [-5.13274014e-01 8.57537691e-01 3.43350582e-02 7.38224704e+01] [ 6.54357692e-02 -7.87114289e-04 9.97856473e-01 1.47594079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.74, Y:73.79, Z:147.60 [[ 8.55291562e-01 5.15143096e-01 -5.57129668e-02 3.83736782e+02] [-5.13998455e-01 8.57103882e-01 3.43296479e-02 7.37916950e+01] [ 6.54364812e-02 -7.25479353e-04 9.97856473e-01 1.47597910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.382755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:383.79, Y:73.76, Z:147.60 [[ 8.57373481e-01 5.11669801e-01 -5.57201048e-02 3.83786443e+02] [-5.10518570e-01 8.59181622e-01 3.43180585e-02 7.37631222e+01] [ 6.54332042e-02 -9.77245031e-04 9.97856473e-01 1.47601607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.84, Y:73.73, Z:147.60 [[ 8.57058302e-01 5.12196703e-01 -5.57279486e-02 3.83835608e+02] [-5.11047413e-01 8.58867677e-01 3.43053164e-02 7.37314204e+01] [ 6.54340038e-02 -9.22032277e-04 9.97856473e-01 1.47603157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.89, Y:73.70, Z:147.61 [[ 8.56464417e-01 5.13188194e-01 -5.57367069e-02 3.83885068e+02] [-5.12041924e-01 8.58275707e-01 3.42910807e-02 7.36994628e+01] [ 6.54352393e-02 -8.29559729e-04 9.97856473e-01 1.47609764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5627550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:383.93, Y:73.67, Z:147.61 [[ 8.55429592e-01 5.14910963e-01 -5.57396896e-02 3.83933955e+02] [-5.13768658e-01 8.57243385e-01 3.42862316e-02 7.36702383e+01] [ 6.54368368e-02 -6.92151600e-04 9.97856473e-01 1.47611760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.622755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:383.98, Y:73.64, Z:147.61 [[ 8.53797096e-01 5.17612514e-01 -5.57476874e-02 3.83983876e+02] [-5.16476797e-01 8.55615021e-01 3.42732227e-02 7.36389340e+01] [ 6.54388077e-02 -4.69990963e-04 9.97856473e-01 1.47614766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.03, Y:73.61, Z:147.62 [[ 8.50567796e-01 5.22901827e-01 -5.57503746e-02 3.84031568e+02] [-5.21777702e-01 8.52392912e-01 3.42688511e-02 7.36054170e+01] [ 6.54404690e-02 -5.86788308e-05 9.97856473e-01 1.47619347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.08, Y:73.57, Z:147.63 [[ 8.50653466e-01 5.22762001e-01 -5.57545611e-02 3.84080294e+02] [-5.21638022e-01 8.52478672e-01 3.42620384e-02 7.35747690e+01] [ 6.54404660e-02 -6.14227911e-05 9.97856473e-01 1.47625133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.13, Y:73.54, Z:147.63 [[ 8.50437944e-01 5.23112171e-01 -5.57580494e-02 3.84128597e+02] [-5.21989316e-01 8.52263842e-01 3.42563606e-02 7.35430976e+01] [ 6.54404885e-02 -2.78027861e-05 9.97856474e-01 1.47629853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.18, Y:73.51, Z:147.63 [[ 8.50496089e-01 5.23017213e-01 -5.57619708e-02 3.84176371e+02] [-5.21894573e-01 8.52322119e-01 3.42499763e-02 7.35104918e+01] [ 6.54404882e-02 -2.76009098e-05 9.97856474e-01 1.47633593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.23, Y:73.48, Z:147.64 [[ 8.51558356e-01 5.21285414e-01 -5.57663380e-02 3.84225417e+02] [-5.20159526e-01 8.53382384e-01 3.42428640e-02 7.34805845e+01] [ 6.54403160e-02 -1.52404984e-04 9.97856474e-01 1.47637465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.28, Y:73.45, Z:147.64 [[ 8.52155645e-01 5.20307959e-01 -5.57708257e-02 3.84275412e+02] [-5.19180457e-01 8.53978677e-01 3.42355534e-02 7.34496462e+01] [ 6.54401268e-02 -2.18897255e-04 9.97856474e-01 1.47640494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.32, Y:73.42, Z:147.64 [[ 8.53674569e-01 5.17811857e-01 -5.57728523e-02 3.84324836e+02] [-5.16679240e-01 8.55494428e-01 3.42322516e-02 7.34166653e+01] [ 6.54392301e-02 -4.06527670e-04 9.97856474e-01 1.47643141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.37, Y:73.38, Z:147.65 [[ 8.56254904e-01 5.13533619e-01 -5.57741991e-02 3.84374457e+02] [-5.12392053e-01 8.58069162e-01 3.42300571e-02 7.33834672e+01] [ 6.54364054e-02 -7.31397931e-04 9.97856474e-01 1.47646222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.42, Y:73.35, Z:147.65 [[ 8.57961707e-01 5.10676806e-01 -5.57755208e-02 3.84422685e+02] [-5.09529340e-01 8.59772239e-01 3.42279034e-02 7.33521130e+01] [ 6.54336408e-02 -9.46966173e-04 9.97856474e-01 1.47649258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.47, Y:73.32, Z:147.65 [[ 8.59252156e-01 5.08502174e-01 -5.57787672e-02 3.84471807e+02] [-5.07350469e-01 8.61059995e-01 3.42226121e-02 7.33212761e+01] [ 6.54311377e-02 -1.10646958e-03 9.97856474e-01 1.47652540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.52, Y:73.29, Z:147.66 [[ 8.58341835e-01 5.10036807e-01 -5.57830598e-02 3.84520036e+02] [-5.08888789e-01 8.60152017e-01 3.42156138e-02 7.32920501e+01] [ 6.54331338e-02 -9.81319001e-04 9.97856474e-01 1.47658641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.57, Y:73.26, Z:147.66 [[ 8.59070759e-01 5.08807257e-01 -5.57907319e-02 3.84568874e+02] [-5.07657461e-01 8.60879812e-01 3.42030993e-02 7.32633508e+01] [ 6.54318999e-02 -1.06030119e-03 9.97856474e-01 1.47662827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.62, Y:73.23, Z:147.67 [[ 8.58205312e-01 5.10265121e-01 -5.57955920e-02 3.84623222e+02] [-5.09118913e-01 8.60016641e-01 3.41951693e-02 7.32318882e+01] [ 6.54337398e-02 -9.39884790e-04 9.97856474e-01 1.47667147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.67, Y:73.20, Z:147.67 [[ 8.56435759e-01 5.13230831e-01 -5.57844499e-02 3.84674383e+02] [-5.12089712e-01 8.58250298e-01 3.42133363e-02 7.32033714e+01] [ 6.54363598e-02 -7.34881732e-04 9.97856474e-01 1.47669626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.72, Y:73.18, Z:147.67 [[ 8.54387192e-01 5.16633695e-01 -5.57866515e-02 3.84724371e+02] [-5.15500038e-01 8.56206403e-01 3.42097460e-02 7.31766726e+01] [ 6.54387957e-02 -4.70347864e-04 9.97856474e-01 1.47673132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.77, Y:73.14, Z:147.68 [[ 8.51440955e-01 5.21474425e-01 -5.57917915e-02 3.84774663e+02] [-5.20351660e-01 8.53266908e-01 3.42013613e-02 7.31412479e+01] [ 6.54404247e-02 -8.90884048e-05 9.97856474e-01 1.47681378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.83, Y:73.11, Z:147.68 [[ 8.54123569e-01 5.17069913e-01 -5.57820334e-02 3.84826324e+02] [-5.15936694e-01 8.55943051e-01 3.42172694e-02 7.31148644e+01] [ 6.54389643e-02 -4.45778373e-04 9.97856474e-01 1.47678623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.87, Y:73.08, Z:147.68 [[ 8.55244502e-01 5.15213422e-01 -5.57850567e-02 3.84873276e+02] [-5.14076575e-01 8.57061720e-01 3.42123397e-02 7.30836143e+01] [ 6.54378932e-02 -5.82124591e-04 9.97856474e-01 1.47683542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.92, Y:73.05, Z:147.69 [[ 8.56644413e-01 5.12881845e-01 -5.57903407e-02 3.84921702e+02] [-5.11740613e-01 8.58458881e-01 3.42037208e-02 7.30525945e+01] [ 6.54361809e-02 -7.50243172e-04 9.97856474e-01 1.47687209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.97, Y:73.02, Z:147.69 [[ 8.58008423e-01 5.10596343e-01 -5.57935555e-02 3.84970869e+02] [-5.09450619e-01 8.59820057e-01 3.41984760e-02 7.30207539e+01] [ 6.54340349e-02 -9.18519036e-04 9.97856474e-01 1.47690377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.02, Y:72.99, Z:147.69 [[ 8.58516414e-01 5.09741460e-01 -5.57961491e-02 3.85022890e+02] [-5.08594208e-01 8.60327081e-01 3.41942439e-02 7.29883281e+01] [ 6.54331619e-02 -9.78721361e-04 9.97856474e-01 1.47694045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.08, Y:72.96, Z:147.70 [[ 8.57827257e-01 5.10900516e-01 -5.57948034e-02 3.85076042e+02] [-5.09755567e-01 8.59639381e-01 3.41964395e-02 7.29571635e+01] [ 6.54343889e-02 -8.92926227e-04 9.97856474e-01 1.47696234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.13, Y:72.93, Z:147.70 [[ 8.56717662e-01 5.12759143e-01 -5.57934468e-02 3.85128501e+02] [-5.11617981e-01 8.58532174e-01 3.41986527e-02 7.29260724e+01] [ 6.54361411e-02 -7.53659177e-04 9.97856474e-01 1.47697635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.18, Y:72.90, Z:147.70 [[ 8.55407067e-01 5.14942560e-01 -5.57934468e-02 3.85178700e+02] [-5.13806030e-01 8.57224484e-01 3.41986527e-02 7.28973314e+01] [ 6.54378504e-02 -5.86759783e-04 9.97856474e-01 1.47699821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.23, Y:72.87, Z:147.70 [[ 8.54930184e-01 5.15733555e-01 -5.57967856e-02 3.85229354e+02] [-5.14599062e-01 8.56748873e-01 3.41932045e-02 7.28680637e+01] [ 6.54384161e-02 -5.19829152e-04 9.97856474e-01 1.47702632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.28, Y:72.84, Z:147.71 [[ 8.55169687e-01 5.15336038e-01 -5.57994053e-02 3.85278275e+02] [-5.14200979e-01 8.56988022e-01 3.41889289e-02 7.28370161e+01] [ 6.54382092e-02 -5.45226821e-04 9.97856474e-01 1.47705319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.33, Y:72.80, Z:147.71 [[ 8.55706147e-01 5.14444416e-01 -5.58026247e-02 3.85327132e+02] [-5.13307805e-01 8.57523512e-01 3.41836734e-02 7.28044794e+01] [ 6.54376627e-02 -6.07256646e-04 9.97856474e-01 1.47709392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.38, Y:72.77, Z:147.71 [[ 8.56540430e-01 5.13053861e-01 -5.58052723e-02 3.85376467e+02] [-5.11914581e-01 8.58356123e-01 3.41793507e-02 7.27736059e+01] [ 6.54366450e-02 -7.08463169e-04 9.97856474e-01 1.47713733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.43, Y:72.74, Z:147.72 [[ 8.57189062e-01 5.11969062e-01 -5.58085282e-02 3.85429169e+02] [-5.10827831e-01 8.59003529e-01 3.41740335e-02 7.27414249e+01] [ 6.54357706e-02 -7.85058308e-04 9.97856474e-01 1.47720711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.48, Y:72.71, Z:147.73 [[ 8.57248853e-01 5.11869987e-01 -5.57989270e-02 3.85482034e+02] [-5.10727526e-01 8.59062547e-01 3.41897031e-02 7.27087027e+01] [ 6.54354512e-02 -8.11035814e-04 9.97856475e-01 1.47726764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.53, Y:72.68, Z:147.73 [[ 8.57523841e-01 5.11410215e-01 -5.57893629e-02 3.85534562e+02] [-5.10265767e-01 8.59336281e-01 3.42053023e-02 7.26757562e+01] [ 6.54347647e-02 -8.64460176e-04 9.97856475e-01 1.47731637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.59, Y:72.64, Z:147.74 [[ 8.58372402e-01 5.09985719e-01 -5.57797993e-02 3.85587519e+02] [-5.08837250e-01 8.60182297e-01 3.42208910e-02 7.26428666e+01] [ 6.54329615e-02 -9.91428733e-04 9.97856475e-01 1.47735028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.64, Y:72.61, Z:147.74 [[ 8.59367253e-01 5.08308761e-01 -5.57685231e-02 3.85640628e+02] [-5.07155569e-01 8.61174141e-01 3.42392576e-02 7.26116850e+01] [ 6.54305246e-02 -1.14077963e-03 9.97856475e-01 1.47736177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.69, Y:72.58, Z:147.74 [[ 8.60034784e-01 5.07179651e-01 -5.57581533e-02 3.85693061e+02] [-5.06022993e-01 8.61839456e-01 3.42561363e-02 7.25794249e+01] [ 6.54285918e-02 -1.24656115e-03 9.97856475e-01 1.47738546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.74, Y:72.55, Z:147.74 [[ 8.60382503e-01 5.06589703e-01 -5.57568011e-02 3.85744637e+02] [-5.05431665e-01 8.62186290e-01 3.42583370e-02 7.25475800e+01] [ 6.54276703e-02 -1.29402095e-03 9.97856475e-01 1.47742266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.80, Y:72.52, Z:147.75 [[ 8.60415587e-01 5.06533510e-01 -5.57568011e-02 3.85795109e+02] [-5.05375354e-01 8.62219298e-01 3.42583370e-02 7.25172472e+01] [ 6.54275856e-02 -1.29829404e-03 9.97856475e-01 1.47746637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.85, Y:72.49, Z:147.75 [[ 8.59765414e-01 5.07636009e-01 -5.57594413e-02 3.85845223e+02] [-5.06480444e-01 8.61570787e-01 3.42540394e-02 7.24874978e+01] [ 6.54292895e-02 -1.20937174e-03 9.97856475e-01 1.47752084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.90, Y:72.46, Z:147.76 [[ 8.59042831e-01 5.08857552e-01 -5.57620478e-02 3.85897186e+02] [-5.07704831e-01 8.60850020e-01 3.42497957e-02 7.24570278e+01] [ 6.54310271e-02 -1.11138038e-03 9.97856475e-01 1.47758566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.95, Y:72.43, Z:147.76 [[ 8.58147617e-01 5.10365812e-01 -5.57620478e-02 3.85949110e+02] [-5.09216267e-01 8.59956828e-01 3.42497957e-02 7.24267809e+01] [ 6.54328785e-02 -9.96438716e-04 9.97856475e-01 1.47761613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.00, Y:72.40, Z:147.76 [[ 8.57720985e-01 5.11082337e-01 -5.57634021e-02 3.85998817e+02] [-5.09934446e-01 8.59531246e-01 3.42475905e-02 7.23969081e+01] [ 6.54337251e-02 -9.39197432e-04 9.97856475e-01 1.47762959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.05, Y:72.37, Z:147.77 [[ 8.57863932e-01 5.10841986e-01 -5.57668261e-02 3.86048672e+02] [-5.09693951e-01 8.59674101e-01 3.42420142e-02 7.23665632e+01] [ 6.54335547e-02 -9.50974991e-04 9.97856475e-01 1.47766059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.10, Y:72.34, Z:147.77 [[ 8.59155142e-01 5.08667088e-01 -5.57694948e-02 3.86097617e+02] [-5.07514753e-01 8.60962576e-01 3.42376671e-02 7.23360485e+01] [ 6.54310224e-02 -1.11162634e-03 9.97856475e-01 1.47768945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.15, Y:72.30, Z:147.77 [[ 8.60535827e-01 5.06327451e-01 -5.57727721e-02 3.86147085e+02] [-5.05170548e-01 8.62340342e-01 3.42323277e-02 7.23044722e+01] [ 6.54278786e-02 -1.28338256e-03 9.97856475e-01 1.47774342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.20, Y:72.27, Z:147.78 [[ 8.60705750e-01 5.06038303e-01 -5.57749783e-02 3.86197204e+02] [-5.04881026e-01 8.62510025e-01 3.42287327e-02 7.22736836e+01] [ 6.54275277e-02 -1.30113880e-03 9.97856475e-01 1.47779519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.25, Y:72.24, Z:147.78 [[ 8.60987145e-01 5.05559055e-01 -5.57779408e-02 3.86247036e+02] [-5.04401087e-01 8.62790976e-01 3.42239044e-02 7.22439912e+01] [ 6.54269088e-02 -1.33188776e-03 9.97856476e-01 1.47783849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.30, Y:72.21, Z:147.79 [[ 8.60304589e-01 5.06719305e-01 -5.57813583e-02 3.86296268e+02] [-5.05564131e-01 8.62110211e-01 3.42183333e-02 7.22139355e+01] [ 6.54287687e-02 -1.23713524e-03 9.97856476e-01 1.47787473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.35, Y:72.18, Z:147.79 [[ 8.59850908e-01 5.07488354e-01 -5.57851775e-02 3.86346918e+02] [-5.06335198e-01 8.61657820e-01 3.42121059e-02 7.21841186e+01] [ 6.54299797e-02 -1.17131145e-03 9.97856476e-01 1.47789062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.40, Y:72.16, Z:147.79 [[ 8.58219383e-01 5.10242304e-01 -5.57878363e-02 3.86397444e+02] [-5.09095228e-01 8.60030160e-01 3.42077698e-02 7.21551385e+01] [ 6.54334731e-02 -9.56449839e-04 9.97856476e-01 1.47793422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.45, Y:72.13, Z:147.80 [[ 8.56721921e-01 5.12752344e-01 -5.57905294e-02 3.86449394e+02] [-5.11610860e-01 8.58536229e-01 3.42033769e-02 7.21251023e+01] [ 6.54360524e-02 -7.59742052e-04 9.97856476e-01 1.47796554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.50, Y:72.10, Z:147.80 [[ 8.56517958e-01 5.13092902e-01 -5.57912261e-02 3.86500447e+02] [-5.11952214e-01 8.58332766e-01 3.42022405e-02 7.20954175e+01] [ 6.54363643e-02 -7.32391500e-04 9.97856476e-01 1.47800535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.55, Y:72.06, Z:147.80 [[ 8.56067642e-01 5.13843574e-01 -5.57940308e-02 3.86552992e+02] [-5.12704775e-01 8.57883636e-01 3.41976646e-02 7.20636251e+01] [ 6.54370362e-02 -6.69648049e-04 9.97856476e-01 1.47804650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.60, Y:72.03, Z:147.81 [[ 8.55290411e-01 5.15136385e-01 -5.57926427e-02 3.86602915e+02] [-5.14000183e-01 8.57108031e-01 3.41999291e-02 7.20325599e+01] [ 6.54379499e-02 -5.73442872e-04 9.97856476e-01 1.47808349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.65, Y:72.00, Z:147.81 [[ 8.54743564e-01 5.16043015e-01 -5.57946887e-02 3.86652083e+02] [-5.14908960e-01 8.56562523e-01 3.41965909e-02 7.20016974e+01] [ 6.54385512e-02 -5.00130863e-04 9.97856476e-01 1.47811851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.70, Y:71.97, Z:147.82 [[ 8.55027258e-01 5.15572372e-01 -5.57989041e-02 3.86702191e+02] [-5.14437765e-01 8.56845873e-01 3.41897112e-02 7.19703664e+01] [ 6.54383312e-02 -5.28071508e-04 9.97856476e-01 1.47817233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.75, Y:71.94, Z:147.82 [[ 8.55507212e-01 5.14775261e-01 -5.58018109e-02 3.86751710e+02] [-5.13639268e-01 8.57324962e-01 3.41849663e-02 7.19390005e+01] [ 6.54378603e-02 -5.83483944e-04 9.97856476e-01 1.47823692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.80, Y:71.91, Z:147.83 [[ 8.56625861e-01 5.12911262e-01 -5.58047666e-02 3.86801976e+02] [-5.11771628e-01 8.58441331e-01 3.41801406e-02 7.19071493e+01] [ 6.54364972e-02 -7.20296088e-04 9.97856476e-01 1.47828089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.85, Y:71.88, Z:147.83 [[ 8.57387908e-01 5.11636251e-01 -5.58061180e-02 3.86851873e+02] [-5.10494061e-01 8.59201771e-01 3.41779339e-02 7.18763859e+01] [ 6.54353854e-02 -8.15055425e-04 9.97856476e-01 1.47832810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.90, Y:71.84, Z:147.84 [[ 8.55892348e-01 5.14133902e-01 -5.58087739e-02 3.86902117e+02] [-5.12997288e-01 8.57709710e-01 3.41735967e-02 7.18410437e+01] [ 6.54375319e-02 -6.19170222e-04 9.97856476e-01 1.47841083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.96, Y:71.81, Z:147.84 [[ 8.57165074e-01 5.12010270e-01 -5.57989139e-02 3.86955862e+02] [-5.10868107e-01 8.58978954e-01 3.41896886e-02 7.18119547e+01] [ 6.54355644e-02 -8.00321485e-04 9.97856476e-01 1.47842248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.01, Y:71.78, Z:147.85 [[ 8.56755458e-01 5.12696375e-01 -5.57899023e-02 3.87006014e+02] [-5.11554707e-01 8.58569649e-01 3.42043871e-02 7.17799942e+01] [ 6.54359821e-02 -7.65208235e-04 9.97856476e-01 1.47847266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.06, Y:71.75, Z:147.85 [[ 8.56450022e-01 5.13206290e-01 -5.57912590e-02 3.87056739e+02] [-5.12065846e-01 8.58264983e-01 3.42021742e-02 7.17482585e+01] [ 6.54364548e-02 -7.23654591e-04 9.97856476e-01 1.47852146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.11, Y:71.72, Z:147.86 [[ 8.56109393e-01 5.13774312e-01 -5.57912590e-02 3.87107474e+02] [-5.12635072e-01 8.57925110e-01 3.42021742e-02 7.17165448e+01] [ 6.54369205e-02 -6.80246473e-04 9.97856476e-01 1.47856579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.16, Y:71.68, Z:147.86 [[ 8.55068510e-01 5.15504633e-01 -5.57926135e-02 3.87159286e+02] [-5.14369213e-01 8.56886618e-01 3.41999645e-02 7.16825588e+01] [ 6.54381840e-02 -5.45310020e-04 9.97856476e-01 1.47860358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.21, Y:71.66, Z:147.87 [[ 8.54981583e-01 5.15649836e-01 -5.57829755e-02 3.87211386e+02] [-5.14513699e-01 8.56799242e-01 3.42156776e-02 7.16557019e+01] [ 6.54381197e-02 -5.52669145e-04 9.97856476e-01 1.47868782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.26, Y:71.63, Z:147.88 [[ 8.55190597e-01 5.15302897e-01 -5.57850091e-02 3.87264881e+02] [-5.14166238e-01 8.57007931e-01 3.42123617e-02 7.16264287e+01] [ 6.54379243e-02 -5.75321699e-04 9.97856476e-01 1.47875659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.32, Y:71.60, Z:147.88 [[ 8.55278869e-01 5.15156523e-01 -5.57836206e-02 3.87315578e+02] [-5.14019406e-01 8.57095916e-01 3.42146256e-02 7.15977778e+01] [ 6.54378009e-02 -5.89182778e-04 9.97856476e-01 1.47878728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.37, Y:71.57, Z:147.88 [[ 8.55086311e-01 5.15475859e-01 -5.57856643e-02 3.87367448e+02] [-5.14339637e-01 8.56903918e-01 3.42112930e-02 7.15707391e+01] [ 6.54380500e-02 -5.60829918e-04 9.97856476e-01 1.47883574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.42, Y:71.54, Z:147.89 [[ 8.55033908e-01 5.15562483e-01 -5.57883712e-02 3.87418576e+02] [-5.14426734e-01 8.56851810e-01 3.42068783e-02 7.15434372e+01] [ 6.54381500e-02 -5.49011260e-04 9.97856476e-01 1.47886767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.47, Y:71.52, Z:147.89 [[ 8.55961629e-01 5.14020404e-01 -5.57916940e-02 3.87470818e+02] [-5.12881734e-01 8.57777703e-01 3.42014580e-02 7.15150487e+01] [ 6.54371184e-02 -6.60594946e-04 9.97856476e-01 1.47885368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.52, Y:71.49, Z:147.89 [[ 8.57651381e-01 5.11195814e-01 -5.57938030e-02 3.87522244e+02] [-5.10051386e-01 8.59463832e-01 3.41980172e-02 7.14880750e+01] [ 6.54346390e-02 -8.72270097e-04 9.97856476e-01 1.47889593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.57, Y:71.46, Z:147.89 [[ 8.58580593e-01 5.09633232e-01 -5.57972633e-02 3.87573206e+02] [-5.08485872e-01 8.60391190e-01 3.41923704e-02 7.14597947e+01] [ 6.54330420e-02 -9.84785568e-04 9.97856476e-01 1.47892003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.62, Y:71.43, Z:147.89 [[ 8.60772978e-01 5.05921066e-01 -5.58010285e-02 3.87624308e+02] [-5.04766297e-01 8.62578859e-01 3.41862245e-02 7.14331501e+01] [ 6.54283187e-02 -1.26009977e-03 9.97856476e-01 1.47894212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.68, Y:71.41, Z:147.90 [[ 8.61574513e-01 5.04554274e-01 -5.58063024e-02 3.87676282e+02] [-5.03397198e-01 8.63378916e-01 3.41776132e-02 7.14056742e+01] [ 6.54264457e-02 -1.35382418e-03 9.97856476e-01 1.47900256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.73, Y:71.38, Z:147.91 [[ 8.62207057e-01 5.03472223e-01 -5.58095999e-02 3.87725840e+02] [-5.02313231e-01 8.64010229e-01 3.41722278e-02 7.13765726e+01] [ 6.54248327e-02 -1.42963554e-03 9.97856476e-01 1.47907435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.78, Y:71.35, Z:147.91 [[ 8.62566809e-01 5.02855190e-01 -5.58136079e-02 3.87778087e+02] [-5.01695331e-01 8.64369424e-01 3.41656802e-02 7.13496785e+01] [ 6.54239657e-02 -1.46875526e-03 9.97856476e-01 1.47912573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.83, Y:71.32, Z:147.92 [[ 8.62438579e-01 5.03073897e-01 -5.58242934e-02 3.87828168e+02] [-5.01915625e-01 8.64242214e-01 3.41482120e-02 7.13220541e+01] [ 6.54247850e-02 -1.43165034e-03 9.97856477e-01 1.47915774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.88, Y:71.29, Z:147.92 [[ 8.62024276e-01 5.03782956e-01 -5.58290405e-02 3.87879760e+02] [-5.02626670e-01 8.63829184e-01 3.41404492e-02 7.12946820e+01] [ 6.54261309e-02 -1.36873121e-03 9.97856477e-01 1.47919013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.93, Y:71.27, Z:147.92 [[ 8.61882133e-01 5.04025642e-01 -5.58331519e-02 3.87929890e+02] [-5.02870301e-01 8.63687646e-01 3.41337241e-02 7.12656654e+01] [ 6.54266758e-02 -1.34241299e-03 9.97856477e-01 1.47922488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.98, Y:71.24, Z:147.93 [[ 8.61763379e-01 5.04228201e-01 -5.58372693e-02 3.87980283e+02] [-5.03073720e-01 8.63569442e-01 3.41269874e-02 7.12370363e+01] [ 6.54271490e-02 -1.31912517e-03 9.97856477e-01 1.47926061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.03, Y:71.21, Z:147.93 [[ 8.62164718e-01 5.03541202e-01 -5.58413503e-02 3.88030643e+02] [-5.02385714e-01 8.63970138e-01 3.41203085e-02 7.12078518e+01] [ 6.54262402e-02 -1.36342947e-03 9.97856477e-01 1.47929875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.08, Y:71.18, Z:147.93 [[ 8.63393842e-01 5.01430314e-01 -5.58454511e-02 3.88080289e+02] [-5.00270846e-01 8.65196708e-01 3.41135953e-02 7.11783917e+01] [ 6.54228912e-02 -1.51561702e-03 9.97856477e-01 1.47934885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.13, Y:71.15, Z:147.94 [[ 8.64120931e-01 5.00175860e-01 -5.58491316e-02 3.88129689e+02] [-4.99014164e-01 8.65922363e-01 3.41075687e-02 7.11491166e+01] [ 6.54207944e-02 -1.60355635e-03 9.97856477e-01 1.47938404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.18, Y:71.12, Z:147.94 [[ 8.63939824e-01 5.00488041e-01 -5.58542867e-02 3.88179656e+02] [-4.99327542e-01 8.65742026e-01 3.40991246e-02 7.11205060e+01] [ 6.54216074e-02 -1.57000803e-03 9.97856477e-01 1.47941042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.23, Y:71.09, Z:147.95 [[ 8.63015327e-01 5.02079253e-01 -5.58656313e-02 3.88229108e+02] [-5.00923280e-01 8.64820435e-01 3.40805283e-02 7.10910885e+01] [ 6.54248658e-02 -1.42762305e-03 9.97856477e-01 1.47945617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7227550959999 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:388.28, Y:71.06, Z:147.95 [[ 8.61096611e-01 5.05361598e-01 -5.58773829e-02 3.88278020e+02] [-5.04213757e-01 8.62906900e-01 3.40612499e-02 7.10613416e+01] [ 6.54302270e-02 -1.15588166e-03 9.97856477e-01 1.47950339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.782755096 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:388.33, Y:71.03, Z:147.95 [[ 8.59656256e-01 5.07807337e-01 -5.58822941e-02 3.88327064e+02] [-5.06665169e-01 8.61470131e-01 3.40531904e-02 7.10309125e+01] [ 6.54333872e-02 -9.60426182e-04 9.97856477e-01 1.47954280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8427550959999 meters Centerline goodness : 0.998527 with order 1 Centerline is valid? [True, True] Translation: X:388.38, Y:71.00, Z:147.96 [[ 8.59231861e-01 5.08524672e-01 -5.58862036e-02 3.88375380e+02] [-5.07384436e-01 8.61046951e-01 3.40467732e-02 7.10005350e+01] [ 6.54342693e-02 -8.98282396e-04 9.97856477e-01 1.47957504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.902755096 meters Centerline goodness : 0.998815 with order 1 Centerline is valid? [True, True] Translation: X:388.42, Y:70.97, Z:147.96 [[ 8.58730826e-01 5.09369809e-01 -5.58906688e-02 3.88423814e+02] [-5.08231836e-01 8.60547336e-01 3.40394416e-02 7.09687427e+01] [ 6.54352300e-02 -8.25300597e-04 9.97856477e-01 1.47960730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9627550959999 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:388.47, Y:70.94, Z:147.96 [[ 8.58290553e-01 5.10110868e-01 -5.58948085e-02 3.88472115e+02] [-5.08974906e-01 8.60108321e-01 3.40326427e-02 7.09382698e+01] [ 6.54360107e-02 -7.60840779e-04 9.97856477e-01 1.47964212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.022755096 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:388.52, Y:70.91, Z:147.97 [[ 8.57987243e-01 5.10620340e-01 -5.58995467e-02 3.88519799e+02] [-5.09485965e-01 8.59806002e-01 3.40248582e-02 7.09073660e+01] [ 6.54365504e-02 -7.12859781e-04 9.97856478e-01 1.47968796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0827550959999 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:388.57, Y:70.88, Z:147.97 [[ 8.57736639e-01 5.11040683e-01 -5.59041806e-02 3.88568677e+02] [-5.09907696e-01 8.59556263e-01 3.40172428e-02 7.08758596e+01] [ 6.54369836e-02 -6.71863558e-04 9.97856478e-01 1.47972110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.142755096 meters Centerline goodness : 0.998853 with order 1 Centerline is valid? [True, True] Translation: X:388.62, Y:70.84, Z:147.97 [[ 8.57322083e-01 5.11735402e-01 -5.59081876e-02 3.88617603e+02] [-5.10604318e-01 8.59142890e-01 3.40106560e-02 7.08445045e+01] [ 6.54375785e-02 -6.11124409e-04 9.97856478e-01 1.47974802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2027550959999 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:388.67, Y:70.81, Z:147.98 [[ 8.56954027e-01 5.12351063e-01 -5.59122877e-02 3.88665175e+02] [-5.11221728e-01 8.58775919e-01 3.40039142e-02 7.08135399e+01] [ 6.54380678e-02 -5.56214857e-04 9.97856478e-01 1.47977501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.262755096 meters Centerline goodness : 0.998632 with order 1 Centerline is valid? [True, True] Translation: X:388.71, Y:70.78, Z:147.98 [[ 8.56895543e-01 5.12448353e-01 -5.59170219e-02 3.88712595e+02] [-5.11319733e-01 8.58717878e-01 3.39961273e-02 7.07800728e+01] [ 6.54382059e-02 -5.39653245e-04 9.97856478e-01 1.47981412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3227550959999 meters Centerline goodness : 0.998437 with order 1 Centerline is valid? [True, True] Translation: X:388.76, Y:70.75, Z:147.98 [[ 8.57504689e-01 5.11427954e-01 -5.59209903e-02 3.88762995e+02] [-5.10297591e-01 8.59325943e-01 3.39895984e-02 7.07491481e+01] [ 6.54375885e-02 -6.09893338e-04 9.97856478e-01 1.47983864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.382755096 meters Centerline goodness : 0.998763 with order 1 Centerline is valid? [True, True] Translation: X:388.81, Y:70.71, Z:147.99 [[ 8.57187790e-01 5.11958579e-01 -5.59241145e-02 3.88808852e+02] [-5.10829679e-01 8.59009951e-01 3.39844573e-02 7.07140966e+01] [ 6.54380053e-02 -5.63364331e-04 9.97856478e-01 1.47989368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4427550959999 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:388.86, Y:70.68, Z:147.99 [[ 8.59062435e-01 5.08806239e-01 -5.59280194e-02 3.88855408e+02] [-5.07671071e-01 8.60880699e-01 3.39780298e-02 7.06773704e+01] [ 6.54355860e-02 -7.96211515e-04 9.97856478e-01 1.47994983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.502755096 meters Centerline goodness : 0.998738 with order 1 Centerline is valid? [True, True] Translation: X:388.91, Y:70.65, Z:148.00 [[ 8.60149498e-01 5.06966023e-01 -5.59311316e-02 3.88905102e+02] [-5.05827299e-01 8.61965536e-01 3.39729060e-02 7.06475324e+01] [ 6.54338169e-02 -9.30284850e-04 9.97856478e-01 1.47996865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5627550959999 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:388.95, Y:70.61, Z:148.00 [[ 8.61426932e-01 5.04792056e-01 -5.59340866e-02 3.88953080e+02] [-5.03649064e-01 8.63240287e-01 3.39680401e-02 7.06131883e+01] [ 6.54313538e-02 -1.08983415e-03 9.97856478e-01 1.48000557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.622755096 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:389.00, Y:70.58, Z:148.00 [[ 8.61669367e-01 5.04376993e-01 -5.59441829e-02 3.89001011e+02] [-5.03234207e-01 8.63482852e-01 3.39514037e-02 7.05786645e+01] [ 6.54311495e-02 -1.10185803e-03 9.97856478e-01 1.48003471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6827550959999 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:389.05, Y:70.54, Z:148.01 [[ 8.62195996e-01 5.03475935e-01 -5.59468266e-02 3.89048572e+02] [-5.02331537e-01 8.64008464e-01 3.39470468e-02 7.05437683e+01] [ 6.54300528e-02 -1.16515246e-03 9.97856478e-01 1.48006327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.742755096 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:389.10, Y:70.51, Z:148.01 [[ 8.60440999e-01 5.06469095e-01 -5.59494753e-02 3.89095136e+02] [-5.05331286e-01 8.62257610e-01 3.39426807e-02 7.05075279e+01] [ 6.54337797e-02 -9.32653804e-04 9.97856478e-01 1.48005918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8027550959999 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:389.14, Y:70.47, Z:148.01 [[ 8.60938196e-01 5.05623168e-01 -5.59520797e-02 3.89143323e+02] [-5.04483853e-01 8.62753863e-01 3.39383871e-02 7.04741787e+01] [ 6.54329077e-02 -9.91933061e-04 9.97856478e-01 1.48010781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.862755096 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:389.19, Y:70.44, Z:148.01 [[ 8.60888194e-01 5.05708063e-01 -5.59542022e-02 3.89191151e+02] [-5.04569154e-01 8.62704116e-01 3.39348874e-02 7.04421044e+01] [ 6.54330667e-02 -9.81379451e-04 9.97856478e-01 1.48013129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.922755096 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:389.48, Y:71.00, Z:149.19 [[ 8.82741506e-01 4.66514434e-01 -5.59617485e-02 3.89479064e+02] [-4.65295865e-01 8.84504961e-01 3.39224383e-02 7.10013103e+01] [ 6.53237513e-02 -3.90597415e-03 9.97856478e-01 1.49188596e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 543.982755096 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:389.53, Y:70.97, Z:149.19 [[ 8.82562232e-01 4.66695753e-01 -5.72623805e-02 3.89534073e+02] [-4.65628723e-01 8.84417124e-01 3.15633143e-02 7.09702230e+01] [ 6.53742946e-02 -1.19358004e-03 9.97860099e-01 1.49191558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.042755096 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:389.59, Y:70.94, Z:149.19 [[ 8.82054239e-01 4.67656354e-01 -5.72525412e-02 3.89585838e+02] [-4.66590187e-01 8.83909627e-01 3.15811517e-02 7.09421383e+01] [ 6.53751986e-02 -1.14281481e-03 9.97860099e-01 1.49194511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1027550959999 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:389.64, Y:70.91, Z:149.19 [[ 8.79855958e-01 4.71778912e-01 -5.72551460e-02 3.89637579e+02] [-4.70721746e-01 8.81716489e-01 3.15764287e-02 7.09146296e+01] [ 6.53798994e-02 -8.31466584e-04 9.97860099e-01 1.49194390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.162755096 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:389.69, Y:70.89, Z:149.20 [[ 8.78258236e-01 4.74746105e-01 -5.72591187e-02 3.89690436e+02] [-4.73695695e-01 8.80122590e-01 3.15692230e-02 7.08893818e+01] [ 6.53824095e-02 -6.02532084e-04 9.97860099e-01 1.49202181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2227550959999 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:389.74, Y:70.86, Z:149.20 [[ 8.78116010e-01 4.75008815e-01 -5.72616743e-02 3.89742459e+02] [-4.73959265e-01 8.79980848e-01 3.15645870e-02 7.08610881e+01] [ 6.53826337e-02 -5.77668112e-04 9.97860099e-01 1.49204065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.282755096 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:389.80, Y:70.83, Z:149.21 [[ 8.78930659e-01 4.73499570e-01 -5.72630336e-02 3.89796546e+02] [-4.72446978e-01 8.80793781e-01 3.15621208e-02 7.08322580e+01] [ 6.53815745e-02 -6.87168503e-04 9.97860099e-01 1.49210660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3427550959999 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:389.85, Y:70.80, Z:149.21 [[ 8.80825041e-01 4.69967302e-01 -5.72536691e-02 3.89850473e+02] [-4.68906137e-01 8.82683293e-01 3.15790990e-02 7.08037138e+01] [ 6.53780011e-02 -9.69064348e-04 9.97860099e-01 1.49208944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.402755096 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:389.90, Y:70.78, Z:149.21 [[ 8.84060907e-01 4.63851625e-01 -5.72536691e-02 3.89901756e+02] [-4.62777606e-01 8.85911761e-01 3.15790990e-02 7.07754820e+01] [ 6.53697151e-02 -1.42213096e-03 9.97860099e-01 1.49209080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4627550959999 meters Centerline goodness : 0.999585 with order 1 Centerline is valid? [True, True] Translation: X:389.95, Y:70.75, Z:149.21 [[ 8.85320484e-01 4.61442799e-01 -5.72554231e-02 3.89953134e+02] [-4.60363950e-01 8.87168527e-01 3.15759185e-02 7.07456681e+01] [ 6.53656895e-02 -1.59647467e-03 9.97860099e-01 1.49213171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.522755096 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:390.01, Y:70.71, Z:149.22 [[ 8.86035461e-01 4.60068303e-01 -5.72565917e-02 3.90006235e+02] [-4.58986725e-01 8.87881907e-01 3.15737992e-02 7.07145523e+01] [ 6.53631961e-02 -1.69549023e-03 9.97860099e-01 1.49220039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5827550959999 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:390.06, Y:70.69, Z:149.23 [[ 8.84497518e-01 4.63019342e-01 -5.72470882e-02 3.90059593e+02] [-4.61942811e-01 8.86346911e-01 3.15910209e-02 7.06853362e+01] [ 6.53680335e-02 -1.49729874e-03 9.97860100e-01 1.49229156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.642755096 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:390.12, Y:70.66, Z:149.23 [[ 8.81637861e-01 4.68442573e-01 -5.72384308e-02 3.90116010e+02] [-4.67376402e-01 8.83493246e-01 3.16066990e-02 7.06572354e+01] [ 6.53756905e-02 -1.11377071e-03 9.97860100e-01 1.49232342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7027550959999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:390.17, Y:70.63, Z:149.24 [[ 8.79729182e-01 4.72018501e-01 -5.72284989e-02 3.90170545e+02] [-4.70958703e-01 8.81588214e-01 3.16246720e-02 7.06288285e+01] [ 6.53794004e-02 -8.68887236e-04 9.97860100e-01 1.49235077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.762755096 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:390.22, Y:70.60, Z:149.24 [[ 8.77659352e-01 4.75856177e-01 -5.72272781e-02 3.90224396e+02] [-4.74804365e-01 8.79522914e-01 3.16268810e-02 7.06016416e+01] [ 6.53825491e-02 -5.85866401e-04 9.97860100e-01 1.49237761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8227550959999 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:390.28, Y:70.57, Z:149.24 [[ 8.77538057e-01 4.76079823e-01 -5.72272781e-02 3.90279354e+02] [-4.75028485e-01 8.79401887e-01 3.16268810e-02 7.05726315e+01] [ 6.53826962e-02 -5.69204430e-04 9.97860100e-01 1.49238118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.882755096 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:390.33, Y:70.54, Z:149.25 [[ 8.76717867e-01 4.77589594e-01 -5.72185327e-02 3.90332609e+02] [-4.76540435e-01 8.78582924e-01 3.16426951e-02 7.05388506e+01] [ 6.53834477e-02 -4.74771767e-04 9.97860100e-01 1.49245602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9427550959999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:390.39, Y:70.51, Z:149.25 [[ 8.76789735e-01 4.77458863e-01 -5.72083483e-02 3.90388068e+02] [-4.76408225e-01 8.78653958e-01 3.16610973e-02 7.05107260e+01] [ 6.53832132e-02 -5.05597502e-04 9.97860100e-01 1.49247199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.002755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:390.44, Y:70.48, Z:149.26 [[ 8.75668792e-01 4.79512732e-01 -5.71988341e-02 3.90440325e+02] [-4.78465344e-01 8.77534844e-01 3.16782764e-02 7.04799581e+01] [ 6.53841067e-02 -3.72018211e-04 9.97860101e-01 1.49258022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0627550959999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:390.49, Y:70.45, Z:149.26 [[ 8.76032526e-01 4.78848926e-01 -5.71902104e-02 3.90491002e+02] [-4.77799108e-01 8.77897211e-01 3.16938375e-02 7.04509026e+01] [ 6.53836862e-02 -4.39400989e-04 9.97860101e-01 1.49263542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.122755096 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:390.54, Y:70.42, Z:149.27 [[ 8.75521925e-01 4.79781651e-01 -5.71920037e-02 3.90542572e+02] [-4.78734031e-01 8.77387846e-01 3.16906011e-02 7.04198558e+01] [ 6.53841379e-02 -3.66057618e-04 9.97860101e-01 1.49267396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1827550959999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:390.60, Y:70.39, Z:149.27 [[ 8.75372882e-01 4.80053531e-01 -5.71920037e-02 3.90598292e+02] [-4.79006490e-01 8.77239128e-01 3.16906011e-02 7.03919554e+01] [ 6.53842484e-02 -3.45751893e-04 9.97860101e-01 1.49268843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.242755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:390.65, Y:70.36, Z:149.27 [[ 8.75498304e-01 4.79825819e-01 -5.71830702e-02 3.90653296e+02] [-4.78777240e-01 8.77363687e-01 3.17067127e-02 7.03622095e+01] [ 6.53840486e-02 -3.81220616e-04 9.97860101e-01 1.49271609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3027550959999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:390.71, Y:70.33, Z:149.28 [[ 8.75981702e-01 4.78943986e-01 -5.71726901e-02 3.90707633e+02] [-4.77892309e-01 8.77845339e-01 3.17254188e-02 7.03340270e+01] [ 6.53834780e-02 -4.68497447e-04 9.97860101e-01 1.49276991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.362755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:390.76, Y:70.31, Z:149.28 [[ 8.76169622e-01 4.78601107e-01 -5.71644357e-02 3.90760865e+02] [-4.77547731e-01 8.78032299e-01 3.17402850e-02 7.03059922e+01] [ 6.53831565e-02 -5.11126905e-04 9.97860101e-01 1.49281010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.422755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:390.81, Y:70.28, Z:149.28 [[ 8.76140473e-01 4.78654467e-01 -5.71644357e-02 3.90813095e+02] [-4.77601204e-01 8.78003214e-01 3.17402850e-02 7.02784556e+01] [ 6.53831875e-02 -5.07144974e-04 9.97860101e-01 1.49283336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.482755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:390.86, Y:70.25, Z:149.29 [[ 8.75776826e-01 4.79319278e-01 -5.71662507e-02 3.90864292e+02] [-4.78267643e-01 8.77640487e-01 3.17370157e-02 7.02504904e+01] [ 6.53835796e-02 -4.53774914e-04 9.97860101e-01 1.49289746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.542755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:390.92, Y:70.23, Z:149.29 [[ 8.76122711e-01 4.78686474e-01 -5.71686541e-02 3.90917312e+02] [-4.77633775e-01 8.77985771e-01 3.17326858e-02 7.02250010e+01] [ 6.53832723e-02 -4.96046603e-04 9.97860101e-01 1.49291254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6027550959999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:390.97, Y:70.20, Z:149.30 [[ 8.76220705e-01 4.78506793e-01 -5.71710197e-02 3.90968887e+02] [-4.77453990e-01 8.78083706e-01 3.17284233e-02 7.01973332e+01] [ 6.53832069e-02 -5.04569981e-04 9.97860101e-01 1.49297534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.02, Y:70.17, Z:149.30 [[ 8.76875017e-01 4.77306413e-01 -5.71733551e-02 3.91020040e+02] [-4.76251335e-01 8.78736730e-01 3.17242145e-02 7.01697980e+01] [ 6.53824981e-02 -5.89284506e-04 9.97860101e-01 1.49301475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.07, Y:70.14, Z:149.31 [[ 8.78234075e-01 4.74800719e-01 -5.71768058e-02 3.91070169e+02] [-4.73740733e-01 8.80092999e-01 3.17179940e-02 7.01426866e+01] [ 6.53806328e-02 -7.68841222e-04 9.97860101e-01 1.49305378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.12, Y:70.12, Z:149.30 [[ 8.80086917e-01 4.71356955e-01 -5.71807621e-02 3.91122765e+02] [-4.70290159e-01 8.81941941e-01 3.17108601e-02 7.01183887e+01] [ 6.53772467e-02 -1.01676345e-03 9.97860101e-01 1.49303448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.17, Y:70.09, Z:149.31 [[ 8.81395756e-01 4.68904242e-01 -5.71868300e-02 3.91172928e+02] [-4.67832994e-01 8.83248213e-01 3.16999135e-02 7.00890978e+01] [ 6.53743893e-02 -1.18628329e-03 9.97860101e-01 1.49311279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.23, Y:70.06, Z:149.31 [[ 8.82588429e-01 4.66655207e-01 -5.71890027e-02 3.91225551e+02] [-4.65579494e-01 8.84438296e-01 3.16959933e-02 7.00628558e+01] [ 6.53712444e-02 -1.34849007e-03 9.97860101e-01 1.49309700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9627550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:391.28, Y:70.03, Z:149.32 [[ 8.83119933e-01 4.65648317e-01 -5.71911675e-02 3.91275446e+02] [-4.64570747e-01 8.84968719e-01 3.16920868e-02 7.00329694e+01] [ 6.53697611e-02 -1.41857019e-03 9.97860101e-01 1.49317658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.33, Y:70.01, Z:149.32 [[ 8.83683857e-01 4.64576976e-01 -5.71933127e-02 3.91326051e+02] [-4.63497415e-01 8.85531481e-01 3.16882150e-02 7.00061123e+01] [ 6.53680939e-02 -1.49341148e-03 9.97860101e-01 1.49321788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.38, Y:69.98, Z:149.32 [[ 8.83625854e-01 4.64686833e-01 -5.71970012e-02 3.91377460e+02] [-4.63607933e-01 8.85473864e-01 3.16815559e-02 6.99789656e+01] [ 6.53684515e-02 -1.47765840e-03 9.97860101e-01 1.49324793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.43, Y:69.95, Z:149.34 [[ 8.82270427e-01 4.67254150e-01 -5.72053529e-02 3.91430254e+02] [-4.66181605e-01 8.84122133e-01 3.16664685e-02 6.99467551e+01] [ 6.53728075e-02 -1.27030541e-03 9.97860102e-01 1.49335596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.49, Y:69.92, Z:149.34 [[ 8.80682836e-01 4.70240776e-01 -5.71957613e-02 3.91485193e+02] [-4.69173387e-01 8.82537518e-01 3.16837834e-02 6.99154521e+01] [ 6.53764121e-02 -1.06863522e-03 9.97860102e-01 1.49339450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.54, Y:69.89, Z:149.34 [[ 8.79501650e-01 4.72447591e-01 -5.71849742e-02 3.91540649e+02] [-4.71383591e-01 8.81358278e-01 3.17032408e-02 6.98879507e+01] [ 6.53785701e-02 -9.26994114e-04 9.97860102e-01 1.49341027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.59, Y:69.86, Z:149.34 [[ 8.78544033e-01 4.74226760e-01 -5.71783361e-02 3.91591073e+02] [-4.73165741e-01 8.80402367e-01 3.17152084e-02 6.98595265e+01] [ 6.53801429e-02 -8.08377356e-04 9.97860102e-01 1.49344099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.64, Y:69.82, Z:149.35 [[ 8.76702562e-01 4.77622138e-01 -5.71813945e-02 3.91643521e+02] [-4.76568677e-01 8.78565189e-01 3.17096933e-02 6.98248008e+01] [ 6.53828342e-02 -5.49107840e-04 9.97860102e-01 1.49350902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4427550959999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:391.70, Y:69.80, Z:149.35 [[ 8.79097703e-01 4.73200525e-01 -5.71707306e-02 3.91699168e+02] [-4.72136446e-01 8.80954285e-01 3.17289080e-02 6.97975203e+01] [ 6.53789360e-02 -9.00424586e-04 9.97860102e-01 1.49352281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.75, Y:69.77, Z:149.36 [[ 8.80376853e-01 4.70817618e-01 -5.71608861e-02 3.91753124e+02] [-4.69747364e-01 8.82229883e-01 3.17466333e-02 6.97651966e+01] [ 6.53759161e-02 -1.09782556e-03 9.97860103e-01 1.49359694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.81, Y:69.74, Z:149.36 [[ 8.79748877e-01 4.71991238e-01 -5.71505502e-02 3.91806251e+02] [-4.70922248e-01 8.81602635e-01 3.17652293e-02 6.97358223e+01] [ 6.53769856e-02 -1.03195920e-03 9.97860103e-01 1.49364909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.622755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:391.86, Y:69.71, Z:149.37 [[ 8.78582621e-01 4.74159609e-01 -5.71423087e-02 3.91858698e+02] [-4.73094231e-01 8.80438458e-01 3.17800480e-02 6.97083295e+01] [ 6.53791012e-02 -8.87701321e-04 9.97860103e-01 1.49369133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6827550959999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:391.91, Y:69.68, Z:149.37 [[ 8.77694466e-01 4.75801405e-01 -5.71440964e-02 3.91911005e+02] [-4.74739708e-01 8.79552411e-01 3.17768331e-02 6.96817710e+01] [ 6.53806896e-02 -7.61778934e-04 9.97860103e-01 1.49370249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.96, Y:69.66, Z:149.37 [[ 8.77989585e-01 4.75256263e-01 -5.71469346e-02 3.91964206e+02] [-4.74193745e-01 8.79847060e-01 3.17717282e-02 6.96568837e+01] [ 6.53802752e-02 -7.96527595e-04 9.97860103e-01 1.49370666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8027550959999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:392.02, Y:69.63, Z:149.38 [[ 8.79209576e-01 4.72995137e-01 -5.71499942e-02 3.92016491e+02] [-4.71928199e-01 8.81064516e-01 3.17662237e-02 6.96301650e+01] [ 6.53781013e-02 -9.58474219e-04 9.97860103e-01 1.49376299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.862755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:392.07, Y:69.60, Z:149.38 [[ 8.79278557e-01 4.72866528e-01 -5.71530090e-02 3.92067002e+02] [-4.71799671e-01 8.81133544e-01 3.17607986e-02 6.96021608e+01] [ 6.53780519e-02 -9.61818248e-04 9.97860103e-01 1.49382261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.922755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:392.12, Y:69.58, Z:149.39 [[ 8.80967874e-01 4.69711310e-01 -5.71567143e-02 3.92123534e+02] [-4.68638243e-01 8.82819275e-01 3.17541292e-02 6.95754195e+01] [ 6.53743227e-02 -1.18854557e-03 9.97860103e-01 1.49385555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.18, Y:69.54, Z:149.39 [[ 8.81411798e-01 4.68878917e-01 -5.71472084e-02 3.92176661e+02] [-4.67802993e-01 8.83261540e-01 3.17712275e-02 6.95438084e+01] [ 6.53727901e-02 -1.26989962e-03 9.97860103e-01 1.49391035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.042755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:392.23, Y:69.52, Z:149.39 [[ 8.81716736e-01 4.68306460e-01 -5.71371712e-02 3.92229466e+02] [-4.67228167e-01 8.83565098e-01 3.17892682e-02 6.95157344e+01] [ 6.53715299e-02 -1.33303401e-03 9.97860103e-01 1.49393893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.28, Y:69.49, Z:149.40 [[ 8.80452526e-01 4.70678817e-01 -5.71384384e-02 3.92280639e+02] [-4.69605652e-01 8.82303870e-01 3.17869904e-02 6.94880130e+01] [ 6.53749283e-02 -1.15440235e-03 9.97860103e-01 1.49396801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.33, Y:69.46, Z:149.40 [[ 8.78440975e-01 4.74422067e-01 -5.71415494e-02 3.92331468e+02] [-4.73357156e-01 8.80297078e-01 3.17813968e-02 6.94590669e+01] [ 6.53793350e-02 -8.69719912e-04 9.97860104e-01 1.49398987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.38, Y:69.43, Z:149.40 [[ 8.77841829e-01 4.75529265e-01 -5.71457944e-02 3.92381972e+02] [-4.74467191e-01 8.79699558e-01 3.17737622e-02 6.94291916e+01] [ 6.53804838e-02 -7.78532998e-04 9.97860104e-01 1.49399719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.43, Y:69.40, Z:149.40 [[ 8.77499094e-01 4.76160226e-01 -5.71557396e-02 3.92430945e+02] [-4.75100654e-01 8.79358251e-01 3.17558623e-02 6.93963004e+01] [ 6.53812498e-02 -7.11011105e-04 9.97860104e-01 1.49404604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.48, Y:69.37, Z:149.41 [[ 8.79178322e-01 4.73052199e-01 -5.71585063e-02 3.92483187e+02] [-4.71986378e-01 8.81033904e-01 3.17508816e-02 6.93670801e+01] [ 6.53784064e-02 -9.36650426e-04 9.97860104e-01 1.49408947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.53, Y:69.34, Z:149.41 [[ 8.81446113e-01 4.68812851e-01 -5.71599546e-02 3.92531583e+02] [-4.67738276e-01 8.83296639e-01 3.17482741e-02 6.93357196e+01] [ 6.53731947e-02 -1.24849416e-03 9.97860104e-01 1.49414255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.58, Y:69.30, Z:149.42 [[ 8.82630345e-01 4.66579039e-01 -5.71635752e-02 3.92584491e+02] [-4.65500204e-01 8.84478390e-01 3.17417539e-02 6.93018142e+01] [ 6.53699840e-02 -1.40657931e-03 9.97860104e-01 1.49418425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.64, Y:69.27, Z:149.42 [[ 8.82984053e-01 4.65910549e-01 -5.71535064e-02 3.92638327e+02] [-4.64829142e-01 8.84830594e-01 3.17598733e-02 6.92691728e+01] [ 6.53684309e-02 -1.47684631e-03 9.97860104e-01 1.49422486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:392.69, Y:69.24, Z:149.43 [[ 8.82756105e-01 4.66343553e-01 -5.71432341e-02 3.92690344e+02] [-4.65261857e-01 8.84602477e-01 3.17783447e-02 6.92353727e+01] [ 6.53686726e-02 -1.46596059e-03 9.97860104e-01 1.49427024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.74, Y:69.20, Z:149.43 [[ 8.81800031e-01 4.68150017e-01 -5.71337745e-02 3.92743699e+02] [-4.67071002e-01 8.83647970e-01 3.17953429e-02 6.92016928e+01] [ 6.53711342e-02 -1.35160507e-03 9.97860104e-01 1.49429986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.80, Y:69.17, Z:149.43 [[ 8.80296671e-01 4.70972044e-01 -5.71235964e-02 3.92795801e+02] [-4.69897769e-01 8.82147369e-01 3.18136185e-02 6.91659103e+01] [ 6.53747552e-02 -1.16317194e-03 9.97860105e-01 1.49430527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.85, Y:69.13, Z:149.43 [[ 8.78952675e-01 4.73476760e-01 -5.71135200e-02 3.92848610e+02] [-4.72406584e-01 8.80805746e-01 3.18316979e-02 6.91326611e+01] [ 6.53774858e-02 -9.97753116e-04 9.97860105e-01 1.49434388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.90, Y:69.10, Z:149.44 [[ 8.77928576e-01 4.75374106e-01 -5.71040681e-02 3.92899651e+02] [-4.74306833e-01 8.79783321e-01 3.18486450e-02 6.91045134e+01] [ 6.53792278e-02 -8.75985880e-04 9.97860105e-01 1.49440547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.95, Y:69.07, Z:149.44 [[ 8.76570516e-01 4.77873352e-01 -5.71068281e-02 3.92950105e+02] [-4.76811690e-01 8.78428479e-01 3.18436954e-02 6.90735463e+01] [ 6.53815175e-02 -6.84041353e-04 9.97860105e-01 1.49442369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9427550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:393.00, Y:69.04, Z:149.45 [[ 8.76279086e-01 4.78407202e-01 -5.71096526e-02 3.93004095e+02] [-4.77347002e-01 8.78137883e-01 3.18386290e-02 6.90430154e+01] [ 6.53819788e-02 -6.38403263e-04 9.97860105e-01 1.49447839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.06, Y:69.01, Z:149.45 [[ 8.76952993e-01 4.77171888e-01 -5.71002345e-02 3.93058613e+02] [-4.76107970e-01 8.78809665e-01 3.18555107e-02 6.90123463e+01] [ 6.53807921e-02 -7.49908743e-04 9.97860105e-01 1.49453398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.11, Y:68.98, Z:149.46 [[ 8.77197054e-01 4.76724318e-01 -5.70898674e-02 3.93110666e+02] [-4.75658245e-01 8.79052488e-01 3.18740793e-02 6.89808983e+01] [ 6.53801387e-02 -8.04582306e-04 9.97860105e-01 1.49461466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.16, Y:68.96, Z:149.46 [[ 8.79705188e-01 4.72081001e-01 -5.70816103e-02 3.93164807e+02] [-4.71004176e-01 8.81554404e-01 3.18888598e-02 6.89567381e+01] [ 6.53746697e-02 -1.16711858e-03 9.97860106e-01 1.49462663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.22, Y:68.93, Z:149.47 [[ 8.79737986e-01 4.72019651e-01 -5.70834891e-02 3.93215132e+02] [-4.70942915e-01 8.81587254e-01 3.18854962e-02 6.89275465e+01] [ 6.53746571e-02 -1.16781749e-03 9.97860106e-01 1.49466582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.27, Y:68.90, Z:149.47 [[ 8.80792158e-01 4.70049152e-01 -5.70873848e-02 3.93271455e+02] [-4.68968732e-01 8.82639274e-01 3.18785199e-02 6.88984974e+01] [ 6.53720391e-02 -1.30615190e-03 9.97860106e-01 1.49468217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.33, Y:68.87, Z:149.47 [[ 8.79607148e-01 4.72264174e-01 -5.70772795e-02 3.93325247e+02] [-4.71187232e-01 8.81456294e-01 3.18966028e-02 6.88687213e+01] [ 6.53747500e-02 -1.16239448e-03 9.97860106e-01 1.49474648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.38, Y:68.84, Z:149.48 [[ 8.79033128e-01 4.73332818e-01 -5.70684060e-02 3.93381122e+02] [-4.72257095e-01 8.80882984e-01 3.19124710e-02 6.88405074e+01] [ 6.53758076e-02 -1.10115956e-03 9.97860106e-01 1.49475443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.43, Y:68.81, Z:149.48 [[ 8.79404685e-01 4.72643361e-01 -5.70583384e-02 3.93433714e+02] [-4.71565020e-01 8.81253015e-01 3.19304615e-02 6.88143969e+01] [ 6.53745534e-02 -1.17308088e-03 9.97860106e-01 1.49479542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.48, Y:68.78, Z:149.49 [[ 8.77759200e-01 4.75691930e-01 -5.70611516e-02 3.93482276e+02] [-4.74620336e-01 8.79611450e-01 3.19254334e-02 6.87842134e+01] [ 6.53783133e-02 -9.40459898e-04 9.97860106e-01 1.49486520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.54, Y:68.76, Z:149.49 [[ 8.78875202e-01 4.73626439e-01 -5.70646677e-02 3.93538545e+02] [-4.72550900e-01 8.80725164e-01 3.19191473e-02 6.87567060e+01] [ 6.53760409e-02 -1.08698693e-03 9.97860106e-01 1.49488374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.59, Y:68.73, Z:149.49 [[ 8.81254201e-01 4.69186163e-01 -5.70559270e-02 3.93593926e+02] [-4.68100293e-01 8.83098118e-01 3.19347638e-02 6.87263156e+01] [ 6.53693311e-02 -1.43474855e-03 9.97860106e-01 1.49490153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.65, Y:68.70, Z:149.49 [[ 8.81719948e-01 4.68311531e-01 -5.70459748e-02 3.93648653e+02] [-4.67222683e-01 8.83562109e-01 3.19525319e-02 6.86974297e+01] [ 6.53674009e-02 -1.52001138e-03 9.97860107e-01 1.49494112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.70, Y:68.67, Z:149.50 [[ 8.80208455e-01 4.71147343e-01 -5.70373260e-02 3.93703126e+02] [-4.70063432e-01 8.82053524e-01 3.19679631e-02 6.86663046e+01] [ 6.53715953e-02 -1.32731029e-03 9.97860107e-01 1.49499705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.76, Y:68.64, Z:149.50 [[ 8.78902388e-01 4.73580529e-01 -5.70269734e-02 3.93757282e+02] [-4.72500528e-01 8.80749749e-01 3.19864202e-02 6.86354071e+01] [ 6.53746383e-02 -1.16766599e-03 9.97860107e-01 1.49503765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.81, Y:68.60, Z:149.51 [[ 8.76853953e-01 4.77363910e-01 -5.70161568e-02 3.93810292e+02] [-4.76290629e-01 8.78705225e-01 3.20056894e-02 6.86031359e+01] [ 6.53787559e-02 -9.08054110e-04 9.97860107e-01 1.49509453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.86, Y:68.57, Z:149.52 [[ 8.75020322e-01 4.80717932e-01 -5.70061868e-02 3.93863380e+02] [-4.79650591e-01 8.76875025e-01 3.20234374e-02 6.85724452e+01] [ 6.53815421e-02 -6.78107266e-04 9.97860108e-01 1.49516846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.91, Y:68.54, Z:149.52 [[ 8.73467598e-01 4.83534650e-01 -5.69964754e-02 3.93914552e+02] [-4.82472162e-01 8.75325085e-01 3.20407128e-02 6.85378028e+01] [ 6.53832395e-02 -4.87311710e-04 9.97860108e-01 1.49523046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.97, Y:68.51, Z:149.52 [[ 8.75557764e-01 4.79740639e-01 -5.69870225e-02 3.93967442e+02] [-4.78669010e-01 8.77409992e-01 3.20575168e-02 6.85067905e+01] [ 6.53802766e-02 -7.90286102e-04 9.97860108e-01 1.49523991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.02, Y:68.48, Z:149.53 [[ 8.77331656e-01 4.76489906e-01 -5.69783763e-02 3.94021188e+02] [-4.75410417e-01 8.79179314e-01 3.20728770e-02 6.84760933e+01] [ 6.53766119e-02 -1.05043663e-03 9.97860108e-01 1.49530525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.07, Y:68.45, Z:149.53 [[ 8.78446171e-01 4.74433187e-01 -5.69690798e-02 3.94072516e+02] [-4.73348302e-01 8.80290666e-01 3.20893814e-02 6.84469175e+01] [ 6.53736167e-02 -1.22257705e-03 9.97860108e-01 1.49534819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.13, Y:68.42, Z:149.54 [[ 8.79562749e-01 4.72359849e-01 -5.69696787e-02 3.94126778e+02] [-4.71270685e-01 8.81404720e-01 3.20883180e-02 6.84158628e+01] [ 6.53705768e-02 -1.37554963e-03 9.97860108e-01 1.49539088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.18, Y:68.39, Z:149.54 [[ 8.78825606e-01 4.73731085e-01 -5.69597524e-02 3.94181333e+02] [-4.72643655e-01 8.80668601e-01 3.21059286e-02 6.83855824e+01] [ 6.53722418e-02 -1.29384659e-03 9.97860108e-01 1.49542723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.24, Y:68.36, Z:149.55 [[ 8.77111684e-01 4.76897953e-01 -5.69511675e-02 3.94235484e+02] [-4.75816190e-01 8.78958011e-01 3.21211497e-02 6.83577967e+01] [ 6.53761955e-02 -1.07554818e-03 9.97860109e-01 1.49545201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.29, Y:68.33, Z:149.55 [[ 8.75270058e-01 4.80269601e-01 -5.69511675e-02 3.94287116e+02] [-4.79194950e-01 8.77120534e-01 3.21211497e-02 6.83318096e+01] [ 6.53798502e-02 -8.23968673e-04 9.97860109e-01 1.49548634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4427550959999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:394.34, Y:68.30, Z:149.55 [[ 8.74341398e-01 4.81957823e-01 -5.69541621e-02 3.94338663e+02] [-4.80887091e-01 8.76194145e-01 3.21158391e-02 6.83037773e+01] [ 6.53813832e-02 -6.91686344e-04 9.97860109e-01 1.49551645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.502755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:394.39, Y:68.27, Z:149.56 [[ 8.72898189e-01 4.84566514e-01 -5.69565270e-02 3.94386768e+02] [-4.83501593e-01 8.74754281e-01 3.21116444e-02 6.82713193e+01] [ 6.53831934e-02 -4.91624758e-04 9.97860109e-01 1.49559017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.44, Y:68.25, Z:149.56 [[ 8.75432121e-01 4.79973096e-01 -5.69598873e-02 3.94441285e+02] [-4.78898825e-01 8.77282817e-01 3.21056829e-02 6.82488570e+01] [ 6.53797944e-02 -8.28322983e-04 9.97860109e-01 1.49558183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.49, Y:68.22, Z:149.57 [[ 8.76061893e-01 4.78822309e-01 -5.69627658e-02 3.94492098e+02] [-4.77745939e-01 8.77911369e-01 3.21005748e-02 6.82195049e+01] [ 6.53787311e-02 -9.08360288e-04 9.97860109e-01 1.49566196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.54, Y:68.19, Z:149.57 [[ 8.76678108e-01 4.77692874e-01 -5.69650189e-02 3.94542661e+02] [-4.76614381e-01 8.78526347e-01 3.20965760e-02 6.81908227e+01] [ 6.53775756e-02 -9.88018301e-04 9.97860109e-01 1.49570770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.59, Y:68.16, Z:149.57 [[ 8.76751544e-01 4.77557676e-01 -5.69683757e-02 3.94592417e+02] [-4.76479284e-01 8.78599843e-01 3.20906170e-02 6.81638444e+01] [ 6.53775264e-02 -9.91247186e-04 9.97860109e-01 1.49574310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.64, Y:68.14, Z:149.58 [[ 8.76750450e-01 4.77559225e-01 -5.69722298e-02 3.94642838e+02] [-4.76481281e-01 8.78599010e-01 3.20837731e-02 6.81360495e+01] [ 6.53776465e-02 -9.83261454e-04 9.97860109e-01 1.49577015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.69, Y:68.11, Z:149.58 [[ 8.75709354e-01 4.79465246e-01 -5.69754747e-02 3.94694013e+02] [-4.78391701e-01 8.77560472e-01 3.20780096e-02 6.81082005e+01] [ 6.53797153e-02 -8.34418809e-04 9.97860109e-01 1.49579276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.922755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:394.75, Y:68.08, Z:149.58 [[ 8.75703321e-01 4.79475866e-01 -5.69788274e-02 3.94745638e+02] [-4.78402731e-01 8.77554676e-01 3.20720534e-02 6.80807074e+01] [ 6.53798120e-02 -8.26777046e-04 9.97860109e-01 1.49581440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.80, Y:68.05, Z:149.59 [[ 8.73418582e-01 4.83624784e-01 -5.69828824e-02 3.94798102e+02] [-4.82560914e-01 8.75275277e-01 3.20648471e-02 6.80468090e+01] [ 6.53830629e-02 -5.08321482e-04 9.97860109e-01 1.49588627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.85, Y:68.02, Z:149.59 [[ 8.76045723e-01 4.78849902e-01 -5.69794877e-02 3.94853381e+02] [-4.77775521e-01 8.77896355e-01 3.20708785e-02 6.80241463e+01] [ 6.53792216e-02 -8.72151522e-04 9.97860109e-01 1.49587328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.90, Y:67.99, Z:149.59 [[ 8.75094023e-01 4.80586750e-01 -5.69809372e-02 3.94902927e+02] [-4.79516209e-01 8.76946879e-01 3.20683029e-02 6.79945965e+01] [ 6.53808565e-02 -7.39497191e-04 9.97860109e-01 1.49592491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.95, Y:67.97, Z:149.60 [[ 8.75316235e-01 4.80181401e-01 -5.69851756e-02 3.94953481e+02] [-4.79110493e-01 8.77168879e-01 3.20607695e-02 6.79656884e+01] [ 6.53806078e-02 -7.61116484e-04 9.97860109e-01 1.49596661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.01, Y:67.94, Z:149.60 [[ 8.75448927e-01 4.79938958e-01 -5.69892308e-02 3.95008236e+02] [-4.78868006e-01 8.77301546e-01 3.20535597e-02 6.79357387e+01] [ 6.53804923e-02 -7.70935122e-04 9.97860109e-01 1.49601584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.06, Y:67.90, Z:149.61 [[ 8.74075389e-01 4.82437185e-01 -5.69787462e-02 3.95060363e+02] [-4.81370314e-01 8.75930360e-01 3.20721864e-02 6.79040248e+01] [ 6.53822290e-02 -6.05631813e-04 9.97860109e-01 1.49607056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.11, Y:67.88, Z:149.61 [[ 8.73870134e-01 4.82809487e-01 -5.69735814e-02 3.95114696e+02] [-4.81742808e-01 8.75725216e-01 3.20813585e-02 6.78769133e+01] [ 6.53823861e-02 -5.88327917e-04 9.97860109e-01 1.49610024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.17, Y:67.85, Z:149.61 [[ 8.72868243e-01 4.84618450e-01 -5.69735814e-02 3.95166082e+02] [-4.83555616e-01 8.74725530e-01 3.20813585e-02 6.78465553e+01] [ 6.53834644e-02 -4.52903736e-04 9.97860109e-01 1.49613513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.22, Y:67.82, Z:149.62 [[ 8.71586708e-01 4.86919373e-01 -5.69748628e-02 3.95219368e+02] [-4.85861590e-01 8.73446877e-01 3.20790827e-02 6.78150072e+01] [ 6.53844428e-02 -2.77804629e-04 9.97860109e-01 1.49620337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.27, Y:67.79, Z:149.62 [[ 8.73714970e-01 4.83091216e-01 -5.69651436e-02 3.95272129e+02] [-4.82024159e-01 8.75569835e-01 3.20963326e-02 6.77902390e+01] [ 6.53824177e-02 -5.84470821e-04 9.97860109e-01 1.49619001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.32, Y:67.76, Z:149.63 [[ 8.74344700e-01 4.81950094e-01 -5.69688686e-02 3.95321814e+02] [-4.80881047e-01 8.76198418e-01 3.20897196e-02 6.77609387e+01] [ 6.53816759e-02 -6.62227063e-04 9.97860109e-01 1.49627027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.37, Y:67.73, Z:149.63 [[ 8.75795056e-01 4.79309041e-01 -5.69724798e-02 3.95373318e+02] [-4.78234821e-01 8.77645781e-01 3.20833069e-02 6.77310910e+01] [ 6.53794756e-02 -8.52177938e-04 9.97860109e-01 1.49630922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.43, Y:67.70, Z:149.63 [[ 8.77051812e-01 4.77005591e-01 -5.69718045e-02 3.95426091e+02] [-4.75926433e-01 8.78899662e-01 3.20845061e-02 6.77045616e+01] [ 6.53769884e-02 -1.02538652e-03 9.97860109e-01 1.49631967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.48, Y:67.68, Z:149.64 [[ 8.77898309e-01 4.75445574e-01 -5.69742448e-02 3.95479688e+02] [-4.74363414e-01 8.79744403e-01 3.20801721e-02 6.76785474e+01] [ 6.53751488e-02 -1.13663158e-03 9.97860109e-01 1.49635221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.53, Y:67.65, Z:149.64 [[ 8.76964459e-01 4.77165727e-01 -5.69754870e-02 3.95529142e+02] [-4.76087332e-01 8.78812754e-01 3.20779658e-02 6.76464945e+01] [ 6.53772905e-02 -1.00592835e-03 9.97860109e-01 1.49644023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.58, Y:67.62, Z:149.65 [[ 8.75578797e-01 4.79703473e-01 -5.69767298e-02 3.95580202e+02] [-4.78630579e-01 8.77430291e-01 3.20757582e-02 6.76187200e+01] [ 6.53799612e-02 -8.14048633e-04 9.97860109e-01 1.49646879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.63, Y:67.59, Z:149.65 [[ 8.76998750e-01 4.77102068e-01 -5.69807828e-02 3.95632072e+02] [-4.76024149e-01 8.78847323e-01 3.20685566e-02 6.75933396e+01] [ 6.53773831e-02 -9.99855402e-04 9.97860109e-01 1.49649896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.68, Y:67.57, Z:149.65 [[ 8.77015936e-01 4.77069990e-01 -5.69848520e-02 3.95682633e+02] [-4.75992474e-01 8.78864743e-01 3.20613241e-02 6.75661071e+01] [ 6.53774729e-02 -9.93931453e-04 9.97860110e-01 1.49654065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.73, Y:67.54, Z:149.66 [[ 8.78638989e-01 4.74073284e-01 -5.69916473e-02 3.95734113e+02] [-4.72990246e-01 8.80484568e-01 3.20492403e-02 6.75390860e+01] [ 6.53739545e-02 -1.20321879e-03 9.97860110e-01 1.49657764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.79, Y:67.51, Z:149.67 [[ 8.80752723e-01 4.70134152e-01 -5.69957970e-02 3.95785529e+02] [-4.69043338e-01 8.82593716e-01 3.20418590e-02 6.75120407e+01] [ 6.53681044e-02 -1.48745569e-03 9.97860110e-01 1.49665321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1827550959999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:395.84, Y:67.48, Z:149.67 [[ 8.81137709e-01 4.69411712e-01 -5.69998542e-02 3.95837828e+02] [-4.68319855e-01 8.82978083e-01 3.20346398e-02 6.74840458e+01] [ 6.53670571e-02 -1.53276565e-03 9.97860110e-01 1.49670912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.89, Y:67.46, Z:149.68 [[ 8.80515209e-01 4.70578200e-01 -5.70010930e-02 3.95889863e+02] [-4.69488924e-01 8.82357112e-01 3.20324355e-02 6.74577236e+01] [ 6.53690856e-02 -1.44366482e-03 9.97860110e-01 1.49676798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.94, Y:67.43, Z:149.68 [[ 8.80372658e-01 4.70844485e-01 -5.70039766e-02 3.95940939e+02] [-4.69756098e-01 8.82215087e-01 3.20273031e-02 6.74308609e+01] [ 6.53696472e-02 -1.41799628e-03 9.97860110e-01 1.49680742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.99, Y:67.40, Z:149.69 [[ 8.79401274e-01 4.72655742e-01 -5.70083265e-02 3.95991321e+02] [-4.71571652e-01 8.81246234e-01 3.20195584e-02 6.74034740e+01] [ 6.53726012e-02 -1.27452980e-03 9.97860110e-01 1.49685584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.04, Y:67.38, Z:149.69 [[ 8.78627695e-01 4.74091693e-01 -5.70126257e-02 3.96044244e+02] [-4.73011115e-01 8.80474715e-01 3.20119017e-02 6.73778388e+01] [ 6.53747520e-02 -1.15893777e-03 9.97860110e-01 1.49685577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.482755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.10, Y:67.35, Z:149.69 [[ 8.78031801e-01 4.75194049e-01 -5.70155460e-02 3.96095832e+02] [-4.74116127e-01 8.79880372e-01 3.20066995e-02 6.73504177e+01] [ 6.53762529e-02 -1.07091015e-03 9.97860110e-01 1.49688142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.15, Y:67.32, Z:149.69 [[ 8.78062590e-01 4.75136847e-01 -5.70181129e-02 3.96146062e+02] [-4.74059102e-01 8.79911264e-01 3.20021260e-02 6.73218776e+01] [ 6.53762690e-02 -1.06991425e-03 9.97860110e-01 1.49690088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.20, Y:67.29, Z:149.69 [[ 8.78522320e-01 4.74285863e-01 -5.70215220e-02 3.96196793e+02] [-4.73206721e-01 8.80370179e-01 3.19960505e-02 6.72920172e+01] [ 6.53753220e-02 -1.12627705e-03 9.97860110e-01 1.49692886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.25, Y:67.26, Z:149.70 [[ 8.78650763e-01 4.74047568e-01 -5.70240271e-02 3.96248060e+02] [-4.72968215e-01 8.80498499e-01 3.19915853e-02 6.72626052e+01] [ 6.53751034e-02 -1.13887849e-03 9.97860110e-01 1.49696866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.30, Y:67.23, Z:149.70 [[ 8.78845848e-01 4.73685498e-01 -5.70265230e-02 3.96297311e+02] [-4.72605672e-01 8.80693308e-01 3.19871356e-02 6.72323210e+01] [ 6.53747194e-02 -1.16070313e-03 9.97860110e-01 1.49701030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.35, Y:67.20, Z:149.70 [[ 8.79274712e-01 4.72888577e-01 -5.70295892e-02 3.96348580e+02] [-4.71807431e-01 8.81121400e-01 3.19816679e-02 6.72028786e+01] [ 6.53737569e-02 -1.21368785e-03 9.97860110e-01 1.49700089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.40, Y:67.17, Z:149.71 [[ 8.77828113e-01 4.75568236e-01 -5.70320809e-02 3.96395907e+02] [-4.74493016e-01 8.79678257e-01 3.19772240e-02 6.71702851e+01] [ 6.53772335e-02 -1.00918209e-03 9.97860110e-01 1.49705124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.45, Y:67.14, Z:149.71 [[ 8.77770953e-01 4.75673362e-01 -5.70351462e-02 3.96445382e+02] [-4.74598719e-01 8.79621432e-01 3.19717557e-02 6.71379503e+01] [ 6.53774495e-02 -9.95071172e-04 9.97860110e-01 1.49713011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.49, Y:67.10, Z:149.72 [[ 8.76583307e-01 4.77858300e-01 -5.70364033e-02 3.96494102e+02] [-4.76788416e-01 8.78436541e-01 3.19695129e-02 6.71043624e+01] [ 6.53797579e-02 -8.29644952e-04 9.97860110e-01 1.49717241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.54, Y:67.07, Z:149.72 [[ 8.76393797e-01 4.78205443e-01 -5.70391798e-02 3.96542319e+02] [-4.77136615e-01 8.78247640e-01 3.19645585e-02 6.70703637e+01] [ 6.53801509e-02 -7.98059604e-04 9.97860110e-01 1.49721991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.59, Y:67.03, Z:149.73 [[ 8.75192144e-01 4.80400784e-01 -5.70420607e-02 3.96593164e+02] [-4.79336942e-01 8.77048854e-01 3.19594165e-02 6.70348393e+01] [ 6.53820027e-02 -6.28263318e-04 9.97860110e-01 1.49727282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.64, Y:67.00, Z:149.73 [[ 8.74228722e-01 4.82152908e-01 -5.70325784e-02 3.96644911e+02] [-4.81091684e-01 8.76086928e-01 3.19763290e-02 6.69990848e+01] [ 6.53829765e-02 -5.16726105e-04 9.97860110e-01 1.49731744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.70, Y:66.97, Z:149.74 [[ 8.72588061e-01 4.85117030e-01 -5.70223053e-02 3.96698574e+02] [-4.84060921e-01 8.74449180e-01 3.19946382e-02 6.69675859e+01] [ 6.53842520e-02 -3.15869674e-04 9.97860110e-01 1.49735788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.75, Y:66.94, Z:149.74 [[ 8.71926653e-01 4.86305930e-01 -5.70127483e-02 3.96752500e+02] [-4.85251246e-01 8.73788580e-01 3.20116594e-02 6.69390224e+01] [ 6.53845481e-02 -2.46311888e-04 9.97860111e-01 1.49744491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.81, Y:66.91, Z:149.75 [[ 8.73554546e-01 4.83376266e-01 -5.70073669e-02 3.96806567e+02] [-4.82314713e-01 8.75412564e-01 3.20212398e-02 6.69079990e+01] [ 6.53832726e-02 -4.76807759e-04 9.97860111e-01 1.49749835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.86, Y:66.88, Z:149.75 [[ 8.76399986e-01 4.78198923e-01 -5.69987250e-02 3.96860364e+02] [-4.77125394e-01 8.78251111e-01 3.20366153e-02 6.68795016e+01] [ 6.53790684e-02 -8.81350029e-04 9.97860111e-01 1.49753367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.91, Y:66.85, Z:149.75 [[ 8.79106128e-01 4.73206573e-01 -5.69908351e-02 3.96914781e+02] [-4.72121624e-01 8.80950582e-01 3.20506446e-02 6.68487306e+01] [ 6.53726851e-02 -1.26931246e-03 9.97860111e-01 1.49754572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.97, Y:66.82, Z:149.76 [[ 8.80400205e-01 4.70795699e-01 -5.69814845e-02 3.96968707e+02] [-4.69704625e-01 8.82241042e-01 3.20672602e-02 6.68199993e+01] [ 6.53685324e-02 -1.46755570e-03 9.97860111e-01 1.49757878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.02, Y:66.79, Z:149.76 [[ 8.83462041e-01 4.65025303e-01 -5.69762236e-02 3.97024007e+02] [-4.63921606e-01 8.85295338e-01 3.20766048e-02 6.67920133e+01] [ 6.53572180e-02 -1.90596154e-03 9.97860111e-01 1.49757739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.622755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:397.08, Y:66.76, Z:149.76 [[ 8.85135616e-01 4.61832967e-01 -5.69671115e-02 3.97078556e+02] [-4.60721620e-01 8.86964285e-01 3.20927796e-02 6.67630106e+01] [ 6.53492969e-02 -2.16048234e-03 9.97860111e-01 1.49758021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.13, Y:66.73, Z:149.77 [[ 8.85381387e-01 4.61362666e-01 -5.69586715e-02 3.97128916e+02] [-4.60249385e-01 8.87208880e-01 3.21077521e-02 6.67343062e+01] [ 6.53475572e-02 -2.21241258e-03 9.97860111e-01 1.49766876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.18, Y:66.70, Z:149.76 [[ 8.83311778e-01 4.65312635e-01 -5.69601157e-02 3.97179726e+02] [-4.64207693e-01 8.85144324e-01 3.21051897e-02 6.67046697e+01] [ 6.53568736e-02 -1.91756821e-03 9.97860111e-01 1.49763993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.24, Y:66.68, Z:149.76 [[ 8.83962533e-01 4.64074845e-01 -5.69629572e-02 3.97237237e+02] [-4.62967662e-01 8.85793726e-01 3.21001474e-02 6.66801519e+01] [ 6.53543010e-02 -2.00332054e-03 9.97860111e-01 1.49759665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.29, Y:66.65, Z:149.76 [[ 8.83225834e-01 4.65476482e-01 -5.69541142e-02 3.97292439e+02] [-4.64371194e-01 8.85058172e-01 3.21158296e-02 6.66516000e+01] [ 6.53568675e-02 -1.91768033e-03 9.97860112e-01 1.49760327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.35, Y:66.62, Z:149.76 [[ 8.80810342e-01 4.70032404e-01 -5.69445365e-02 3.97349185e+02] [-4.68935499e-01 8.82647711e-01 3.21328028e-02 6.66231732e+01] [ 6.53654233e-02 -1.59959036e-03 9.97860112e-01 1.49762298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.982755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.40, Y:66.60, Z:149.77 [[ 8.77904961e-01 4.75438182e-01 -5.69334163e-02 3.97404734e+02] [-4.74351317e-01 8.79748285e-01 3.21524938e-02 6.65952326e+01] [ 6.53735985e-02 -1.22039281e-03 9.97860112e-01 1.49766370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.46, Y:66.57, Z:149.77 [[ 8.74777437e-01 4.81169602e-01 -5.69231959e-02 3.97461234e+02] [-4.80093638e-01 8.76627146e-01 3.21705778e-02 6.65663104e+01] [ 6.53799229e-02 -8.13631379e-04 9.97860112e-01 1.49768247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.52, Y:66.54, Z:149.77 [[ 8.72705050e-01 4.84919437e-01 -5.69125279e-02 3.97516854e+02] [-4.83850192e-01 8.74558650e-01 3.21894395e-02 6.65395280e+01] [ 6.53826284e-02 -5.54748796e-04 9.97860113e-01 1.49771845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.57, Y:66.51, Z:149.77 [[ 8.73803280e-01 4.82938804e-01 -5.69028944e-02 3.97574393e+02] [-4.81864249e-01 8.75653807e-01 3.22064601e-02 6.65139887e+01] [ 6.53809855e-02 -7.22639929e-04 9.97860113e-01 1.49770005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.63, Y:66.48, Z:149.78 [[ 8.73028213e-01 4.84339654e-01 -5.68932244e-02 3.97628435e+02] [-4.83266956e-01 8.74879817e-01 3.22235334e-02 6.64830318e+01] [ 6.53818687e-02 -6.37438467e-04 9.97860113e-01 1.49776386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.68, Y:66.46, Z:149.78 [[ 8.72851731e-01 4.84658765e-01 -5.68835491e-02 3.97679893e+02] [-4.83585631e-01 8.74703082e-01 3.22406039e-02 6.64560155e+01] [ 6.53819070e-02 -6.33199869e-04 9.97860113e-01 1.49777382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.73, Y:66.43, Z:149.78 [[ 8.73062988e-01 4.84277672e-01 -5.68872107e-02 3.97732317e+02] [-4.83204151e-01 8.74914115e-01 3.22341420e-02 6.64294632e+01] [ 6.53816988e-02 -6.54299955e-04 9.97860113e-01 1.49780981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.79, Y:66.40, Z:149.78 [[ 8.75542909e-01 4.79779266e-01 -5.68899945e-02 3.97785777e+02] [-4.78696554e-01 8.77388674e-01 3.22292280e-02 6.64038070e+01] [ 6.53775522e-02 -9.85027673e-04 9.97860113e-01 1.49781747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.84, Y:66.37, Z:149.78 [[ 8.74797397e-01 4.81136876e-01 -5.68930606e-02 3.97837573e+02] [-4.80057381e-01 8.76645046e-01 3.22238147e-02 6.63729565e+01] [ 6.53790852e-02 -8.77375592e-04 9.97860113e-01 1.49783559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.89, Y:66.34, Z:149.79 [[ 8.74107116e-01 4.82389891e-01 -5.68923823e-02 3.97887291e+02] [-4.81312967e-01 8.75956264e-01 3.22250121e-02 6.63437442e+01] [ 6.53802588e-02 -7.85071074e-04 9.97860113e-01 1.49789258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.94, Y:66.31, Z:149.80 [[ 8.73361178e-01 4.83738667e-01 -5.68960082e-02 3.97939347e+02] [-4.82665015e-01 8.75212228e-01 3.22186091e-02 6.63089339e+01] [ 6.53814691e-02 -6.76769678e-04 9.97860113e-01 1.49796715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.99, Y:66.28, Z:149.80 [[ 8.72209337e-01 4.85813721e-01 -5.68849822e-02 3.97986485e+02] [-4.84743204e-01 8.74062202e-01 3.22380647e-02 6.62763181e+01] [ 6.53827070e-02 -5.43732517e-04 9.97860113e-01 1.49802978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.04, Y:66.24, Z:149.81 [[ 8.72150579e-01 4.85918772e-01 -5.68886226e-02 3.98035622e+02] [-4.84848898e-01 8.74003814e-01 3.22316395e-02 6.62448893e+01] [ 6.53828318e-02 -5.28457065e-04 9.97860113e-01 1.49807933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.09, Y:66.21, Z:149.81 [[ 8.73870884e-01 4.82817824e-01 -5.68913656e-02 3.98085674e+02] [-4.81741689e-01 8.75720491e-01 3.22267972e-02 6.62142436e+01] [ 6.53806067e-02 -7.55117157e-04 9.97860113e-01 1.49810628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.13, Y:66.18, Z:149.82 [[ 8.74734558e-01 4.81251010e-01 -5.68939309e-02 3.98133235e+02] [-4.80171857e-01 8.76582406e-01 3.22222677e-02 6.61794278e+01] [ 6.53792177e-02 -8.67066693e-04 9.97860114e-01 1.49818766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.18, Y:66.15, Z:149.82 [[ 8.75302786e-01 4.80216514e-01 -5.68958061e-02 3.98184072e+02] [-4.79135392e-01 8.77149483e-01 3.22189562e-02 6.61459028e+01] [ 6.53782018e-02 -9.40547742e-04 9.97860114e-01 1.49820563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.24, Y:66.11, Z:149.83 [[ 8.75925749e-01 4.79079272e-01 -5.68958061e-02 3.98238796e+02] [-4.77995753e-01 8.77771040e-01 3.22189562e-02 6.61144520e+01] [ 6.53769250e-02 -1.02545967e-03 9.97860114e-01 1.49825746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.29, Y:66.08, Z:149.83 [[ 8.75590408e-01 4.79693187e-01 -5.68848305e-02 3.98292666e+02] [-4.78609704e-01 8.77435720e-01 3.22383229e-02 6.60820595e+01] [ 6.53772860e-02 -1.00193446e-03 9.97860114e-01 1.49832618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.34, Y:66.05, Z:149.84 [[ 8.75607459e-01 4.79663350e-01 -5.68739811e-02 3.98343566e+02] [-4.78578561e-01 8.77452003e-01 3.22574517e-02 6.60520267e+01] [ 6.53769060e-02 -1.02619728e-03 9.97860114e-01 1.49839621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.40, Y:66.02, Z:149.84 [[ 8.75908127e-01 4.79113999e-01 -5.68746882e-02 3.98395211e+02] [-4.78028134e-01 8.77752038e-01 3.22562050e-02 6.60224230e+01] [ 6.53762728e-02 -1.06577103e-03 9.97860114e-01 1.49843885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.45, Y:65.99, Z:149.85 [[ 8.75573268e-01 4.79725504e-01 -5.68761238e-02 3.98448957e+02] [-4.78641091e-01 8.77418034e-01 3.22536734e-02 6.59920617e+01] [ 6.53770465e-02 -1.01720428e-03 9.97860114e-01 1.49849749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.50, Y:65.97, Z:149.85 [[ 8.75582428e-01 4.79709556e-01 -5.68696197e-02 3.98501974e+02] [-4.78624366e-01 8.77426736e-01 3.22651374e-02 6.59651711e+01] [ 6.53768195e-02 -1.03160167e-03 9.97860114e-01 1.49853619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.55, Y:65.94, Z:149.86 [[ 8.76461594e-01 4.78101460e-01 -5.68688736e-02 3.98554363e+02] [-4.77012801e-01 8.78303856e-01 3.22664524e-02 6.59362035e+01] [ 6.53747890e-02 -1.15312567e-03 9.97860114e-01 1.49859542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.60, Y:65.91, Z:149.87 [[ 8.77114501e-01 4.76902679e-01 -5.68681452e-02 3.98603944e+02] [-4.75811419e-01 8.78955225e-01 3.22677361e-02 6.59077634e+01] [ 6.53731231e-02 -1.24398643e-03 9.97860114e-01 1.49865731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.65, Y:65.88, Z:149.87 [[ 8.78657134e-01 4.74054047e-01 -5.68717909e-02 3.98654126e+02] [-4.72957235e-01 8.80494555e-01 3.22613094e-02 6.58812314e+01] [ 6.53689065e-02 -1.44870468e-03 9.97860114e-01 1.49870052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.71, Y:65.86, Z:149.87 [[ 8.81529269e-01 4.68691053e-01 -5.68757059e-02 3.98708356e+02] [-4.67583509e-01 8.83360241e-01 3.22544059e-02 6.58569463e+01] [ 6.53590887e-02 -1.83906066e-03 9.97860114e-01 1.49872760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.76, Y:65.83, Z:149.88 [[ 8.83959230e-01 4.64091517e-01 -5.68783209e-02 3.98763806e+02] [-4.62974745e-01 8.85784588e-01 3.22497937e-02 6.58280334e+01] [ 6.53487958e-02 -2.17427668e-03 9.97860114e-01 1.49875805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.82, Y:65.80, Z:149.88 [[ 8.83440297e-01 4.65079876e-01 -5.68678286e-02 3.98821425e+02] [-4.63963958e-01 8.85266177e-01 3.22682848e-02 6.58028879e+01] [ 6.53504951e-02 -2.12248024e-03 9.97860114e-01 1.49876209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.87, Y:65.77, Z:149.89 [[ 8.80009075e-01 4.71541290e-01 -5.68580736e-02 3.98871624e+02] [-4.70437673e-01 8.81842415e-01 3.22854645e-02 6.57749481e+01] [ 6.53637905e-02 -1.66332196e-03 9.97860115e-01 1.49885519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.93, Y:65.75, Z:149.89 [[ 8.77614912e-01 4.75981935e-01 -5.68618048e-02 3.98925251e+02] [-4.74888021e-01 8.79454058e-01 3.22788917e-02 6.57526830e+01] [ 6.53715143e-02 -1.32544672e-03 9.97860115e-01 1.49887031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.98, Y:65.73, Z:149.89 [[ 8.75088496e-01 4.80609647e-01 -5.68725806e-02 3.98981531e+02] [-4.79526694e-01 8.76934119e-01 3.22598945e-02 6.57264336e+01] [ 6.53779229e-02 -9.58341993e-04 9.97860115e-01 1.49889726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.04, Y:65.70, Z:149.89 [[ 8.76021366e-01 4.78908317e-01 -5.68628971e-02 3.99036075e+02] [-4.77820673e-01 8.77864228e-01 3.22769541e-02 6.57032335e+01] [ 6.53756050e-02 -1.10503367e-03 9.97860115e-01 1.49894066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.09, Y:65.68, Z:149.89 [[ 8.79231208e-01 4.72989448e-01 -5.68635726e-02 3.99090939e+02] [-4.71889477e-01 8.81066738e-01 3.22757640e-02 6.56804248e+01] [ 6.53666982e-02 -1.54453740e-03 9.97860115e-01 1.49893172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.14, Y:65.65, Z:149.90 [[ 8.81311807e-01 4.69100985e-01 -5.68662013e-02 3.99141804e+02] [-4.67993215e-01 8.83142641e-01 3.22711318e-02 6.56547597e+01] [ 6.53593870e-02 -1.82793315e-03 9.97860115e-01 1.49903434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.20, Y:65.63, Z:149.91 [[ 8.83892803e-01 4.64219062e-01 -5.68698082e-02 3.99195553e+02] [-4.63101591e-01 8.85717732e-01 3.22647744e-02 6.56316869e+01] [ 6.53485208e-02 -2.18210322e-03 9.97860115e-01 1.49905241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0827550959999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:399.25, Y:65.60, Z:149.91 [[ 8.84309214e-01 4.63424905e-01 -5.68732915e-02 3.99246994e+02] [-4.62306190e-01 8.86133380e-01 3.22586332e-02 6.56038031e+01] [ 6.53467761e-02 -2.23373186e-03 9.97860115e-01 1.49911114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.142755096 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:399.30, Y:65.58, Z:149.91 [[ 8.82453565e-01 4.66948445e-01 -5.68757922e-02 3.99301300e+02] [-4.65837298e-01 8.84282351e-01 3.22542236e-02 6.55814053e+01] [ 6.53553188e-02 -1.96798924e-03 9.97860115e-01 1.49912643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.35, Y:65.56, Z:149.91 [[ 8.81006339e-01 4.69672801e-01 -5.68796240e-02 3.99354920e+02] [-4.68567745e-01 8.82838813e-01 3.22474648e-02 6.55578513e+01] [ 6.53612968e-02 -1.75826366e-03 9.97860115e-01 1.49914928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.41, Y:65.53, Z:149.92 [[ 8.77973208e-01 4.75317172e-01 -5.68913985e-02 3.99406455e+02] [-4.74225246e-01 8.79813535e-01 3.22266787e-02 6.55307134e+01] [ 6.53717163e-02 -1.31482304e-03 9.97860115e-01 1.49918600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.46, Y:65.50, Z:149.93 [[ 8.75889700e-01 4.79145235e-01 -5.68953118e-02 3.99456147e+02] [-4.78061802e-01 8.77735040e-01 3.22197685e-02 6.55020034e+01] [ 6.53769573e-02 -1.02148813e-03 9.97860115e-01 1.49925684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.51, Y:65.47, Z:149.93 [[ 8.75603212e-01 4.79668130e-01 -5.68990268e-02 3.99506128e+02] [-4.78586225e-01 8.77449448e-01 3.22132065e-02 6.54723751e+01] [ 6.53776682e-02 -9.74896607e-04 9.97860115e-01 1.49929341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.56, Y:65.44, Z:149.93 [[ 8.75522922e-01 4.79814214e-01 -5.69028437e-02 3.99555211e+02] [-4.78733056e-01 8.77369595e-01 3.22064629e-02 6.54422339e+01] [ 6.53779435e-02 -9.56224263e-04 9.97860116e-01 1.49934905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.60, Y:65.41, Z:149.94 [[ 8.75076176e-01 4.80628051e-01 -5.69066259e-02 3.99603674e+02] [-4.79549044e-01 8.76924107e-01 3.21997785e-02 6.54131753e+01] [ 6.53789089e-02 -8.87740969e-04 9.97860116e-01 1.49939082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.65, Y:65.38, Z:149.94 [[ 8.76780948e-01 4.77510498e-01 -5.69112737e-02 3.99652756e+02] [-4.76425454e-01 8.78625341e-01 3.21915618e-02 6.53830100e+01] [ 6.53754959e-02 -1.11096867e-03 9.97860116e-01 1.49942982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.70, Y:65.35, Z:149.96 [[ 8.75400448e-01 4.80035334e-01 -5.69221796e-02 3.99699325e+02] [-4.78956864e-01 8.77248692e-01 3.21722660e-02 6.53459143e+01] [ 6.53787321e-02 -9.00347449e-04 9.97860116e-01 1.49955623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.75, Y:65.32, Z:149.96 [[ 8.75917612e-01 4.79090852e-01 -5.69235691e-02 3.99751602e+02] [-4.78010550e-01 8.77764785e-01 3.21698074e-02 6.53158655e+01] [ 6.53777648e-02 -9.68034347e-04 9.97860116e-01 1.49958519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.742755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:399.80, Y:65.29, Z:149.96 [[ 8.77034726e-01 4.77042762e-01 -5.69235691e-02 3.99802050e+02] [-4.75958146e-01 8.78879370e-01 3.21698074e-02 6.52859262e+01] [ 6.53753243e-02 -1.12080181e-03 9.97860116e-01 1.49960954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.85, Y:65.26, Z:149.96 [[ 8.79104966e-01 4.73216583e-01 -5.69256017e-02 3.99854618e+02] [-4.72124171e-01 8.80945005e-01 3.21662101e-02 6.52570507e+01] [ 6.53699085e-02 -1.40152248e-03 9.97860116e-01 1.49963194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.91, Y:65.23, Z:149.96 [[ 8.80747385e-01 4.70152572e-01 -5.69262944e-02 3.99905032e+02] [-4.69053839e-01 8.82583656e-01 3.21649842e-02 6.52254607e+01] [ 6.53646671e-02 -1.62772875e-03 9.97860116e-01 1.49963596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.95, Y:65.18, Z:149.97 [[ 8.77614841e-01 4.75974276e-01 -5.69269676e-02 3.99949497e+02] [-4.74887804e-01 8.79458393e-01 3.21637927e-02 6.51845762e+01] [ 6.53740374e-02 -1.19349918e-03 9.97860116e-01 1.49967302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9827550959999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:400.00, Y:65.15, Z:149.97 [[ 8.76186026e-01 4.78599023e-01 -5.69299767e-02 3.99997044e+02] [-4.77518420e-01 8.78033024e-01 3.21584658e-02 6.51508241e+01] [ 6.53774099e-02 -9.91685847e-04 9.97860116e-01 1.49972297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.05, Y:65.12, Z:149.97 [[ 8.77567631e-01 4.76060503e-01 -5.69337376e-02 4.00052747e+02] [-4.74974990e-01 8.79411747e-01 3.21518061e-02 6.51228867e+01] [ 6.53744026e-02 -1.17328288e-03 9.97860116e-01 1.49974169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.10, Y:65.09, Z:149.98 [[ 8.76161547e-01 4.78644528e-01 -5.69241647e-02 4.00104621e+02] [-4.77563353e-01 8.78008209e-01 3.21687457e-02 6.50894793e+01] [ 6.53772780e-02 -1.00012303e-03 9.97860116e-01 1.49976399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.15, Y:65.05, Z:149.98 [[ 8.72204038e-01 4.85819776e-01 -5.69145033e-02 4.00152118e+02] [-4.84752680e-01 8.74058872e-01 3.21858301e-02 6.50497118e+01] [ 6.53831393e-02 -4.83152949e-04 9.97860116e-01 1.49984730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2227550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:400.20, Y:65.02, Z:149.99 [[ 8.71709884e-01 4.86706910e-01 -5.69057254e-02 4.00202762e+02] [-4.85640688e-01 8.73565221e-01 3.22013424e-02 6.50188758e+01] [ 6.53834784e-02 -4.34492783e-04 9.97860116e-01 1.49985669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.282755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:400.25, Y:64.99, Z:149.99 [[ 8.73232587e-01 4.83969465e-01 -5.69070018e-02 4.00254598e+02] [-4.82897574e-01 8.75084654e-01 3.21990864e-02 6.49881330e+01] [ 6.53818186e-02 -6.37038399e-04 9.97860116e-01 1.49990201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.30, Y:64.95, Z:150.00 [[ 8.70919219e-01 4.88120177e-01 -5.69070018e-02 4.00299228e+02] [-4.87057114e-01 8.72776367e-01 3.21990864e-02 6.49462406e+01] [ 6.53841101e-02 -3.25843115e-04 9.97860116e-01 1.50002410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.402755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:400.35, Y:64.92, Z:150.00 [[ 8.75421930e-01 4.79997963e-01 -5.69069357e-02 4.00353391e+02] [-4.78917664e-01 8.77269105e-01 3.21992034e-02 6.49204072e+01] [ 6.53782485e-02 -9.34152085e-04 9.97860116e-01 1.49998286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.41, Y:64.89, Z:150.00 [[ 8.76086201e-01 4.78784509e-01 -5.69066117e-02 4.00406469e+02] [-4.77701614e-01 8.77931855e-01 3.21997758e-02 6.48884486e+01] [ 6.53768811e-02 -1.02539899e-03 9.97860116e-01 1.50003898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.46, Y:64.86, Z:150.01 [[ 8.75469301e-01 4.79912664e-01 -5.68976199e-02 4.00455906e+02] [-4.78831115e-01 8.77315744e-01 3.22156567e-02 6.48583046e+01] [ 6.53778794e-02 -9.59467621e-04 9.97860117e-01 1.50005300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.51, Y:64.83, Z:150.01 [[ 8.73062606e-01 4.84276747e-01 -5.69009536e-02 4.00507973e+02] [-4.83204813e-01 8.74914647e-01 3.22097676e-02 6.48318559e+01] [ 6.53819192e-02 -6.26328989e-04 9.97860117e-01 1.50012349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.56, Y:64.80, Z:150.02 [[ 8.70704801e-01 4.88502932e-01 -5.69037308e-02 4.00563470e+02] [-4.87440308e-01 8.72562200e-01 3.22048605e-02 6.48042129e+01] [ 6.53842133e-02 -3.03754574e-04 9.97860117e-01 1.50016737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.62, Y:64.78, Z:150.02 [[ 8.71231473e-01 4.87564145e-01 -5.68939788e-02 4.00618737e+02] [-4.86498395e-01 8.73087080e-01 3.22220794e-02 6.47767643e+01] [ 6.53837284e-02 -3.94060358e-04 9.97860117e-01 1.50015538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.67, Y:64.75, Z:150.02 [[ 8.70829685e-01 4.88282454e-01 -5.68850167e-02 4.00669071e+02] [-4.87217201e-01 8.72685577e-01 3.22378933e-02 6.47456554e+01] [ 6.53839313e-02 -3.58355822e-04 9.97860117e-01 1.50019093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8227550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:400.72, Y:64.72, Z:150.02 [[ 8.76132970e-01 4.78701167e-01 -5.68877208e-02 4.00722429e+02] [-4.77615931e-01 8.77977248e-01 3.22331210e-02 6.47205409e+01] [ 6.53761572e-02 -1.07001823e-03 9.97860117e-01 1.50015092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.882755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:400.77, Y:64.69, Z:150.02 [[ 8.76266745e-01 4.78455843e-01 -5.68911026e-02 4.00771127e+02] [-4.77370479e-01 8.78110948e-01 3.22271510e-02 6.46881903e+01] [ 6.53759687e-02 -1.08144778e-03 9.97860117e-01 1.50021829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.82, Y:64.66, Z:150.02 [[ 8.79134475e-01 4.73165578e-01 -5.68938497e-02 4.00820149e+02] [-4.72069432e-01 8.80972289e-01 3.22223005e-02 6.46572118e+01] [ 6.53683885e-02 -1.46988796e-03 9.97860117e-01 1.50021919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.87, Y:64.63, Z:150.03 [[ 8.80170044e-01 4.71235934e-01 -5.68980494e-02 4.00873548e+02] [-4.70136238e-01 8.82005736e-01 3.22148831e-02 6.46266284e+01] [ 6.53652165e-02 -1.60474017e-03 9.97860117e-01 1.50026759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0627550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:400.93, Y:64.60, Z:150.04 [[ 8.79238540e-01 4.72971825e-01 -5.68967662e-02 4.00928054e+02] [-4.71875607e-01 8.81076312e-01 3.22171493e-02 6.45962173e+01] [ 6.53681968e-02 -1.47836324e-03 9.97860117e-01 1.50035141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.122755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:400.98, Y:64.56, Z:150.04 [[ 8.77722354e-01 4.75780876e-01 -5.68860920e-02 4.00980257e+02] [-4.74689319e-01 8.79562898e-01 3.22359858e-02 6.45646780e+01] [ 6.53721615e-02 -1.29102505e-03 9.97860117e-01 1.50041840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.04, Y:64.55, Z:150.04 [[ 8.81876448e-01 4.68036846e-01 -5.68809335e-02 4.01040064e+02] [-4.66928545e-01 8.83706958e-01 3.22450854e-02 6.45450048e+01] [ 6.53579648e-02 -1.87684980e-03 9.97860117e-01 1.50043191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.242755096 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:401.09, Y:64.51, Z:150.05 [[ 8.76074783e-01 4.78809509e-01 -5.68720421e-02 4.01086912e+02] [-4.77722708e-01 8.77918138e-01 3.22607600e-02 6.45051395e+01] [ 6.53757560e-02 -1.09377234e-03 9.97860118e-01 1.50053796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3027550959999 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:401.14, Y:64.48, Z:150.06 [[ 8.76617497e-01 4.77816194e-01 -5.68634208e-02 4.01138665e+02] [-4.76726320e-01 8.78459037e-01 3.22759489e-02 6.44759493e+01] [ 6.53741570e-02 -1.18537215e-03 9.97860118e-01 1.50055752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.362755096 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:401.19, Y:64.45, Z:150.06 [[ 8.78369323e-01 4.74587868e-01 -5.68655358e-02 4.01189722e+02] [-4.73491466e-01 8.80206984e-01 3.22722222e-02 6.44469122e+01] [ 6.53694469e-02 -1.42158398e-03 9.97860118e-01 1.50062338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.422755096 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:401.24, Y:64.42, Z:150.07 [[ 8.79055548e-01 4.73315242e-01 -5.68684815e-02 4.01240327e+02] [-4.72216516e-01 8.80891821e-01 3.22670306e-02 6.44176967e+01] [ 6.53674576e-02 -1.51027610e-03 9.97860118e-01 1.50067563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4827550959999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:401.29, Y:64.39, Z:150.07 [[ 8.81118049e-01 4.69464164e-01 -5.68716315e-02 4.01290375e+02] [-4.68357771e-01 8.82949713e-01 3.22614777e-02 6.43882182e+01] [ 6.53603983e-02 -1.78989968e-03 9.97860118e-01 1.50072251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.542755096 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:401.34, Y:64.36, Z:150.08 [[ 8.80999112e-01 4.69686859e-01 -5.68754773e-02 4.01344436e+02] [-4.68581367e-01 8.82831319e-01 3.22546964e-02 6.43576493e+01] [ 6.53610596e-02 -1.76556998e-03 9.97860118e-01 1.50077969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6027550959999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:401.40, Y:64.33, Z:150.08 [[ 8.79929619e-01 4.71688505e-01 -5.68666928e-02 4.01399144e+02] [-4.70586181e-01 8.81763734e-01 3.22701764e-02 6.43291357e+01] [ 6.53644586e-02 -1.63480426e-03 9.97860118e-01 1.50081005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.662755096 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:401.45, Y:64.30, Z:150.08 [[ 8.78753744e-01 4.73875700e-01 -5.68654391e-02 4.01452055e+02] [-4.72777799e-01 8.80590510e-01 3.22723854e-02 6.42990242e+01] [ 6.53682653e-02 -1.47476234e-03 9.97860118e-01 1.50083616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7227550959999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:401.50, Y:64.27, Z:150.09 [[ 8.76115017e-01 4.78736669e-01 -5.68654391e-02 4.01503491e+02] [-4.77648961e-01 8.77957837e-01 3.22723854e-02 6.42712047e+01] [ 6.53754322e-02 -1.11260358e-03 9.97860118e-01 1.50085960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.782755096 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:401.56, Y:64.24, Z:150.09 [[ 8.75240014e-01 4.80334216e-01 -5.68679056e-02 4.01555317e+02] [-4.79250153e-01 8.77084981e-01 3.22680386e-02 6.42431917e+01] [ 6.53774289e-02 -9.88326158e-04 9.97860118e-01 1.50086802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8427550959999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:401.60, Y:64.21, Z:150.09 [[ 8.74617474e-01 4.81466498e-01 -5.68707790e-02 4.01604487e+02] [-4.80385153e-01 8.76464035e-01 3.22629737e-02 6.42107947e+01] [ 6.53787334e-02 -8.97882697e-04 9.97860118e-01 1.50092852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.902755096 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:401.66, Y:64.18, Z:150.10 [[ 8.76396454e-01 4.78220268e-01 -5.68738064e-02 4.01657342e+02] [-4.77132430e-01 8.78239198e-01 3.22576359e-02 6.41782136e+01] [ 6.53750614e-02 -1.13414028e-03 9.97860118e-01 1.50100535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9627550959999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:401.71, Y:64.15, Z:150.11 [[ 8.77186349e-01 4.76771034e-01 -5.68637822e-02 4.01708914e+02] [-4.75679008e-01 8.79026613e-01 3.22752969e-02 6.41503158e+01] [ 6.53727046e-02 -1.26254240e-03 9.97860118e-01 1.50106220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.022755096 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:401.76, Y:64.12, Z:150.11 [[ 8.76199926e-01 4.78581199e-01 -5.68658578e-02 4.01757425e+02] [-4.77493212e-01 8.78042581e-01 3.22716396e-02 6.41203078e+01] [ 6.53752445e-02 -1.12334708e-03 9.97860118e-01 1.50106252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0827550959999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:401.81, Y:64.09, Z:150.11 [[ 8.76741331e-01 4.77588068e-01 -5.68707034e-02 4.01809709e+02] [-4.76498547e-01 8.78583079e-01 3.22630981e-02 6.40931502e+01] [ 6.53741084e-02 -1.18758398e-03 9.97860118e-01 1.50111023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.142755096 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:401.86, Y:64.06, Z:150.11 [[ 8.76928711e-01 4.77243597e-01 -5.68734066e-02 4.01859817e+02] [-4.76153662e-01 8.78770215e-01 3.22583322e-02 6.40627815e+01] [ 6.53737383e-02 -1.20777682e-03 9.97860118e-01 1.50111215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2027550959999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:401.91, Y:64.03, Z:150.11 [[ 8.78206891e-01 4.74887104e-01 -5.68761342e-02 4.01914209e+02] [-4.73792539e-01 8.80045647e-01 3.22535224e-02 6.40338034e+01] [ 6.53703761e-02 -1.37777754e-03 9.97860118e-01 1.50111798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.262755096 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:401.97, Y:64.01, Z:150.12 [[ 8.78623705e-01 4.74115632e-01 -5.68748801e-02 4.01966443e+02] [-4.73019309e-01 8.80461413e-01 3.22557337e-02 6.40065063e+01] [ 6.53690849e-02 -1.43773577e-03 9.97860118e-01 1.50119274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3227550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:402.02, Y:63.98, Z:150.12 [[ 8.78401922e-01 4.74526078e-01 -5.68776265e-02 4.02017801e+02] [-4.73430928e-01 8.80240329e-01 3.22508901e-02 6.39771006e+01] [ 6.53698691e-02 -1.40161639e-03 9.97860118e-01 1.50123510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.382755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:402.07, Y:63.95, Z:150.13 [[ 8.78328088e-01 4.74662385e-01 -5.68804905e-02 4.02070943e+02] [-4.73567847e-01 8.80166860e-01 3.22458381e-02 6.39509412e+01] [ 6.53702091e-02 -1.38565397e-03 9.97860118e-01 1.50125910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4427550959999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:402.12, Y:63.93, Z:150.13 [[ 8.77716583e-01 4.75791968e-01 -5.68823571e-02 4.02123803e+02] [-4.74700010e-01 8.79556888e-01 3.22425450e-02 6.39261192e+01] [ 6.53720130e-02 -1.29776095e-03 9.97860118e-01 1.50130005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.502755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:402.18, Y:63.90, Z:150.13 [[ 8.76986430e-01 4.77136164e-01 -5.68848249e-02 4.02177815e+02] [-4.76047309e-01 8.78828572e-01 3.22381906e-02 6.38955623e+01] [ 6.53740160e-02 -1.19258790e-03 9.97860118e-01 1.50134991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5627550959999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:402.23, Y:63.87, Z:150.14 [[ 8.76748738e-01 4.77573862e-01 -5.68758018e-02 4.02229135e+02] [-4.76484895e-01 8.78590814e-01 3.22541016e-02 6.38686799e+01] [ 6.53742729e-02 -1.17828242e-03 9.97860119e-01 1.50140820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.622755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:402.28, Y:63.84, Z:150.14 [[ 8.77542625e-01 4.76113559e-01 -5.68754813e-02 4.02282625e+02] [-4.75021490e-01 8.79382864e-01 3.22546668e-02 6.38436980e+01] [ 6.53722078e-02 -1.28776912e-03 9.97860119e-01 1.50144484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.34, Y:63.82, Z:150.15 [[ 8.78773164e-01 4.73838182e-01 -5.68779659e-02 4.02336631e+02] [-4.72741632e-01 8.80610736e-01 3.22502849e-02 6.38160929e+01] [ 6.53687638e-02 -1.45210252e-03 9.97860119e-01 1.50147965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.742755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:402.39, Y:63.78, Z:150.16 [[ 8.78100132e-01 4.75084261e-01 -5.68779659e-02 4.02386062e+02] [-4.73990318e-01 8.79939258e-01 3.22502849e-02 6.37845043e+01] [ 6.53707578e-02 -1.35937433e-03 9.97860119e-01 1.50157814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8027550959999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:402.44, Y:63.76, Z:150.16 [[ 8.78088468e-01 4.75105590e-01 -5.68798864e-02 4.02437427e+02] [-4.74011911e-01 8.79927750e-01 3.22468972e-02 6.37569545e+01] [ 6.53708716e-02 -1.35388489e-03 9.97860119e-01 1.50162295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.862755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:402.49, Y:63.74, Z:150.16 [[ 8.80027079e-01 4.71504636e-01 -5.68833733e-02 4.02492523e+02] [-4.70403830e-01 8.81862104e-01 3.22407453e-02 6.37351143e+01] [ 6.53649522e-02 -1.61457224e-03 9.97860119e-01 1.50162661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.922755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:402.54, Y:63.70, Z:150.17 [[ 8.79193680e-01 4.73056545e-01 -5.68856586e-02 4.02539964e+02] [-4.71959239e-01 8.81030800e-01 3.22367126e-02 6.37026536e+01] [ 6.53678052e-02 -1.49460184e-03 9.97860119e-01 1.50169255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.59, Y:63.68, Z:150.17 [[ 8.80336762e-01 4.70925390e-01 -5.68899165e-02 4.02590785e+02] [-4.69824122e-01 8.82171510e-01 3.22291966e-02 6.36754619e+01] [ 6.53642106e-02 -1.64429152e-03 9.97860119e-01 1.50171910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.042755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:402.64, Y:63.65, Z:150.18 [[ 8.80854500e-01 4.69955848e-01 -5.68933251e-02 4.02640627e+02] [-4.68852949e-01 8.82688269e-01 3.22231785e-02 6.36481633e+01] [ 6.53625418e-02 -1.70932854e-03 9.97860119e-01 1.50177248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.69, Y:63.62, Z:150.18 [[ 8.80581776e-01 4.70466194e-01 -5.68972345e-02 4.02692318e+02] [-4.69364804e-01 8.82416451e-01 3.22162741e-02 6.36209306e+01] [ 6.53637236e-02 -1.66350455e-03 9.97860119e-01 1.50180567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.74, Y:63.59, Z:150.18 [[ 8.77912237e-01 4.75428023e-01 -5.69060629e-02 4.02743401e+02] [-4.74338014e-01 8.79753696e-01 3.22006722e-02 6.35933570e+01] [ 6.53724211e-02 -1.27665526e-03 9.97860119e-01 1.50181885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.80, Y:63.57, Z:150.19 [[ 8.78245749e-01 4.74810523e-01 -5.69154813e-02 4.02796091e+02] [-4.73720298e-01 8.80087080e-01 3.21840163e-02 6.35684690e+01] [ 6.53718894e-02 -1.30345678e-03 9.97860119e-01 1.50185528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.85, Y:63.54, Z:150.19 [[ 8.79947658e-01 4.71647752e-01 -5.69255458e-02 4.02847450e+02] [-4.70552061e-01 8.81785741e-01 3.21662049e-02 6.35407934e+01] [ 6.53672529e-02 -1.51814373e-03 9.97860119e-01 1.50190663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.90, Y:63.51, Z:150.19 [[ 8.78776967e-01 4.73824126e-01 -5.69362763e-02 4.02898825e+02] [-4.72734218e-01 8.80618486e-01 3.21472001e-02 6.35139773e+01] [ 6.53712564e-02 -1.33449293e-03 9.97860119e-01 1.50194615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.95, Y:63.48, Z:150.20 [[ 8.77149774e-01 4.76829246e-01 -5.69398236e-02 4.02950073e+02] [-4.75746055e-01 8.78995252e-01 3.21409158e-02 6.34840197e+01] [ 6.53755632e-02 -1.10350054e-03 9.97860119e-01 1.50195844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.00, Y:63.46, Z:150.20 [[ 8.77330019e-01 4.76497228e-01 -5.69423363e-02 4.03001390e+02] [-4.75413628e-01 8.79175256e-01 3.21364635e-02 6.34559704e+01] [ 6.53752289e-02 -1.12312148e-03 9.97860119e-01 1.50202611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.05, Y:63.43, Z:150.21 [[ 8.77728810e-01 4.75761938e-01 -5.69448361e-02 4.03050656e+02] [-4.74677080e-01 8.79573307e-01 3.21320335e-02 6.34272234e+01] [ 6.53743563e-02 -1.17280303e-03 9.97860120e-01 1.50205581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.10, Y:63.39, Z:150.21 [[ 8.78315007e-01 4.74678361e-01 -5.69491293e-02 4.03099587e+02] [-4.73591720e-01 8.80158454e-01 3.21244225e-02 6.33941917e+01] [ 6.53730258e-02 -1.24472630e-03 9.97860120e-01 1.50206613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.15, Y:63.36, Z:150.21 [[ 8.81771893e-01 4.68225190e-01 -5.69517335e-02 4.03147676e+02] [-4.67125359e-01 8.83607502e-01 3.21198049e-02 6.33623788e+01] [ 6.53622808e-02 -1.71874222e-03 9.97860120e-01 1.50213311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.20, Y:63.33, Z:150.22 [[ 8.82753052e-01 4.66372360e-01 -5.69549885e-02 4.03196209e+02] [-4.65269048e-01 8.84586571e-01 3.21140321e-02 6.33314617e+01] [ 6.53587150e-02 -1.84936660e-03 9.97860120e-01 1.50218189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.25, Y:63.30, Z:150.22 [[ 8.82846935e-01 4.66194186e-01 -5.69585011e-02 4.03245872e+02] [-4.65090906e-01 8.84680473e-01 3.21078009e-02 6.33016053e+01] [ 6.53585438e-02 -1.85539275e-03 9.97860120e-01 1.50221552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.30, Y:63.27, Z:150.23 [[ 8.82491564e-01 4.66866119e-01 -5.69619792e-02 4.03296566e+02] [-4.65764633e-01 8.84326180e-01 3.21016294e-02 6.32700317e+01] [ 6.53601326e-02 -1.79854175e-03 9.97860120e-01 1.50225160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.35, Y:63.24, Z:150.23 [[ 8.81884857e-01 4.68010994e-01 -5.69632169e-02 4.03345693e+02] [-4.66912032e-01 8.83720986e-01 3.20994330e-02 6.32386606e+01] [ 6.53624777e-02 -1.71119258e-03 9.97860120e-01 1.50229327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.40, Y:63.21, Z:150.23 [[ 8.80735906e-01 4.70169308e-01 -5.69656502e-02 4.03396528e+02] [-4.69075125e-01 8.82574887e-01 3.20951141e-02 6.32084777e+01] [ 6.53665899e-02 -1.54614995e-03 9.97860120e-01 1.50232236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.45, Y:63.18, Z:150.24 [[ 8.77754639e-01 4.75711504e-01 -5.69680506e-02 4.03445972e+02] [-4.74629211e-01 8.79600642e-01 3.20908528e-02 6.31783924e+01] [ 6.53751218e-02 -1.12919407e-03 9.97860120e-01 1.50235627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.50, Y:63.15, Z:150.24 [[ 8.75637362e-01 4.79597183e-01 -5.69715047e-02 4.03496745e+02] [-4.78523480e-01 8.77488376e-01 3.20847195e-02 6.31497242e+01] [ 6.53795742e-02 -8.32376407e-04 9.97860120e-01 1.50238895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.55, Y:63.12, Z:150.24 [[ 8.76272046e-01 4.78436153e-01 -5.69749851e-02 4.03547537e+02] [-4.77360400e-01 8.78121869e-01 3.20785380e-02 6.31178462e+01] [ 6.53785127e-02 -9.11924470e-04 9.97860120e-01 1.50244330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.60, Y:63.08, Z:150.25 [[ 8.78436813e-01 4.74449658e-01 -5.69762110e-02 4.03599016e+02] [-4.73365652e-01 8.80281811e-01 3.20763604e-02 6.30846298e+01] [ 6.53737404e-02 -1.20647447e-03 9.97860120e-01 1.50250816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.65, Y:63.05, Z:150.26 [[ 8.78159525e-01 4.74962842e-01 -5.69749831e-02 4.03648856e+02] [-4.73879772e-01 8.80005073e-01 3.20785413e-02 6.30512663e+01] [ 6.53743893e-02 -1.17078453e-03 9.97860120e-01 1.50262168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.70, Y:63.02, Z:150.26 [[ 8.80323830e-01 4.70939281e-01 -5.69749831e-02 4.03701741e+02] [-4.69847778e-01 8.82164402e-01 3.20785413e-02 6.30239246e+01] [ 6.53683471e-02 -1.46993511e-03 9.97860120e-01 1.50261764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.75, Y:62.99, Z:150.27 [[ 8.80476946e-01 4.70652955e-01 -5.69749383e-02 4.03752073e+02] [-4.69560848e-01 8.82317161e-01 3.20786209e-02 6.29945694e+01] [ 6.53678635e-02 -1.49128576e-03 9.97860120e-01 1.50266479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.80, Y:62.97, Z:150.27 [[ 8.79744114e-01 4.72021064e-01 -5.69772700e-02 4.03801246e+02] [-4.70932087e-01 8.81586183e-01 3.20744788e-02 6.29650067e+01] [ 6.53702036e-02 -1.38490929e-03 9.97860120e-01 1.50270839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.85, Y:62.94, Z:150.28 [[ 8.77710770e-01 4.75790992e-01 -5.69801340e-02 4.03851864e+02] [-4.74710258e-01 8.79557687e-01 3.20693901e-02 6.29356694e+01] [ 6.53756418e-02 -1.09859493e-03 9.97860120e-01 1.50276504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.90, Y:62.91, Z:150.28 [[ 8.75873761e-01 4.79164014e-01 -5.69824836e-02 4.03902286e+02] [-4.78090664e-01 8.77724979e-01 3.20652147e-02 6.29074272e+01] [ 6.53794462e-02 -8.42286773e-04 9.97860120e-01 1.50280367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.95, Y:62.88, Z:150.28 [[ 8.73667271e-01 4.83175088e-01 -5.69853836e-02 4.03954017e+02] [-4.82110574e-01 8.75523584e-01 3.20600602e-02 6.28793530e+01] [ 6.53826697e-02 -5.36569325e-04 9.97860120e-01 1.50280675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.01, Y:62.85, Z:150.28 [[ 8.73147472e-01 4.84113518e-01 -5.69876686e-02 4.04005953e+02] [-4.83051264e-01 8.75005079e-01 3.20559979e-02 6.28514125e+01] [ 6.53832414e-02 -4.61648167e-04 9.97860120e-01 1.50281735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.06, Y:62.82, Z:150.28 [[ 8.72400711e-01 4.85457665e-01 -5.69899555e-02 4.04057399e+02] [-4.84398540e-01 8.74260103e-01 3.20519317e-02 6.28238074e+01] [ 6.53839003e-02 -3.56276727e-04 9.97860120e-01 1.50283428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.11, Y:62.80, Z:150.28 [[ 8.73405305e-01 4.83647530e-01 -5.69933363e-02 4.04107669e+02] [-4.82584943e-01 8.75262722e-01 3.20459191e-02 6.27963785e+01] [ 6.53830722e-02 -4.84949790e-04 9.97860120e-01 1.50284141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:404.16, Y:62.76, Z:150.29 [[ 8.74597509e-01 4.81487813e-01 -5.69972222e-02 4.04161368e+02] [-4.80421090e-01 8.76452554e-01 3.20390061e-02 6.27635324e+01] [ 6.53817519e-02 -6.38567295e-04 9.97860120e-01 1.50290398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.21, Y:62.73, Z:150.30 [[ 8.76361582e-01 4.78270059e-01 -5.69923590e-02 4.04214602e+02] [-4.77195963e-01 8.78212367e-01 3.20476546e-02 6.27316063e+01] [ 6.53788281e-02 -8.88809630e-04 9.97860120e-01 1.50295290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.27, Y:62.70, Z:150.31 [[ 8.75640774e-01 4.79589711e-01 -5.69819676e-02 4.04265357e+02] [-4.78517203e-01 8.77492479e-01 3.20661203e-02 6.27038290e+01] [ 6.53798294e-02 -8.11550681e-04 9.97860120e-01 1.50305976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.32, Y:62.67, Z:150.31 [[ 8.73531481e-01 4.83420702e-01 -5.69839947e-02 4.04319185e+02] [-4.82356551e-01 8.75388001e-01 3.20625175e-02 6.26739406e+01] [ 6.53827900e-02 -5.21015301e-04 9.97860120e-01 1.50310154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.37, Y:62.64, Z:150.32 [[ 8.71477126e-01 4.87114551e-01 -5.69827491e-02 4.04372419e+02] [-4.86058123e-01 8.73338052e-01 3.20647311e-02 6.26446172e+01] [ 6.53844002e-02 -2.46751558e-04 9.97860120e-01 1.50315474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.42, Y:62.62, Z:150.32 [[ 8.70393055e-01 4.89049116e-01 -5.69815055e-02 4.04423812e+02] [-4.87996680e-01 8.72256242e-01 3.20669410e-02 6.26159813e+01] [ 6.53847830e-02 -1.04057244e-04 9.97860120e-01 1.50322092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.48, Y:62.59, Z:150.33 [[ 8.70300792e-01 4.89213131e-01 -5.69828432e-02 4.04476586e+02] [-4.88161202e-01 8.72164265e-01 3.20645637e-02 6.25865935e+01] [ 6.53848051e-02 -8.90019547e-05 9.97860120e-01 1.50326295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.262755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:404.53, Y:62.56, Z:150.33 [[ 8.71060357e-01 4.87859416e-01 -5.69828432e-02 4.04527061e+02] [-4.86804591e-01 8.72922192e-01 3.20645637e-02 6.25578682e+01] [ 6.53845877e-02 -1.90660628e-04 9.97860120e-01 1.50330593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.58, Y:62.53, Z:150.33 [[ 8.72494026e-01 4.85290554e-01 -5.69846716e-02 4.04582045e+02] [-4.84230459e-01 8.74352866e-01 3.20613139e-02 6.25279600e+01] [ 6.53837637e-02 -3.79591144e-04 9.97860120e-01 1.50333332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.64, Y:62.50, Z:150.34 [[ 8.73649742e-01 4.83208070e-01 -5.69744678e-02 4.04637809e+02] [-4.82142363e-01 8.75505369e-01 3.20794363e-02 6.24985438e+01] [ 6.53824950e-02 -5.56386683e-04 9.97860120e-01 1.50335293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.69, Y:62.47, Z:150.34 [[ 8.74650188e-01 4.81396018e-01 -5.69642145e-02 4.04690612e+02] [-4.80325282e-01 8.76502918e-01 3.20976331e-02 6.24686405e+01] [ 6.53809730e-02 -7.12848438e-04 9.97860121e-01 1.50338614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.74, Y:62.44, Z:150.34 [[ 8.75818861e-01 4.79267495e-01 -5.69560464e-02 4.04743433e+02] [-4.78191314e-01 8.77668433e-01 3.21121205e-02 6.24386450e+01] [ 6.53788196e-02 -8.88514096e-04 9.97860121e-01 1.50339051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.79, Y:62.41, Z:150.34 [[ 8.75580119e-01 4.79703517e-01 -5.69560464e-02 4.04794181e+02] [-4.78628257e-01 8.77430227e-01 3.21121205e-02 6.24093079e+01] [ 6.53792539e-02 -8.55961058e-04 9.97860121e-01 1.50344534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.84, Y:62.38, Z:150.35 [[ 8.75738295e-01 4.79414389e-01 -5.69585987e-02 4.04843255e+02] [-4.78338813e-01 8.77588219e-01 3.21075928e-02 6.23812494e+01] [ 6.53790372e-02 -8.72340136e-04 9.97860121e-01 1.50346717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:404.89, Y:62.35, Z:150.35 [[ 8.75030212e-01 4.80705041e-01 -5.69630646e-02 4.04892814e+02] [-4.79632710e-01 8.76882019e-01 3.20996677e-02 6.23501876e+01] [ 6.53803592e-02 -7.66830016e-04 9.97860121e-01 1.50349971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.95, Y:62.32, Z:150.35 [[ 8.74015369e-01 4.82547353e-01 -5.69665389e-02 4.04945390e+02] [-4.81479326e-01 8.75869662e-01 3.20935009e-02 6.23161140e+01] [ 6.53818971e-02 -6.22002270e-04 9.97860121e-01 1.50352109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.00, Y:62.28, Z:150.36 [[ 8.75053479e-01 4.80663545e-01 -5.69558148e-02 4.04998469e+02] [-4.79590289e-01 8.76904750e-01 3.21125215e-02 6.22842397e+01] [ 6.53801430e-02 -7.84718042e-04 9.97860121e-01 1.50357973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.05, Y:62.25, Z:150.36 [[ 8.75242332e-01 4.80320750e-01 -5.69459212e-02 4.05051445e+02] [-4.79245628e-01 8.77092519e-01 3.21300565e-02 6.22523305e+01] [ 6.53795743e-02 -8.30501793e-04 9.97860121e-01 1.50361879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.10, Y:62.22, Z:150.36 [[ 8.75917327e-01 4.79089854e-01 -5.69363519e-02 4.05102333e+02] [-4.78011031e-01 8.77765359e-01 3.21470050e-02 6.22209497e+01] [ 6.53780612e-02 -9.41914434e-04 9.97860121e-01 1.50364917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.15, Y:62.19, Z:150.36 [[ 8.76400628e-01 4.78205010e-01 -5.69377548e-02 4.05153051e+02] [-4.77124483e-01 8.78247663e-01 3.21445199e-02 6.21900385e+01] [ 6.53771206e-02 -1.00508064e-03 9.97860121e-01 1.50364726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.21, Y:62.16, Z:150.37 [[ 8.75662812e-01 4.79554383e-01 -5.69406176e-02 4.05208396e+02] [-4.78477031e-01 8.77511702e-01 3.21394481e-02 6.21598919e+01] [ 6.53786714e-02 -8.98541842e-04 9.97860121e-01 1.50368840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.26, Y:62.13, Z:150.37 [[ 8.75368285e-01 4.80093088e-01 -5.69297188e-02 4.05263833e+02] [-4.79015620e-01 8.77217106e-01 3.21587420e-02 6.21303874e+01] [ 6.53789129e-02 -8.80518285e-04 9.97860122e-01 1.50371397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.32, Y:62.10, Z:150.37 [[ 8.75691016e-01 4.79505454e-01 -5.69189245e-02 4.05319043e+02] [-4.78425504e-01 8.77538389e-01 3.21778359e-02 6.21009365e+01] [ 6.53779891e-02 -9.46376639e-04 9.97860122e-01 1.50374125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.37, Y:62.07, Z:150.38 [[ 8.76788289e-01 4.77497372e-01 -5.69083074e-02 4.05374676e+02] [-4.76411974e-01 8.78632466e-01 3.21966018e-02 6.20726866e+01] [ 6.53752792e-02 -1.11780431e-03 9.97860122e-01 1.50376549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.43, Y:62.04, Z:150.38 [[ 8.77346536e-01 4.76472050e-01 -5.68985160e-02 4.05429210e+02] [-4.75383376e-01 8.79188780e-01 3.22138961e-02 6.20431092e+01] [ 6.53735580e-02 -1.21414157e-03 9.97860122e-01 1.50382498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.48, Y:62.01, Z:150.39 [[ 8.77757118e-01 4.75716404e-01 -5.68888805e-02 4.05484650e+02] [-4.74625042e-01 8.79597771e-01 3.22309032e-02 6.20146497e+01] [ 6.53721019e-02 -1.29001738e-03 9.97860123e-01 1.50386535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.54, Y:61.99, Z:150.39 [[ 8.76967418e-01 4.77171770e-01 -5.68792503e-02 4.05537903e+02] [-4.76082361e-01 8.78809228e-01 3.22478891e-02 6.19855293e+01] [ 6.53737924e-02 -1.20114023e-03 9.97860123e-01 1.50389827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.59, Y:61.96, Z:150.39 [[ 8.75127484e-01 4.80538901e-01 -5.68704814e-02 4.05589989e+02] [-4.79455575e-01 8.76972878e-01 3.22633461e-02 6.19586138e+01] [ 6.53776626e-02 -9.67671626e-04 9.97860123e-01 1.50393470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.64, Y:61.93, Z:150.40 [[ 8.73217786e-01 4.84000293e-01 -5.68719077e-02 4.05640211e+02] [-4.82924446e-01 8.75067551e-01 3.22608317e-02 6.19298342e+01] [ 6.53810129e-02 -7.05897487e-04 9.97860123e-01 1.50402682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.69, Y:61.90, Z:150.40 [[ 8.72201107e-01 4.85829796e-01 -5.68738814e-02 4.05691900e+02] [-4.84758056e-01 8.74053254e-01 3.22573518e-02 6.19026506e+01] [ 6.53823837e-02 -5.64825800e-04 9.97860123e-01 1.50402889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.74, Y:61.87, Z:150.41 [[ 8.73078070e-01 4.84251661e-01 -5.68771726e-02 4.05742927e+02] [-4.83176951e-01 8.74928495e-01 3.22515476e-02 6.18721941e+01] [ 6.53813245e-02 -6.76380066e-04 9.97860123e-01 1.50405177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.79, Y:61.84, Z:150.41 [[ 8.75635301e-01 4.79611996e-01 -5.68784068e-02 4.05792805e+02] [-4.78527624e-01 8.77480080e-01 3.22493707e-02 6.18418269e+01] [ 6.53768541e-02 -1.02079858e-03 9.97860123e-01 1.50409136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.762755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:405.85, Y:61.81, Z:150.41 [[ 8.78070604e-01 4.75138562e-01 -5.68802298e-02 4.05845854e+02] [-4.74045001e-01 8.79909951e-01 3.22461552e-02 6.18086949e+01] [ 6.53708720e-02 -1.35061244e-03 9.97860123e-01 1.50413460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8227550959999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:405.90, Y:61.78, Z:150.42 [[ 8.79582532e-01 4.72335088e-01 -5.68694470e-02 4.05899904e+02] [-4.71234437e-01 8.81417645e-01 3.22651607e-02 6.17762743e+01] [ 6.53657015e-02 -1.58102989e-03 9.97860123e-01 1.50417393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.882755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:405.95, Y:61.74, Z:150.42 [[ 8.80924275e-01 4.69829219e-01 -5.68588315e-02 4.05953458e+02] [-4.68722142e-01 8.82755519e-01 3.22838569e-02 6.17426010e+01] [ 6.53603465e-02 -1.78863991e-03 9.97860123e-01 1.50421040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.01, Y:61.71, Z:150.42 [[ 8.80631821e-01 4.70378421e-01 -5.68483606e-02 4.06007427e+02] [-4.69271298e-01 8.82463037e-01 3.23022845e-02 6.17115493e+01] [ 6.53608745e-02 -1.76911566e-03 9.97860124e-01 1.50423385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.06, Y:61.68, Z:150.43 [[ 8.79047062e-01 4.73334193e-01 -5.68419355e-02 4.06060127e+02] [-4.72232497e-01 8.80881547e-01 3.23135866e-02 6.16796447e+01] [ 6.53661376e-02 -1.56255417e-03 9.97860124e-01 1.50426227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.11, Y:61.65, Z:150.43 [[ 8.76857020e-01 4.77380175e-01 -5.68325253e-02 4.06113615e+02] [-4.76285874e-01 8.78695925e-01 3.23301288e-02 6.16472588e+01] [ 6.53722709e-02 -1.28037141e-03 9.97860124e-01 1.50428982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.17, Y:61.62, Z:150.43 [[ 8.76364471e-01 4.78285035e-01 -5.68219935e-02 4.06168551e+02] [-4.77191433e-01 8.78203793e-01 3.23486284e-02 6.16157410e+01] [ 6.53731551e-02 -1.23422005e-03 9.97860124e-01 1.50431931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.22, Y:61.58, Z:150.43 [[ 8.75399857e-01 4.80049527e-01 -5.68114661e-02 4.06223326e+02] [-4.78958434e-01 8.77240668e-01 3.23671063e-02 6.15848979e+01] [ 6.53751425e-02 -1.12382943e-03 9.97860124e-01 1.50434948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.242755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:406.28, Y:61.55, Z:150.44 [[ 8.74725464e-01 4.81278520e-01 -5.68009579e-02 4.06275564e+02] [-4.80188817e-01 8.76567098e-01 3.23855367e-02 6.15537063e+01] [ 6.53763140e-02 -1.05326880e-03 9.97860125e-01 1.50443312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.33, Y:61.52, Z:150.45 [[ 8.74651589e-01 4.81413370e-01 -5.67958221e-02 4.06326572e+02] [-4.80323367e-01 8.76493044e-01 3.23945410e-02 6.15245862e+01] [ 6.53763082e-02 -1.05357623e-03 9.97860125e-01 1.50452431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.38, Y:61.50, Z:150.45 [[ 8.77698682e-01 4.75835019e-01 -5.67983941e-02 4.06381689e+02] [-4.74733606e-01 8.79533336e-01 3.23900308e-02 6.14999731e+01] [ 6.53683920e-02 -1.46458086e-03 9.97860125e-01 1.50452635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.44, Y:61.47, Z:150.46 [[ 8.79726016e-01 4.72076178e-01 -5.67998186e-02 4.06437342e+02] [-4.70967088e-01 8.81556039e-01 3.23875326e-02 6.14712894e+01] [ 6.53616057e-02 -1.74130982e-03 9.97860125e-01 1.50455498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.49, Y:61.44, Z:150.46 [[ 8.80651789e-01 4.70347309e-01 -5.67964405e-02 4.06492355e+02] [-4.69234245e-01 8.82479398e-01 3.23934556e-02 6.14399445e+01] [ 6.53578633e-02 -1.87651972e-03 9.97860125e-01 1.50458537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.54, Y:61.41, Z:150.47 [[ 8.79842311e-01 4.71861094e-01 -5.67857048e-02 4.06543138e+02] [-4.70749962e-01 8.81671094e-01 3.24122643e-02 6.14080448e+01] [ 6.53604010e-02 -1.78581312e-03 9.97860125e-01 1.50470809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.60, Y:61.38, Z:150.47 [[ 8.78659407e-01 4.74061026e-01 -5.67784242e-02 4.06595617e+02] [-4.72953649e-01 8.80490468e-01 3.24250131e-02 6.13799146e+01] [ 6.53642963e-02 -1.63697990e-03 9.97860125e-01 1.50470669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.65, Y:61.35, Z:150.47 [[ 8.77716067e-01 4.75805171e-01 -5.67797893e-02 4.06645341e+02] [-4.74701588e-01 8.79549417e-01 3.24226225e-02 6.13513673e+01] [ 6.53674820e-02 -1.50440058e-03 9.97860125e-01 1.50474714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.69, Y:61.32, Z:150.48 [[ 8.77419588e-01 4.76351273e-01 -5.67832020e-02 4.06694751e+02] [-4.75249218e-01 8.79253855e-01 3.24166447e-02 6.13205519e+01] [ 6.53685592e-02 -1.45682672e-03 9.97860125e-01 1.50482780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.75, Y:61.29, Z:150.48 [[ 8.77999523e-01 4.75281160e-01 -5.67860595e-02 4.06748455e+02] [-4.74177192e-01 8.79832641e-01 3.24116383e-02 6.12913455e+01] [ 6.53668697e-02 -1.53074870e-03 9.97860125e-01 1.50479561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.80, Y:61.26, Z:150.49 [[ 8.79181107e-01 4.73092872e-01 -5.67777764e-02 4.06797957e+02] [-4.71983406e-01 8.81010902e-01 3.24261419e-02 6.12616744e+01] [ 6.53624166e-02 -1.71028305e-03 9.97860125e-01 1.50489025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.85, Y:61.23, Z:150.49 [[ 8.79956204e-01 4.71649300e-01 -5.67804287e-02 4.06849018e+02] [-4.70537132e-01 8.81784358e-01 3.24214968e-02 6.12326027e+01] [ 6.53596701e-02 -1.81219716e-03 9.97860125e-01 1.50492698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.90, Y:61.20, Z:150.50 [[ 8.80523504e-01 4.70589032e-01 -5.67831125e-02 4.06900405e+02] [-4.69474966e-01 8.82350502e-01 3.24167957e-02 6.12030976e+01] [ 6.53575963e-02 -1.88550068e-03 9.97860125e-01 1.50495630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.95, Y:61.17, Z:150.49 [[ 8.79732988e-01 4.72064851e-01 -5.67859656e-02 4.06951934e+02] [-4.70954173e-01 8.81562047e-01 3.24117970e-02 6.11740024e+01] [ 6.53608222e-02 -1.77013960e-03 9.97860125e-01 1.50494489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0827550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:407.00, Y:61.15, Z:150.50 [[ 8.77846842e-01 4.75562869e-01 -5.67880231e-02 4.07002598e+02] [-4.74459713e-01 8.79680448e-01 3.24081918e-02 6.11474979e+01] [ 6.53674462e-02 -1.50579970e-03 9.97860125e-01 1.50500249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.06, Y:61.12, Z:150.51 [[ 8.74389287e-01 4.81890058e-01 -5.67921425e-02 4.07056159e+02] [-4.80800641e-01 8.76231089e-01 3.24009714e-02 6.11160183e+01] [ 6.53767468e-02 -1.02536374e-03 9.97860125e-01 1.50507178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.11, Y:61.09, Z:150.51 [[ 8.74712902e-01 4.81303657e-01 -5.67814142e-02 4.07112401e+02] [-4.80211786e-01 8.76553250e-01 3.24197614e-02 6.10899103e+01] [ 6.53756828e-02 -1.09087927e-03 9.97860126e-01 1.50509025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.16, Y:61.06, Z:150.51 [[ 8.74811431e-01 4.81125756e-01 -5.67711780e-02 4.07163584e+02] [-4.80032348e-01 8.76650867e-01 3.24376764e-02 6.10618685e+01] [ 6.53751040e-02 -1.12484825e-03 9.97860126e-01 1.50510345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.21, Y:61.03, Z:150.52 [[ 8.75885333e-01 4.79167693e-01 -5.67732754e-02 4.07214251e+02] [-4.78070412e-01 8.77722460e-01 3.24340051e-02 6.10330645e+01] [ 6.53725063e-02 -1.26684626e-03 9.97860126e-01 1.50517869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.27, Y:61.00, Z:150.52 [[ 8.77607293e-01 4.76006213e-01 -5.67760907e-02 4.07266582e+02] [-4.74902633e-01 8.79440643e-01 3.24290761e-02 6.10041529e+01] [ 6.53676434e-02 -1.49687867e-03 9.97860126e-01 1.50522044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.32, Y:60.97, Z:150.53 [[ 8.79315412e-01 4.72843326e-01 -5.67767077e-02 4.07321494e+02] [-4.71733222e-01 8.81144819e-01 3.24279958e-02 6.09734541e+01] [ 6.53618633e-02 -1.73097724e-03 9.97860126e-01 1.50526360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.37, Y:60.94, Z:150.53 [[ 8.80352707e-01 4.70910475e-01 -5.67665082e-02 4.07374311e+02] [-4.69795204e-01 8.82178969e-01 3.24458406e-02 6.09431154e+01] [ 6.53573059e-02 -1.89515026e-03 9.97860126e-01 1.50527912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.43, Y:60.92, Z:150.52 [[ 8.82891015e-01 4.66135111e-01 -5.67583767e-02 4.07431505e+02] [-4.65009053e-01 8.84710645e-01 3.24600591e-02 6.09160795e+01] [ 6.53455133e-02 -2.26553552e-03 9.97860126e-01 1.50520440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.48, Y:60.88, Z:150.53 [[ 8.81137988e-01 4.69441055e-01 -5.67533376e-02 4.07479804e+02] [-4.68321258e-01 8.82961478e-01 3.24688670e-02 6.08827980e+01] [ 6.53532301e-02 -2.03075772e-03 9.97860126e-01 1.50529557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.53, Y:60.85, Z:150.54 [[ 8.82732857e-01 4.66434833e-01 -5.67560584e-02 4.07531102e+02] [-4.65309132e-01 8.84552708e-01 3.24641104e-02 6.08539507e+01] [ 6.53461171e-02 -2.24802465e-03 9.97860126e-01 1.50535206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.58, Y:60.82, Z:150.54 [[ 8.82863263e-01 4.66187610e-01 -5.67588919e-02 4.07581467e+02] [-4.65061718e-01 8.84682995e-01 3.24591557e-02 6.08244904e+01] [ 6.53456827e-02 -2.26060837e-03 9.97860126e-01 1.50536091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.63, Y:60.80, Z:150.54 [[ 8.79601329e-01 4.72312962e-01 -5.67623847e-02 4.07634048e+02] [-4.71200139e-01 8.81429083e-01 3.24530466e-02 6.07977594e+01] [ 6.53600112e-02 -1.79929934e-03 9.97860126e-01 1.50539079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.69, Y:60.77, Z:150.55 [[ 8.78253421e-01 4.74814317e-01 -5.67652502e-02 4.07690428e+02] [-4.73707024e-01 8.80084530e-01 3.24480336e-02 6.07744027e+01] [ 6.53650095e-02 -1.60749872e-03 9.97860126e-01 1.50545600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.74, Y:60.75, Z:150.55 [[ 8.77481403e-01 4.76239689e-01 -5.67639585e-02 4.07743212e+02] [-4.75135224e-01 8.79314220e-01 3.24502931e-02 6.07480990e+01] [ 6.53674734e-02 -1.50397259e-03 9.97860126e-01 1.50548978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.80, Y:60.72, Z:150.55 [[ 8.77269470e-01 4.76629648e-01 -5.67666804e-02 4.07795356e+02] [-4.75526307e-01 8.79102963e-01 3.24455309e-02 6.07224527e+01] [ 6.53682589e-02 -1.46942387e-03 9.97860126e-01 1.50554853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.85, Y:60.70, Z:150.56 [[ 8.78312606e-01 4.74704164e-01 -5.67707913e-02 4.07847437e+02] [-4.73597268e-01 8.80143955e-01 3.24383363e-02 6.06950042e+01] [ 6.53650821e-02 -1.60450808e-03 9.97860126e-01 1.50555048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.90, Y:60.67, Z:150.56 [[ 8.80659720e-01 4.70335229e-01 -5.67735038e-02 4.07897868e+02] [-4.69219555e-01 8.82485735e-01 3.24335882e-02 6.06696611e+01] [ 6.53564664e-02 -1.92371648e-03 9.97860126e-01 1.50564053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.95, Y:60.64, Z:150.57 [[ 8.83043149e-01 4.65844526e-01 -5.67774156e-02 4.07949374e+02] [-4.64720007e-01 8.84863730e-01 3.24267389e-02 6.06434832e+01] [ 6.53460946e-02 -2.24860860e-03 9.97860126e-01 1.50569251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.00, Y:60.61, Z:150.57 [[ 8.83033068e-01 4.65863124e-01 -5.67815977e-02 4.07999932e+02] [-4.64739114e-01 8.84853964e-01 3.24194140e-02 6.06144696e+01] [ 6.53464313e-02 -2.23878525e-03 9.97860126e-01 1.50569302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.05, Y:60.59, Z:150.58 [[ 8.81571415e-01 4.68622767e-01 -5.67850540e-02 4.08049776e+02] [-4.67504847e-01 8.83396056e-01 3.24133590e-02 6.05875292e+01] [ 6.53533307e-02 -2.02740282e-03 9.97860126e-01 1.50576983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.10, Y:60.56, Z:150.59 [[ 8.77319269e-01 4.76535281e-01 -5.67893251e-02 4.08102959e+02] [-4.75434307e-01 8.79154184e-01 3.24058742e-02 6.05622239e+01] [ 6.53691151e-02 -1.43070447e-03 9.97860126e-01 1.50586670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.15, Y:60.54, Z:150.59 [[ 8.73894344e-01 4.82787067e-01 -5.67919350e-02 4.08154356e+02] [-4.81699520e-01 8.75737249e-01 3.24012995e-02 6.05378525e+01] [ 6.53777413e-02 -9.58664527e-04 9.97860126e-01 1.50587721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.20, Y:60.50, Z:150.59 [[ 8.69642164e-01 4.90404567e-01 -5.67967142e-02 4.08202583e+02] [-4.89333711e-01 8.71494818e-01 3.23929199e-02 6.05049477e+01] [ 6.53836780e-02 -3.77702035e-04 9.97860126e-01 1.50593203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.25, Y:60.48, Z:150.59 [[ 8.71928733e-01 4.86326942e-01 -5.68013224e-02 4.08254928e+02] [-4.85247949e-01 8.73776659e-01 3.23848374e-02 6.04804409e+01] [ 6.53812887e-02 -6.74545037e-04 9.97860127e-01 1.50593007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.30, Y:60.45, Z:150.60 [[ 8.73177132e-01 4.84081501e-01 -5.68048970e-02 4.08303264e+02] [-4.82998164e-01 8.75022515e-01 3.23785662e-02 6.04512711e+01] [ 6.53794287e-02 -8.35562623e-04 9.97860127e-01 1.50599005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.36, Y:60.43, Z:150.60 [[ 8.76722247e-01 4.77630391e-01 -5.68094281e-02 4.08357377e+02] [-4.76533992e-01 8.78559900e-01 3.23706142e-02 6.04305841e+01] [ 6.53716746e-02 -1.30841409e-03 9.97860127e-01 1.50601283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.41, Y:60.40, Z:150.60 [[ 8.78917161e-01 4.73578752e-01 -5.68136373e-02 4.08407917e+02] [-4.72474360e-01 8.80750022e-01 3.23632249e-02 6.04041430e+01] [ 6.53651479e-02 -1.60160686e-03 9.97860127e-01 1.50604868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.46, Y:60.38, Z:150.61 [[ 8.79999253e-01 4.71564481e-01 -5.68177370e-02 4.08459774e+02] [-4.70456358e-01 8.81829860e-01 3.23560257e-02 6.03776870e+01] [ 6.53615296e-02 -1.74301281e-03 9.97860127e-01 1.50608568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.51, Y:60.35, Z:150.61 [[ 8.80784752e-01 4.70095242e-01 -5.68215083e-02 4.08512074e+02] [-4.68984493e-01 8.82613767e-01 3.23494015e-02 6.03500047e+01] [ 6.53587452e-02 -1.84445326e-03 9.97860127e-01 1.50608766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.56, Y:60.32, Z:150.62 [[ 8.80736964e-01 4.70184154e-01 -5.68265964e-02 4.08563479e+02] [-4.69074166e-01 8.82566440e-01 3.23404611e-02 6.03224598e+01] [ 6.53592192e-02 -1.82755122e-03 9.97860127e-01 1.50615846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.61, Y:60.29, Z:150.62 [[ 8.81707047e-01 4.68361307e-01 -5.68363373e-02 4.08614170e+02] [-4.67248640e-01 8.83534895e-01 3.23233331e-02 6.02944611e+01] [ 6.53558858e-02 -1.94300927e-03 9.97860127e-01 1.50620055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.66, Y:60.27, Z:150.63 [[ 8.80638815e-01 4.70365510e-01 -5.68468608e-02 4.08664026e+02] [-4.69258197e-01 8.82469911e-01 3.23048148e-02 6.02659051e+01] [ 6.53607149e-02 -1.77301843e-03 9.97860127e-01 1.50626668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.71, Y:60.24, Z:150.63 [[ 8.79663534e-01 4.72186514e-01 -5.68503617e-02 4.08713978e+02] [-4.71083390e-01 8.81497157e-01 3.22986526e-02 6.02366416e+01] [ 6.53644204e-02 -1.63068580e-03 9.97860127e-01 1.50630843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.76, Y:60.21, Z:150.63 [[ 8.78237215e-01 4.74833660e-01 -5.68541097e-02 4.08764303e+02] [-4.73736490e-01 8.80074407e-01 3.22920539e-02 6.02082224e+01] [ 6.53692010e-02 -1.42621710e-03 9.97860127e-01 1.50633593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.81, Y:60.18, Z:150.64 [[ 8.75216688e-01 4.80377881e-01 -5.68580778e-02 4.08814172e+02] [-4.79292805e-01 8.77061048e-01 3.22850655e-02 6.01802382e+01] [ 6.53770367e-02 -1.00476052e-03 9.97860127e-01 1.50637911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.86, Y:60.15, Z:150.64 [[ 8.71903626e-01 4.86364791e-01 -5.68626209e-02 4.08864134e+02] [-4.85292902e-01 8.73755681e-01 3.22770620e-02 6.01504583e+01] [ 6.53824646e-02 -5.47461091e-04 9.97860127e-01 1.50643529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.91, Y:60.12, Z:150.65 [[ 8.69502727e-01 4.90643821e-01 -5.68651848e-02 4.08913028e+02] [-4.89581342e-01 8.71360197e-01 3.22725444e-02 6.01210719e+01] [ 6.53843831e-02 -2.20931868e-04 9.97860127e-01 1.50646831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.96, Y:60.09, Z:150.65 [[ 8.68112370e-01 4.93099140e-01 -5.68696001e-02 4.08963133e+02] [-4.92042424e-01 8.69973125e-01 3.22647620e-02 6.00904437e+01] [ 6.53847501e-02 -2.71830903e-05 9.97860127e-01 1.50650378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.01, Y:60.06, Z:150.66 [[ 8.68087896e-01 4.93141939e-01 -5.68720779e-02 4.09011675e+02] [-4.92085602e-01 8.69948865e-01 3.22603938e-02 6.00577684e+01] [ 6.53847528e-02 -1.89267303e-05 9.97860127e-01 1.50655534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.06, Y:60.03, Z:150.66 [[ 8.68672103e-01 4.92111838e-01 -5.68745626e-02 4.09061309e+02] [-4.91053581e-01 8.70531981e-01 3.22560127e-02 6.00269421e+01] [ 6.53846914e-02 -9.14407615e-05 9.97860127e-01 1.50659645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.11, Y:59.99, Z:150.66 [[ 8.69112619e-01 4.91333135e-01 -5.68771097e-02 4.09110493e+02] [-4.90273506e-01 8.70971715e-01 3.22515208e-02 5.99944996e+01] [ 6.53845946e-02 -1.44863763e-04 9.97860127e-01 1.50660741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6027550959999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:409.16, Y:59.96, Z:150.66 [[ 8.68290778e-01 4.92783749e-01 -5.68797177e-02 4.09159615e+02] [-4.91727526e-01 8.70151812e-01 3.22469206e-02 5.99611343e+01] [ 6.53847478e-02 -3.03808673e-05 9.97860127e-01 1.50662569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.21, Y:59.93, Z:150.67 [[ 8.66799175e-01 4.95402456e-01 -5.68823003e-02 4.09207859e+02] [-4.94352155e-01 8.68663558e-01 3.22423644e-02 5.99276131e+01] [ 6.53845279e-02 1.72232829e-04 9.97860127e-01 1.50665761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.26, Y:59.89, Z:150.67 [[ 8.65435441e-01 4.97780686e-01 -5.68848539e-02 4.09255210e+02] [-4.96735804e-01 8.67302866e-01 3.22378583e-02 5.98939203e+01] [ 6.53837801e-02 3.56958504e-04 9.97860127e-01 1.50668732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.30, Y:59.86, Z:150.67 [[ 8.64556044e-01 4.99306049e-01 -5.68886286e-02 4.09304499e+02] [-4.98264901e-01 8.66425553e-01 3.22311959e-02 5.98606913e+01] [ 6.53829926e-02 4.79931635e-04 9.97860127e-01 1.50671404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.35, Y:59.82, Z:150.67 [[ 8.63490073e-01 5.01147115e-01 -5.68899173e-02 4.09352041e+02] [-5.00110103e-01 8.65361879e-01 3.22289212e-02 5.98226061e+01] [ 6.53817967e-02 6.21868917e-04 9.97860127e-01 1.50671233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.40, Y:59.79, Z:150.68 [[ 8.63690753e-01 5.00801033e-01 -5.68911976e-02 4.09402647e+02] [-4.99763419e-01 8.65562226e-01 3.22266611e-02 5.97905713e+01] [ 6.53820168e-02 5.98270193e-04 9.97860127e-01 1.50675828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.45, Y:59.75, Z:150.68 [[ 8.63203140e-01 5.01640894e-01 -5.68924586e-02 4.09453235e+02] [-5.00605248e-01 8.65075703e-01 3.22244348e-02 5.97549810e+01] [ 6.53813779e-02 6.64429988e-04 9.97860127e-01 1.50676810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.51, Y:59.72, Z:150.68 [[ 8.63659632e-01 5.00854702e-01 -5.68911918e-02 4.09505917e+02] [-4.99817203e-01 8.65531169e-01 3.22266710e-02 5.97235710e+01] [ 6.53819795e-02 6.02321563e-04 9.97860127e-01 1.50682986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.56, Y:59.70, Z:150.69 [[ 8.64216102e-01 4.99894052e-01 -5.68899461e-02 4.09561883e+02] [-4.98854329e-01 8.66086404e-01 3.22288699e-02 5.96960730e+01] [ 6.53826292e-02 5.27087570e-04 9.97860127e-01 1.50688201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.62, Y:59.67, Z:150.69 [[ 8.64816706e-01 4.98855458e-01 -5.68796706e-02 4.09616373e+02] [-4.97812296e-01 8.66685092e-01 3.22469947e-02 5.96688701e+01] [ 6.53833519e-02 4.27659728e-04 9.97860128e-01 1.50689634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.67, Y:59.64, Z:150.69 [[ 8.69150599e-01 4.91265723e-01 -5.68790382e-02 4.09665743e+02] [-4.90206172e-01 8.71009741e-01 3.22481101e-02 5.96389025e+01] [ 6.53845874e-02 -1.46008674e-04 9.97860128e-01 1.50691426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.72, Y:59.61, Z:150.70 [[ 8.72640435e-01 4.85039158e-01 -5.68830980e-02 4.09718648e+02] [-4.83966809e-01 8.74492224e-01 3.22409475e-02 5.96132075e+01] [ 6.53819488e-02 -6.05222985e-04 9.97860128e-01 1.50695692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.78, Y:59.59, Z:150.69 [[ 8.75043744e-01 4.80689552e-01 -5.68858538e-02 4.09775598e+02] [-4.79608316e-01 8.76890357e-01 3.22360843e-02 5.95852038e+01] [ 6.53782056e-02 -9.25055411e-04 9.97860128e-01 1.50693474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.382755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:409.83, Y:59.55, Z:150.70 [[ 8.75931540e-01 4.79071150e-01 -5.68750367e-02 4.09826323e+02] [-4.77985264e-01 8.77775423e-01 3.22551579e-02 5.95488610e+01] [ 6.53760250e-02 -1.06788076e-03 9.97860128e-01 1.50701028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.88, Y:59.52, Z:150.71 [[ 8.78451176e-01 4.74436364e-01 -5.68653520e-02 4.09880358e+02] [-4.73339646e-01 8.80288637e-01 3.22722229e-02 5.95228972e+01] [ 6.53690393e-02 -1.43294660e-03 9.97860128e-01 1.50706230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.93, Y:59.50, Z:150.71 [[ 8.77543696e-01 4.76112972e-01 -5.68638625e-02 4.09931205e+02] [-4.75019595e-01 8.79383147e-01 3.22748473e-02 5.94963624e+01] [ 6.53715958e-02 -1.31113991e-03 9.97860128e-01 1.50708260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.98, Y:59.46, Z:150.71 [[ 8.74778168e-01 4.81174708e-01 -5.68687647e-02 4.09979640e+02] [-4.80092538e-01 8.76624234e-01 3.22662072e-02 5.94636788e+01] [ 6.53782201e-02 -9.23504113e-04 9.97860128e-01 1.50714667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.03, Y:59.43, Z:150.72 [[ 8.73035593e-01 4.84328892e-01 -5.68715983e-02 4.10032768e+02] [-4.83253716e-01 8.74885741e-01 3.22612120e-02 5.94343807e+01] [ 6.53811875e-02 -6.81775118e-04 9.97860128e-01 1.50716321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.09, Y:59.40, Z:150.72 [[ 8.72178655e-01 4.85870443e-01 -5.68709599e-02 4.10085198e+02] [-4.84798464e-01 8.74030658e-01 3.22623374e-02 5.94036325e+01] [ 6.53822786e-02 -5.67568068e-04 9.97860128e-01 1.50719201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.14, Y:59.37, Z:150.73 [[ 8.72259870e-01 4.85724700e-01 -5.68703309e-02 4.10138580e+02] [-4.84652340e-01 8.74111652e-01 3.22634461e-02 5.93705840e+01] [ 6.53821715e-02 -5.79770389e-04 9.97860128e-01 1.50727806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.19, Y:59.34, Z:150.73 [[ 8.72363620e-01 4.85539629e-01 -5.68593255e-02 4.10189389e+02] [-4.84465613e-01 8.74214441e-01 3.22828299e-02 5.93360816e+01] [ 6.53818367e-02 -6.15978360e-04 9.97860128e-01 1.50726284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.862755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:410.24, Y:59.31, Z:150.73 [[ 8.74375797e-01 4.81907648e-01 -5.68505513e-02 4.10243303e+02] [-4.80824940e-01 8.76221547e-01 3.22982739e-02 5.93052325e+01] [ 6.53784632e-02 -9.05666080e-04 9.97860129e-01 1.50733363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.29, Y:59.27, Z:150.74 [[ 8.73210259e-01 4.84017569e-01 -5.68404451e-02 4.10294910e+02] [-4.82938164e-01 8.75057943e-01 3.23160497e-02 5.92721253e+01] [ 6.53802187e-02 -7.68285963e-04 9.97860129e-01 1.50741045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.35, Y:59.24, Z:150.75 [[ 8.73029652e-01 4.84344421e-01 -5.68305226e-02 4.10348730e+02] [-4.83264573e-01 8.74877076e-01 3.23334898e-02 5.92391576e+01] [ 6.53802669e-02 -7.63917080e-04 9.97860129e-01 1.50745454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.40, Y:59.21, Z:150.75 [[ 8.71739299e-01 4.86664235e-01 -5.68200445e-02 4.10400332e+02] [-4.85588103e-01 8.73588890e-01 3.23518926e-02 5.92052038e+01] [ 6.53818687e-02 -6.11278542e-04 9.97860129e-01 1.50754193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:410.46, Y:59.18, Z:150.75 [[ 8.70760601e-01 4.88414328e-01 -5.68103851e-02 4.10455856e+02] [-4.87340808e-01 8.72611709e-01 3.23688459e-02 5.91753164e+01] [ 6.53828153e-02 -4.99496770e-04 9.97860129e-01 1.50753148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.51, Y:59.15, Z:150.76 [[ 8.71444376e-01 4.87194531e-01 -5.67995549e-02 4.10511002e+02] [-4.86117182e-01 8.73293257e-01 3.23878391e-02 5.91468829e+01] [ 6.53818464e-02 -6.12960627e-04 9.97860130e-01 1.50756322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.56, Y:59.11, Z:150.77 [[ 8.71402817e-01 4.87270026e-01 -5.67895508e-02 4.10562793e+02] [-4.86191694e-01 8.73251126e-01 3.24053712e-02 5.91133712e+01] [ 6.53817052e-02 -6.27523816e-04 9.97860130e-01 1.50765061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.62, Y:59.08, Z:150.77 [[ 8.73925304e-01 4.82732380e-01 -5.67803901e-02 4.10615591e+02] [-4.81643410e-01 8.75767365e-01 3.24214144e-02 5.90801376e+01] [ 6.53772792e-02 -9.85993686e-04 9.97860130e-01 1.50771262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.67, Y:59.05, Z:150.78 [[ 8.76717882e-01 4.77643107e-01 -5.67698747e-02 4.10668799e+02] [-4.76542254e-01 8.78552866e-01 3.24398166e-02 5.90481534e+01] [ 6.53699909e-02 -1.38732325e-03 9.97860130e-01 1.50780842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.72, Y:59.02, Z:150.78 [[ 8.77842119e-01 4.75574847e-01 -5.67607207e-02 4.10722650e+02] [-4.74468638e-01 8.79673878e-01 3.24558256e-02 5.90157268e+01] [ 6.53660976e-02 -1.55990885e-03 9.97860130e-01 1.50784932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.78, Y:58.98, Z:150.80 [[ 8.79428734e-01 4.72635709e-01 -5.67502192e-02 4.10775907e+02] [-4.71522195e-01 8.81256062e-01 3.24741775e-02 5.89829561e+01] [ 6.53599306e-02 -1.79973685e-03 9.97860131e-01 1.50795518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.83, Y:58.95, Z:150.80 [[ 8.79679943e-01 4.72169256e-01 -5.67396866e-02 4.10828895e+02] [-4.71053587e-01 8.81505956e-01 3.24925699e-02 5.89507030e+01] [ 6.53583643e-02 -1.85562910e-03 9.97860131e-01 1.50802903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.88, Y:58.92, Z:150.81 [[ 8.78918298e-01 4.73586618e-01 -5.67304230e-02 4.10882644e+02] [-4.72472852e-01 8.80745472e-01 3.25087357e-02 5.89181343e+01] [ 6.53607654e-02 -1.76893791e-03 9.97860131e-01 1.50806842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.642755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:410.94, Y:58.88, Z:150.81 [[ 8.78617554e-01 4.74145610e-01 -5.67197836e-02 4.10936329e+02] [-4.73031810e-01 8.80444707e-01 3.25272884e-02 5.88847511e+01] [ 6.53613042e-02 -1.74878467e-03 9.97860131e-01 1.50809575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.99, Y:58.85, Z:150.81 [[ 8.77577709e-01 4.76068740e-01 -5.67090819e-02 4.10990801e+02] [-4.74957740e-01 8.79406565e-01 3.25459354e-02 5.88531812e+01] [ 6.53644414e-02 -1.62717000e-03 9.97860132e-01 1.50812111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.05, Y:58.82, Z:150.81 [[ 8.75711761e-01 4.79493767e-01 -5.66977899e-02 4.11045162e+02] [-4.78388649e-01 8.77544177e-01 3.25655951e-02 5.88240809e+01] [ 6.53698153e-02 -1.39449544e-03 9.97860132e-01 1.50811561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.10, Y:58.79, Z:150.81 [[ 8.74396981e-01 4.81887822e-01 -5.66925578e-02 4.11100810e+02] [-4.80787131e-01 8.76232060e-01 3.25747010e-02 5.87940527e+01] [ 6.53731884e-02 -1.22616800e-03 9.97860132e-01 1.50813766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.882755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:411.15, Y:58.76, Z:150.82 [[ 8.74114762e-01 4.82400818e-01 -5.66818634e-02 4.11153789e+02] [-4.81299999e-01 8.75949764e-01 3.25932992e-02 5.87604893e+01] [ 6.53734991e-02 -1.20930321e-03 9.97860132e-01 1.50822896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:411.21, Y:58.73, Z:150.83 [[ 8.76602565e-01 4.77866422e-01 -5.66712069e-02 4.11209064e+02] [-4.76754916e-01 8.78431113e-01 3.26118177e-02 5.87304971e+01] [ 6.53658440e-02 -1.56932659e-03 9.97860132e-01 1.50825685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.002755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:411.26, Y:58.70, Z:150.82 [[ 8.80166942e-01 4.71270339e-01 -5.66605895e-02 4.11264436e+02] [-4.70143947e-01 8.81986358e-01 3.26302543e-02 5.87026405e+01] [ 6.53515379e-02 -2.08143790e-03 9.97860133e-01 1.50823631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.32, Y:58.68, Z:150.84 [[ 8.82782224e-01 4.66354107e-01 -5.66514868e-02 4.11320126e+02] [-4.65216574e-01 8.84594695e-01 3.26460504e-02 5.86757751e+01] [ 6.53382244e-02 -2.46414238e-03 9.97860133e-01 1.50835589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.38, Y:58.65, Z:150.84 [[ 8.83537478e-01 4.64922829e-01 -5.66417511e-02 4.11375573e+02] [-4.63781279e-01 8.85347422e-01 3.26629333e-02 5.86468906e+01] [ 6.53333717e-02 -2.58954196e-03 9.97860133e-01 1.50836286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.43, Y:58.62, Z:150.84 [[ 8.83226419e-01 4.65514685e-01 -5.66318877e-02 4.11430995e+02] [-4.64373255e-01 8.85036438e-01 3.26800259e-02 5.86182481e+01] [ 6.53343161e-02 -2.56552825e-03 9.97860133e-01 1.50837867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.49, Y:58.59, Z:150.84 [[ 8.81890827e-01 4.68041057e-01 -5.66227688e-02 4.11486965e+02] [-4.66903801e-01 8.83703471e-01 3.26958180e-02 5.85909751e+01] [ 6.53407226e-02 -2.39675604e-03 9.97860133e-01 1.50839523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.54, Y:58.56, Z:150.84 [[ 8.79519108e-01 4.72483886e-01 -5.66137461e-02 4.11543435e+02] [-4.71354784e-01 8.81336842e-01 3.27114337e-02 5.85635295e+01] [ 6.53514055e-02 -2.08517099e-03 9.97860133e-01 1.50840906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.60, Y:58.54, Z:150.84 [[ 8.77587602e-01 4.76062305e-01 -5.66099204e-02 4.11596042e+02] [-4.74940190e-01 8.79409657e-01 3.27180530e-02 5.85373320e+01] [ 6.53591424e-02 -1.82663132e-03 9.97860133e-01 1.50843316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.65, Y:58.51, Z:150.85 [[ 8.73987014e-01 4.82640401e-01 -5.66122110e-02 4.11650461e+02] [-4.81532260e-01 8.75817602e-01 3.27140892e-02 5.85131292e+01] [ 6.53711120e-02 -1.33108321e-03 9.97860133e-01 1.50845047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:411.70, Y:58.49, Z:150.84 [[ 8.70496795e-01 4.88907047e-01 -5.66147384e-02 4.11704214e+02] [-4.87812370e-01 8.72335467e-01 3.27097147e-02 5.84891030e+01] [ 6.53790542e-02 -8.56332136e-04 9.97860133e-01 1.50843968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.76, Y:58.46, Z:150.85 [[ 8.67263304e-01 4.94619782e-01 -5.66183091e-02 4.11756920e+02] [-4.93537621e-01 8.69109369e-01 3.27035329e-02 5.84638880e+01] [ 6.53833172e-02 -4.19308425e-04 9.97860134e-01 1.50848699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.81, Y:58.43, Z:150.85 [[ 8.65802886e-01 4.97171368e-01 -5.66214913e-02 4.11811506e+02] [-4.96095009e-01 8.67652339e-01 3.26980225e-02 5.84348005e+01] [ 6.53842899e-02 -2.20403024e-04 9.97860134e-01 1.50854869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.86, Y:58.40, Z:150.86 [[ 8.65112221e-01 4.98373296e-01 -5.66118575e-02 4.11862639e+02] [-4.97298414e-01 8.66962534e-01 3.27146935e-02 5.84039549e+01] [ 6.53844890e-02 -1.48894199e-04 9.97860134e-01 1.50861279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.92, Y:58.38, Z:150.86 [[ 8.68313862e-01 4.92773995e-01 -5.66111829e-02 4.11915683e+02] [-4.91687107e-01 8.70157148e-01 3.27158608e-02 5.83793130e+01] [ 6.53821508e-02 -5.72646718e-04 9.97860134e-01 1.50862994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.782755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:411.96, Y:58.35, Z:150.87 [[ 8.70977371e-01 4.88050503e-01 -5.66138328e-02 4.11964741e+02] [-4.86953916e-01 8.72814904e-01 3.27112745e-02 5.83469099e+01] [ 6.53781510e-02 -9.22452304e-04 9.97860134e-01 1.50869299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.01, Y:58.32, Z:150.88 [[ 8.74778176e-01 4.81204458e-01 -5.66163562e-02 4.12013724e+02] [-4.80093777e-01 8.76607223e-01 3.27069064e-02 5.83157144e+01] [ 6.53690160e-02 -1.43012764e-03 9.97860134e-01 1.50877116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.07, Y:58.29, Z:150.88 [[ 8.78346509e-01 4.74659498e-01 -5.66195351e-02 4.12065869e+02] [-4.73535545e-01 8.80167431e-01 3.27014025e-02 5.82866966e+01] [ 6.53567020e-02 -1.91180032e-03 9.97860134e-01 1.50880118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.11, Y:58.25, Z:150.89 [[ 8.78549513e-01 4.74283503e-01 -5.66207842e-02 4.12113863e+02] [-4.73158910e-01 8.80370039e-01 3.26992396e-02 5.82532354e+01] [ 6.53559519e-02 -1.93727255e-03 9.97860134e-01 1.50886611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.16, Y:58.22, Z:150.89 [[ 8.78144547e-01 4.75032546e-01 -5.66236269e-02 4.12160868e+02] [-4.73909823e-01 8.79966227e-01 3.26943163e-02 5.82151382e+01] [ 6.53577437e-02 -1.87584250e-03 9.97860134e-01 1.50892420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.21, Y:58.18, Z:150.90 [[ 8.77342592e-01 4.76511972e-01 -5.66243429e-02 4.12213073e+02] [-4.75392401e-01 8.79166212e-01 3.26930762e-02 5.81824052e+01] [ 6.53608512e-02 -1.76424594e-03 9.97860134e-01 1.50901351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.27, Y:58.15, Z:150.90 [[ 8.76944276e-01 4.77244923e-01 -5.66217386e-02 4.12265392e+02] [-4.76126585e-01 8.78768652e-01 3.26975860e-02 5.81541623e+01] [ 6.53621658e-02 -1.71484579e-03 9.97860134e-01 1.50898809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2027550959999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:412.31, Y:58.12, Z:150.91 [[ 8.74784601e-01 4.81191817e-01 -5.66245244e-02 4.12314682e+02] [-4.80082024e-01 8.76614188e-01 3.26927609e-02 5.81220434e+01] [ 6.53693505e-02 -1.41470757e-03 9.97860134e-01 1.50906626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.36, Y:58.09, Z:150.92 [[ 8.73537585e-01 4.83451576e-01 -5.66273955e-02 4.12364062e+02] [-4.82346838e-01 8.75370228e-01 3.26877871e-02 5.80921914e+01] [ 6.53728983e-02 -1.23996548e-03 9.97860134e-01 1.50915868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3227550959999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:412.42, Y:58.06, Z:150.92 [[ 8.71733505e-01 4.86696473e-01 -5.66324942e-02 4.12415531e+02] [-4.85599132e-01 8.73570587e-01 3.26789511e-02 5.80606496e+01] [ 6.53772114e-02 -9.86646598e-04 9.97860134e-01 1.50918250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.47, Y:58.03, Z:150.93 [[ 8.68174575e-01 4.93016904e-01 -5.66324942e-02 4.12468027e+02] [-4.91932938e-01 8.70019580e-01 3.26789511e-02 5.80281008e+01] [ 6.53826542e-02 -5.11645232e-04 9.97860134e-01 1.50929005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.52, Y:58.00, Z:150.94 [[ 8.65332456e-01 4.97989542e-01 -5.66229274e-02 4.12520828e+02] [-4.96915095e-01 8.67183021e-01 3.26955191e-02 5.79952263e+01] [ 6.53844679e-02 -1.55706545e-04 9.97860134e-01 1.50935734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.57, Y:57.96, Z:150.94 [[ 8.65587778e-01 4.97546860e-01 -5.66120229e-02 4.12573147e+02] [-4.96470232e-01 8.67437074e-01 3.27143894e-02 5.79630812e+01] [ 6.53843092e-02 -2.10991525e-04 9.97860134e-01 1.50941131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.63, Y:57.93, Z:150.95 [[ 8.66348292e-01 4.96222591e-01 -5.66019215e-02 4.12626575e+02] [-4.95141995e-01 8.68195272e-01 3.27318574e-02 5.79300162e+01] [ 6.53838077e-02 -3.31200430e-04 9.97860135e-01 1.50946743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.68, Y:57.90, Z:150.95 [[ 8.68632703e-01 4.92214041e-01 -5.65912196e-02 4.12680456e+02] [-4.91123717e-01 8.70473957e-01 3.27503497e-02 5.78971667e+01] [ 6.53813649e-02 -6.54734686e-04 9.97860135e-01 1.50951005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.73, Y:57.86, Z:150.95 [[ 8.70591462e-01 4.88742421e-01 -5.65804906e-02 4.12733108e+02] [-4.87643551e-01 8.72427629e-01 3.27688751e-02 5.78644763e+01] [ 6.53779226e-02 -9.37191547e-04 9.97860135e-01 1.50954583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.79, Y:57.83, Z:150.96 [[ 8.71728867e-01 4.86711975e-01 -5.65706194e-02 4.12785161e+02] [-4.85607724e-01 8.73561802e-01 3.27859074e-02 5.78289592e+01] [ 6.53752260e-02 -1.10929213e-03 9.97860135e-01 1.50957986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.84, Y:57.80, Z:150.96 [[ 8.72793776e-01 4.84800332e-01 -5.65655534e-02 4.12838805e+02] [-4.83691501e-01 8.74623944e-01 3.27946456e-02 5.77985287e+01] [ 6.53724424e-02 -1.26268516e-03 9.97860135e-01 1.50963706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.89, Y:57.77, Z:150.97 [[ 8.71765644e-01 4.86647870e-01 -5.65553854e-02 4.12893096e+02] [-4.85541781e-01 8.73597470e-01 3.28121712e-02 5.77684652e+01] [ 6.53746149e-02 -1.14452098e-03 9.97860135e-01 1.50966069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.95, Y:57.74, Z:150.97 [[ 8.70381879e-01 4.89119603e-01 -5.65455438e-02 4.12945919e+02] [-4.88017615e-01 8.72216175e-01 3.28291226e-02 5.77413882e+01] [ 6.53773053e-02 -9.78651957e-04 9.97860136e-01 1.50965785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.00, Y:57.71, Z:150.97 [[ 8.69794207e-01 4.90163568e-01 -5.65483436e-02 4.12997835e+02] [-4.89064095e-01 8.71630011e-01 3.28242992e-02 5.77133442e+01] [ 6.53785090e-02 -8.94620784e-04 9.97860136e-01 1.50970361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.05, Y:57.68, Z:150.98 [[ 8.69001914e-01 4.91566513e-01 -5.65511911e-02 4.13051370e+02] [-4.90470323e-01 8.70839681e-01 3.28193927e-02 5.76832578e+01] [ 6.53799356e-02 -7.83434166e-04 9.97860136e-01 1.50978608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.10, Y:57.65, Z:150.98 [[ 8.69313843e-01 4.91015914e-01 -5.65403764e-02 4.13104122e+02] [-4.89917349e-01 8.71150191e-01 3.28380134e-02 5.76518821e+01] [ 6.53791469e-02 -8.46428358e-04 9.97860136e-01 1.50983537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.16, Y:57.62, Z:150.99 [[ 8.70069942e-01 4.89675991e-01 -5.65307014e-02 4.13159130e+02] [-4.88573517e-01 8.71903945e-01 3.28546606e-02 5.76207769e+01] [ 6.53774800e-02 -9.66449036e-04 9.97860136e-01 1.50987670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.21, Y:57.59, Z:150.99 [[ 8.70300548e-01 4.89267216e-01 -5.65203211e-02 4.13213145e+02] [-4.88162722e-01 8.72133336e-01 3.28725082e-02 5.75894241e+01] [ 6.53766968e-02 -1.01784811e-03 9.97860136e-01 1.50991685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.27, Y:57.56, Z:151.00 [[ 8.70534685e-01 4.88851689e-01 -5.65100768e-02 4.13267598e+02] [-4.87745178e-01 8.72366255e-01 3.28901094e-02 5.75578301e+01] [ 6.53758696e-02 -1.06946357e-03 9.97860136e-01 1.50996228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.32, Y:57.53, Z:151.00 [[ 8.70108749e-01 4.89610623e-01 -5.64995806e-02 4.13320827e+02] [-4.88504539e-01 8.71940577e-01 3.29081304e-02 5.75267246e+01] [ 6.53764471e-02 -1.03335063e-03 9.97860137e-01 1.50999973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.38, Y:57.50, Z:151.00 [[ 8.69185821e-01 4.91248307e-01 -5.64899045e-02 4.13375303e+02] [-4.90144597e-01 8.71019079e-01 3.29247319e-02 5.74955858e+01] [ 6.53780034e-02 -9.29488637e-04 9.97860137e-01 1.51004916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.43, Y:57.46, Z:151.01 [[ 8.67210959e-01 4.94727468e-01 -5.64790583e-02 4.13427989e+02] [-4.93629902e-01 8.69047903e-01 3.29433270e-02 5.74638082e+01] [ 6.53809759e-02 -6.89062231e-04 9.97860137e-01 1.51006518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.48, Y:57.43, Z:151.01 [[ 8.64416020e-01 4.99596026e-01 -5.64690681e-02 4.13481514e+02] [-4.98507687e-01 8.66258446e-01 3.29604426e-02 5.74324991e+01] [ 6.53837133e-02 -3.41270053e-04 9.97860137e-01 1.51008327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.54, Y:57.40, Z:151.01 [[ 8.61859729e-01 5.03994138e-01 -5.64598711e-02 4.13535556e+02] [-5.02914170e-01 8.63707073e-01 3.29761893e-02 5.74007150e+01] [ 6.53845961e-02 -2.63803319e-05 9.97860137e-01 1.51012619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.59, Y:57.37, Z:151.02 [[ 8.60638729e-01 5.06077512e-01 -5.64493575e-02 4.13589223e+02] [-5.05000837e-01 8.62487994e-01 3.29941769e-02 5.73676299e+01] [ 6.53845040e-02 1.10906299e-04 9.97860138e-01 1.51016769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.64, Y:57.33, Z:151.02 [[ 8.60717262e-01 5.05945100e-01 -5.64389145e-02 4.13641109e+02] [-5.04866969e-01 8.62565678e-01 3.30120306e-02 5.73344974e+01] [ 6.53845457e-02 8.01191314e-05 9.97860138e-01 1.51021476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.69, Y:57.30, Z:151.03 [[ 8.61795516e-01 5.04107286e-01 -5.64298950e-02 4.13694774e+02] [-5.03024204e-01 8.63641036e-01 3.30274412e-02 5.73009708e+01] [ 6.53845467e-02 -7.72977640e-05 9.97860138e-01 1.51025086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.75, Y:57.27, Z:151.03 [[ 8.62832014e-01 5.02332397e-01 -5.64187803e-02 4.13746488e+02] [-5.01244278e-01 8.64674568e-01 3.30464169e-02 5.72661230e+01] [ 6.53841703e-02 -2.33915678e-04 9.97860138e-01 1.51030715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.80, Y:57.23, Z:151.04 [[ 8.64197931e-01 4.99980082e-01 -5.64079281e-02 4.13798553e+02] [-4.98885739e-01 8.66036795e-01 3.30649305e-02 5.72328442e+01] [ 6.53831479e-02 -4.33533694e-04 9.97860139e-01 1.51035863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.85, Y:57.20, Z:151.04 [[ 8.64271359e-01 4.99854268e-01 -5.63979499e-02 4.13851254e+02] [-4.98758548e-01 8.66109402e-01 3.30819414e-02 5.71990054e+01] [ 6.53829442e-02 -4.62814854e-04 9.97860139e-01 1.51038720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.90, Y:57.16, Z:151.04 [[ 8.64930537e-01 4.98714007e-01 -5.63871030e-02 4.13903250e+02] [-4.97614659e-01 8.66766413e-01 3.31004193e-02 5.71625169e+01] [ 6.53820897e-02 -5.70514431e-04 9.97860139e-01 1.51041675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.95, Y:57.13, Z:151.04 [[ 8.65902946e-01 4.97024977e-01 -5.63760635e-02 4.13954277e+02] [-4.95920825e-01 8.67735935e-01 3.31192109e-02 5.71296443e+01] [ 6.53806112e-02 -7.19958414e-04 9.97860139e-01 1.51043816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.01, Y:57.10, Z:151.05 [[ 8.66106645e-01 4.96670931e-01 -5.63672427e-02 4.14007128e+02] [-4.95565052e-01 8.67938594e-01 3.31342166e-02 5.70983436e+01] [ 6.53801076e-02 -7.64129601e-04 9.97860139e-01 1.51050251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.06, Y:57.06, Z:151.06 [[ 8.65015953e-01 4.98569132e-01 -5.63579831e-02 4.14059057e+02] [-4.97466248e-01 8.66849706e-01 3.31499588e-02 5.70646064e+01] [ 6.53814473e-02 -6.39048744e-04 9.97860140e-01 1.51056344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.11, Y:57.03, Z:151.06 [[ 8.63277548e-01 5.01574278e-01 -5.63482017e-02 4.14111114e+02] [-5.00476693e-01 8.65114477e-01 3.31665769e-02 5.70290732e+01] [ 6.53831469e-02 -4.30999561e-04 9.97860140e-01 1.51060763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.16, Y:56.99, Z:151.07 [[ 8.60466271e-01 5.06383177e-01 -5.63371434e-02 4.14163379e+02] [-5.05294629e-01 8.62308570e-01 3.31853502e-02 5.69940714e+01] [ 6.53845046e-02 -8.80185508e-05 9.97860140e-01 1.51066666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.362755096 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:414.22, Y:56.96, Z:151.07 [[ 8.58975200e-01 5.08909576e-01 -5.63262765e-02 4.14215891e+02] [-5.07825237e-01 8.60819979e-01 3.32037846e-02 5.69622101e+01] [ 6.53845081e-02 8.26771775e-05 9.97860140e-01 1.51069045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.422755096 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:414.27, Y:56.93, Z:151.07 [[ 8.57868397e-01 5.10774207e-01 -5.63162717e-02 4.14268393e+02] [-5.09692765e-01 8.59714876e-01 3.32207448e-02 5.69284123e+01] [ 6.53842361e-02 2.04969110e-04 9.97860140e-01 1.51073608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4827550959999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:414.32, Y:56.90, Z:151.08 [[ 8.57422681e-01 5.11523317e-01 -5.63049030e-02 4.14321697e+02] [-5.10442223e-01 8.59269363e-01 3.32400021e-02 5.68959435e+01] [ 6.53841143e-02 2.39668178e-04 9.97860141e-01 1.51079460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.37, Y:56.86, Z:151.08 [[ 8.58005459e-01 5.10546442e-01 -5.62935346e-02 4.14374851e+02] [-5.09461984e-01 8.59850167e-01 3.32592440e-02 5.68640853e+01] [ 6.53843938e-02 1.42802855e-04 9.97860141e-01 1.51082561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.43, Y:56.83, Z:151.09 [[ 8.60567118e-01 5.06217789e-01 -5.62830838e-02 4.14430284e+02] [-5.05122895e-01 8.62405651e-01 3.32769200e-02 5.68337659e+01] [ 6.53842184e-02 -2.07148879e-04 9.97860141e-01 1.51087026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.49, Y:56.80, Z:151.09 [[ 8.62796124e-01 5.02410461e-01 -5.62723439e-02 4.14485372e+02] [-5.01306271e-01 8.64629089e-01 3.32950717e-02 5.68040209e+01] [ 6.53824977e-02 -5.17179896e-04 9.97860141e-01 1.51087207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.54, Y:56.77, Z:151.09 [[ 8.63992680e-01 5.00351155e-01 -5.62616341e-02 4.14539385e+02] [-4.99241418e-01 8.65822291e-01 3.33131592e-02 5.67724853e+01] [ 6.53808546e-02 -6.94187728e-04 9.97860141e-01 1.51093189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.59, Y:56.74, Z:151.10 [[ 8.67991755e-01 4.93382349e-01 -5.62509586e-02 4.14594258e+02] [-4.92256758e-01 8.69811656e-01 3.33311757e-02 5.67421502e+01] [ 6.53727532e-02 -1.24127119e-03 9.97860142e-01 1.51098611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.65, Y:56.71, Z:151.10 [[ 8.71868154e-01 4.86500730e-01 -5.62402207e-02 4.14648356e+02] [-4.85359611e-01 8.73678358e-01 3.33492841e-02 5.67110008e+01] [ 6.53603147e-02 -1.77944713e-03 9.97860142e-01 1.51104473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.70, Y:56.68, Z:151.11 [[ 8.74637508e-01 4.81505501e-01 -5.62288384e-02 4.14702210e+02] [-4.80352815e-01 8.76440368e-01 3.33684643e-02 5.66813291e+01] [ 6.53483229e-02 -2.17562966e-03 9.97860142e-01 1.51108335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.76, Y:56.65, Z:151.11 [[ 8.76081918e-01 4.78873754e-01 -5.62174331e-02 4.14757052e+02] [-4.77714423e-01 8.77880512e-01 3.33876683e-02 5.66521464e+01] [ 6.53406670e-02 -2.39445389e-03 9.97860142e-01 1.51114823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.81, Y:56.62, Z:151.12 [[ 8.72909072e-01 4.84634516e-01 -5.62062043e-02 4.14808993e+02] [-4.83485842e-01 8.74714492e-01 3.34065606e-02 5.66157498e+01] [ 6.53543538e-02 -1.98598582e-03 9.97860143e-01 1.51118882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.86, Y:56.58, Z:151.12 [[ 8.70625659e-01 4.88725997e-01 -5.61948612e-02 4.14863974e+02] [-4.87584580e-01 8.72435674e-01 3.34256306e-02 5.65845986e+01] [ 6.53623762e-02 -1.70146387e-03 9.97860143e-01 1.51123647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.92, Y:56.56, Z:151.13 [[ 8.69029384e-01 4.91560102e-01 -5.61835912e-02 4.14919748e+02] [-4.90423365e-01 8.70842342e-01 3.34445631e-02 5.65580970e+01] [ 6.53670630e-02 -1.51056213e-03 9.97860143e-01 1.51125526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2027550959999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:414.97, Y:56.53, Z:151.13 [[ 8.68415309e-01 4.92645337e-01 -5.61731627e-02 4.14973246e+02] [-4.91509733e-01 8.70228977e-01 3.34620697e-02 5.65320464e+01] [ 6.53684464e-02 -1.44931735e-03 9.97860143e-01 1.51131930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.03, Y:56.50, Z:151.14 [[ 8.67970889e-01 4.93427757e-01 -5.61745942e-02 4.15026451e+02] [-4.92293944e-01 8.69785677e-01 3.34596662e-02 5.64993746e+01] [ 6.53697855e-02 -1.38760368e-03 9.97860143e-01 1.51136083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3227550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:415.08, Y:56.47, Z:151.14 [[ 8.69398845e-01 4.90908844e-01 -5.61618708e-02 4.15080779e+02] [-4.89768395e-01 8.71209470e-01 3.34810089e-02 5.64698781e+01] [ 6.53648770e-02 -1.60204115e-03 9.97860144e-01 1.51138663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.13, Y:56.44, Z:151.14 [[ 8.68240127e-01 4.92956499e-01 -5.61513277e-02 4.15133528e+02] [-4.91819179e-01 8.70052719e-01 3.34986816e-02 5.64385756e+01] [ 6.53680081e-02 -1.46859969e-03 9.97860144e-01 1.51144433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:415.19, Y:56.41, Z:151.15 [[ 8.69266114e-01 4.91146196e-01 -5.61412314e-02 4.15189248e+02] [-4.90004010e-01 8.71075643e-01 3.35155936e-02 5.64107343e+01] [ 6.53643155e-02 -1.62454124e-03 9.97860144e-01 1.51145474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.24, Y:56.38, Z:151.16 [[ 8.67972798e-01 4.93428927e-01 -5.61348087e-02 4.15242690e+02] [-4.92290805e-01 8.69784886e-01 3.35263475e-02 5.63789755e+01] [ 6.53680778e-02 -1.46530752e-03 9.97860144e-01 1.51155757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5627550959999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:415.30, Y:56.35, Z:151.16 [[ 8.67271763e-01 4.94661276e-01 -5.61240739e-02 4.15297798e+02] [-4.93524568e-01 8.69084737e-01 3.35443083e-02 5.63484727e+01] [ 6.53696463e-02 -1.39342213e-03 9.97860144e-01 1.51156961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.35, Y:56.32, Z:151.16 [[ 8.65194410e-01 4.98287091e-01 -5.61124585e-02 4.15353632e+02] [-4.97156722e-01 8.67011343e-01 3.35637271e-02 5.63206389e+01] [ 6.53745100e-02 -1.14246310e-03 9.97860145e-01 1.51160161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6827550959999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:415.41, Y:56.29, Z:151.17 [[ 8.62858800e-01 5.02321895e-01 -5.61017380e-02 4.15405034e+02] [-5.01198858e-01 8.64680275e-01 3.35816370e-02 5.62878865e+01] [ 6.53788577e-02 -8.58083963e-04 9.97860145e-01 1.51167150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.742755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:415.46, Y:56.25, Z:151.17 [[ 8.61318380e-01 5.04959607e-01 -5.60931709e-02 4.15458047e+02] [-5.03841218e-01 8.63142711e-01 3.35959410e-02 5.62543780e+01] [ 6.53810047e-02 -6.74749893e-04 9.97860145e-01 1.51173720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:415.51, Y:56.22, Z:151.18 [[ 8.61482297e-01 5.04681089e-01 -5.60825304e-02 4.15512761e+02] [-5.03560954e-01 8.63305557e-01 3.36136940e-02 5.62241847e+01] [ 6.53805558e-02 -7.16629810e-04 9.97860145e-01 1.51179856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.862755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:415.57, Y:56.19, Z:151.18 [[ 8.61405241e-01 5.04813900e-01 -5.60708244e-02 4.15567245e+02] [-5.03692776e-01 8.63227893e-01 3.36332094e-02 5.61921191e+01] [ 6.53804112e-02 -7.29353685e-04 9.97860145e-01 1.51182572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.922755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:415.62, Y:56.16, Z:151.19 [[ 8.62873201e-01 5.02301896e-01 -5.60592959e-02 4.15620510e+02] [-5.01174219e-01 8.64691805e-01 3.36524140e-02 5.61605704e+01] [ 6.53776851e-02 -9.42292353e-04 9.97860146e-01 1.51187412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9827550959999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:415.67, Y:56.13, Z:151.19 [[ 8.64367410e-01 4.99727453e-01 -5.60486648e-02 4.15674351e+02] [-4.98593213e-01 8.66181928e-01 3.36701109e-02 5.61287172e+01] [ 6.53742193e-02 -1.15786275e-03 9.97860146e-01 1.51191887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.042755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:415.73, Y:56.10, Z:151.20 [[ 8.66662830e-01 4.95737164e-01 -5.60375064e-02 4.15727798e+02] [-4.94593371e-01 8.68471341e-01 3.36886718e-02 5.60979909e+01] [ 6.53676950e-02 -1.48094050e-03 9.97860146e-01 1.51196067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.78, Y:56.06, Z:151.20 [[ 8.68101135e-01 4.93215257e-01 -5.60279317e-02 4.15779967e+02] [-4.92065184e-01 8.69905659e-01 3.37045881e-02 5.60643260e+01] [ 6.53626319e-02 -1.68959666e-03 9.97860146e-01 1.51201665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.83, Y:56.03, Z:151.20 [[ 8.68765365e-01 4.92045470e-01 -5.60178172e-02 4.15833367e+02] [-4.90891885e-01 8.70567646e-01 3.37213903e-02 5.60311664e+01] [ 6.53597565e-02 -1.79728407e-03 9.97860147e-01 1.51204001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2227550959999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:415.89, Y:56.00, Z:151.21 [[ 8.69589296e-01 4.90589096e-01 -5.60071047e-02 4.15887596e+02] [-4.89431348e-01 8.71388905e-01 3.37391731e-02 5.59997211e+01] [ 6.53560400e-02 -1.92759100e-03 9.97860147e-01 1.51207087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.282755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:415.94, Y:55.97, Z:151.21 [[ 8.69932417e-01 4.89981667e-01 -5.59960315e-02 4.15942080e+02] [-4.88821482e-01 8.71730456e-01 3.37575410e-02 5.59675380e+01] [ 6.53540223e-02 -1.99471613e-03 9.97860147e-01 1.51209468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.99, Y:55.93, Z:151.22 [[ 8.68530117e-01 4.92464400e-01 -5.59843722e-02 4.15993571e+02] [-4.91308111e-01 8.70330663e-01 3.37768661e-02 5.59346745e+01] [ 6.53588199e-02 -1.83064930e-03 9.97860147e-01 1.51217935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.05, Y:55.90, Z:151.22 [[ 8.68134534e-01 4.93162633e-01 -5.59736298e-02 4.16048113e+02] [-4.92006646e-01 8.69935274e-01 3.37946585e-02 5.59033331e+01] [ 6.53596978e-02 -1.79891226e-03 9.97860147e-01 1.51220189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4627550959999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:416.10, Y:55.87, Z:151.23 [[ 8.64511785e-01 4.99487364e-01 -5.59620201e-02 4.16096923e+02] [-4.98343311e-01 8.66320129e-01 3.38138726e-02 5.58669609e+01] [ 6.53706266e-02 -1.34419299e-03 9.97860148e-01 1.51228373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.15, Y:55.83, Z:151.23 [[ 8.63795072e-01 5.00726833e-01 -5.59527666e-02 4.16150200e+02] [-4.99584384e-01 8.65604430e-01 3.38291779e-02 5.58349457e+01] [ 6.53721397e-02 -1.26834871e-03 9.97860148e-01 1.51232883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.20, Y:55.80, Z:151.23 [[ 8.63918329e-01 5.00515223e-01 -5.59431221e-02 4.16203901e+02] [-4.99371299e-01 8.65726754e-01 3.38451194e-02 5.58038204e+01] [ 6.53714550e-02 -1.30302939e-03 9.97860148e-01 1.51233336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.26, Y:55.77, Z:151.24 [[ 8.63202195e-01 5.01750032e-01 -5.59363600e-02 4.16255440e+02] [-5.00607971e-01 8.65011798e-01 3.38562915e-02 5.57696935e+01] [ 6.53730067e-02 -1.22263749e-03 9.97860148e-01 1.51241571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7027550959999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:416.31, Y:55.74, Z:151.24 [[ 8.63443366e-01 5.01335910e-01 -5.59272633e-02 4.16309060e+02] [-5.00192009e-01 8.65251806e-01 3.38713118e-02 5.57358857e+01] [ 6.53720705e-02 -1.27158931e-03 9.97860148e-01 1.51240989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.36, Y:55.70, Z:151.25 [[ 8.62418607e-01 5.03097918e-01 -5.59162917e-02 4.16359142e+02] [-5.01956539e-01 8.64228639e-01 3.38894145e-02 5.57002324e+01] [ 6.53741546e-02 -1.15931336e-03 9.97860148e-01 1.51245512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.41, Y:55.67, Z:151.25 [[ 8.61782809e-01 5.04187194e-01 -5.59076401e-02 4.16412686e+02] [-5.03047177e-01 8.63593700e-01 3.39036811e-02 5.56685729e+01] [ 6.53752876e-02 -1.09342896e-03 9.97860149e-01 1.51250061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.882755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:416.46, Y:55.64, Z:151.25 [[ 8.62090832e-01 5.03661356e-01 -5.58984522e-02 4.16463078e+02] [-5.02519253e-01 8.63900408e-01 3.39188228e-02 5.56376481e+01] [ 6.53742959e-02 -1.15105770e-03 9.97860149e-01 1.51247595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.51, Y:55.60, Z:151.26 [[ 8.62036303e-01 5.03754102e-01 -5.59036405e-02 4.16511008e+02] [-5.02612748e-01 8.63846351e-01 3.39102696e-02 5.56045373e+01] [ 6.53745933e-02 -1.13400110e-03 9.97860149e-01 1.51255927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.56, Y:55.58, Z:151.25 [[ 8.63844277e-01 5.00647115e-01 -5.59064492e-02 4.16564391e+02] [-4.99499551e-01 8.65650395e-01 3.39056383e-02 5.55750470e+01] [ 6.53701998e-02 -1.36394530e-03 9.97860149e-01 1.51254483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.61, Y:55.54, Z:151.26 [[ 8.60437296e-01 5.06480136e-01 -5.59064492e-02 4.16611565e+02] [-5.05344818e-01 8.62251137e-01 3.39056383e-02 5.55422803e+01] [ 6.53779317e-02 -9.21641319e-04 9.97860149e-01 1.51257795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.122755096 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:416.66, Y:55.51, Z:151.26 [[ 8.58871370e-01 5.09130720e-01 -5.59095720e-02 4.16663532e+02] [-5.08001335e-01 8.60688910e-01 3.39004882e-02 5.55083453e+01] [ 6.53805285e-02 -7.14021499e-04 9.97860149e-01 1.51264824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.71, Y:55.47, Z:151.28 [[ 8.57097122e-01 5.12112973e-01 -5.59001367e-02 4.16712815e+02] [-5.10988899e-01 8.58917952e-01 3.39160394e-02 5.54717734e+01] [ 6.53824747e-02 -5.04990518e-04 9.97860149e-01 1.51276709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.76, Y:55.44, Z:151.28 [[ 8.58517155e-01 5.09729882e-01 -5.58904398e-02 4.16764717e+02] [-5.08599714e-01 8.60334208e-01 3.39320114e-02 5.54404388e+01] [ 6.53806175e-02 -7.05352184e-04 9.97860149e-01 1.51278094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3027550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:416.81, Y:55.40, Z:151.29 [[ 8.59820357e-01 5.07529369e-01 -5.58828518e-02 4.16813114e+02] [-5.06393739e-01 8.61634001e-01 3.39445035e-02 5.54020355e+01] [ 6.53783977e-02 -8.87448873e-04 9.97860149e-01 1.51285169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.86, Y:55.37, Z:151.29 [[ 8.61400157e-01 5.04844517e-01 -5.58729174e-02 4.16864404e+02] [-5.03702175e-01 8.63209581e-01 3.39608478e-02 5.53693698e+01] [ 6.53749854e-02 -1.11056955e-03 9.97860149e-01 1.51286933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.92, Y:55.33, Z:151.29 [[ 8.62429722e-01 5.03084689e-01 -5.58638585e-02 4.16915948e+02] [-5.01937690e-01 8.64236197e-01 3.39757427e-02 5.53333461e+01] [ 6.53722446e-02 -1.26151421e-03 9.97860150e-01 1.51291553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4827550959999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:416.97, Y:55.30, Z:151.29 [[ 8.61686665e-01 5.04357458e-01 -5.58537964e-02 4.16968636e+02] [-5.03212056e-01 8.63494153e-01 3.39922762e-02 5.53009514e+01] [ 6.53736846e-02 -1.18438739e-03 9.97860150e-01 1.51294838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.542755096 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:417.02, Y:55.27, Z:151.30 [[ 8.59730454e-01 5.07685865e-01 -5.58445156e-02 4.17020658e+02] [-5.06546471e-01 8.61541735e-01 3.40075163e-02 5.52677954e+01] [ 6.53775162e-02 -9.49455079e-04 9.97860150e-01 1.51298837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6027550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:417.07, Y:55.24, Z:151.30 [[ 8.58609037e-01 5.09581084e-01 -5.58358234e-02 4.17074530e+02] [-5.08444762e-01 8.60422247e-01 3.40217818e-02 5.52370941e+01] [ 6.53792411e-02 -8.21977381e-04 9.97860150e-01 1.51302635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.13, Y:55.21, Z:151.31 [[ 8.57617955e-01 5.11248274e-01 -5.58269210e-02 4.17129080e+02] [-5.10114526e-01 8.59432775e-01 3.40363836e-02 5.52061168e+01] [ 6.53805281e-02 -7.12090383e-04 9.97860150e-01 1.51307724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.19, Y:55.18, Z:151.31 [[ 8.56093082e-01 5.13798779e-01 -5.58162219e-02 4.17185225e+02] [-5.12669294e-01 8.57910558e-01 3.40539201e-02 5.51768723e+01] [ 6.53821886e-02 -5.38062336e-04 9.97860150e-01 1.51312460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.782755096 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:417.24, Y:55.14, Z:151.32 [[ 8.55468810e-01 5.14838698e-01 -5.58052880e-02 4.17239100e+02] [-5.13710255e-01 8.57286933e-01 3.40718285e-02 5.51448692e+01] [ 6.53826400e-02 -4.79637876e-04 9.97860151e-01 1.51316409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.29, Y:55.11, Z:151.32 [[ 8.56133319e-01 5.13734135e-01 -5.57940738e-02 4.17290699e+02] [-5.12602150e-01 8.57949238e-01 3.40901823e-02 5.51122005e+01] [ 6.53817735e-02 -5.85578711e-04 9.97860151e-01 1.51322864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.902755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:417.34, Y:55.08, Z:151.33 [[ 8.57576888e-01 5.11321717e-01 -5.57851459e-02 4.17342793e+02] [-5.10183674e-01 8.59389017e-01 3.41047858e-02 5.50773858e+01] [ 6.53796593e-02 -7.86805392e-04 9.97860151e-01 1.51326093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9627550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:417.39, Y:55.04, Z:151.33 [[ 8.58459819e-01 5.09839176e-01 -5.57741359e-02 4.17394227e+02] [-5.08696835e-01 8.60269241e-01 3.41227818e-02 5.50430407e+01] [ 6.53779045e-02 -9.20910708e-04 9.97860151e-01 1.51330896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.45, Y:55.01, Z:151.34 [[ 8.59868308e-01 5.07461166e-01 -5.57643034e-02 4.17445625e+02] [-5.06312779e-01 8.61673899e-01 3.41388427e-02 5.50107462e+01] [ 6.53747817e-02 -1.12072943e-03 9.97860151e-01 1.51336839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.50, Y:54.98, Z:151.34 [[ 8.60249099e-01 5.06816387e-01 -5.57551663e-02 4.17498431e+02] [-5.05665680e-01 8.62053212e-01 3.41537589e-02 5.49809434e+01] [ 6.53736048e-02 -1.18726620e-03 9.97860152e-01 1.51341026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.55, Y:54.95, Z:151.35 [[ 8.60827274e-01 5.05834297e-01 -5.57500541e-02 4.17552347e+02] [-5.04680992e-01 8.62629727e-01 3.41621015e-02 5.49483044e+01] [ 6.53720166e-02 -1.27167604e-03 9.97860152e-01 1.51345616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.61, Y:54.92, Z:151.35 [[ 8.60982879e-01 5.05570592e-01 -5.57391957e-02 4.17605924e+02] [-5.04415590e-01 8.62784245e-01 3.41798090e-02 5.49168129e+01] [ 6.53712062e-02 -1.31251114e-03 9.97860152e-01 1.51348358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.66, Y:54.89, Z:151.35 [[ 8.62516381e-01 5.02951042e-01 -5.57291883e-02 4.17660603e+02] [-5.01789516e-01 8.64313547e-01 3.41961181e-02 5.48874478e+01] [ 6.53664656e-02 -1.53038963e-03 9.97860152e-01 1.51349427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.71, Y:54.86, Z:151.35 [[ 8.63230941e-01 5.01724681e-01 -5.57197257e-02 4.17713225e+02] [-5.00559607e-01 8.65025809e-01 3.42115297e-02 5.48557280e+01] [ 6.53637696e-02 -1.64140698e-03 9.97860152e-01 1.51351677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.76, Y:54.82, Z:151.36 [[ 8.62255223e-01 5.03400789e-01 -5.57097509e-02 4.17764216e+02] [-5.02238157e-01 8.64051673e-01 3.42277649e-02 5.48199689e+01] [ 6.53663873e-02 -1.53350644e-03 9.97860152e-01 1.51358678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4427550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:417.82, Y:54.79, Z:151.36 [[ 8.63241821e-01 5.01708159e-01 -5.56999191e-02 4.17818771e+02] [-5.00540973e-01 8.65035317e-01 3.42437571e-02 5.47929212e+01] [ 6.53627694e-02 -1.68055153e-03 9.97860153e-01 1.51359801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.502755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:417.87, Y:54.76, Z:151.37 [[ 8.61679926e-01 5.04386833e-01 -5.56922614e-02 4.17872573e+02] [-5.03224420e-01 8.63476517e-01 3.42562066e-02 5.47604926e+01] [ 6.53673395e-02 -1.49217966e-03 9.97860153e-01 1.51365378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.92, Y:54.72, Z:151.37 [[ 8.56871615e-01 5.12514041e-01 -5.56811715e-02 4.17924471e+02] [-5.11367501e-01 8.58678378e-01 3.42742230e-02 5.47243039e+01] [ 6.53782386e-02 -8.95067276e-04 9.97860153e-01 1.51370999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.622755096 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:417.98, Y:54.69, Z:151.38 [[ 8.52875953e-01 5.19137237e-01 -5.56699053e-02 4.17976891e+02] [-5.18003536e-01 8.54690798e-01 3.42925125e-02 5.46919858e+01] [ 6.53830760e-02 -4.10051516e-04 9.97860153e-01 1.51376808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6827550959999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:418.03, Y:54.66, Z:151.38 [[ 8.52270219e-01 5.20132164e-01 -5.56597395e-02 4.18030769e+02] [-5.18999504e-01 8.54085714e-01 3.43090046e-02 5.46626485e+01] [ 6.53834051e-02 -3.53165653e-04 9.97860153e-01 1.51383005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.742755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:418.08, Y:54.63, Z:151.39 [[ 8.49193624e-01 5.25141295e-01 -5.56489904e-02 4.18082686e+02] [-5.24018202e-01 8.51015053e-01 3.43264306e-02 5.46285514e+01] [ 6.53843548e-02 1.12979053e-05 9.97860154e-01 1.51385832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.13, Y:54.59, Z:151.39 [[ 8.47807425e-01 5.27377394e-01 -5.56386103e-02 4.18134758e+02] [-5.26258001e-01 8.49631130e-01 3.43432472e-02 5.45933989e+01] [ 6.53841476e-02 1.63803891e-04 9.97860154e-01 1.51389308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.19, Y:54.56, Z:151.39 [[ 8.49307574e-01 5.24959338e-01 -5.56267842e-02 4.18186650e+02] [-5.23833499e-01 8.51127306e-01 3.43623916e-02 5.45597542e+01] [ 6.53843334e-02 -4.50664770e-05 9.97860154e-01 1.51393239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.922755096 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:418.24, Y:54.52, Z:151.40 [[ 8.50837311e-01 5.22477584e-01 -5.56151511e-02 4.18236422e+02] [-5.21345207e-01 8.52652982e-01 3.43812094e-02 5.45202229e+01] [ 6.53838357e-02 -2.58123298e-04 9.97860154e-01 1.51396259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9827550959999 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:418.29, Y:54.49, Z:151.40 [[ 8.54347420e-01 5.16719297e-01 -5.56026480e-02 4.18290162e+02] [-5.15573368e-01 8.56154568e-01 3.44014181e-02 5.44894652e+01] [ 6.53803377e-02 -7.23518313e-04 9.97860155e-01 1.51395425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.042755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:418.34, Y:54.46, Z:151.40 [[ 8.56419958e-01 5.13277688e-01 -5.55956027e-02 4.18343435e+02] [-5.12123759e-01 8.58222008e-01 3.44128002e-02 5.44558857e+01] [ 6.53766923e-02 -9.99979899e-04 9.97860155e-01 1.51399819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1027550959999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:418.40, Y:54.42, Z:151.40 [[ 8.57728414e-01 5.11089361e-01 -5.55844762e-02 4.18395785e+02] [-5.09929670e-01 8.59526762e-01 3.44307627e-02 5.44232956e+01] [ 6.53735413e-02 -1.18806983e-03 9.97860155e-01 1.51402850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.162755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:418.45, Y:54.39, Z:151.41 [[ 8.59714916e-01 5.07741833e-01 -5.55742275e-02 4.18448983e+02] [-5.06574073e-01 8.61508034e-01 3.44472969e-02 5.43909214e+01] [ 6.53679772e-02 -1.46239220e-03 9.97860155e-01 1.51407667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2227550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:418.50, Y:54.36, Z:151.41 [[ 8.59480150e-01 5.08140356e-01 -5.55630272e-02 4.18501614e+02] [-5.06972261e-01 8.61273050e-01 3.44653535e-02 5.43582330e+01] [ 6.53681749e-02 -1.45337369e-03 9.97860155e-01 1.51413676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.282755096 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:418.56, Y:54.33, Z:151.42 [[ 8.59623331e-01 5.07899240e-01 -5.55526027e-02 4.18557196e+02] [-5.06729557e-01 8.61415195e-01 3.44821480e-02 5.43296134e+01] [ 6.53673128e-02 -1.49151312e-03 9.97860155e-01 1.51415331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3427550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:418.61, Y:54.30, Z:151.42 [[ 8.60654644e-01 5.06150872e-01 -5.55416786e-02 4.18613854e+02] [-5.04976415e-01 8.62443383e-01 3.44997349e-02 5.43028131e+01] [ 6.53636240e-02 -1.64511935e-03 9.97860156e-01 1.51421088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.402755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:418.67, Y:54.27, Z:151.43 [[ 8.60021191e-01 5.07227767e-01 -5.55296696e-02 4.18666157e+02] [-5.06054303e-01 8.61810581e-01 3.45190534e-02 5.42692081e+01] [ 6.53650791e-02 -1.58608915e-03 9.97860156e-01 1.51426701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.72, Y:54.24, Z:151.43 [[ 8.60763711e-01 5.05967891e-01 -5.55187091e-02 4.18720440e+02] [-5.04790673e-01 8.62550633e-01 3.45366728e-02 5.42380410e+01] [ 6.53621451e-02 -1.70258814e-03 9.97860156e-01 1.51433118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.78, Y:54.21, Z:151.44 [[ 8.60873810e-01 5.05781750e-01 -5.55077014e-02 4.18776275e+02] [-5.04603006e-01 8.62659726e-01 3.45543554e-02 5.42088962e+01] [ 6.53612208e-02 -1.73758661e-03 9.97860156e-01 1.51437889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5827550959999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:418.83, Y:54.18, Z:151.44 [[ 8.60130686e-01 5.07045697e-01 -5.54965291e-02 4.18831487e+02] [-5.05868422e-01 8.61917570e-01 3.45722895e-02 5.41790864e+01] [ 6.53631641e-02 -1.66274542e-03 9.97860157e-01 1.51439446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.642755096 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:418.88, Y:54.15, Z:151.44 [[ 8.58504390e-01 5.09795611e-01 -5.54855540e-02 4.18884688e+02] [-5.08622923e-01 8.60294288e-01 3.45898947e-02 5.41490736e+01] [ 6.53676816e-02 -1.47435176e-03 9.97860157e-01 1.51442311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.94, Y:54.12, Z:151.45 [[ 8.56372393e-01 5.13369894e-01 -5.54768023e-02 4.18936487e+02] [-5.12203769e-01 8.58166573e-01 3.46039253e-02 5.41202770e+01] [ 6.53729508e-02 -1.21841909e-03 9.97860157e-01 1.51448139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.99, Y:54.09, Z:151.45 [[ 8.53680377e-01 5.17834013e-01 -5.54774672e-02 4.18988741e+02] [-5.16677341e-01 8.55480665e-01 3.46028594e-02 5.40948318e+01] [ 6.53784380e-02 -8.75831770e-04 9.97860157e-01 1.51451743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.04, Y:54.07, Z:151.45 [[ 8.51501890e-01 5.21408035e-01 -5.54814613e-02 4.19040014e+02] [-5.20259336e-01 8.53307277e-01 3.45964541e-02 5.40659586e+01] [ 6.53816038e-02 -5.94197835e-04 9.97860157e-01 1.51453273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.09, Y:54.04, Z:151.46 [[ 8.50849659e-01 5.22471471e-01 -5.54835027e-02 4.19091457e+02] [-5.21325243e-01 8.52656615e-01 3.45931800e-02 5.40390791e+01] [ 6.53823252e-02 -5.08644886e-04 9.97860157e-01 1.51455717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.14, Y:54.01, Z:151.46 [[ 8.51349095e-01 5.21656824e-01 -5.54876206e-02 4.19143170e+02] [-5.20509297e-01 8.53155227e-01 3.45865735e-02 5.40097226e+01] [ 6.53818756e-02 -5.63425649e-04 9.97860157e-01 1.51455525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.19, Y:53.98, Z:151.46 [[ 8.54612384e-01 5.16293092e-01 -5.54897803e-02 4.19193341e+02] [-5.15134456e-01 8.56411409e-01 3.45831083e-02 5.39808096e+01] [ 6.53771008e-02 -9.70454901e-04 9.97860157e-01 1.51459382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.24, Y:53.95, Z:151.46 [[ 8.58914776e-01 5.09103027e-01 -5.54933817e-02 4.19243281e+02] [-5.07929707e-01 8.60704259e-01 3.45773284e-02 5.39496866e+01] [ 6.53668125e-02 -1.51224119e-03 9.97860157e-01 1.51463757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.122755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:419.29, Y:53.92, Z:151.47 [[ 8.63458780e-01 5.01357263e-01 -5.54962202e-02 4.19292762e+02] [-5.00168188e-01 8.65237833e-01 3.45727720e-02 5.39183490e+01] [ 6.53507396e-02 -2.09471957e-03 9.97860157e-01 1.51469779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.34, Y:53.89, Z:151.48 [[ 8.66604937e-01 4.95898899e-01 -5.54992328e-02 4.19342305e+02] [-4.94698931e-01 8.68376661e-01 3.45679353e-02 5.38874506e+01] [ 6.53364395e-02 -2.50133223e-03 9.97860157e-01 1.51475641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.242755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:419.39, Y:53.86, Z:151.48 [[ 8.67803008e-01 4.93798994e-01 -5.55021861e-02 4.19391694e+02] [-4.92595042e-01 8.69572027e-01 3.45631928e-02 5.38577696e+01] [ 6.53304183e-02 -2.65394101e-03 9.97860157e-01 1.51479674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.44, Y:53.83, Z:151.48 [[ 8.67960642e-01 4.93521360e-01 -5.55066732e-02 4.19441502e+02] [-4.92317302e-01 8.69729589e-01 3.45559852e-02 5.38288931e+01] [ 6.53299129e-02 -2.66633952e-03 9.97860157e-01 1.51482687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.49, Y:53.80, Z:151.49 [[ 8.67555643e-01 4.94232584e-01 -5.55099910e-02 4.19491388e+02] [-4.93030317e-01 8.69325807e-01 3.45506548e-02 5.37976893e+01] [ 6.53323271e-02 -2.60650710e-03 9.97860157e-01 1.51485016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.54, Y:53.77, Z:151.49 [[ 8.66966794e-01 4.95264500e-01 -5.55126342e-02 4.19541657e+02] [-4.94064612e-01 8.68738571e-01 3.45464074e-02 5.37671607e+01] [ 6.53355757e-02 -2.52375997e-03 9.97860157e-01 1.51487006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.59, Y:53.74, Z:151.49 [[ 8.64991379e-01 4.98706299e-01 -5.55152328e-02 4.19592007e+02] [-4.97513729e-01 8.66768091e-01 3.45422309e-02 5.37364455e+01] [ 6.53452605e-02 -2.25914148e-03 9.97860157e-01 1.51490275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.64, Y:53.71, Z:151.49 [[ 8.63460958e-01 5.01351117e-01 -5.55178540e-02 4.19641988e+02] [-5.00164260e-01 8.65241491e-01 3.45380176e-02 5.37052348e+01] [ 6.53520245e-02 -2.05418340e-03 9.97860157e-01 1.51493757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.69, Y:53.67, Z:151.50 [[ 8.61359780e-01 5.04952285e-01 -5.55204457e-02 4.19691548e+02] [-5.03773142e-01 8.63145431e-01 3.45338509e-02 5.36746376e+01] [ 6.53601659e-02 -1.77636086e-03 9.97860157e-01 1.51497765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.74, Y:53.64, Z:151.50 [[ 8.59263304e-01 5.08511313e-01 -5.55231495e-02 4.19740147e+02] [-5.07339848e-01 8.61054001e-01 3.45295032e-02 5.36433666e+01] [ 6.53670730e-02 -1.50082876e-03 9.97860157e-01 1.51502962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7227550959999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:419.79, Y:53.61, Z:151.50 [[ 8.57246163e-01 5.11904121e-01 -5.55264629e-02 4.19788141e+02] [-5.10740089e-01 8.59041701e-01 3.45241742e-02 5.36103548e+01] [ 6.53726141e-02 -1.23612527e-03 9.97860157e-01 1.51503601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.782755096 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:419.84, Y:53.58, Z:151.51 [[ 8.54524126e-01 5.16434863e-01 -5.55297265e-02 4.19836305e+02] [-5.15280694e-01 8.56326019e-01 3.45189241e-02 5.35786429e+01] [ 6.53783255e-02 -8.83857435e-04 9.97860157e-01 1.51508628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.89, Y:53.55, Z:151.52 [[ 8.52892951e-01 5.19123913e-01 -5.55335629e-02 4.19885129e+02] [-5.17975826e-01 8.54698727e-01 3.45127511e-02 5.35466388e+01] [ 6.53808599e-02 -6.70639001e-04 9.97860157e-01 1.51515444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.93, Y:53.51, Z:151.52 [[ 8.52071933e-01 5.20470130e-01 -5.55361493e-02 4.19932850e+02] [-5.19325168e-01 8.53879691e-01 3.45085887e-02 5.35134730e+01] [ 6.53818796e-02 -5.62479826e-04 9.97860157e-01 1.51518867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9627550959999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:419.98, Y:53.48, Z:151.52 [[ 8.52657028e-01 5.19510707e-01 -5.55393320e-02 4.19980397e+02] [-5.18364044e-01 8.54463708e-01 3.45034655e-02 5.34799741e+01] [ 6.53812633e-02 -6.30029606e-04 9.97860157e-01 1.51522131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.03, Y:53.45, Z:151.53 [[ 8.53430587e-01 5.18238546e-01 -5.55431663e-02 4.20027510e+02] [-5.17089592e-01 8.55235810e-01 3.44972921e-02 5.34458949e+01] [ 6.53803313e-02 -7.20251033e-04 9.97860157e-01 1.51527054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.08, Y:53.41, Z:151.53 [[ 8.54314969e-01 5.16779006e-01 -5.55463096e-02 4.20076295e+02] [-5.15627297e-01 8.56118436e-01 3.44922301e-02 5.34122227e+01] [ 6.53790801e-02 -8.26035034e-04 9.97860157e-01 1.51530228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.12, Y:53.38, Z:151.53 [[ 8.55705943e-01 5.14472226e-01 -5.55487916e-02 4.20122938e+02] [-5.13315915e-01 8.57506463e-01 3.44882324e-02 5.33772981e+01] [ 6.53766855e-02 -9.97706648e-04 9.97860157e-01 1.51532561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:420.17, Y:53.34, Z:151.53 [[ 8.56221034e-01 5.13614188e-01 -5.55518434e-02 4.20170573e+02] [-5.12456392e-01 8.58020599e-01 3.44833160e-02 5.33449364e+01] [ 6.53757463e-02 -1.05744325e-03 9.97860157e-01 1.51533849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.262755096 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:420.22, Y:53.31, Z:151.54 [[ 8.56608434e-01 5.12967496e-01 -5.55548303e-02 4.20218535e+02] [-5.11808653e-01 8.58407325e-01 3.44785033e-02 5.33104489e+01] [ 6.53750247e-02 -1.10113385e-03 9.97860157e-01 1.51536385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3227550959999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:420.27, Y:53.28, Z:151.54 [[ 8.56329805e-01 5.13432238e-01 -5.55571975e-02 4.20265758e+02] [-5.12274618e-01 8.58129484e-01 3.44746885e-02 5.32763305e+01] [ 6.53756856e-02 -1.06116113e-03 9.97860157e-01 1.51541006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.31, Y:53.24, Z:151.55 [[ 8.55736859e-01 5.14419579e-01 -5.55601082e-02 4.20314013e+02] [-5.13264341e-01 8.57538067e-01 3.44699968e-02 5.32430928e+01] [ 6.53769490e-02 -9.80224498e-04 9.97860157e-01 1.51550189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:420.36, Y:53.21, Z:151.56 [[ 8.54834896e-01 5.15916708e-01 -5.55630417e-02 4.20362676e+02] [-5.14764932e-01 8.56638320e-01 3.44652676e-02 5.32091666e+01] [ 6.53786381e-02 -8.60208012e-04 9.97860157e-01 1.51557208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.41, Y:53.17, Z:151.56 [[ 8.54200800e-01 5.16965735e-01 -5.55645817e-02 4.20414048e+02] [-5.15816335e-01 8.56005739e-01 3.44627846e-02 5.31745237e+01] [ 6.53796796e-02 -7.77019291e-04 9.97860157e-01 1.51560736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5627550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:420.47, Y:53.14, Z:151.56 [[ 8.54305131e-01 5.16794404e-01 -5.55543672e-02 4.20465472e+02] [-5.15643572e-01 8.56109157e-01 3.44792427e-02 5.31383837e+01] [ 6.53792822e-02 -8.09541576e-04 9.97860158e-01 1.51564697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.622755096 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:420.52, Y:53.10, Z:151.57 [[ 8.54183970e-01 5.16995835e-01 -5.55432427e-02 4.20516655e+02] [-5.15844264e-01 8.55987524e-01 3.44971541e-02 5.31018076e+01] [ 6.53792078e-02 -8.15252950e-04 9.97860158e-01 1.51570918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.57, Y:53.07, Z:151.57 [[ 8.54272911e-01 5.16850072e-01 -5.55319386e-02 4.20568490e+02] [-5.15697011e-01 8.56075513e-01 3.45153414e-02 5.30667869e+01] [ 6.53787895e-02 -8.47866450e-04 9.97860158e-01 1.51573233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.742755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:420.62, Y:53.03, Z:151.58 [[ 8.54223175e-01 5.16933313e-01 -5.55222218e-02 4.20617898e+02] [-5.15779412e-01 8.56025240e-01 3.45309650e-02 5.30315059e+01] [ 6.53786293e-02 -8.59931670e-04 9.97860158e-01 1.51576986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.67, Y:53.00, Z:151.58 [[ 8.53540827e-01 5.18059769e-01 -5.55169633e-02 4.20670189e+02] [-5.16907697e-01 8.55344061e-01 3.45394172e-02 5.29959737e+01] [ 6.53795873e-02 -7.83657068e-04 9.97860158e-01 1.51581777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.862755096 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:420.72, Y:52.96, Z:151.58 [[ 8.52745416e-01 5.19369149e-01 -5.55062419e-02 4.20722672e+02] [-5.18218725e-01 8.54549702e-01 3.45566384e-02 5.29610449e+01] [ 6.53804943e-02 -7.03641141e-04 9.97860158e-01 1.51584871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.78, Y:52.93, Z:151.59 [[ 8.50662768e-01 5.22774447e-01 -5.54953377e-02 4.20775461e+02] [-5.21630104e-01 8.52470916e-01 3.45741409e-02 5.29267223e+01] [ 6.53826388e-02 -4.62895602e-04 9.97860159e-01 1.51590682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.83, Y:52.89, Z:151.59 [[ 8.49132924e-01 5.25256856e-01 -5.54843423e-02 4.20827911e+02] [-5.24116647e-01 8.50943682e-01 3.45917773e-02 5.28936971e+01] [ 6.53836187e-02 -2.92749554e-04 9.97860159e-01 1.51593847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.88, Y:52.86, Z:151.60 [[ 8.46975753e-01 5.28729314e-01 -5.54742019e-02 4.20880805e+02] [-5.27595464e-01 8.48790499e-01 3.46080317e-02 5.28607675e+01] [ 6.53842563e-02 -4.42264434e-05 9.97860159e-01 1.51597627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1027550959999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:420.93, Y:52.83, Z:151.60 [[ 8.47518685e-01 5.27859761e-01 -5.54630638e-02 4.20933680e+02] [-5.26722882e-01 8.49331534e-01 3.46258725e-02 5.28282043e+01] [ 6.53841338e-02 -1.32409143e-04 9.97860159e-01 1.51599636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.99, Y:52.79, Z:151.61 [[ 8.48320349e-01 5.26571529e-01 -5.54527754e-02 4.20986419e+02] [-5.25430819e-01 8.50130791e-01 3.46423414e-02 5.27946834e+01] [ 6.53837825e-02 -2.51205946e-04 9.97860160e-01 1.51607407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2227550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:421.04, Y:52.76, Z:151.61 [[ 8.50572992e-01 5.22926183e-01 -5.54417946e-02 4.21038120e+02] [-5.21776570e-01 8.52377793e-01 3.46599062e-02 5.27614503e+01] [ 6.53819270e-02 -5.52550656e-04 9.97860160e-01 1.51612413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.282755096 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:421.09, Y:52.73, Z:151.62 [[ 8.51278574e-01 5.21777844e-01 -5.54316768e-02 4.21090974e+02] [-5.20624743e-01 8.53081149e-01 3.46760801e-02 5.27279577e+01] [ 6.53809288e-02 -6.59901503e-04 9.97860160e-01 1.51615123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3427550959999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:421.14, Y:52.69, Z:151.62 [[ 8.54100088e-01 5.17147515e-01 -5.54210048e-02 4.21144062e+02] [-5.15983537e-01 8.55895658e-01 3.46931283e-02 5.26945006e+01] [ 6.53760624e-02 -1.03507785e-03 9.97860160e-01 1.51620182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.20, Y:52.66, Z:151.63 [[ 8.56299992e-01 5.13497810e-01 -5.54104902e-02 4.21196283e+02] [-5.12325095e-01 8.58089867e-01 3.47099137e-02 5.26606599e+01] [ 6.53706448e-02 -1.33391420e-03 9.97860160e-01 1.51627027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.25, Y:52.63, Z:151.63 [[ 8.57143846e-01 5.12089106e-01 -5.54001269e-02 4.21248695e+02] [-5.10912381e-01 8.58931087e-01 3.47264466e-02 5.26266808e+01] [ 6.53679262e-02 -1.46094927e-03 9.97860160e-01 1.51631863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.522755096 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:421.30, Y:52.59, Z:151.63 [[ 8.56472612e-01 5.13212064e-01 -5.53899119e-02 4.21301618e+02] [-5.12036630e-01 8.58260702e-01 3.47427322e-02 5.25943494e+01] [ 6.53693740e-02 -1.39453471e-03 9.97860161e-01 1.51633358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.36, Y:52.56, Z:151.64 [[ 8.53780615e-01 5.17679112e-01 -5.53804856e-02 4.21355963e+02] [-5.16512060e-01 8.55574188e-01 3.47577514e-02 5.25623773e+01] [ 6.53754759e-02 -1.07080563e-03 9.97860161e-01 1.51638635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.642755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:421.41, Y:52.53, Z:151.64 [[ 8.52200570e-01 5.20277256e-01 -5.53693568e-02 4.21409213e+02] [-5.19114522e-01 8.53996944e-01 3.47754706e-02 5.25287563e+01] [ 6.53781480e-02 -8.92638684e-04 9.97860161e-01 1.51643451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7027550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:421.46, Y:52.49, Z:151.65 [[ 8.51307773e-01 5.21737993e-01 -5.53583005e-02 4.21462234e+02] [-5.20577198e-01 8.53105400e-01 3.47930620e-02 5.24944278e+01] [ 6.53793275e-02 -8.01335216e-04 9.97860161e-01 1.51647836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.762755096 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:421.52, Y:52.46, Z:151.65 [[ 8.50405804e-01 5.23208051e-01 -5.53471263e-02 4.21515504e+02] [-5.22049206e-01 8.52204689e-01 3.48108284e-02 5.24608111e+01] [ 6.53803863e-02 -7.09407097e-04 9.97860161e-01 1.51651259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8227550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:421.57, Y:52.43, Z:151.66 [[ 8.50362501e-01 5.23279612e-01 -5.53359262e-02 4.21568196e+02] [-5.22119761e-01 8.52160737e-01 3.48286233e-02 5.24279495e+01] [ 6.53802121e-02 -7.24974662e-04 9.97860162e-01 1.51656980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.62, Y:52.39, Z:151.66 [[ 8.50508490e-01 5.23043388e-01 -5.53256006e-02 4.21619834e+02] [-5.21881971e-01 8.52305716e-01 3.48450179e-02 5.23917380e+01] [ 6.53797818e-02 -7.62550057e-04 9.97860162e-01 1.51663692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9427550959999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:421.67, Y:52.36, Z:151.67 [[ 8.52047095e-01 5.20534486e-01 -5.53136215e-02 4.21673272e+02] [-5.19366544e-01 8.53840086e-01 3.48640234e-02 5.23589484e+01] [ 6.53769138e-02 -9.77745396e-04 9.97860162e-01 1.51665776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.73, Y:52.32, Z:151.67 [[ 8.52798701e-01 5.19303484e-01 -5.53015965e-02 4.21725185e+02] [-5.18131718e-01 8.54589195e-01 3.48830872e-02 5.23249489e+01] [ 6.53750555e-02 -1.09474024e-03 9.97860162e-01 1.51673356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0627550959999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:421.78, Y:52.29, Z:151.67 [[ 8.53162234e-01 5.18707104e-01 -5.52914313e-02 4.21777865e+02] [-5.17533043e-01 8.54951224e-01 3.48991921e-02 5.22901392e+01] [ 6.53739357e-02 -1.15953003e-03 9.97860163e-01 1.51674465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.122755096 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:421.83, Y:52.25, Z:151.68 [[ 8.53007966e-01 5.18961904e-01 -5.52806590e-02 4.21829002e+02] [-5.17787273e-01 8.54796582e-01 3.49162471e-02 5.22544808e+01] [ 6.53739205e-02 -1.16021528e-03 9.97860163e-01 1.51679074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.88, Y:52.22, Z:151.68 [[ 8.52339860e-01 5.20059639e-01 -5.52696580e-02 4.21881668e+02] [-5.18886183e-01 8.54129246e-01 3.49336523e-02 5.22218117e+01] [ 6.53750139e-02 -1.09668243e-03 9.97860163e-01 1.51681869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.93, Y:52.19, Z:151.69 [[ 8.52720445e-01 5.19435764e-01 -5.52659910e-02 4.21934207e+02] [-5.18260623e-01 8.54508725e-01 3.49394526e-02 5.21874863e+01] [ 6.53740728e-02 -1.15139863e-03 9.97860163e-01 1.51685908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3027550959999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:421.99, Y:52.15, Z:151.69 [[ 8.53529559e-01 5.18106483e-01 -5.52536392e-02 4.21986856e+02] [-5.16927294e-01 8.55315172e-01 3.49589749e-02 5.21531574e+01] [ 6.53717475e-02 -1.27640423e-03 9.97860163e-01 1.51687773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.04, Y:52.12, Z:151.70 [[ 8.53734016e-01 5.17770742e-01 -5.52420838e-02 4.22039071e+02] [-5.16589670e-01 8.55518385e-01 3.49772253e-02 5.21205408e+01] [ 6.53708022e-02 -1.32375719e-03 9.97860164e-01 1.51695693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.422755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:422.09, Y:52.09, Z:151.70 [[ 8.55423014e-01 5.14976823e-01 -5.52298719e-02 4.22088596e+02] [-5.13788680e-01 8.57202682e-01 3.49964975e-02 5.20908326e+01] [ 6.53655794e-02 -1.56032641e-03 9.97860164e-01 1.51698769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4827550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:422.14, Y:52.06, Z:151.70 [[ 8.55850786e-01 5.14265224e-01 -5.52332499e-02 4.22143706e+02] [-5.13075946e-01 8.57629694e-01 3.49911655e-02 5.20594006e+01] [ 6.53644148e-02 -1.60836453e-03 9.97860164e-01 1.51700438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.542755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:422.20, Y:52.03, Z:151.71 [[ 8.56629026e-01 5.12969032e-01 -5.52221419e-02 4.22197280e+02] [-5.11775933e-01 8.58405374e-01 3.50086871e-02 5.20271502e+01] [ 6.53613557e-02 -1.72809435e-03 9.97860164e-01 1.51706282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6027550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:422.25, Y:51.99, Z:151.71 [[ 8.57655949e-01 5.11251432e-01 -5.52109297e-02 4.22250698e+02] [-5.10053640e-01 8.59429135e-01 3.50263606e-02 5.19948342e+01] [ 6.53571585e-02 -1.88003091e-03 9.97860164e-01 1.51711553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.662755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:422.31, Y:51.96, Z:151.71 [[ 8.58561906e-01 5.09729791e-01 -5.51995875e-02 4.22305148e+02] [-5.08527709e-01 8.60332187e-01 3.50442262e-02 5.19627355e+01] [ 6.53530679e-02 -2.01711788e-03 9.97860164e-01 1.51714859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.36, Y:51.93, Z:151.72 [[ 8.58285298e-01 5.10196744e-01 -5.51872157e-02 4.22358899e+02] [-5.08994375e-01 8.60055384e-01 3.50636983e-02 5.19314018e+01] [ 6.53534467e-02 -2.00467440e-03 9.97860165e-01 1.51719137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.41, Y:51.90, Z:151.72 [[ 8.56227435e-01 5.13644071e-01 -5.51756050e-02 4.22412968e+02] [-5.12447654e-01 8.58001549e-01 3.50819591e-02 5.18992120e+01] [ 6.53603949e-02 -1.76352653e-03 9.97860165e-01 1.51723159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8427550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:422.47, Y:51.87, Z:151.73 [[ 8.52599638e-01 5.19644790e-01 -5.51647445e-02 4.22467166e+02] [-5.18459758e-01 8.54381377e-01 3.50990286e-02 5.18671335e+01] [ 6.53707577e-02 -1.32471900e-03 9.97860165e-01 1.51726515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.902755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:422.52, Y:51.83, Z:151.73 [[ 8.49736981e-01 5.24313948e-01 -5.51538422e-02 4.22520658e+02] [-5.23137597e-01 8.51524463e-01 3.51161519e-02 5.18346917e+01] [ 6.53767341e-02 -9.86444452e-04 9.97860165e-01 1.51728573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.57, Y:51.80, Z:151.73 [[ 8.45900067e-01 5.30483101e-01 -5.51430435e-02 4.22573162e+02] [-5.29318683e-01 8.47695345e-01 3.51331009e-02 5.18030578e+01] [ 6.53820176e-02 -5.30849314e-04 9.97860166e-01 1.51734101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.022755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:422.63, Y:51.77, Z:151.74 [[ 8.44315963e-01 5.33001438e-01 -5.51363887e-02 4.22625960e+02] [-5.31841692e-01 8.46114263e-01 3.51435416e-02 5.17682086e+01] [ 6.53832431e-02 -3.48422961e-04 9.97860166e-01 1.51736656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0827550959999 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:422.68, Y:51.73, Z:151.74 [[ 8.45229174e-01 5.31553222e-01 -5.51254564e-02 4.22676839e+02] [-5.30389277e-01 8.47024758e-01 3.51606815e-02 5.17332129e+01] [ 6.53823999e-02 -4.80882797e-04 9.97860166e-01 1.51740221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.142755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:422.73, Y:51.70, Z:151.75 [[ 8.45364032e-01 5.31339420e-01 -5.51187185e-02 4.22729746e+02] [-5.30174333e-01 8.47158875e-01 3.51712408e-02 5.16989206e+01] [ 6.53821783e-02 -5.09972120e-04 9.97860166e-01 1.51745880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2027550959999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:422.78, Y:51.66, Z:151.75 [[ 8.46080756e-01 5.30198566e-01 -5.51074854e-02 4.22782266e+02] [-5.29029913e-01 8.47873279e-01 3.51888324e-02 5.16636075e+01] [ 6.53812328e-02 -6.19085739e-04 9.97860166e-01 1.51749538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.262755096 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:422.83, Y:51.63, Z:151.75 [[ 8.47389173e-01 5.28106043e-01 -5.50962606e-02 4.22834362e+02] [-5.26931821e-01 8.49178053e-01 3.52063986e-02 5.16288589e+01] [ 6.53792472e-02 -8.01548052e-04 9.97860166e-01 1.51752158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3227550959999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:422.89, Y:51.59, Z:151.75 [[ 8.49843719e-01 5.24148185e-01 -5.50847813e-02 4.22885070e+02] [-5.22964470e-01 8.51626332e-01 3.52243503e-02 5.15925142e+01] [ 6.53744295e-02 -1.12780940e-03 9.97860167e-01 1.51751709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.94, Y:51.56, Z:151.76 [[ 8.51362049e-01 5.21679490e-01 -5.50742272e-02 4.22936149e+02] [-5.20489540e-01 8.53140505e-01 3.52408443e-02 5.15556280e+01] [ 6.53704797e-02 -1.33715820e-03 9.97860167e-01 1.51758676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.99, Y:51.52, Z:151.76 [[ 8.52502795e-01 5.19814443e-01 -5.50629642e-02 4.22988327e+02] [-5.18619467e-01 8.54277877e-01 3.52584337e-02 5.15204592e+01] [ 6.53669152e-02 -1.50118818e-03 9.97860167e-01 1.51761913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.04, Y:51.48, Z:151.77 [[ 8.51070592e-01 5.22157192e-01 -5.50519351e-02 4.23040273e+02] [-5.20965989e-01 8.52848209e-01 3.52756459e-02 5.14845952e+01] [ 6.53703764e-02 -1.34187899e-03 9.97860167e-01 1.51765177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.10, Y:51.45, Z:151.77 [[ 8.49171394e-01 5.25241298e-01 -5.50411004e-02 4.23095314e+02] [-5.24055457e-01 8.50952592e-01 3.52925434e-02 5.14535657e+01] [ 6.53744684e-02 -1.12482925e-03 9.97860167e-01 1.51769538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.622755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:423.15, Y:51.42, Z:151.77 [[ 8.46886967e-01 5.28917883e-01 -5.50303364e-02 4.23148651e+02] [-5.27738686e-01 8.48672570e-01 3.53093194e-02 5.14208345e+01] [ 6.53784675e-02 -8.61365008e-04 9.97860168e-01 1.51773147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.20, Y:51.39, Z:151.77 [[ 8.46200656e-01 5.30016310e-01 -5.50196421e-02 4.23200118e+02] [-5.28838348e-01 8.47987074e-01 3.53259756e-02 5.13903914e+01] [ 6.53792885e-02 -7.96367080e-04 9.97860168e-01 1.51773699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.742755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:423.25, Y:51.36, Z:151.78 [[ 8.46105551e-01 5.30168210e-01 -5.50187810e-02 4.23253299e+02] [-5.28990482e-01 8.47892122e-01 3.53273166e-02 5.13569735e+01] [ 6.53794112e-02 -7.86227227e-04 9.97860168e-01 1.51778550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.31, Y:51.32, Z:151.79 [[ 8.48512711e-01 5.26308301e-01 -5.50068284e-02 4.23306054e+02] [-5.25121241e-01 8.50293095e-01 3.53459178e-02 5.13242606e+01] [ 6.53747764e-02 -1.10620650e-03 9.97860168e-01 1.51785729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.862755096 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:423.36, Y:51.29, Z:151.79 [[ 8.49983925e-01 5.23930157e-01 -5.49956119e-02 4.23358680e+02] [-5.22736988e-01 8.51760221e-01 3.53633613e-02 5.12892902e+01] [ 6.53710060e-02 -1.31004819e-03 9.97860168e-01 1.51787288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.922755096 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:423.41, Y:51.25, Z:151.79 [[ 8.48564156e-01 5.26227686e-01 -5.49845004e-02 4.23407758e+02] [-5.25038208e-01 8.50342925e-01 3.53806296e-02 5.12516809e+01] [ 6.53739478e-02 -1.15377052e-03 9.97860168e-01 1.51794937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.46, Y:51.22, Z:151.80 [[ 8.48881370e-01 5.25716912e-01 -5.49740600e-02 4.23459916e+02] [-5.24525314e-01 8.50658720e-01 3.53968443e-02 5.12164533e+01] [ 6.53728832e-02 -1.21243561e-03 9.97860169e-01 1.51801387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.51, Y:51.18, Z:151.80 [[ 8.48543203e-01 5.26263814e-01 -5.49620884e-02 4.23512497e+02] [-5.25072159e-01 8.50320514e-01 3.54154234e-02 5.11822213e+01] [ 6.53732470e-02 -1.19245440e-03 9.97860169e-01 1.51804082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1027550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:423.57, Y:51.15, Z:151.80 [[ 8.47393725e-01 5.28113963e-01 -5.49501253e-02 4.23567065e+02] [-5.26924986e-01 8.49172829e-01 3.54339755e-02 5.11540047e+01] [ 6.53753306e-02 -1.07193448e-03 9.97860169e-01 1.51800725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.162755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:423.62, Y:51.12, Z:151.80 [[ 8.46110926e-01 5.30167741e-01 -5.49405818e-02 4.23619583e+02] [-5.28982122e-01 8.47892269e-01 3.54487666e-02 5.11201023e+01] [ 6.53774871e-02 -9.31003148e-04 9.97860169e-01 1.51804607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.67, Y:51.09, Z:151.81 [[ 8.45239601e-01 5.31556919e-01 -5.49295783e-02 4.23671290e+02] [-5.30373120e-01 8.47022154e-01 3.54658089e-02 5.10882701e+01] [ 6.53786658e-02 -8.43934337e-04 9.97860169e-01 1.51809505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.282755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:423.72, Y:51.05, Z:151.81 [[ 8.46845337e-01 5.28995917e-01 -5.49208024e-02 4.23724436e+02] [-5.27805847e-01 8.48623710e-01 3.54793936e-02 5.10545543e+01] [ 6.53755494e-02 -1.05803841e-03 9.97860170e-01 1.51811179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.78, Y:51.02, Z:151.81 [[ 8.49476430e-01 5.24761536e-01 -5.49101641e-02 4.23776668e+02] [-5.23561539e-01 8.51248118e-01 3.54958505e-02 5.10206881e+01] [ 6.53690309e-02 -1.40403828e-03 9.97860170e-01 1.51813539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.83, Y:50.99, Z:151.82 [[ 8.54370999e-01 5.16755434e-01 -5.49000762e-02 4.23828883e+02] [-5.15537840e-01 8.56130640e-01 3.55114464e-02 5.09883023e+01] [ 6.53523702e-02 -2.03688323e-03 9.97860170e-01 1.51817890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.88, Y:50.96, Z:151.82 [[ 8.55424604e-01 5.15010581e-01 -5.48894255e-02 4.23882756e+02] [-5.13788344e-01 8.57181023e-01 3.55279013e-02 5.09554904e+01] [ 6.53474190e-02 -2.18989388e-03 9.97860170e-01 1.51820509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.94, Y:50.92, Z:151.83 [[ 8.55626383e-01 5.14676490e-01 -5.48780708e-02 4.23935564e+02] [-5.13452444e-01 8.57381543e-01 3.55454317e-02 5.09243768e+01] [ 6.53458430e-02 -2.23632960e-03 9.97860170e-01 1.51826517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5827550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:423.99, Y:50.90, Z:151.83 [[ 8.54437061e-01 5.16649644e-01 -5.48676143e-02 4.23985863e+02] [-5.15428617e-01 8.56194321e-01 3.55615649e-02 5.08964858e+01] [ 6.53502096e-02 -2.10478035e-03 9.97860171e-01 1.51831855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.642755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:424.04, Y:50.87, Z:151.84 [[ 8.52290423e-01 5.20182793e-01 -5.48716367e-02 4.24036138e+02] [-5.18969452e-01 8.54052999e-01 3.55553573e-02 5.08664105e+01] [ 6.53585709e-02 -1.82678728e-03 9.97860171e-01 1.51835081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.09, Y:50.84, Z:151.84 [[ 8.48094693e-01 5.26995432e-01 -5.48744541e-02 4.24088060e+02] [-5.25796534e-01 8.49867125e-01 3.55510084e-02 5.08384439e+01] [ 6.53712136e-02 -1.29782380e-03 9.97860171e-01 1.51839915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.14, Y:50.81, Z:151.84 [[ 8.45795640e-01 5.30677156e-01 -5.48770599e-02 4.24137967e+02] [-5.29486235e-01 8.47573442e-01 3.55469856e-02 5.08086085e+01] [ 6.53763118e-02 -1.00883761e-03 9.97860171e-01 1.51843771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.19, Y:50.78, Z:151.85 [[ 8.43149931e-01 5.34870343e-01 -5.48808691e-02 4.24188884e+02] [-5.33688647e-01 8.44933878e-01 3.55411037e-02 5.07786910e+01] [ 6.53805879e-02 -6.77182398e-04 9.97860171e-01 1.51847667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.24, Y:50.74, Z:151.85 [[ 8.42171998e-01 5.36408542e-01 -5.48835212e-02 4.24240532e+02] [-5.35230372e-01 8.43958275e-01 3.55370078e-02 5.07449410e+01] [ 6.53817564e-02 -5.52945433e-04 9.97860171e-01 1.51852722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.29, Y:50.71, Z:151.86 [[ 8.42162139e-01 5.36425014e-01 -5.48738170e-02 4.24292109e+02] [-5.35245903e-01 8.43947795e-01 3.55519861e-02 5.07097811e+01] [ 6.53816115e-02 -5.69550987e-04 9.97860171e-01 1.51857836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.34, Y:50.68, Z:151.86 [[ 8.43463192e-01 5.34378135e-01 -5.48621310e-02 4.24344320e+02] [-5.33193518e-01 8.45245199e-01 3.55700103e-02 5.06754264e+01] [ 6.53797886e-02 -7.49861761e-04 9.97860171e-01 1.51862504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.40, Y:50.64, Z:151.87 [[ 8.44398963e-01 5.32899443e-01 -5.48504723e-02 4.24397779e+02] [-5.31710539e-01 8.46178113e-01 3.55879795e-02 5.06418957e+01] [ 6.53780835e-02 -8.85878824e-04 9.97860171e-01 1.51865407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.45, Y:50.60, Z:151.87 [[ 8.47169359e-01 5.28485366e-01 -5.48388143e-02 4.24447348e+02] [-5.27286031e-01 8.48941493e-01 3.56059346e-02 5.06049844e+01] [ 6.53721603e-02 -1.24851607e-03 9.97860172e-01 1.51868831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.50, Y:50.57, Z:151.87 [[ 8.48881562e-01 5.25731846e-01 -5.48280969e-02 4.24497810e+02] [-5.24525698e-01 8.50649066e-01 3.56224302e-02 5.05691952e+01] [ 6.53673155e-02 -1.48047835e-03 9.97860172e-01 1.51873066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.55, Y:50.53, Z:151.88 [[ 8.51971480e-01 5.20710694e-01 -5.48176179e-02 4.24550389e+02] [-5.19493096e-01 8.53731115e-01 3.56385487e-02 5.05342398e+01] [ 6.53568795e-02 -1.88565303e-03 9.97860172e-01 1.51876144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.60, Y:50.50, Z:151.88 [[ 8.54267447e-01 5.16936573e-01 -5.48060986e-02 4.24600912e+02] [-5.15710068e-01 8.56020886e-01 3.56562546e-02 5.04960432e+01] [ 6.53471871e-02 -2.19592076e-03 9.97860172e-01 1.51878695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.65, Y:50.46, Z:151.88 [[ 8.57523904e-01 5.11517806e-01 -5.47931404e-02 4.24651854e+02] [-5.10278955e-01 8.59268642e-01 3.56761565e-02 5.04608091e+01] [ 6.53310166e-02 -2.63337055e-03 9.97860172e-01 1.51880226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.70, Y:50.43, Z:151.88 [[ 8.58808392e-01 5.09359588e-01 -5.47809792e-02 4.24704540e+02] [-5.08115166e-01 8.60549161e-01 3.56948204e-02 5.04258904e+01] [ 6.53232246e-02 -2.81996500e-03 9.97860173e-01 1.51882606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.76, Y:50.39, Z:151.89 [[ 8.58032726e-01 5.10666370e-01 -5.47695091e-02 4.24756702e+02] [-5.09423480e-01 8.59774588e-01 3.57124111e-02 5.03907338e+01] [ 6.53265595e-02 -2.74154358e-03 9.97860173e-01 1.51886837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.81, Y:50.36, Z:151.89 [[ 8.55034277e-01 5.15672311e-01 -5.47581379e-02 4.24809321e+02] [-5.14438507e-01 8.56782587e-01 3.57298382e-02 5.03572400e+01] [ 6.53407073e-02 -2.38054167e-03 9.97860173e-01 1.51890843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.86, Y:50.32, Z:151.90 [[ 8.51449766e-01 5.21570778e-01 -5.47468731e-02 4.24861910e+02] [-5.20347982e-01 8.53205792e-01 3.57470904e-02 5.03247566e+01] [ 6.53549870e-02 -1.94942680e-03 9.97860173e-01 1.51895566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.91, Y:50.29, Z:151.90 [[ 8.49039322e-01 5.25486222e-01 -5.47399316e-02 4.24913495e+02] [-5.24270841e-01 8.50800489e-01 3.57577168e-02 5.02921954e+01] [ 6.53629481e-02 -1.66115769e-03 9.97860173e-01 1.51900502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.96, Y:50.25, Z:151.91 [[ 8.46147355e-01 5.30131265e-01 -5.47311239e-02 4.24962006e+02] [-5.28924683e-01 8.47914561e-01 3.57711929e-02 5.02527757e+01] [ 6.53707446e-02 -1.31905795e-03 9.97860174e-01 1.51908473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.02, Y:50.22, Z:151.91 [[ 8.47015801e-01 5.28743800e-01 -5.47195261e-02 4.25015436e+02] [-5.27533178e-01 8.48780242e-01 3.57889255e-02 5.02227922e+01] [ 6.53680250e-02 -1.44741995e-03 9.97860174e-01 1.51909191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.07, Y:50.19, Z:151.91 [[ 8.46107588e-01 5.30196886e-01 -5.47102532e-02 4.25068037e+02] [-5.28988378e-01 8.47873478e-01 3.58030953e-02 5.01886485e+01] [ 6.53700622e-02 -1.35218253e-03 9.97860174e-01 1.51912781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.12, Y:50.15, Z:151.92 [[ 8.45660947e-01 5.30910136e-01 -5.46990827e-02 4.25119893e+02] [-5.29702015e-01 8.47427101e-01 3.58201531e-02 5.01536083e+01] [ 6.53707675e-02 -1.31749027e-03 9.97860174e-01 1.51917200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.17, Y:50.12, Z:151.92 [[ 8.45228390e-01 5.31599677e-01 -5.46877662e-02 4.25171471e+02] [-5.30391880e-01 8.46994766e-01 3.58374221e-02 5.01194969e+01] [ 6.53714137e-02 -1.28485946e-03 9.97860174e-01 1.51920820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.22, Y:50.08, Z:151.92 [[ 8.43703452e-01 5.34017673e-01 -5.46773358e-02 4.25223985e+02] [-5.32813908e-01 8.45472577e-01 3.58533287e-02 5.00843911e+01] [ 6.53744992e-02 -1.11673223e-03 9.97860174e-01 1.51922364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.28, Y:50.05, Z:151.93 [[ 8.42435146e-01 5.36017395e-01 -5.46660536e-02 4.25275058e+02] [-5.34816715e-01 8.44206365e-01 3.58705227e-02 5.00496079e+01] [ 6.53766546e-02 -9.82269852e-04 9.97860175e-01 1.51925550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.33, Y:50.01, Z:151.93 [[ 8.40622418e-01 5.38856504e-01 -5.46591087e-02 4.25328038e+02] [-5.37661118e-01 8.42397216e-01 3.58811021e-02 5.00148789e+01] [ 6.53794462e-02 -7.74381351e-04 9.97860175e-01 1.51927846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.38, Y:49.98, Z:151.93 [[ 8.39180518e-01 5.41100421e-01 -5.46478912e-02 4.25378556e+02] [-5.39908669e-01 8.40957758e-01 3.58981787e-02 4.99775736e+01] [ 6.53810876e-02 -6.20181992e-04 9.97860175e-01 1.51933781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.43, Y:49.94, Z:151.94 [[ 8.39397812e-01 5.40764475e-01 -5.46360358e-02 4.25429335e+02] [-5.39570838e-01 8.41173785e-01 3.59162132e-02 4.99430616e+01] [ 6.53806132e-02 -6.67979191e-04 9.97860175e-01 1.51936302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3227550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:425.48, Y:49.91, Z:151.94 [[ 8.40123615e-01 5.39637293e-01 -5.46251140e-02 4.25480631e+02] [-5.38440194e-01 8.41897257e-01 3.59328166e-02 4.99061610e+01] [ 6.53794215e-02 -7.75650842e-04 9.97860175e-01 1.51939495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.53, Y:49.87, Z:151.94 [[ 8.41808428e-01 5.37006417e-01 -5.46139031e-02 4.25530947e+02] [-5.35802670e-01 8.43577565e-01 3.59498479e-02 4.98682206e+01] [ 6.53763623e-02 -1.00060984e-03 9.97860176e-01 1.51943624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.58, Y:49.83, Z:151.95 [[ 8.44243540e-01 5.33171096e-01 -5.46024595e-02 4.25581403e+02] [-5.31958190e-01 8.46006409e-01 3.59672206e-02 4.98309983e+01] [ 6.53707131e-02 -1.31886809e-03 9.97860176e-01 1.51947606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.63, Y:49.79, Z:151.95 [[ 8.45522486e-01 5.31141743e-01 -5.45909645e-02 4.25631342e+02] [-5.29923482e-01 8.47281658e-01 3.59846593e-02 4.97948573e+01] [ 6.53668775e-02 -1.49680463e-03 9.97860176e-01 1.51951227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.68, Y:49.76, Z:151.96 [[ 8.46998747e-01 5.28785500e-01 -5.45803761e-02 4.25683459e+02] [-5.27561311e-01 8.48753800e-01 3.60007122e-02 4.97597407e+01] [ 6.53619562e-02 -1.69806332e-03 9.97860176e-01 1.51955772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.74, Y:49.73, Z:151.96 [[ 8.47131833e-01 5.28573428e-01 -5.45691151e-02 4.25736253e+02] [-5.27347702e-01 8.48885812e-01 3.60177734e-02 4.97264779e+01] [ 6.53609855e-02 -1.73490495e-03 9.97860176e-01 1.51959784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.79, Y:49.69, Z:151.96 [[ 8.47299508e-01 5.28305768e-01 -5.45578548e-02 4.25789936e+02] [-5.27078391e-01 8.49052331e-01 3.60348218e-02 4.96930642e+01] [ 6.53598780e-02 -1.77602038e-03 9.97860177e-01 1.51962025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.84, Y:49.66, Z:151.97 [[ 8.47300762e-01 5.28304900e-01 -5.45467768e-02 4.25843536e+02] [-5.27076444e-01 8.49052829e-01 3.60515830e-02 4.96599541e+01] [ 6.53593232e-02 -1.79621263e-03 9.97860177e-01 1.51965301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.90, Y:49.63, Z:151.97 [[ 8.46927763e-01 5.28903785e-01 -5.45357743e-02 4.25897010e+02] [-5.27675497e-01 8.48679948e-01 3.60682191e-02 4.96280593e+01] [ 6.53600357e-02 -1.76998436e-03 9.97860177e-01 1.51968678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.95, Y:49.60, Z:151.98 [[ 8.45618951e-01 5.30994864e-01 -5.45256316e-02 4.25949439e+02] [-5.29769922e-01 8.47373476e-01 3.60835457e-02 4.96001306e+01] [ 6.53637514e-02 -1.62689051e-03 9.97860177e-01 1.51975142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.00, Y:49.57, Z:151.98 [[ 8.44761797e-01 5.32357322e-01 -5.45269510e-02 4.26002922e+02] [-5.31135338e-01 8.46518384e-01 3.60815517e-02 4.95672117e+01] [ 6.53663447e-02 -1.51912590e-03 9.97860177e-01 1.51980589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.05, Y:49.54, Z:151.99 [[ 8.43691837e-01 5.34052518e-01 -5.45159871e-02 4.26053390e+02] [-5.32832994e-01 8.45450133e-01 3.60981096e-02 4.95352990e+01] [ 6.53688349e-02 -1.40776373e-03 9.97860177e-01 1.51985674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.10, Y:49.51, Z:151.99 [[ 8.43756721e-01 5.33949930e-01 -5.45166825e-02 4.26103911e+02] [-5.32730260e-01 8.45514915e-01 3.60970595e-02 4.95070710e+01] [ 6.53686905e-02 -1.41445011e-03 9.97860177e-01 1.51987064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.15, Y:49.48, Z:151.99 [[ 8.43449331e-01 5.34435008e-01 -5.45201615e-02 4.26154324e+02] [-5.33216689e-01 8.45208462e-01 3.60918040e-02 4.94772918e+01] [ 6.53696254e-02 -1.37054791e-03 9.97860177e-01 1.51991106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.20, Y:49.45, Z:152.00 [[ 8.42906505e-01 5.35290470e-01 -5.45228095e-02 4.26203399e+02] [-5.34074195e-01 8.44667049e-01 3.60878033e-02 4.94473624e+01] [ 6.53710779e-02 -1.29941851e-03 9.97860177e-01 1.51995638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.25, Y:49.42, Z:152.00 [[ 8.42842514e-01 5.35390822e-01 -5.45267300e-02 4.26252799e+02] [-5.34175140e-01 8.44603468e-01 3.60818787e-02 4.94182649e+01] [ 6.53713720e-02 -1.28451765e-03 9.97860177e-01 1.52000741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.31, Y:49.39, Z:152.00 [[ 8.42757952e-01 5.35523235e-01 -5.45334645e-02 4.26306783e+02] [-5.34308488e-01 8.44519551e-01 3.60716975e-02 4.93864309e+01] [ 6.53718091e-02 -1.26201696e-03 9.97860178e-01 1.52003975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.36, Y:49.36, Z:152.01 [[ 8.43145752e-01 5.34913625e-01 -5.45220577e-02 4.26357148e+02] [-5.33696491e-01 8.44905702e-01 3.60889306e-02 4.93552077e+01] [ 6.53704581e-02 -1.32999766e-03 9.97860178e-01 1.52006612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.41, Y:49.32, Z:152.01 [[ 8.43198892e-01 5.34829784e-01 -5.45227572e-02 4.26409645e+02] [-5.33612543e-01 8.44958768e-01 3.60878737e-02 4.93237484e+01] [ 6.53703514e-02 -1.33522802e-03 9.97860178e-01 1.52008925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.46, Y:49.29, Z:152.01 [[ 8.42228306e-01 5.36357069e-01 -5.45213343e-02 4.26460683e+02] [-5.35142880e-01 8.43990289e-01 3.60900232e-02 4.92923340e+01] [ 6.53726158e-02 -1.21933521e-03 9.97860178e-01 1.52010721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.51, Y:49.26, Z:152.01 [[ 8.41518785e-01 5.37469447e-01 -5.45227353e-02 4.26509773e+02] [-5.36257725e-01 8.43282465e-01 3.60879066e-02 4.92605978e+01] [ 6.53742138e-02 -1.13041333e-03 9.97860178e-01 1.52014320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.56, Y:49.23, Z:152.02 [[ 8.40749443e-01 5.38671830e-01 -5.45255342e-02 4.26558952e+02] [-5.37462904e-01 8.42515041e-01 3.60836773e-02 4.92291004e+01] [ 6.53758432e-02 -1.03187964e-03 9.97860178e-01 1.52018775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.61, Y:49.20, Z:152.02 [[ 8.39779203e-01 5.40182890e-01 -5.45282988e-02 4.26607375e+02] [-5.38977412e-01 8.41547158e-01 3.60794991e-02 4.91991593e+01] [ 6.53776629e-02 -9.09291624e-04 9.97860178e-01 1.52022305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.66, Y:49.17, Z:152.03 [[ 8.39368634e-01 5.40820044e-01 -5.45341817e-02 4.26655242e+02] [-5.39616486e-01 8.41137896e-01 3.60706048e-02 4.91681519e+01] [ 6.53784729e-02 -8.48990799e-04 9.97860178e-01 1.52027534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.70, Y:49.14, Z:152.03 [[ 8.39674844e-01 5.40344028e-01 -5.45388589e-02 4.26704065e+02] [-5.39139926e-01 8.41443736e-01 3.60635314e-02 4.91350271e+01] [ 6.53780951e-02 -8.77563756e-04 9.97860178e-01 1.52030935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.75, Y:49.10, Z:152.03 [[ 8.39788855e-01 5.40166537e-01 -5.45416464e-02 4.26752661e+02] [-5.38962336e-01 8.41557679e-01 3.60593153e-02 4.91040060e+01] [ 6.53779768e-02 -8.86317932e-04 9.97860178e-01 1.52033930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.80, Y:49.07, Z:152.04 [[ 8.39811128e-01 5.40131562e-01 -5.45450700e-02 4.26803892e+02] [-5.38927623e-01 8.41580131e-01 3.60541358e-02 4.90690136e+01] [ 6.53780238e-02 -8.82819601e-04 9.97860178e-01 1.52037853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.86, Y:49.03, Z:152.04 [[ 8.40972008e-01 5.38323348e-01 -5.45348942e-02 4.26855060e+02] [-5.37114609e-01 8.42737733e-01 3.60695209e-02 4.90339810e+01] [ 6.53756784e-02 -1.04196907e-03 9.97860178e-01 1.52041713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.90, Y:49.00, Z:152.05 [[ 8.42996822e-01 5.35148022e-01 -5.45247892e-02 4.26903808e+02] [-5.33931644e-01 8.44757295e-01 3.60847898e-02 4.89967437e+01] [ 6.53709173e-02 -1.30685275e-03 9.97860178e-01 1.52045551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.95, Y:48.96, Z:152.05 [[ 8.44635606e-01 5.32558677e-01 -5.45155797e-02 4.26953433e+02] [-5.31336006e-01 8.46391713e-01 3.60986979e-02 4.89601692e+01] [ 6.53662097e-02 -1.52415524e-03 9.97860178e-01 1.52049484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.00, Y:48.93, Z:152.05 [[ 8.44456722e-01 5.32842424e-01 -5.45141759e-02 4.27001758e+02] [-5.31620207e-01 8.46213145e-01 3.61008177e-02 4.89265232e+01] [ 6.53666595e-02 -1.50474077e-03 9.97860178e-01 1.52052643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.05, Y:48.89, Z:152.06 [[ 8.43413475e-01 5.34491992e-01 -5.45162435e-02 4.27052708e+02] [-5.33273412e-01 8.45172423e-01 3.60976952e-02 4.88887789e+01] [ 6.53695546e-02 -1.37321936e-03 9.97860178e-01 1.52055004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.10, Y:48.85, Z:152.06 [[ 8.41904971e-01 5.36866145e-01 -5.45047004e-02 4.27102634e+02] [-5.35651398e-01 8.43666568e-01 3.61151160e-02 4.88501049e+01] [ 6.53727766e-02 -1.20997673e-03 9.97860179e-01 1.52059476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.15, Y:48.81, Z:152.06 [[ 8.38693417e-01 5.41870707e-01 -5.44930304e-02 4.27150664e+02] [-5.40665329e-01 8.40461438e-01 3.61327158e-02 4.88105417e+01] [ 6.53785510e-02 -8.41778650e-04 9.97860179e-01 1.52064299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.20, Y:48.78, Z:152.07 [[ 8.36105243e-01 5.45856836e-01 -5.44824616e-02 4.27202620e+02] [-5.44658850e-01 8.37878281e-01 3.61486449e-02 4.87786016e+01] [ 6.53816562e-02 -5.49716640e-04 9.97860179e-01 1.52067649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.25, Y:48.74, Z:152.07 [[ 8.32718166e-01 5.51011046e-01 -5.44727846e-02 4.27253610e+02] [-5.49823081e-01 8.34497933e-01 3.61632216e-02 4.87440857e+01] [ 6.53837607e-02 -1.63377288e-04 9.97860179e-01 1.52072054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.30, Y:48.71, Z:152.08 [[ 8.30985821e-01 5.53621213e-01 -5.44620797e-02 4.27303622e+02] [-5.52437783e-01 8.32768607e-01 3.61793360e-02 4.87114199e+01] [ 6.53839581e-02 2.23952935e-05 9.97860179e-01 1.52077220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.35, Y:48.68, Z:152.08 [[ 8.30756991e-01 5.53964397e-01 -5.44634669e-02 4.27354540e+02] [-5.52781840e-01 8.32540356e-01 3.61772476e-02 4.86769048e+01] [ 6.53839413e-02 5.19140575e-05 9.97860179e-01 1.52081919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.40, Y:48.65, Z:152.08 [[ 8.31642918e-01 5.52634497e-01 -5.44533651e-02 4.27404408e+02] [-5.51448093e-01 8.33423726e-01 3.61924463e-02 4.86460367e+01] [ 6.53839208e-02 -7.09872908e-05 9.97860180e-01 1.52084190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.45, Y:48.62, Z:152.09 [[ 8.32339287e-01 5.51584817e-01 -5.44564171e-02 4.27454046e+02] [-5.50396468e-01 8.34118797e-01 3.61878536e-02 4.86155154e+01] [ 6.53837917e-02 -1.47952614e-04 9.97860180e-01 1.52085524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.78, Y:49.19, Z:153.24 [[ 8.66178116e-01 4.96759130e-01 -5.44595022e-02 4.27780990e+02] [-4.95458784e-01 8.67877508e-01 3.61832101e-02 4.91855068e+01] [ 6.52385171e-02 -4.35866605e-03 9.97860180e-01 1.53243647e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 587.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.84, Y:49.16, Z:153.24 [[ 8.70266137e-01 4.89355423e-01 -5.62860726e-02 4.27836254e+02] [-4.88238084e-01 8.72083466e-01 3.30757097e-02 4.91564628e+01] [ 6.52719311e-02 -1.30366588e-03 9.97866662e-01 1.53244880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.88, Y:49.12, Z:153.26 [[ 8.70325075e-01 4.89251618e-01 -5.62771573e-02 4.27884768e+02] [-4.88133083e-01 8.72141667e-01 3.30908719e-02 4.91214478e+01] [ 6.52714164e-02 -1.32907328e-03 9.97866662e-01 1.53257221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.94, Y:49.10, Z:153.25 [[ 8.74137775e-01 4.82406471e-01 -5.62774222e-02 4.27940767e+02] [-4.81273743e-01 8.75945551e-01 3.30904214e-02 4.90972998e+01] [ 6.52589910e-02 -1.84074172e-03 9.97866662e-01 1.53250864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.99, Y:49.06, Z:153.27 [[ 8.72189824e-01 4.85919774e-01 -5.62750775e-02 4.27988350e+02] [-4.84794072e-01 8.74001984e-01 3.30944084e-02 4.90603669e+01] [ 6.52657568e-02 -1.58278222e-03 9.97866662e-01 1.53267802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.04, Y:49.03, Z:153.27 [[ 8.70868332e-01 4.88284208e-01 -5.62750487e-02 4.28039316e+02] [-4.87163423e-01 8.72683537e-01 3.30944572e-02 4.90273089e+01] [ 6.52698094e-02 -1.40576940e-03 9.97866662e-01 1.53270573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.09, Y:49.00, Z:153.27 [[ 8.69997144e-01 4.89835774e-01 -5.62661792e-02 4.28093930e+02] [-4.88717253e-01 8.71813745e-01 3.31095300e-02 4.89956528e+01] [ 6.52718607e-02 -1.30694404e-03 9.97866663e-01 1.53274250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.15, Y:48.97, Z:153.28 [[ 8.68371591e-01 4.92713036e-01 -5.62551750e-02 4.28147440e+02] [-4.91599324e-01 8.70191144e-01 3.31282165e-02 4.89653274e+01] [ 6.52754592e-02 -1.11259607e-03 9.97866663e-01 1.53278777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.20, Y:48.94, Z:153.28 [[ 8.68723003e-01 4.92094309e-01 -5.62453117e-02 4.28201339e+02] [-4.90978217e-01 8.70541097e-01 3.31449540e-02 4.89353194e+01] [ 6.52742986e-02 -1.17856110e-03 9.97866663e-01 1.53283549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.262755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:428.25, Y:48.90, Z:153.29 [[ 8.70506575e-01 4.88932602e-01 -5.62424458e-02 4.28253661e+02] [-4.87809594e-01 8.72320405e-01 3.31498164e-02 4.89041687e+01] [ 6.52694591e-02 -1.42152849e-03 9.97866663e-01 1.53287271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3227550959999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:428.31, Y:48.88, Z:153.29 [[ 8.72633608e-01 4.85127198e-01 -5.62333323e-02 4.28309346e+02] [-4.83995286e-01 8.74441895e-01 3.31652688e-02 4.88789404e+01] [ 6.52621555e-02 -1.72446040e-03 9.97866663e-01 1.53292547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.382755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:428.36, Y:48.85, Z:153.30 [[ 8.72814876e-01 4.84802017e-01 -5.62245247e-02 4.28362444e+02] [-4.83668470e-01 8.74622139e-01 3.31801934e-02 4.88467283e+01] [ 6.52610387e-02 -1.76613648e-03 9.97866663e-01 1.53297722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4427550959999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:428.42, Y:48.82, Z:153.30 [[ 8.72839216e-01 4.84759257e-01 -5.62153501e-02 4.28415186e+02] [-4.83624623e-01 8.74645795e-01 3.31957301e-02 4.88151098e+01] [ 6.52604571e-02 -1.78740758e-03 9.97866663e-01 1.53302301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.47, Y:48.78, Z:153.31 [[ 8.72956628e-01 4.84548865e-01 -5.62060686e-02 4.28468833e+02] [-4.83412785e-01 8.74762299e-01 3.32114378e-02 4.87844377e+01] [ 6.52595143e-02 -1.82141262e-03 9.97866664e-01 1.53307363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.52, Y:48.75, Z:153.31 [[ 8.72061070e-01 4.86159918e-01 -5.61963036e-02 4.28521708e+02] [-4.85026110e-01 8.73868168e-01 3.32279529e-02 4.87520672e+01] [ 6.52622597e-02 -1.72012965e-03 9.97866664e-01 1.53314300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.622755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:428.57, Y:48.72, Z:153.32 [[ 8.69495886e-01 4.90734054e-01 -5.61871203e-02 4.28574783e+02] [-4.89608752e-01 8.71308293e-01 3.32434742e-02 4.87204097e+01] [ 6.52700087e-02 -1.39535814e-03 9.97866664e-01 1.53318532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6827550959999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:428.63, Y:48.69, Z:153.33 [[ 8.66363733e-01 4.96243857e-01 -5.61775461e-02 4.28625569e+02] [-4.95129035e-01 8.68182605e-01 3.32596455e-02 4.86864584e+01] [ 6.52772631e-02 -9.99816474e-04 9.97866664e-01 1.53325587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.68, Y:48.66, Z:153.33 [[ 8.65120311e-01 4.98408560e-01 -5.61761067e-02 4.28678930e+02] [-4.97298131e-01 8.66941868e-01 3.32620767e-02 4.86597650e+01] [ 6.52795226e-02 -8.39425247e-04 9.97866664e-01 1.53330362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.73, Y:48.63, Z:153.34 [[ 8.62901018e-01 5.02241434e-01 -5.61727244e-02 4.28731221e+02] [-5.01138725e-01 8.64727259e-01 3.32677876e-02 4.86286983e+01] [ 6.52825474e-02 -5.56480324e-04 9.97866664e-01 1.53335153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.862755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:428.78, Y:48.60, Z:153.34 [[ 8.59682904e-01 5.07731124e-01 -5.61641306e-02 4.28783959e+02] [-5.06639130e-01 8.61515572e-01 3.32822898e-02 4.85961265e+01] [ 6.52847275e-02 -1.57269337e-04 9.97866664e-01 1.53338572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.83, Y:48.56, Z:153.35 [[ 8.56343302e-01 5.13344703e-01 -5.61548391e-02 4.28833791e+02] [-5.12263695e-01 8.58182471e-01 3.32979594e-02 4.85581020e+01] [ 6.52844296e-02 2.51600879e-04 9.97866664e-01 1.53347286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:428.89, Y:48.53, Z:153.35 [[ 8.59127555e-01 5.08671687e-01 -5.61512245e-02 4.28887800e+02] [-5.07580277e-01 8.60960570e-01 3.33040535e-02 4.85301187e+01] [ 6.52848194e-02 -1.11176005e-04 9.97866664e-01 1.53347643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.94, Y:48.50, Z:153.35 [[ 8.62940511e-01 5.02176535e-01 -5.61462513e-02 4.28938287e+02] [-5.01070784e-01 8.64764911e-01 3.33124356e-02 4.84950334e+01] [ 6.52820315e-02 -6.13404055e-04 9.97866665e-01 1.53349012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.99, Y:48.46, Z:153.36 [[ 8.65110914e-01 4.98429168e-01 -5.61379581e-02 4.28990494e+02] [-4.97314608e-01 8.66929946e-01 3.33264055e-02 4.84624785e+01] [ 6.52785295e-02 -9.12810521e-04 9.97866665e-01 1.53355837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.04, Y:48.43, Z:153.36 [[ 8.67535859e-01 4.94197376e-01 -5.61291960e-02 4.29042304e+02] [-4.93072990e-01 8.69348833e-01 3.33411563e-02 4.84280108e+01] [ 6.52729630e-02 -1.24885816e-03 9.97866665e-01 1.53356605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.10, Y:48.40, Z:153.36 [[ 8.70178620e-01 4.89530031e-01 -5.61205741e-02 4.29095684e+02] [-4.88394987e-01 8.71984940e-01 3.33556626e-02 4.83976169e+01] [ 6.52648940e-02 -1.61637739e-03 9.97866665e-01 1.53362034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.282755096 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:429.15, Y:48.37, Z:153.37 [[ 8.71149545e-01 4.87801097e-01 -5.61120246e-02 4.29148554e+02] [-4.86661544e-01 8.72953024e-01 3.33700386e-02 4.83651076e+01] [ 6.52611030e-02 -1.76272942e-03 9.97866665e-01 1.53367838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.20, Y:48.34, Z:153.37 [[ 8.71657219e-01 4.86894386e-01 -5.61030300e-02 4.29202922e+02] [-4.85751985e-01 8.73458895e-01 3.33851538e-02 4.83357396e+01] [ 6.52587346e-02 -1.84825213e-03 9.97866665e-01 1.53367236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.26, Y:48.31, Z:153.38 [[ 8.70608836e-01 4.88767533e-01 -5.60941503e-02 4.29257049e+02] [-4.87628048e-01 8.72412358e-01 3.34000670e-02 4.83083353e+01] [ 6.52620983e-02 -1.72531245e-03 9.97866665e-01 1.53377504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4627550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:429.31, Y:48.28, Z:153.38 [[ 8.69448378e-01 4.90829009e-01 -5.60927970e-02 4.29311165e+02] [-4.89693654e-01 8.71254503e-01 3.34023397e-02 4.82786950e+01] [ 6.52659392e-02 -1.57332334e-03 9.97866665e-01 1.53383156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.522755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:429.37, Y:48.25, Z:153.39 [[ 8.68580997e-01 4.92363385e-01 -5.60834054e-02 4.29365133e+02] [-4.91230204e-01 8.70388487e-01 3.34181010e-02 4.82475218e+01] [ 6.52681997e-02 -1.47646480e-03 9.97866666e-01 1.53387310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.42, Y:48.22, Z:153.39 [[ 8.67603713e-01 4.94084493e-01 -5.60741557e-02 4.29419685e+02] [-4.92953896e-01 8.69412819e-01 3.34336143e-02 4.82173571e+01] [ 6.52706202e-02 -1.36515440e-03 9.97866666e-01 1.53393328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.47, Y:48.19, Z:153.40 [[ 8.66803025e-01 4.95488883e-01 -5.60649824e-02 4.29470907e+02] [-4.94360223e-01 8.68613341e-01 3.34489900e-02 4.81877467e+01] [ 6.52723944e-02 -1.27738855e-03 9.97866666e-01 1.53396984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7027550959999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:429.52, Y:48.16, Z:153.40 [[ 8.66413586e-01 4.96169228e-01 -5.60677716e-02 4.29520480e+02] [-4.95042292e-01 8.68224975e-01 3.34443141e-02 4.81584681e+01] [ 6.52734791e-02 -1.22068993e-03 9.97866666e-01 1.53402654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.57, Y:48.13, Z:153.40 [[ 8.65638569e-01 4.97519729e-01 -5.60712578e-02 4.29571487e+02] [-4.96395998e-01 8.67451948e-01 3.34384683e-02 4.81298511e+01] [ 6.52754195e-02 -1.11207985e-03 9.97866666e-01 1.53404791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8227550959999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:429.62, Y:48.10, Z:153.41 [[ 8.65087502e-01 4.98477080e-01 -5.60733004e-02 4.29621427e+02] [-4.97355577e-01 8.66902260e-01 3.34350428e-02 4.81007071e+01] [ 6.52766733e-02 -1.03586897e-03 9.97866666e-01 1.53409109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.882755096 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:429.67, Y:48.07, Z:153.41 [[ 8.64561817e-01 4.99387893e-01 -5.60767065e-02 4.29672665e+02] [-4.98268673e-01 8.66377983e-01 3.34293291e-02 4.80727983e+01] [ 6.52778261e-02 -9.60455417e-04 9.97866666e-01 1.53411558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9427550959999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:429.73, Y:48.04, Z:153.41 [[ 8.63973003e-01 5.00405547e-01 -5.60797537e-02 4.29726442e+02] [-4.99288798e-01 8.65790689e-01 3.34242164e-02 4.80407411e+01] [ 6.52789919e-02 -8.77627800e-04 9.97866666e-01 1.53414620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.002755096 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:429.78, Y:48.01, Z:153.42 [[ 8.64939040e-01 4.98735164e-01 -5.60686481e-02 4.29780129e+02] [-4.97613698e-01 8.66753820e-01 3.34428355e-02 4.80082372e+01] [ 6.52768330e-02 -1.02548670e-03 9.97866666e-01 1.53415940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0627550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:429.83, Y:47.98, Z:153.42 [[ 8.65650741e-01 4.97499423e-01 -5.60635271e-02 4.29834188e+02] [-4.96374811e-01 8.67463573e-01 3.34514183e-02 4.79767450e+01] [ 6.52751288e-02 -1.12872236e-03 9.97866666e-01 1.53422231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.88, Y:47.95, Z:153.43 [[ 8.65801991e-01 4.97236740e-01 -5.60583408e-02 4.29884339e+02] [-4.96111015e-01 8.67614132e-01 3.34601073e-02 4.79470670e+01] [ 6.52746033e-02 -1.15866716e-03 9.97866666e-01 1.53425658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.94, Y:47.92, Z:153.43 [[ 8.65737759e-01 4.97348316e-01 -5.60605508e-02 4.29935807e+02] [-4.96223064e-01 8.67550194e-01 3.34564041e-02 4.79200628e+01] [ 6.52748280e-02 -1.14593399e-03 9.97866666e-01 1.53431251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.99, Y:47.89, Z:153.44 [[ 8.63978782e-01 5.00397320e-01 -5.60641293e-02 4.29990065e+02] [-4.99278854e-01 8.65795413e-01 3.34504065e-02 4.78880767e+01] [ 6.52785597e-02 -9.08807251e-04 9.97866666e-01 1.53436227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.04, Y:47.86, Z:153.44 [[ 8.61278917e-01 5.05031293e-01 -5.60537303e-02 4.30041722e+02] [-5.03921468e-01 8.63100839e-01 3.34678232e-02 4.78598327e+01] [ 6.52823197e-02 -5.78452436e-04 9.97866667e-01 1.53441727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.10, Y:47.83, Z:153.44 [[ 8.59169438e-01 5.08611483e-01 -5.60556443e-02 4.30096365e+02] [-5.07509460e-01 8.60996090e-01 3.34646171e-02 4.78297726e+01] [ 6.52841791e-02 -3.03006528e-04 9.97866667e-01 1.53444709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.15, Y:47.80, Z:153.45 [[ 8.57419414e-01 5.11557181e-01 -5.60464050e-02 4.30148020e+02] [-5.10460423e-01 8.59249231e-01 3.34800840e-02 4.77999218e+01] [ 6.52848078e-02 -9.70023640e-05 9.97866667e-01 1.53448338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.20, Y:47.77, Z:153.45 [[ 8.56967578e-01 5.12313672e-01 -5.60470546e-02 4.30201175e+02] [-5.11218600e-01 8.58798405e-01 3.34789965e-02 4.77681615e+01] [ 6.52848687e-02 -3.81177392e-05 9.97866667e-01 1.53452379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.25, Y:47.73, Z:153.46 [[ 8.59397787e-01 5.08227534e-01 -5.60376319e-02 4.30253113e+02] [-5.07122729e-01 8.61222758e-01 3.34947610e-02 4.77345144e+01] [ 6.52838436e-02 -3.67366656e-04 9.97866667e-01 1.53455551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:430.30, Y:47.70, Z:153.46 [[ 8.61918131e-01 5.03942493e-01 -5.60276617e-02 4.30303112e+02] [-5.02827532e-01 8.63736914e-01 3.35114300e-02 4.77031790e+01] [ 6.52809933e-02 -7.11858264e-04 9.97866667e-01 1.53457564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.35, Y:47.67, Z:153.46 [[ 8.63575943e-01 5.01096077e-01 -5.60295617e-02 4.30353586e+02] [-4.99975327e-01 8.65391165e-01 3.35082532e-02 4.76697260e+01] [ 6.52783419e-02 -9.23522917e-04 9.97866667e-01 1.53460273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7227550959999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:430.40, Y:47.64, Z:153.46 [[ 8.66562347e-01 4.95913689e-01 -5.60295617e-02 4.30403009e+02] [-4.94782086e-01 8.68370822e-01 3.35082532e-02 4.76365758e+01] [ 6.52716380e-02 -1.31456713e-03 9.97866667e-01 1.53461292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.45, Y:47.61, Z:153.46 [[ 8.68085836e-01 4.93241929e-01 -5.60301853e-02 4.30451218e+02] [-4.92104827e-01 8.69890859e-01 3.35072103e-02 4.76054226e+01] [ 6.52673071e-02 -1.51440999e-03 9.97866667e-01 1.53464662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.50, Y:47.57, Z:153.47 [[ 8.67936563e-01 4.93504205e-01 -5.60332241e-02 4.30503178e+02] [-4.92367977e-01 8.69742136e-01 3.35021279e-02 4.75705425e+01] [ 6.52678970e-02 -1.48875655e-03 9.97866667e-01 1.53466654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.56, Y:47.54, Z:153.47 [[ 8.67018708e-01 4.95116121e-01 -5.60230876e-02 4.30555550e+02] [-4.93982156e-01 8.68825703e-01 3.35190698e-02 4.75360141e+01] [ 6.52701303e-02 -1.38725504e-03 9.97866667e-01 1.53470287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.61, Y:47.50, Z:153.47 [[ 8.64502327e-01 4.99498052e-01 -5.60126981e-02 4.30607071e+02] [-4.98372122e-01 8.66314340e-01 3.35364224e-02 4.75002034e+01] [ 6.52759813e-02 -1.07714800e-03 9.97866667e-01 1.53471453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.66, Y:47.46, Z:153.48 [[ 8.61118535e-01 5.05310437e-01 -5.60020576e-02 4.30658034e+02] [-5.04195585e-01 8.62937384e-01 3.35541816e-02 4.74633589e+01] [ 6.52815472e-02 -6.58137534e-04 9.97866668e-01 1.53475363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.71, Y:47.43, Z:153.48 [[ 8.57605945e-01 5.11250439e-01 -5.59913496e-02 4.30708308e+02] [-5.10147019e-01 8.59431752e-01 3.35720403e-02 4.74264799e+01] [ 6.52844640e-02 -2.27761254e-04 9.97866668e-01 1.53481429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.142755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:430.76, Y:47.39, Z:153.49 [[ 8.54256342e-01 5.16828608e-01 -5.59847522e-02 4.30759983e+02] [-5.15736389e-01 8.56088872e-01 3.35830385e-02 4.73908032e+01] [ 6.52845984e-02 1.84850348e-04 9.97866668e-01 1.53488398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2027550959999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:430.81, Y:47.36, Z:153.49 [[ 8.52089321e-01 5.20394722e-01 -5.59742937e-02 4.30813006e+02] [-5.19309029e-01 8.53925724e-01 3.36004611e-02 4.73578697e+01] [ 6.52833919e-02 4.37362050e-04 9.97866668e-01 1.53493742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.262755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:430.87, Y:47.33, Z:153.50 [[ 8.50203504e-01 5.23471149e-01 -5.59639028e-02 4.30865910e+02] [-5.22390961e-01 8.52043150e-01 3.36177590e-02 4.73267915e+01] [ 6.52815870e-02 6.53100502e-04 9.97866668e-01 1.53498096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.92, Y:47.29, Z:153.50 [[ 8.50466573e-01 5.23044667e-01 -5.59543118e-02 4.30920233e+02] [-5.21962507e-01 8.52305059e-01 3.36337150e-02 4.72949764e+01] [ 6.52820783e-02 6.01702548e-04 9.97866669e-01 1.53500398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.97, Y:47.26, Z:153.50 [[ 8.52092607e-01 5.20392618e-01 -5.59438376e-02 4.30974066e+02] [-5.19303592e-01 8.53927035e-01 3.36511281e-02 4.72632685e+01] [ 6.52837540e-02 3.77958365e-04 9.97866669e-01 1.53503297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.03, Y:47.23, Z:153.51 [[ 8.54493639e-01 5.16441121e-01 -5.59391647e-02 4.31025076e+02] [-5.15343104e-01 8.56322699e-01 3.36588941e-02 4.72349213e+01] [ 6.52848135e-02 6.65518601e-05 9.97866669e-01 1.53505976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.08, Y:47.20, Z:153.51 [[ 8.58685832e-01 5.09440108e-01 -5.59412019e-02 4.31075693e+02] [-5.08327399e-01 8.60505992e-01 3.36555079e-02 4.72046501e+01] [ 6.52832050e-02 -4.63062143e-04 9.97866669e-01 1.53509199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.13, Y:47.17, Z:153.51 [[ 8.61071423e-01 5.05397152e-01 -5.59439348e-02 4.31130172e+02] [-5.04276193e-01 8.62886513e-01 3.36509645e-02 4.71733884e+01] [ 6.52803685e-02 -7.64689446e-04 9.97866669e-01 1.53514414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.18, Y:47.14, Z:153.52 [[ 8.64928005e-01 4.98769552e-01 -5.59328147e-02 4.31184597e+02] [-4.97633492e-01 8.66733682e-01 3.36694377e-02 4.71437486e+01] [ 6.52721448e-02 -1.28759764e-03 9.97866669e-01 1.53516179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.24, Y:47.11, Z:153.52 [[ 8.67708971e-01 4.93916806e-01 -5.59225440e-02 4.31237412e+02] [-4.92769552e-01 8.69507556e-01 3.36864880e-02 4.71126380e+01] [ 6.52633971e-02 -1.67314084e-03 9.97866669e-01 1.53519518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.29, Y:47.08, Z:153.52 [[ 8.69987077e-01 4.89893141e-01 -5.59213339e-02 4.31290669e+02] [-4.88737441e-01 8.71780247e-01 3.36884967e-02 4.70791533e+01] [ 6.52548777e-02 -1.97770710e-03 9.97866669e-01 1.53524373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.35, Y:47.05, Z:153.53 [[ 8.70750880e-01 4.88535439e-01 -5.59109102e-02 4.31345005e+02] [-4.87375835e-01 8.72541527e-01 3.37057875e-02 4.70475114e+01] [ 6.52510626e-02 -2.09971763e-03 9.97866669e-01 1.53528456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.40, Y:47.02, Z:153.53 [[ 8.67944955e-01 4.93504653e-01 -5.58991224e-02 4.31397029e+02] [-4.92354046e-01 8.69741396e-01 3.37253257e-02 4.70212374e+01] [ 6.52613859e-02 -1.74956722e-03 9.97866670e-01 1.53533453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.45, Y:46.99, Z:153.54 [[ 8.63798932e-01 5.00725755e-01 -5.59027997e-02 4.31452575e+02] [-4.99590563e-01 8.65605154e-01 3.37192290e-02 4.69913279e+01] [ 6.52738380e-02 -1.19812284e-03 9.97866670e-01 1.53539186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.51, Y:46.96, Z:153.54 [[ 8.59010831e-01 5.08897315e-01 -5.58920002e-02 4.31506038e+02] [-5.07778144e-01 8.60827023e-01 3.37371204e-02 4.69582237e+01] [ 6.52820742e-02 -5.99815679e-04 9.97866670e-01 1.53544240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.56, Y:46.93, Z:153.55 [[ 8.56990650e-01 5.12293225e-01 -5.58809246e-02 4.31559884e+02] [-5.11180056e-01 8.58810526e-01 3.37554557e-02 4.69275293e+01] [ 6.52838176e-02 -3.62895733e-04 9.97866670e-01 1.53548945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.61, Y:46.89, Z:153.55 [[ 8.53975166e-01 5.17305413e-01 -5.58706117e-02 4.31612418e+02] [-5.16201809e-01 8.55800859e-01 3.37725166e-02 4.68949440e+01] [ 6.52848231e-02 -3.79642365e-07 9.97866670e-01 1.53550868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.162755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:431.66, Y:46.86, Z:153.56 [[ 8.52858611e-01 5.19145221e-01 -5.58608033e-02 4.31662422e+02] [-5.18044493e-01 8.54686039e-01 3.37887323e-02 4.68610020e+01] [ 6.52847076e-02 1.21370205e-04 9.97866671e-01 1.53558492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.71, Y:46.83, Z:153.56 [[ 8.54003559e-01 5.17260191e-01 -5.58553190e-02 4.31712416e+02] [-5.16154837e-01 8.55828192e-01 3.37977959e-02 4.68252445e+01] [ 6.52848110e-02 -3.34448810e-05 9.97866671e-01 1.53562843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.76, Y:46.79, Z:153.57 [[ 8.55423366e-01 5.14909874e-01 -5.58452075e-02 4.31764394e+02] [-5.13798416e-01 8.57244287e-01 3.38144952e-02 4.67890389e+01] [ 6.52844025e-02 -2.32530185e-04 9.97866671e-01 1.53566495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3427550959999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:431.82, Y:46.76, Z:153.57 [[ 8.55284591e-01 5.15141484e-01 -5.58347545e-02 4.31818440e+02] [-5.14029393e-01 8.57105125e-01 3.38317464e-02 4.67570910e+01] [ 6.52843903e-02 -2.35066431e-04 9.97866671e-01 1.53568408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.402755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:431.87, Y:46.73, Z:153.57 [[ 8.52959581e-01 5.18983233e-01 -5.58243450e-02 4.31871732e+02] [-5.17878218e-01 8.54784419e-01 3.38489140e-02 4.67271748e+01] [ 6.52847991e-02 3.84568210e-05 9.97866671e-01 1.53572055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.92, Y:46.70, Z:153.58 [[ 8.52591105e-01 5.19589239e-01 -5.58160414e-02 4.31923609e+02] [-5.18484624e-01 8.54416186e-01 3.38626009e-02 4.66973764e+01] [ 6.52847722e-02 6.88069326e-05 9.97866671e-01 1.53576130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.522755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:431.97, Y:46.67, Z:153.58 [[ 8.55328119e-01 5.15071168e-01 -5.58166681e-02 4.31973587e+02] [-5.13956980e-01 8.57147372e-01 3.38615679e-02 4.66667364e+01] [ 6.52842277e-02 -2.75384939e-04 9.97866671e-01 1.53576295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.03, Y:46.63, Z:153.59 [[ 8.59684850e-01 5.07765944e-01 -5.58185082e-02 4.32027208e+02] [-5.06636496e-01 8.61494667e-01 3.38585344e-02 4.66342349e+01] [ 6.52795578e-02 -8.27975677e-04 9.97866671e-01 1.53585196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.642755096 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:432.08, Y:46.60, Z:153.59 [[ 8.63762177e-01 5.00799755e-01 -5.58077655e-02 4.32079352e+02] [-4.99654571e-01 8.65562078e-01 3.38762319e-02 4.66013815e+01] [ 6.52702941e-02 -1.37640271e-03 9.97866672e-01 1.53589720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.13, Y:46.57, Z:153.60 [[ 8.65857253e-01 4.97169749e-01 -5.57983750e-02 4.32130346e+02] [-4.96016024e-01 8.67651691e-01 3.38916923e-02 4.65676642e+01] [ 6.52634785e-02 -1.66847947e-03 9.97866672e-01 1.53599939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.762755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:432.18, Y:46.53, Z:153.60 [[ 8.65246601e-01 4.98232699e-01 -5.57897655e-02 4.32180497e+02] [-4.97080266e-01 8.67041869e-01 3.39058585e-02 4.65310944e+01] [ 6.52650700e-02 -1.60493736e-03 9.97866672e-01 1.53602596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.24, Y:46.50, Z:153.61 [[ 8.64580793e-01 4.99388240e-01 -5.57802688e-02 4.32235901e+02] [-4.98237199e-01 8.66376954e-01 3.39214749e-02 4.65033636e+01] [ 6.52667250e-02 -1.53605079e-03 9.97866672e-01 1.53612722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.29, Y:46.47, Z:153.61 [[ 8.60326830e-01 5.06682772e-01 -5.57701870e-02 4.32287921e+02] [-5.05545891e-01 8.62131986e-01 3.39380423e-02 4.64685960e+01] [ 6.52770834e-02 -1.00341956e-03 9.97866672e-01 1.53614235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9427550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:432.34, Y:46.44, Z:153.62 [[ 8.58744177e-01 5.09361661e-01 -5.57596337e-02 4.32340860e+02] [-5.08229286e-01 8.60552163e-01 3.39553724e-02 4.64351845e+01] [ 6.52796383e-02 -8.20299534e-04 9.97866672e-01 1.53616512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.002755096 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:432.39, Y:46.40, Z:153.62 [[ 8.57651152e-01 5.11201083e-01 -5.57490279e-02 4.32393032e+02] [-5.10071455e-01 8.59460855e-01 3.39727765e-02 4.64014823e+01] [ 6.52810273e-02 -7.00803138e-04 9.97866673e-01 1.53619342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0627550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:432.44, Y:46.37, Z:153.63 [[ 8.58821119e-01 5.09233795e-01 -5.57425176e-02 4.32444948e+02] [-5.08099329e-01 8.60627792e-01 3.39834552e-02 4.63733657e+01] [ 6.52790837e-02 -8.62973261e-04 9.97866673e-01 1.53625705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.122755096 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:432.49, Y:46.34, Z:153.63 [[ 8.59300570e-01 5.08424102e-01 -5.57446218e-02 4.32492806e+02] [-5.07288157e-01 8.61106315e-01 3.39800032e-02 4.63391928e+01] [ 6.52782985e-02 -9.20449685e-04 9.97866673e-01 1.53629635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1827550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:432.54, Y:46.30, Z:153.64 [[ 8.61360915e-01 5.04925339e-01 -5.57474319e-02 4.32543790e+02] [-5.03782358e-01 8.63162215e-01 3.39753923e-02 4.63023576e+01] [ 6.52741133e-02 -1.18050236e-03 9.97866673e-01 1.53638281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.242755096 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:432.60, Y:46.27, Z:153.64 [[ 8.65052422e-01 4.98575776e-01 -5.57360068e-02 4.32597415e+02] [-4.97418370e-01 8.66844487e-01 3.39941247e-02 4.62721738e+01] [ 6.52630973e-02 -1.68258627e-03 9.97866673e-01 1.53639906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.65, Y:46.24, Z:153.64 [[ 8.65021569e-01 4.98630623e-01 -5.57242034e-02 4.32646973e+02] [-4.97472086e-01 8.66812903e-01 3.40134623e-02 4.62410588e+01] [ 6.52626124e-02 -1.70114282e-03 9.97866673e-01 1.53642005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.70, Y:46.21, Z:153.64 [[ 8.65165055e-01 4.98381367e-01 -5.57264805e-02 4.32700120e+02] [-4.97222554e-01 8.66956210e-01 3.40097311e-02 4.62073701e+01] [ 6.52622346e-02 -1.71556782e-03 9.97866673e-01 1.53644271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.75, Y:46.18, Z:153.65 [[ 8.63748126e-01 5.00834361e-01 -5.57146171e-02 4.32753010e+02] [-4.99679383e-01 8.65541756e-01 3.40291546e-02 4.61772400e+01] [ 6.52662974e-02 -1.55317296e-03 9.97866674e-01 1.53646860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:432.81, Y:46.15, Z:153.65 [[ 8.61766725e-01 5.04236211e-01 -5.57131440e-02 4.32807478e+02] [-5.03088159e-01 8.63564796e-01 3.40315663e-02 4.61472534e+01] [ 6.52718579e-02 -1.29864837e-03 9.97866674e-01 1.53647887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.542755096 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:432.86, Y:46.12, Z:153.65 [[ 8.59264787e-01 5.08489226e-01 -5.57021698e-02 4.32862408e+02] [-5.07348911e-01 8.61067775e-01 3.40495191e-02 4.61171267e+01] [ 6.52771570e-02 -9.97117589e-04 9.97866674e-01 1.53650592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6027550959999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:432.92, Y:46.08, Z:153.65 [[ 8.57481365e-01 5.11491503e-01 -5.56969606e-02 4.32915083e+02] [-5.10356948e-01 8.59287982e-01 3.40580380e-02 4.60831239e+01] [ 6.52801259e-02 -7.78802106e-04 9.97866674e-01 1.53650874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.97, Y:46.05, Z:153.66 [[ 8.54119645e-01 5.17086838e-01 -5.56851393e-02 4.32966554e+02] [-5.15962859e-01 8.55932861e-01 3.40773550e-02 4.60515473e+01] [ 6.52836923e-02 -3.74674664e-04 9.97866674e-01 1.53660630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7227550959999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:433.02, Y:46.02, Z:153.66 [[ 8.53950662e-01 5.17366879e-01 -5.56756593e-02 4.33021859e+02] [-5.16242486e-01 8.55763621e-01 3.40928365e-02 4.60231739e+01] [ 6.52837082e-02 -3.71459565e-04 9.97866674e-01 1.53661004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.782755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:433.08, Y:45.99, Z:153.66 [[ 8.54771065e-01 5.16011439e-01 -5.56652618e-02 4.33076556e+02] [-5.14883066e-01 8.56581549e-01 3.41098046e-02 4.59949733e+01] [ 6.52828855e-02 -4.94973298e-04 9.97866674e-01 1.53664850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:433.13, Y:45.96, Z:153.67 [[ 8.52689152e-01 5.19445673e-01 -5.56543106e-02 4.33127597e+02] [-5.18323426e-01 8.54503440e-01 3.41276635e-02 4.59591495e+01] [ 6.52842670e-02 -2.53355508e-04 9.97866675e-01 1.53672241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.18, Y:45.93, Z:153.67 [[ 8.54412274e-01 5.16606843e-01 -5.56510151e-02 4.33183813e+02] [-5.15478218e-01 8.56222601e-01 3.41330365e-02 4.59317100e+01] [ 6.52830172e-02 -4.76799254e-04 9.97866675e-01 1.53674248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.24, Y:45.90, Z:153.68 [[ 8.54834284e-01 5.15909247e-01 -5.56416663e-02 4.33235096e+02] [-5.14778153e-01 8.56643070e-01 3.41482696e-02 4.58978718e+01] [ 6.52824559e-02 -5.47997397e-04 9.97866675e-01 1.53678517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.022755096 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:433.29, Y:45.86, Z:153.68 [[ 8.55862191e-01 5.14203280e-01 -5.56318028e-02 4.33287005e+02] [-5.13067537e-01 8.57668060e-01 3.41643310e-02 4.58639836e+01] [ 6.52810314e-02 -6.97087106e-04 9.97866675e-01 1.53679126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.34, Y:45.83, Z:153.69 [[ 8.54987327e-01 5.15657650e-01 -5.56224733e-02 4.33340342e+02] [-5.14523991e-01 8.56794505e-01 3.41795135e-02 4.58303940e+01] [ 6.52819571e-02 -6.03953944e-04 9.97866675e-01 1.53686433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.142755096 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:433.39, Y:45.79, Z:153.69 [[ 8.55460405e-01 5.14873607e-01 -5.56117234e-02 4.33392336e+02] [-5.13737155e-01 8.57265829e-01 3.41969952e-02 4.57943131e+01] [ 6.52811604e-02 -6.84366813e-04 9.97866675e-01 1.53688556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.44, Y:45.76, Z:153.69 [[ 8.57821994e-01 5.10930476e-01 -5.56010379e-02 4.33441065e+02] [-5.09784601e-01 8.59621450e-01 3.42143600e-02 4.57610371e+01] [ 6.52770041e-02 -1.00527758e-03 9.97866676e-01 1.53691536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.262755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:433.49, Y:45.73, Z:153.70 [[ 8.58891325e-01 5.09130599e-01 -5.56032759e-02 4.33487710e+02] [-5.07981189e-01 8.60688526e-01 3.42107225e-02 4.57259850e+01] [ 6.52748272e-02 -1.13787464e-03 9.97866676e-01 1.53698778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3227550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:433.82, Y:46.34, Z:154.81 [[ 8.79116889e-01 4.73351269e-01 -5.56063985e-02 4.33817836e+02] [-4.72129187e-01 8.80865486e-01 3.42056463e-02 4.63428290e+01] [ 6.51730433e-02 -3.81735763e-03 9.97866676e-01 1.54810797e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 594.382755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:433.87, Y:46.31, Z:154.82 [[ 8.79369591e-01 4.72734266e-01 -5.68457210e-02 4.33871810e+02] [-4.71651516e-01 8.81204028e-01 3.20048349e-02 4.63117170e+01] [ 6.52224604e-02 -1.33270814e-03 9.97869859e-01 1.54815395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.93, Y:46.28, Z:154.82 [[ 8.79519491e-01 4.72456533e-01 -5.68356395e-02 4.33925644e+02] [-4.71372048e-01 8.81352902e-01 3.20227281e-02 4.62799029e+01] [ 6.52216029e-02 -1.37388172e-03 9.97869859e-01 1.54820266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.502755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:433.98, Y:46.25, Z:154.82 [[ 8.79465677e-01 4.72557912e-01 -5.68255428e-02 4.33978086e+02] [-4.71472483e-01 8.81298528e-01 3.20406351e-02 4.62484017e+01] [ 6.52213228e-02 -1.38695917e-03 9.97869859e-01 1.54823591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.03, Y:46.22, Z:154.83 [[ 8.78521944e-01 4.74310682e-01 -5.68205111e-02 4.34030683e+02] [-4.73228333e-01 8.80356616e-01 3.20495557e-02 4.62184194e+01] [ 6.52237595e-02 -1.26716225e-03 9.97869859e-01 1.54827335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.09, Y:46.19, Z:154.83 [[ 8.77659412e-01 4.75905751e-01 -5.68126164e-02 4.34086382e+02] [-4.74825831e-01 8.79495514e-01 3.20635442e-02 4.61882219e+01] [ 6.52256664e-02 -1.16477357e-03 9.97869859e-01 1.54829794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6827550959999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:434.14, Y:46.16, Z:154.83 [[ 8.76220667e-01 4.78550663e-01 -5.68032107e-02 4.34139733e+02] [-4.77475207e-01 8.78059387e-01 3.20801985e-02 4.61576022e+01] [ 6.52285927e-02 -9.87208122e-04 9.97869859e-01 1.54833486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.742755096 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:434.19, Y:46.13, Z:154.84 [[ 8.75752756e-01 4.79407371e-01 -5.67950882e-02 4.34193841e+02] [-4.78332781e-01 8.77591983e-01 3.20945722e-02 4.61267042e+01] [ 6.52292886e-02 -9.39957598e-04 9.97869859e-01 1.54839047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8027550959999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:434.25, Y:46.10, Z:154.84 [[ 8.73912990e-01 4.82753898e-01 -5.67869639e-02 4.34248269e+02] [-4.81685418e-01 8.75755773e-01 3.21089407e-02 4.60972323e+01] [ 6.52322278e-02 -7.06967922e-04 9.97869860e-01 1.54842190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.862755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:434.30, Y:46.07, Z:154.85 [[ 8.72048192e-01 4.86115385e-01 -5.67783780e-02 4.34300821e+02] [-4.85053020e-01 8.73894507e-01 3.21241161e-02 4.60695321e+01] [ 6.52343397e-02 -4.73253615e-04 9.97869860e-01 1.54846416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.36, Y:46.04, Z:154.85 [[ 8.71198300e-01 4.87636827e-01 -5.67789338e-02 4.34355833e+02] [-4.86577750e-01 8.73046503e-01 3.21231336e-02 4.60394436e+01] [ 6.52350726e-02 -3.58253447e-04 9.97869860e-01 1.54849906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.41, Y:46.01, Z:154.85 [[ 8.70539614e-01 4.88812912e-01 -5.67689821e-02 4.34409261e+02] [-4.87755186e-01 8.72388591e-01 3.21407109e-02 4.60081715e+01] [ 6.52354068e-02 -2.90396593e-04 9.97869860e-01 1.54853990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.042755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:434.46, Y:45.98, Z:154.85 [[ 8.72421555e-01 4.85447156e-01 -5.67599197e-02 4.34464541e+02] [-4.84381257e-01 8.74265831e-01 3.21567071e-02 4.59810460e+01] [ 6.52336404e-02 -5.60763202e-04 9.97869860e-01 1.54854667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1027550959999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:434.52, Y:45.95, Z:154.86 [[ 8.74680635e-01 4.81365393e-01 -5.67551412e-02 4.34519434e+02] [-4.80290340e-01 8.76519591e-01 3.21651386e-02 4.59514268e+01] [ 6.52301778e-02 -8.75277769e-04 9.97869860e-01 1.54857999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.162755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:434.57, Y:45.92, Z:154.86 [[ 8.76514433e-01 4.78019307e-01 -5.67449578e-02 4.34573695e+02] [-4.76936073e-01 8.78348581e-01 3.21830939e-02 4.59204268e+01] [ 6.52259935e-02 -1.14522897e-03 9.97869860e-01 1.54864134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2227550959999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:434.63, Y:45.89, Z:154.87 [[ 8.77622176e-01 4.75983687e-01 -5.67348780e-02 4.34628661e+02] [-4.74895052e-01 8.79453123e-01 3.22008537e-02 4.58906991e+01] [ 6.52227467e-02 -1.31707050e-03 9.97869861e-01 1.54866750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.282755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:434.68, Y:45.86, Z:154.86 [[ 8.78684675e-01 4.74020593e-01 -5.67249409e-02 4.34682806e+02] [-4.72926738e-01 8.80512509e-01 3.22183495e-02 4.58616329e+01] [ 6.52191811e-02 -1.48302868e-03 9.97869861e-01 1.54864973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3427550959999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:434.74, Y:45.83, Z:154.87 [[ 8.77852922e-01 4.75560120e-01 -5.67170143e-02 4.34737185e+02] [-4.74468570e-01 8.79682133e-01 3.22322974e-02 4.58312887e+01] [ 6.52213393e-02 -1.38477580e-03 9.97869861e-01 1.54869506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.402755096 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:434.79, Y:45.80, Z:154.87 [[ 8.75022082e-01 4.80750111e-01 -5.67070288e-02 4.34790298e+02] [-4.79668275e-01 8.76857054e-01 3.22498555e-02 4.58018365e+01] [ 6.52280798e-02 -1.01877309e-03 9.97869861e-01 1.54872672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4627550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:434.84, Y:45.77, Z:154.88 [[ 8.73214296e-01 4.84026944e-01 -5.66984098e-02 4.34844520e+02] [-4.82951011e-01 8.75052736e-01 3.22650015e-02 4.57729070e+01] [ 6.52312287e-02 -7.91706252e-04 9.97869861e-01 1.54880309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.90, Y:45.74, Z:154.89 [[ 8.72254316e-01 4.85755830e-01 -5.66893470e-02 4.34898842e+02] [-4.84682507e-01 8.74094280e-01 3.22809169e-02 4.57420318e+01] [ 6.52324775e-02 -6.80834201e-04 9.97869861e-01 1.54885093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5827550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:434.95, Y:45.71, Z:154.89 [[ 8.70162444e-01 4.89494415e-01 -5.66792599e-02 4.34954205e+02] [-4.88427844e-01 8.72006330e-01 3.22986183e-02 4.57114428e+01] [ 6.52346667e-02 -4.21315958e-04 9.97869862e-01 1.54889600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.01, Y:45.68, Z:154.90 [[ 8.68443073e-01 4.92539557e-01 -5.66693417e-02 4.35008451e+02] [-4.91478317e-01 8.70290032e-01 3.23160109e-02 4.56814887e+01] [ 6.52356769e-02 -2.12863099e-04 9.97869862e-01 1.54897432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7027550959999 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:435.06, Y:45.65, Z:154.90 [[ 8.68114238e-01 4.93119926e-01 -5.66604682e-02 4.35062355e+02] [-4.92058906e-01 8.69961323e-01 3.23315615e-02 4.56492558e+01] [ 6.52357531e-02 -1.87200842e-04 9.97869862e-01 1.54902431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.762755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:435.12, Y:45.62, Z:154.91 [[ 8.68479616e-01 4.92477337e-01 -5.66500523e-02 4.35116263e+02] [-4.91413760e-01 8.70325230e-01 3.23498017e-02 4.56178894e+01] [ 6.52355140e-02 -2.56528140e-04 9.97869862e-01 1.54906634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8227550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:435.17, Y:45.59, Z:154.91 [[ 8.70394626e-01 4.89086022e-01 -5.66397169e-02 4.35169780e+02] [-4.88014077e-01 8.72235393e-01 3.23678873e-02 4.55860186e+01] [ 6.52338469e-02 -5.31855983e-04 9.97869862e-01 1.54911525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.22, Y:45.55, Z:154.92 [[ 8.73124130e-01 4.84197640e-01 -5.66295002e-02 4.35222843e+02] [-4.83114231e-01 8.74958172e-01 3.23857522e-02 4.55531847e+01] [ 6.52295487e-02 -9.18264235e-04 9.97869863e-01 1.54915748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9427550959999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:435.28, Y:45.52, Z:154.92 [[ 8.75536743e-01 4.79822560e-01 -5.66191016e-02 4.35275731e+02] [-4.78728814e-01 8.77364638e-01 3.24039215e-02 4.55203972e+01] [ 6.52237302e-02 -1.26562856e-03 9.97869863e-01 1.54917630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.002755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:435.33, Y:45.49, Z:154.92 [[ 8.76472271e-01 4.78112287e-01 -5.66127146e-02 4.35330175e+02] [-4.77014253e-01 8.78297595e-01 3.24150765e-02 4.54882965e+01] [ 6.52208574e-02 -1.40584394e-03 9.97869863e-01 1.54922797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.38, Y:45.46, Z:154.93 [[ 8.76600611e-01 4.77877518e-01 -5.66078316e-02 4.35383251e+02] [-4.76778445e-01 8.78425309e-01 3.24236016e-02 4.54574408e+01] [ 6.52202622e-02 -1.43315505e-03 9.97869863e-01 1.54926311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.122755096 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:435.44, Y:45.43, Z:154.93 [[ 8.74993056e-01 4.80815856e-01 -5.65973933e-02 4.35438091e+02] [-4.79721735e-01 8.76820726e-01 3.24418121e-02 4.54263754e+01] [ 6.52243052e-02 -1.23536061e-03 9.97869863e-01 1.54925489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1827550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:435.49, Y:45.40, Z:154.93 [[ 8.73068972e-01 4.84302027e-01 -5.65872504e-02 4.35491663e+02] [-4.83214058e-01 8.74900312e-01 3.24594945e-02 4.53966118e+01] [ 6.52284019e-02 -9.95622566e-04 9.97869863e-01 1.54930634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.55, Y:45.37, Z:154.94 [[ 8.70034804e-01 4.89732970e-01 -5.65778971e-02 4.35545774e+02] [-4.88655374e-01 8.71872266e-01 3.24757894e-02 4.53658754e+01] [ 6.52331641e-02 -6.07973624e-04 9.97869864e-01 1.54936862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3027550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:435.60, Y:45.33, Z:154.94 [[ 8.67113888e-01 4.94887460e-01 -5.65677256e-02 4.35597188e+02] [-4.93819632e-01 8.68957044e-01 3.24934969e-02 4.53322764e+01] [ 6.52355477e-02 -2.41308990e-04 9.97869864e-01 1.54941616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.362755096 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:435.65, Y:45.30, Z:154.95 [[ 8.66827346e-01 4.95390257e-01 -5.65583374e-02 4.35648685e+02] [-4.94322432e-01 8.68670504e-01 3.25098298e-02 4.53030755e+01] [ 6.52356124e-02 -2.22354604e-04 9.97869864e-01 1.54948792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.422755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:435.70, Y:45.27, Z:154.96 [[ 8.66352047e-01 4.96220872e-01 -5.65594958e-02 4.35700731e+02] [-4.95154946e-01 8.68196304e-01 3.25078143e-02 4.52677585e+01] [ 6.52358012e-02 -1.57497353e-04 9.97869864e-01 1.54956020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4827550959999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:435.75, Y:45.24, Z:154.96 [[ 8.69336820e-01 4.90974279e-01 -5.65486680e-02 4.35753516e+02] [-4.89895998e-01 8.71173880e-01 3.25266389e-02 4.52360546e+01] [ 6.52334656e-02 -5.73638614e-04 9.97869864e-01 1.54962804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.542755096 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:435.81, Y:45.20, Z:154.96 [[ 8.70272048e-01 4.89315408e-01 -5.65419647e-02 4.35807083e+02] [-4.88232869e-01 8.72106602e-01 3.25382873e-02 4.52035402e+01] [ 6.52321060e-02 -7.11516283e-04 9.97869864e-01 1.54963449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6027550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:435.86, Y:45.17, Z:154.97 [[ 8.69697104e-01 4.90337747e-01 -5.65317737e-02 4.35860182e+02] [-4.89256215e-01 8.71532251e-01 3.25559835e-02 4.51704265e+01] [ 6.52326915e-02 -6.55322956e-04 9.97869865e-01 1.54966761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.662755096 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:435.91, Y:45.14, Z:154.97 [[ 8.71633324e-01 4.86888803e-01 -5.65211551e-02 4.35914843e+02] [-4.85798815e-01 8.73463462e-01 3.25744083e-02 4.51418579e+01] [ 6.52292784e-02 -9.35029626e-04 9.97869865e-01 1.54969398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7227550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:435.97, Y:45.11, Z:154.97 [[ 8.72512106e-01 4.85313397e-01 -5.65113373e-02 4.35969872e+02] [-4.84219002e-01 8.74339612e-01 3.25914316e-02 4.51129820e+01] [ 6.52271591e-02 -1.07255532e-03 9.97869865e-01 1.54972848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.03, Y:45.08, Z:154.98 [[ 8.73304869e-01 4.83886491e-01 -5.65019484e-02 4.36025580e+02] [-4.82788059e-01 8.75129949e-01 3.26077006e-02 4.50830208e+01] [ 6.52249731e-02 -1.19799767e-03 9.97869865e-01 1.54977834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8427550959999 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:436.08, Y:45.05, Z:154.98 [[ 8.75428950e-01 4.80034154e-01 -5.64921593e-02 4.36080701e+02] [-4.78926598e-01 8.77248509e-01 3.26246512e-02 4.50520135e+01] [ 6.52186093e-02 -1.50496649e-03 9.97869865e-01 1.54978375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.902755096 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:436.14, Y:45.02, Z:154.98 [[ 8.76822906e-01 4.77484443e-01 -5.64818489e-02 4.36135419e+02] [-4.76370448e-01 8.78638529e-01 3.26424914e-02 4.50220721e+01] [ 6.52134105e-02 -1.71540051e-03 9.97869866e-01 1.54983527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9627550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:436.19, Y:44.99, Z:154.99 [[ 8.76661604e-01 4.77781765e-01 -5.64713941e-02 4.36189261e+02] [-4.76667222e-01 8.78476890e-01 3.26605682e-02 4.49903076e+01] [ 6.52134386e-02 -1.71420356e-03 9.97869866e-01 1.54985589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.24, Y:44.96, Z:154.99 [[ 8.76223900e-01 4.78585327e-01 -5.64602749e-02 4.36244230e+02] [-4.77471212e-01 8.78039449e-01 3.26797788e-02 4.49618932e+01] [ 6.52144112e-02 -1.67664735e-03 9.97869866e-01 1.54990068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0827550959999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:436.30, Y:44.93, Z:154.99 [[ 8.73018411e-01 4.84409177e-01 -5.64500062e-02 4.36297607e+02] [-4.83306030e-01 8.74840645e-01 3.26975070e-02 4.49283516e+01] [ 6.52237323e-02 -1.26289726e-03 9.97869866e-01 1.54993068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.35, Y:44.90, Z:155.00 [[ 8.69683446e-01 4.90372586e-01 -5.64396259e-02 4.36351817e+02] [-4.89280774e-01 8.71512494e-01 3.27154148e-02 4.48960995e+01] [ 6.52305816e-02 -8.37230823e-04 9.97869866e-01 1.54999615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2027550959999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:436.41, Y:44.87, Z:155.00 [[ 8.69436408e-01 4.90811664e-01 -5.64290966e-02 4.36407136e+02] [-4.89719597e-01 8.71265304e-01 3.27335661e-02 4.48661880e+01] [ 6.52307301e-02 -8.25319708e-04 9.97869867e-01 1.55003050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.46, Y:44.84, Z:155.01 [[ 8.69542328e-01 4.90625307e-01 -5.64176173e-02 4.36458786e+02] [-4.89531566e-01 8.71370222e-01 3.27533392e-02 4.48365201e+01] [ 6.52302489e-02 -8.62210271e-04 9.97869867e-01 1.55009213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3227550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:436.51, Y:44.81, Z:155.01 [[ 8.70362285e-01 4.89169157e-01 -5.64183373e-02 4.36508910e+02] [-4.88072439e-01 8.72188394e-01 3.27520990e-02 4.48063553e+01] [ 6.52287357e-02 -9.69956292e-04 9.97869867e-01 1.55010221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.382755096 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:436.56, Y:44.77, Z:155.01 [[ 8.70699415e-01 4.88568496e-01 -5.64212117e-02 4.36562812e+02] [-4.87470838e-01 8.72524961e-01 3.27471466e-02 4.47741185e+01] [ 6.52281397e-02 -1.00922606e-03 9.97869867e-01 1.55013617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4427550959999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:436.61, Y:44.74, Z:155.01 [[ 8.73284873e-01 4.83932540e-01 -5.64165494e-02 4.36614977e+02] [-4.82824674e-01 8.75104241e-01 3.27551768e-02 4.47434663e+01] [ 6.52216576e-02 -1.36529839e-03 9.97869867e-01 1.55014475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.67, Y:44.71, Z:155.02 [[ 8.72933366e-01 4.84566389e-01 -5.64158869e-02 4.36670775e+02] [-4.83459771e-01 8.74753493e-01 3.27563179e-02 4.47144525e+01] [ 6.52226048e-02 -1.31927108e-03 9.97869867e-01 1.55017410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5627550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:436.72, Y:44.68, Z:155.02 [[ 8.71015794e-01 4.88006122e-01 -5.64048891e-02 4.36722742e+02] [-4.86905466e-01 8.72839533e-01 3.27752447e-02 4.46794469e+01] [ 6.52269371e-02 -1.08390696e-03 9.97869867e-01 1.55021690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.78, Y:44.65, Z:155.03 [[ 8.71148495e-01 4.87769639e-01 -5.64010450e-02 4.36776288e+02] [-4.86668061e-01 8.72971677e-01 3.27818585e-02 4.46476339e+01] [ 6.52265101e-02 -1.10927951e-03 9.97869867e-01 1.55025589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6827550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:436.83, Y:44.62, Z:155.03 [[ 8.73896842e-01 4.82829512e-01 -5.63912318e-02 4.36832110e+02] [-4.81716541e-01 8.75713091e-01 3.27987304e-02 4.46226152e+01] [ 6.52187349e-02 -1.49811787e-03 9.97869867e-01 1.55027717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.88, Y:44.59, Z:155.04 [[ 8.71782950e-01 4.86636956e-01 -5.63822725e-02 4.36882181e+02] [-4.85530922e-01 8.73603432e-01 3.28141245e-02 4.45851706e+01] [ 6.52243125e-02 -1.23145747e-03 9.97869868e-01 1.55037939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.94, Y:44.55, Z:155.04 [[ 8.71477784e-01 4.87183635e-01 -5.63788807e-02 4.36935475e+02] [-4.86078367e-01 8.73298730e-01 3.28199511e-02 4.45534732e+01] [ 6.52249480e-02 -1.19730405e-03 9.97869868e-01 1.55044789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.99, Y:44.53, Z:155.05 [[ 8.70534330e-01 4.88868554e-01 -5.63694678e-02 4.36991555e+02] [-4.87765764e-01 8.72356779e-01 3.28361101e-02 4.45263218e+01] [ 6.52268290e-02 -1.08986457e-03 9.97869868e-01 1.55047998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.922755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:437.05, Y:44.50, Z:155.05 [[ 8.68637995e-01 4.92231205e-01 -5.63602236e-02 4.37046354e+02] [-4.91134442e-01 8.70464076e-01 3.28519694e-02 4.44957565e+01] [ 6.52303144e-02 -8.56021806e-04 9.97869868e-01 1.55050848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.10, Y:44.46, Z:155.05 [[ 8.66359204e-01 4.96232245e-01 -5.63497047e-02 4.37099694e+02] [-4.95142743e-01 8.68189626e-01 3.28700022e-02 4.44649312e+01] [ 6.52333840e-02 -5.76081598e-04 9.97869868e-01 1.55050856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.15, Y:44.43, Z:155.06 [[ 8.63603724e-01 5.01013238e-01 -5.63413172e-02 4.37152693e+02] [-4.99932932e-01 8.65439589e-01 3.28843726e-02 4.44333084e+01] [ 6.52355124e-02 -2.32186785e-04 9.97869868e-01 1.55058011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1027550959999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:437.21, Y:44.40, Z:155.06 [[ 8.63447719e-01 5.01283134e-01 -5.63316596e-02 4.37205858e+02] [-5.00202324e-01 8.65283286e-01 3.29009079e-02 4.44022839e+01] [ 6.52355138e-02 -2.30986893e-04 9.97869868e-01 1.55059637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.162755096 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:437.26, Y:44.37, Z:155.06 [[ 8.64381595e-01 4.99671711e-01 -5.63261851e-02 4.37259117e+02] [-4.98586868e-01 8.66214782e-01 3.29102776e-02 4.43704691e+01] [ 6.52349089e-02 -3.63542024e-04 9.97869869e-01 1.55061507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2227550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:437.31, Y:44.34, Z:155.07 [[ 8.64786412e-01 4.98971806e-01 -5.63169554e-02 4.37310666e+02] [-4.97884450e-01 8.66618110e-01 3.29260643e-02 4.43367517e+01] [ 6.52344711e-02 -4.34676602e-04 9.97869869e-01 1.55066253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.36, Y:44.31, Z:155.07 [[ 8.65053814e-01 4.98509113e-01 -5.63077633e-02 4.37363820e+02] [-4.97419755e-01 8.66884321e-01 3.29417764e-02 4.43059520e+01] [ 6.52340929e-02 -4.87815466e-04 9.97869869e-01 1.55074032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.42, Y:44.27, Z:155.08 [[ 8.64856600e-01 4.98852207e-01 -5.62986454e-02 4.37415440e+02] [-4.97762562e-01 8.66686936e-01 3.29573518e-02 4.42706014e+01] [ 6.52341482e-02 -4.80025292e-04 9.97869869e-01 1.55077365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.402755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:437.47, Y:44.24, Z:155.08 [[ 8.64478077e-01 4.99508956e-01 -5.62890559e-02 4.37468666e+02] [-4.98419635e-01 8.66308606e-01 3.29737220e-02 4.42400584e+01] [ 6.52343630e-02 -4.49489040e-04 9.97869869e-01 1.55081155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4627550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:437.52, Y:44.21, Z:155.09 [[ 8.63514198e-01 5.01174533e-01 -5.62789215e-02 4.37522711e+02] [-5.00087616e-01 8.65346156e-01 3.29910101e-02 4.42102130e+01] [ 6.52350025e-02 -3.43813981e-04 9.97869869e-01 1.55089065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.522755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:437.58, Y:44.18, Z:155.09 [[ 8.62928808e-01 5.02182769e-01 -5.62702352e-02 4.37576107e+02] [-5.01097027e-01 8.64761462e-01 3.30058192e-02 4.41786204e+01] [ 6.52352845e-02 -2.84824648e-04 9.97869870e-01 1.55092947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5827550959999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:437.63, Y:44.15, Z:155.10 [[ 8.63012502e-01 5.02039951e-01 -5.62610863e-02 4.37629498e+02] [-5.00952889e-01 8.64844373e-01 3.30214068e-02 4.41462219e+01] [ 6.52351493e-02 -3.13733188e-04 9.97869870e-01 1.55099074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.68, Y:44.12, Z:155.10 [[ 8.64219748e-01 4.99960001e-01 -5.62514437e-02 4.37682465e+02] [-4.98867463e-01 8.66048357e-01 3.30378247e-02 4.41151534e+01] [ 6.52340613e-02 -4.89925597e-04 9.97869870e-01 1.55104917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.74, Y:44.08, Z:155.11 [[ 8.65718374e-01 4.97361453e-01 -5.62430614e-02 4.37736359e+02] [-4.96262499e-01 8.67543135e-01 3.30520883e-02 4.40829383e+01] [ 6.52321165e-02 -7.02477950e-04 9.97869870e-01 1.55111219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.762755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:437.79, Y:44.05, Z:155.11 [[ 8.65976448e-01 4.96913115e-01 -5.62329777e-02 4.37786685e+02] [-4.95812103e-01 8.67799968e-01 3.30692354e-02 4.40524177e+01] [ 6.52315130e-02 -7.56188016e-04 9.97869870e-01 1.55113044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.84, Y:44.02, Z:155.12 [[ 8.68335257e-01 4.92779061e-01 -5.62377008e-02 4.37836947e+02] [-4.91669888e-01 8.70153825e-01 3.30612013e-02 4.40249126e+01] [ 6.52273182e-02 -1.05782268e-03 9.97869870e-01 1.55119648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.89, Y:43.99, Z:155.12 [[ 8.69253196e-01 4.91157487e-01 -5.62423641e-02 4.37890922e+02] [-4.90045435e-01 8.71070005e-01 3.30532664e-02 4.39934948e+01] [ 6.52253956e-02 -1.17034368e-03 9.97869870e-01 1.55124651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9427550959999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:437.95, Y:43.96, Z:155.12 [[ 8.69317278e-01 4.91045206e-01 -5.62323344e-02 4.37945482e+02] [-4.89931816e-01 8.71133267e-01 3.30703207e-02 4.39617533e+01] [ 6.52248797e-02 -1.19859146e-03 9.97869871e-01 1.55124143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.00, Y:43.93, Z:155.13 [[ 8.68171937e-01 4.93068522e-01 -5.62220716e-02 4.37999832e+02] [-4.91958236e-01 8.69989824e-01 3.30877592e-02 4.39306687e+01] [ 6.52271627e-02 -1.06695280e-03 9.97869871e-01 1.55131623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.05, Y:43.90, Z:155.14 [[ 8.67637806e-01 4.94009055e-01 -5.62111375e-02 4.38052605e+02] [-4.92899537e-01 8.69456162e-01 3.31063242e-02 4.38997357e+01] [ 6.52279438e-02 -1.01785481e-03 9.97869871e-01 1.55137911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.11, Y:43.87, Z:155.14 [[ 8.66719494e-01 4.95619190e-01 -5.62044203e-02 4.38106439e+02] [-4.94512311e-01 8.68539458e-01 3.31177240e-02 4.38678723e+01] [ 6.52295363e-02 -9.09999198e-04 9.97869871e-01 1.55142213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.16, Y:43.84, Z:155.15 [[ 8.64924992e-01 4.98745425e-01 -5.61939413e-02 4.38160048e+02] [-4.97643971e-01 8.66748243e-01 3.31354951e-02 4.38370234e+01] [ 6.52321766e-02 -6.95141777e-04 9.97869871e-01 1.55146159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.21, Y:43.80, Z:155.15 [[ 8.62830258e-01 5.02361696e-01 -5.61842658e-02 4.38213297e+02] [-5.01266816e-01 8.64657465e-01 3.31518928e-02 4.38040013e+01] [ 6.52343859e-02 -4.41148172e-04 9.97869871e-01 1.55151904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3027550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:438.27, Y:43.77, Z:155.16 [[ 8.63747734e-01 5.00783708e-01 -5.61740953e-02 4.38267458e+02] [-4.99684369e-01 8.65572262e-01 3.31691173e-02 4.37721786e+01] [ 6.52332923e-02 -5.80432589e-04 9.97869872e-01 1.55155896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.362755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:438.32, Y:43.74, Z:155.16 [[ 8.64337523e-01 4.99766283e-01 -5.61632261e-02 4.38320280e+02] [-4.98663601e-01 8.66160032e-01 3.31875112e-02 4.37406536e+01] [ 6.52323409e-02 -6.78654602e-04 9.97869872e-01 1.55159091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.422755096 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:438.37, Y:43.71, Z:155.16 [[ 8.65298990e-01 4.98100852e-01 -5.61533571e-02 4.38373391e+02] [-4.96993580e-01 8.67118713e-01 3.32042012e-02 4.37094767e+01] [ 6.52306677e-02 -8.23703728e-04 9.97869872e-01 1.55162198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.43, Y:43.68, Z:155.17 [[ 8.66977362e-01 4.95174840e-01 -5.61438451e-02 4.38427272e+02] [-4.94060385e-01 8.68792696e-01 3.32202770e-02 4.36776865e+01] [ 6.52272079e-02 -1.06277837e-03 9.97869872e-01 1.55168841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.48, Y:43.65, Z:155.17 [[ 8.68496680e-01 4.92506438e-01 -5.61331010e-02 4.38481293e+02] [-4.91385235e-01 8.70307853e-01 3.32384217e-02 4.36461090e+01] [ 6.52232153e-02 -1.28448187e-03 9.97869872e-01 1.55172460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.54, Y:43.62, Z:155.18 [[ 8.69143486e-01 4.91365315e-01 -5.61224289e-02 4.38535580e+02] [-4.90240572e-01 8.70952462e-01 3.32564316e-02 4.36167734e+01] [ 6.52210246e-02 -1.39111933e-03 9.97869873e-01 1.55176889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.59, Y:43.59, Z:155.18 [[ 8.69561534e-01 4.90626247e-01 -5.61126040e-02 4.38590298e+02] [-4.89498897e-01 8.71368887e-01 3.32730007e-02 4.35858371e+01] [ 6.52193847e-02 -1.46586374e-03 9.97869873e-01 1.55181318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.64, Y:43.55, Z:155.19 [[ 8.69557624e-01 4.90634408e-01 -5.61018384e-02 4.38644864e+02] [-4.89505906e-01 8.71364257e-01 3.32911427e-02 4.35547579e+01] [ 6.52189168e-02 -1.48638573e-03 9.97869873e-01 1.55186196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.782755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:438.70, Y:43.53, Z:155.19 [[ 8.68762070e-01 4.92042937e-01 -5.60911269e-02 4.38700140e+02] [-4.90916199e-01 8.70569804e-01 3.33091803e-02 4.35251622e+01] [ 6.52207883e-02 -1.40170960e-03 9.97869873e-01 1.55192521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8427550959999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:438.76, Y:43.50, Z:155.19 [[ 8.67582858e-01 4.94120406e-01 -5.60803767e-02 4.38755959e+02] [-4.92996829e-01 8.69392558e-01 3.33272699e-02 4.34952643e+01] [ 6.52235463e-02 -1.26672020e-03 9.97869874e-01 1.55194763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.81, Y:43.47, Z:155.20 [[ 8.65328789e-01 4.98058517e-01 -5.60696102e-02 4.38810941e+02] [-4.96942004e-01 8.67142855e-01 3.33453737e-02 4.34661762e+01] [ 6.52283092e-02 -9.91367342e-04 9.97869874e-01 1.55201887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.87, Y:43.44, Z:155.21 [[ 8.63889803e-01 5.00551494e-01 -5.60589821e-02 4.38866086e+02] [-4.99439058e-01 8.65706372e-01 3.33632317e-02 4.34370139e+01] [ 6.52306335e-02 -8.24110532e-04 9.97869874e-01 1.55206534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.022755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:438.92, Y:43.41, Z:155.21 [[ 8.62298385e-01 5.03289249e-01 -5.60484313e-02 4.38921328e+02] [-5.02181429e-01 8.64117773e-01 3.33809471e-02 4.34077641e+01] [ 6.52327174e-02 -6.37855482e-04 9.97869874e-01 1.55210735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0827550959999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:438.98, Y:43.38, Z:155.21 [[ 8.61766867e-01 5.04200003e-01 -5.60377104e-02 4.38977145e+02] [-5.03092936e-01 8.63586712e-01 3.33989349e-02 4.33781235e+01] [ 6.52331652e-02 -5.89919249e-04 9.97869874e-01 1.55213474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.03, Y:43.35, Z:155.22 [[ 8.61583943e-01 5.04513694e-01 -5.60271555e-02 4.39032817e+02] [-5.03406138e-01 8.63403491e-01 3.34166315e-02 4.33482449e+01] [ 6.52331899e-02 -5.86819136e-04 9.97869875e-01 1.55218585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2027550959999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:439.09, Y:43.32, Z:155.22 [[ 8.61116351e-01 5.05312584e-01 -5.60162672e-02 4.39086615e+02] [-5.04205530e-01 8.62936205e-01 3.34348738e-02 4.33172065e+01] [ 6.52335274e-02 -5.47604878e-04 9.97869875e-01 1.55219599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.262755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:439.14, Y:43.29, Z:155.22 [[ 8.59394954e-01 5.08235787e-01 -5.60062337e-02 4.39140935e+02] [-5.07133828e-01 8.61217897e-01 3.34516723e-02 4.32864465e+01] [ 6.52349078e-02 -3.45542691e-04 9.97869875e-01 1.55224888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.19, Y:43.25, Z:155.23 [[ 8.57966271e-01 5.10645045e-01 -5.59956679e-02 4.39193016e+02] [-5.09547052e-01 8.59791605e-01 3.34693492e-02 4.32546922e+01] [ 6.52355626e-02 -1.83145223e-04 9.97869875e-01 1.55228855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.382755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:439.24, Y:43.22, Z:155.23 [[ 8.57131809e-01 5.12044621e-01 -5.59943666e-02 4.39242693e+02] [-5.10949466e-01 8.58958847e-01 3.34715263e-02 4.32233950e+01] [ 6.52357715e-02 -7.92182305e-05 9.97869875e-01 1.55230168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.29, Y:43.19, Z:155.23 [[ 8.56182041e-01 5.13630927e-01 -5.59962853e-02 4.39292935e+02] [-5.12539367e-01 8.58011229e-01 3.34683161e-02 4.31922754e+01] [ 6.52358038e-02 4.53294281e-05 9.97869875e-01 1.55234536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.34, Y:43.16, Z:155.24 [[ 8.56157332e-01 5.13671972e-01 -5.59975625e-02 4.39341972e+02] [-5.12580640e-01 8.57986656e-01 3.34661790e-02 4.31607903e+01] [ 6.52357996e-02 5.09518690e-05 9.97869875e-01 1.55237776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.39, Y:43.13, Z:155.24 [[ 8.57312581e-01 5.11741204e-01 -5.60007034e-02 4.39389981e+02] [-5.10646095e-01 8.59139646e-01 3.34609223e-02 4.31257290e+01] [ 6.52357572e-02 -8.99291398e-05 9.97869875e-01 1.55241144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.622755096 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:439.44, Y:43.09, Z:155.24 [[ 8.60040310e-01 5.07143281e-01 -5.60031896e-02 4.39438086e+02] [-5.06038676e-01 8.61861650e-01 3.34567606e-02 4.30903751e+01] [ 6.52343728e-02 -4.34382884e-04 9.97869875e-01 1.55240036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6827550959999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:439.49, Y:43.06, Z:155.25 [[ 8.61891166e-01 5.03991194e-01 -5.60044135e-02 4.39485786e+02] [-5.02880061e-01 8.63708531e-01 3.34547118e-02 4.30564241e+01] [ 6.52323699e-02 -6.70817613e-04 9.97869875e-01 1.55245502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.54, Y:43.02, Z:155.25 [[ 8.62713497e-01 5.02582111e-01 -5.60057463e-02 4.39538102e+02] [-5.01468155e-01 8.64529133e-01 3.34524804e-02 4.30225635e+01] [ 6.52312175e-02 -7.74808047e-04 9.97869875e-01 1.55253522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8027550959999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:439.59, Y:42.99, Z:155.26 [[ 8.64021913e-01 5.00330592e-01 -5.59949302e-02 4.39590757e+02] [-4.99210732e-01 8.65833913e-01 3.34705753e-02 4.29874267e+01] [ 6.52286623e-02 -9.66040393e-04 9.97869875e-01 1.55256199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.862755096 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:439.64, Y:42.95, Z:155.26 [[ 8.65083515e-01 4.98494025e-01 -5.59841008e-02 4.39644526e+02] [-4.97369147e-01 8.66892404e-01 3.34886793e-02 4.29546206e+01] [ 6.52260982e-02 -1.12573991e-03 9.97869876e-01 1.55263182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.922755096 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:439.70, Y:42.92, Z:155.26 [[ 8.66208319e-01 4.96538164e-01 -5.59732028e-02 4.39697820e+02] [-4.95408027e-01 8.68013926e-01 3.35068845e-02 4.29230901e+01] [ 6.52229664e-02 -1.29436814e-03 9.97869876e-01 1.55263702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9827550959999 meters Centerline goodness : 0.998453 with order 1 Centerline is valid? [True, True] Translation: X:439.75, Y:42.89, Z:155.27 [[ 8.66256869e-01 4.96454751e-01 -5.59617482e-02 4.39751130e+02] [-4.95323205e-01 8.68061593e-01 3.35260044e-02 4.28916671e+01] [ 6.52223885e-02 -1.32297915e-03 9.97869876e-01 1.55270487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.042755096 meters Centerline goodness : 0.998343 with order 1 Centerline is valid? [True, True] Translation: X:439.81, Y:42.86, Z:155.27 [[ 8.66099120e-01 4.96731044e-01 -5.59516272e-02 4.39806003e+02] [-4.95598983e-01 8.67903521e-01 3.35428870e-02 4.28608467e+01] [ 6.52224075e-02 -1.32189532e-03 9.97869876e-01 1.55273506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1027550959999 meters Centerline goodness : 0.998347 with order 1 Centerline is valid? [True, True] Translation: X:439.86, Y:42.83, Z:155.28 [[ 8.65246899e-01 4.98215221e-01 -5.59410239e-02 4.39860870e+02] [-4.97085113e-01 8.67052524e-01 3.35605612e-02 4.28316616e+01] [ 6.52241884e-02 -1.23072131e-03 9.97869877e-01 1.55277600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.162755096 meters Centerline goodness : 0.997949 with order 1 Centerline is valid? [True, True] Translation: X:439.92, Y:42.80, Z:155.28 [[ 8.64149064e-01 5.00118078e-01 -5.59312389e-02 4.39915182e+02] [-4.98990892e-01 8.65956514e-01 3.35768608e-02 4.28007942e+01] [ 6.52264158e-02 -1.10623408e-03 9.97869877e-01 1.55282699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2227550959999 meters Centerline goodness : 0.997976 with order 1 Centerline is valid? [True, True] Translation: X:439.97, Y:42.77, Z:155.29 [[ 8.63092314e-01 5.01940759e-01 -5.59207669e-02 4.39969895e+02] [-5.00816261e-01 8.64901437e-01 3.35942925e-02 4.27704923e+01] [ 6.52282963e-02 -9.88946287e-04 9.97869877e-01 1.55285901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.282755096 meters Centerline goodness : 0.997936 with order 1 Centerline is valid? [True, True] Translation: X:440.02, Y:42.74, Z:155.29 [[ 8.61897752e-01 5.03990383e-01 -5.59102738e-02 4.40024558e+02] [-5.02869055e-01 8.63708842e-01 3.36117469e-02 4.27409078e+01] [ 6.52301950e-02 -8.54342560e-04 9.97869877e-01 1.55289703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3427550959999 meters Centerline goodness : 0.997926 with order 1 Centerline is valid? [True, True] Translation: X:440.08, Y:42.71, Z:155.29 [[ 8.60055919e-01 5.07128130e-01 -5.59005936e-02 4.40078507e+02] [-5.06012363e-01 8.61870441e-01 3.36278385e-02 4.27132549e+01] [ 6.52326921e-02 -6.35430085e-04 9.97869877e-01 1.55294287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.402755096 meters Centerline goodness : 0.998220 with order 1 Centerline is valid? [True, True] Translation: X:440.13, Y:42.68, Z:155.30 [[ 8.57958741e-01 5.10668114e-01 -5.59005936e-02 4.40132057e+02] [-5.09559835e-01 8.59777845e-01 3.36278385e-02 4.26804567e+01] [ 6.52347568e-02 -3.66600757e-04 9.97869877e-01 1.55300201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4627550959999 meters Centerline goodness : 0.997723 with order 1 Centerline is valid? [True, True] Translation: X:440.19, Y:42.65, Z:155.30 [[ 8.59010977e-01 5.08897306e-01 -5.58898339e-02 4.40187710e+02] [-5.07784114e-01 8.60827079e-01 3.36457119e-02 4.26532418e+01] [ 6.52336946e-02 -5.22066091e-04 9.97869878e-01 1.55302177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.522755096 meters Centerline goodness : 0.997618 with order 1 Centerline is valid? [True, True] Translation: X:440.24, Y:42.63, Z:155.31 [[ 8.60242110e-01 5.06814517e-01 -5.58798491e-02 4.40238640e+02] [-5.05695852e-01 8.62054845e-01 3.36622868e-02 4.26260525e+01] [ 6.52320303e-02 -6.99508770e-04 9.97869878e-01 1.55305378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5827550959999 meters Centerline goodness : 0.997941 with order 1 Centerline is valid? [True, True] Translation: X:440.29, Y:42.60, Z:155.31 [[ 8.61284041e-01 5.05041488e-01 -5.58828755e-02 4.40289099e+02] [-5.03919417e-01 8.63094670e-01 3.36572619e-02 4.25975267e+01] [ 6.52305256e-02 -8.27996526e-04 9.97869878e-01 1.55309782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.642755096 meters Centerline goodness : 0.998367 with order 1 Centerline is valid? [True, True] Translation: X:440.34, Y:42.57, Z:155.31 [[ 8.63415328e-01 5.01388747e-01 -5.58864655e-02 4.40340095e+02] [-5.00259402e-01 8.65221429e-01 3.36512998e-02 4.25670930e+01] [ 6.52265506e-02 -1.09731816e-03 9.97869878e-01 1.55306530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7027550959999 meters Centerline goodness : 0.998297 with order 1 Centerline is valid? [True, True] Translation: X:440.39, Y:42.53, Z:155.32 [[ 8.63114569e-01 5.01905400e-01 -5.58946406e-02 4.40386718e+02] [-5.00778016e-01 8.64921894e-01 3.36377156e-02 4.25338538e+01] [ 6.52274495e-02 -1.04239518e-03 9.97869878e-01 1.55320086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.762755096 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:440.44, Y:42.51, Z:155.31 [[ 8.66316651e-01 4.96357632e-01 -5.58977824e-02 4.40438466e+02] [-4.95219013e-01 8.68116919e-01 3.36324939e-02 4.25056704e+01] [ 6.52195556e-02 -1.45474483e-03 9.97869878e-01 1.55314159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8227550959999 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:440.49, Y:42.47, Z:155.32 [[ 8.66534339e-01 4.95977146e-01 -5.59008988e-02 4.40492399e+02] [-4.94838071e-01 8.68334318e-01 3.36273133e-02 4.24735497e+01] [ 6.52190477e-02 -1.47732876e-03 9.97869878e-01 1.55318604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.882755096 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:440.54, Y:42.44, Z:155.31 [[ 8.66859392e-01 4.95410067e-01 -5.58897193e-02 4.40544779e+02] [-4.94268617e-01 8.68657866e-01 3.36458836e-02 4.24415870e+01] [ 6.52175538e-02 -1.54171592e-03 9.97869878e-01 1.55313877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9427550959999 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:440.60, Y:42.41, Z:155.33 [[ 8.66255460e-01 4.96466324e-01 -5.58808258e-02 4.40596594e+02] [-4.95326115e-01 8.68054722e-01 3.36606480e-02 4.24091133e+01] [ 6.52189929e-02 -1.47948774e-03 9.97869878e-01 1.55325963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.002755096 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:440.65, Y:42.38, Z:155.33 [[ 8.68276468e-01 4.92924302e-01 -5.58713520e-02 4.40650024e+02] [-4.91775744e-01 8.70070411e-01 3.36763657e-02 4.23786655e+01] [ 6.52119093e-02 -1.76422016e-03 9.97869879e-01 1.55332900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0627550959999 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:440.70, Y:42.34, Z:155.34 [[ 8.67112360e-01 4.94970370e-01 -5.58613378e-02 4.40702430e+02] [-4.93824976e-01 8.68908325e-01 3.36929689e-02 4.23435248e+01] [ 6.52154027e-02 -1.62986597e-03 9.97869879e-01 1.55338087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.122755096 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:440.76, Y:42.31, Z:155.35 [[ 8.67670315e-01 4.93992898e-01 -5.58501654e-02 4.40755710e+02] [-4.92844291e-01 8.69464226e-01 3.37114782e-02 4.23123984e+01] [ 6.52129517e-02 -1.72501377e-03 9.97869879e-01 1.55345510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1827550959999 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:440.81, Y:42.28, Z:155.35 [[ 8.67871374e-01 4.93640364e-01 -5.58432614e-02 4.40806768e+02] [-4.92490293e-01 8.69664347e-01 3.37229109e-02 4.22794871e+01] [ 6.52118835e-02 -1.76488485e-03 9.97869879e-01 1.55346280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.242755096 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:440.86, Y:42.25, Z:155.35 [[ 8.66756664e-01 4.95595083e-01 -5.58426275e-02 4.40855990e+02] [-4.94448989e-01 8.68552181e-01 3.37239606e-02 4.22479145e+01] [ 6.52156650e-02 -1.61913681e-03 9.97869879e-01 1.55350236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3027550959999 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:440.91, Y:42.21, Z:155.35 [[ 8.66168913e-01 4.96620420e-01 -5.58531290e-02 4.40905338e+02] [-4.95477572e-01 8.67966499e-01 3.37065592e-02 4.22147934e+01] [ 6.52180104e-02 -1.52160095e-03 9.97869879e-01 1.55349657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.362755096 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:440.96, Y:42.18, Z:155.36 [[ 8.66532545e-01 4.95985339e-01 -5.58559900e-02 4.40957833e+02] [-4.94841479e-01 8.68329487e-01 3.37018174e-02 4.21833502e+01] [ 6.52170105e-02 -1.56386090e-03 9.97869879e-01 1.55358561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.422755096 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:441.01, Y:42.15, Z:155.36 [[ 8.62389502e-01 5.03154645e-01 -5.58547331e-02 4.41008451e+02] [-5.02025592e-01 8.64195783e-01 3.37039005e-02 4.21457024e+01] [ 6.52276989e-02 -1.02538454e-03 9.97869879e-01 1.55362902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4827550959999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:441.06, Y:42.11, Z:155.37 [[ 8.59662119e-01 5.07801605e-01 -5.58441701e-02 4.41060514e+02] [-5.06681181e-01 8.61473765e-01 3.37213932e-02 4.21111636e+01] [ 6.52320651e-02 -6.93814265e-04 9.97869879e-01 1.55365273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.11, Y:42.08, Z:155.37 [[ 8.59629957e-01 5.07857059e-01 -5.58349797e-02 4.41112479e+02] [-5.06735764e-01 8.61441064e-01 3.37366037e-02 4.20783687e+01] [ 6.52319167e-02 -7.07414048e-04 9.97869880e-01 1.55365997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6027550959999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:441.16, Y:42.04, Z:155.37 [[ 8.57953652e-01 5.10684764e-01 -5.58265440e-02 4.41163858e+02] [-5.09568530e-01 8.59767883e-01 3.37505571e-02 4.20431103e+01] [ 6.52337649e-02 -5.08963697e-04 9.97869880e-01 1.55371611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.662755096 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:441.22, Y:42.01, Z:155.38 [[ 8.57982891e-01 5.10636657e-01 -5.58172328e-02 4.41215968e+02] [-5.09519320e-01 8.59796443e-01 3.37659491e-02 4.20117299e+01] [ 6.52335896e-02 -5.30648129e-04 9.97869880e-01 1.55377837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7227550959999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:441.27, Y:41.98, Z:155.38 [[ 8.59677505e-01 5.07779452e-01 -5.58087419e-02 4.41268999e+02] [-5.06655178e-01 8.61486764e-01 3.37799771e-02 4.19765858e+01] [ 6.52312708e-02 -7.64098422e-04 9.97869880e-01 1.55377405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.782755096 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:441.32, Y:41.94, Z:155.38 [[ 8.61979617e-01 5.03862883e-01 -5.57972723e-02 4.41320844e+02] [-5.02729163e-01 8.63782972e-01 3.37989120e-02 4.19434344e+01] [ 6.52267509e-02 -1.08305723e-03 9.97869880e-01 1.55378962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8427550959999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:441.37, Y:41.91, Z:155.39 [[ 8.61301970e-01 5.05021541e-01 -5.57867305e-02 4.41369221e+02] [-5.03889121e-01 8.63106142e-01 3.38163028e-02 4.19052032e+01] [ 6.52278310e-02 -1.01572167e-03 9.97869880e-01 1.55385773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.902755096 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:441.42, Y:41.87, Z:155.39 [[ 8.63023220e-01 5.02075603e-01 -5.57764429e-02 4.41420733e+02] [-5.00935929e-01 8.64822817e-01 3.38332626e-02 4.18689749e+01] [ 6.52235962e-02 -1.25846695e-03 9.97869881e-01 1.55391884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9627550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:441.47, Y:41.83, Z:155.40 [[ 8.63156406e-01 5.01847912e-01 -5.57646106e-02 4.41473078e+02] [-5.00706505e-01 8.64954905e-01 3.38527536e-02 4.18335933e+01] [ 6.52228072e-02 -1.29851787e-03 9.97869881e-01 1.55397749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.022755096 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:441.53, Y:41.80, Z:155.40 [[ 8.62159796e-01 5.03559311e-01 -5.57539823e-02 4.41525741e+02] [-5.02420343e-01 8.63959840e-01 3.38702490e-02 4.17985220e+01] [ 6.52248808e-02 -1.18963203e-03 9.97869881e-01 1.55399431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0827550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:441.58, Y:41.76, Z:155.40 [[ 8.61300216e-01 5.05029314e-01 -5.57434303e-02 4.41577139e+02] [-5.03892295e-01 8.63101492e-01 3.38876065e-02 4.17634038e+01] [ 6.52264725e-02 -1.09871780e-03 9.97869881e-01 1.55404510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.142755096 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:441.63, Y:41.73, Z:155.41 [[ 8.61212452e-01 5.05180034e-01 -5.57336992e-02 4.41630149e+02] [-5.04042296e-01 8.63013273e-01 3.39036033e-02 4.17286506e+01] [ 6.52263457e-02 -1.10606366e-03 9.97869882e-01 1.55407062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:441.68, Y:41.69, Z:155.41 [[ 8.61130636e-01 5.05320614e-01 -5.57234682e-02 4.41682742e+02] [-5.04182083e-01 8.62930955e-01 3.39204106e-02 4.16941655e+01] [ 6.52261883e-02 -1.11513053e-03 9.97869882e-01 1.55412903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.74, Y:41.66, Z:155.42 [[ 8.59809012e-01 5.07567285e-01 -5.57127837e-02 4.41736356e+02] [-5.06432321e-01 8.61611583e-01 3.39379503e-02 4.16624118e+01] [ 6.52285730e-02 -9.65401140e-04 9.97869882e-01 1.55415325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3227550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:441.79, Y:41.63, Z:155.42 [[ 8.58666885e-01 5.09498095e-01 -5.57034349e-02 4.41789331e+02] [-5.08366190e-01 8.60471377e-01 3.39532879e-02 4.16295122e+01] [ 6.52303468e-02 -8.36821003e-04 9.97869882e-01 1.55419651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.84, Y:41.60, Z:155.43 [[ 8.58460062e-01 5.09846880e-01 -5.56999142e-02 4.41841393e+02] [-5.08715334e-01 8.60264780e-01 3.39590626e-02 4.15966206e+01] [ 6.52305965e-02 -8.17098579e-04 9.97869882e-01 1.55427932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.90, Y:41.57, Z:155.43 [[ 8.59589518e-01 5.07941420e-01 -5.56899809e-02 4.41895148e+02] [-5.06804819e-01 8.61391056e-01 3.39753446e-02 4.15656180e+01] [ 6.52283362e-02 -9.80899379e-04 9.97869882e-01 1.55430791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.502755096 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:441.95, Y:41.53, Z:155.43 [[ 8.60994433e-01 5.05557410e-01 -5.56802598e-02 4.41948850e+02] [-5.04414792e-01 8.62792160e-01 3.39912685e-02 4.15320383e+01] [ 6.52250293e-02 -1.18034636e-03 9.97869882e-01 1.55431915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.00, Y:41.50, Z:155.43 [[ 8.61400327e-01 5.04866634e-01 -5.56700820e-02 4.42002811e+02] [-5.03721498e-01 8.63196451e-01 3.40079292e-02 4.14991537e+01] [ 6.52236860e-02 -1.25222426e-03 9.97869883e-01 1.55432544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.622755096 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:442.05, Y:41.47, Z:155.44 [[ 8.61067527e-01 5.05435136e-01 -5.56600142e-02 4.42054075e+02] [-5.04290121e-01 8.62863729e-01 3.40243990e-02 4.14652441e+01] [ 6.52241342e-02 -1.22850979e-03 9.97869883e-01 1.55442223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6827550959999 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:442.11, Y:41.43, Z:155.45 [[ 8.60464738e-01 5.06461344e-01 -5.56537678e-02 4.42108090e+02] [-5.05317811e-01 8.62261883e-01 3.40346132e-02 4.14331930e+01] [ 6.52253386e-02 -1.16274437e-03 9.97869883e-01 1.55445158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.742755096 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:442.16, Y:41.40, Z:155.45 [[ 8.59542921e-01 5.08025361e-01 -5.56434973e-02 4.42159287e+02] [-5.06884012e-01 8.61341454e-01 3.40513964e-02 4.13966282e+01] [ 6.52270238e-02 -1.06383752e-03 9.97869883e-01 1.55446795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8027550959999 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:442.21, Y:41.36, Z:155.45 [[ 8.59342298e-01 5.08365825e-01 -5.56327555e-02 4.42210192e+02] [-5.07224053e-01 8.61140562e-01 3.40689372e-02 4.13594561e+01] [ 6.52271057e-02 -1.05860700e-03 9.97869883e-01 1.55453443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.26, Y:41.33, Z:155.45 [[ 8.59557313e-01 5.08003355e-01 -5.56220913e-02 4.42263579e+02] [-5.06859699e-01 8.61354379e-01 3.40863391e-02 4.13286973e+01] [ 6.52263065e-02 -1.10656558e-03 9.97869884e-01 1.55453844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.922755096 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:442.32, Y:41.30, Z:155.46 [[ 8.59707137e-01 5.07750841e-01 -5.56122431e-02 4.42315327e+02] [-5.06605619e-01 8.61503206e-01 3.41023988e-02 4.12973797e+01] [ 6.52256474e-02 -1.14460085e-03 9.97869884e-01 1.55457698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9827550959999 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:442.36, Y:41.26, Z:155.47 [[ 8.57647605e-01 5.11222980e-01 -5.56026107e-02 4.42364581e+02] [-5.10084013e-01 8.59447646e-01 3.41180970e-02 4.12606382e+01] [ 6.52294881e-02 -8.99301418e-04 9.97869884e-01 1.55467392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.42, Y:41.23, Z:155.47 [[ 8.56939785e-01 5.12409716e-01 -5.55921593e-02 4.42416239e+02] [-5.11272137e-01 8.58740704e-01 3.41351181e-02 4.12285811e+01] [ 6.52304161e-02 -8.29018746e-04 9.97869884e-01 1.55468197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1027550959999 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:442.47, Y:41.20, Z:155.47 [[ 8.58952821e-01 5.09029008e-01 -5.55834581e-02 4.42472597e+02] [-5.07883425e-01 8.60748659e-01 3.41492807e-02 4.12020818e+01] [ 6.52263615e-02 -1.10270389e-03 9.97869884e-01 1.55473706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.53, Y:41.17, Z:155.48 [[ 8.57267287e-01 5.11863538e-01 -5.55744281e-02 4.42526114e+02] [-5.10722941e-01 8.59066296e-01 3.41639697e-02 4.11694733e+01] [ 6.52294085e-02 -9.04518244e-04 9.97869884e-01 1.55475889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2227550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:442.58, Y:41.14, Z:155.48 [[ 8.57333062e-01 5.11754485e-01 -5.55640888e-02 4.42579233e+02] [-5.10612570e-01 8.59131234e-01 3.41807773e-02 4.11363416e+01] [ 6.52290103e-02 -9.32588207e-04 9.97869885e-01 1.55482492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.282755096 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:442.63, Y:41.11, Z:155.48 [[ 8.59334496e-01 5.08387808e-01 -5.55523275e-02 4.42634247e+02] [-5.07237615e-01 8.61127383e-01 3.41998818e-02 4.11059882e+01] [ 6.52244333e-02 -1.21090804e-03 9.97869885e-01 1.55484639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:442.69, Y:41.07, Z:155.48 [[ 8.59345223e-01 5.08370945e-01 -5.55407000e-02 4.42688726e+02] [-5.07219497e-01 8.61137305e-01 3.42187545e-02 4.10740216e+01] [ 6.52239893e-02 -1.23439728e-03 9.97869885e-01 1.55477266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.74, Y:41.04, Z:155.49 [[ 8.60786477e-01 5.05927844e-01 -5.55306881e-02 4.42742843e+02] [-5.04770263e-01 8.62574604e-01 3.42349942e-02 4.10440273e+01] [ 6.52197981e-02 -1.43877997e-03 9.97869885e-01 1.55490681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4627550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:442.80, Y:41.01, Z:155.49 [[ 8.61738197e-01 5.04306382e-01 -5.55189501e-02 4.42796117e+02] [-5.03144212e-01 8.63523343e-01 3.42540191e-02 4.10135649e+01] [ 6.52164299e-02 -1.58395826e-03 9.97869885e-01 1.55494946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.85, Y:40.98, Z:155.50 [[ 8.60683453e-01 5.06105562e-01 -5.55081527e-02 4.42849195e+02] [-5.04945996e-01 8.62470292e-01 3.42715074e-02 4.09794692e+01] [ 6.52191331e-02 -1.46829983e-03 9.97869886e-01 1.55500480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.90, Y:40.95, Z:155.50 [[ 8.61609036e-01 5.04529478e-01 -5.54966247e-02 4.42904638e+02] [-5.03365443e-01 8.63392967e-01 3.42901647e-02 4.09501643e+01] [ 6.52157944e-02 -1.60963267e-03 9.97869886e-01 1.55502354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.642755096 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:442.96, Y:40.92, Z:155.51 [[ 8.62049908e-01 5.03777074e-01 -5.54852757e-02 4.42958514e+02] [-5.02610302e-01 8.63832050e-01 3.43085188e-02 4.09177112e+01] [ 6.52138047e-02 -1.68818436e-03 9.97869886e-01 1.55505316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.01, Y:40.89, Z:155.51 [[ 8.60939991e-01 5.05672795e-01 -5.54739239e-02 4.43012225e+02] [-5.04508766e-01 8.62723925e-01 3.43268639e-02 4.08857077e+01] [ 6.52168426e-02 -1.56628903e-03 9.97869886e-01 1.55510747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.07, Y:40.85, Z:155.52 [[ 8.61321977e-01 5.05023102e-01 -5.54627597e-02 4.43066197e+02] [-5.03856568e-01 8.63104274e-01 3.43448929e-02 4.08549255e+01] [ 6.52151092e-02 -1.63673529e-03 9.97869887e-01 1.55515465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.12, Y:40.82, Z:155.52 [[ 8.58341978e-01 5.10072615e-01 -5.54524615e-02 4.43118422e+02] [-5.08915494e-01 8.60130401e-01 3.43615120e-02 4.08217834e+01] [ 6.52232142e-02 -1.27331131e-03 9.97869887e-01 1.55521556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.882755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:443.17, Y:40.79, Z:155.53 [[ 8.57147256e-01 5.12078813e-01 -5.54425110e-02 4.43172620e+02] [-5.10924840e-01 8.58937711e-01 3.43775597e-02 4.07912224e+01] [ 6.52256835e-02 -1.13967484e-03 9.97869887e-01 1.55525195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.23, Y:40.76, Z:155.52 [[ 8.56976698e-01 5.12365331e-01 -5.54320082e-02 4.43227466e+02] [-5.11210863e-01 8.58766833e-01 3.43944866e-02 4.07594681e+01] [ 6.52257127e-02 -1.13782880e-03 9.97869887e-01 1.55522129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.28, Y:40.73, Z:155.53 [[ 8.56363417e-01 5.13390868e-01 -5.54212451e-02 4.43277348e+02] [-5.12237422e-01 8.58154211e-01 3.44118210e-02 4.07281405e+01] [ 6.52266895e-02 -1.08018890e-03 9.97869887e-01 1.55532954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.33, Y:40.70, Z:155.53 [[ 8.57016365e-01 5.12299980e-01 -5.54227467e-02 4.43328803e+02] [-5.11144411e-01 8.58805790e-01 3.44094024e-02 4.06983918e+01] [ 6.52253119e-02 -1.16039375e-03 9.97869887e-01 1.55532049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.122755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:443.38, Y:40.66, Z:155.54 [[ 8.56772767e-01 5.12706945e-01 -5.54257615e-02 4.43380658e+02] [-5.11552540e-01 8.58562942e-01 3.44045455e-02 4.06631406e+01] [ 6.52259543e-02 -1.12368849e-03 9.97869887e-01 1.55538755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.43, Y:40.63, Z:155.54 [[ 8.58218236e-01 5.10284864e-01 -5.54149571e-02 4.43434920e+02] [-5.09124285e-01 8.60004414e-01 3.44219392e-02 4.06323669e+01] [ 6.52221023e-02 -1.32843550e-03 9.97869888e-01 1.55539219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.49, Y:40.60, Z:155.54 [[ 8.59236327e-01 5.08569716e-01 -5.54055736e-02 4.43487036e+02] [-5.07404599e-01 8.61019549e-01 3.44370363e-02 4.05994108e+01] [ 6.52189158e-02 -1.47650978e-03 9.97869888e-01 1.55543714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.54, Y:40.56, Z:155.55 [[ 8.59659988e-01 5.07854345e-01 -5.53955723e-02 4.43536439e+02] [-5.06686709e-01 8.61441561e-01 3.44531170e-02 4.05643133e+01] [ 6.52172134e-02 -1.54976588e-03 9.97869888e-01 1.55552567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.59, Y:40.53, Z:155.55 [[ 8.62080869e-01 5.03734966e-01 -5.53864558e-02 4.43589255e+02] [-5.02557877e-01 8.63856211e-01 3.44677664e-02 4.05343888e+01] [ 6.52085530e-02 -1.87910231e-03 9.97869888e-01 1.55550716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.64, Y:40.50, Z:155.56 [[ 8.61586479e-01 5.04580171e-01 -5.53858329e-02 4.43640068e+02] [-5.03404759e-01 8.63362932e-01 3.44687673e-02 4.04991080e+01] [ 6.52103316e-02 -1.81633194e-03 9.97869888e-01 1.55559200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.69, Y:40.47, Z:155.56 [[ 8.61077225e-01 5.05449721e-01 -5.53768202e-02 4.43692857e+02] [-5.04275174e-01 8.62854249e-01 3.44832409e-02 4.04652425e+01] [ 6.52116691e-02 -1.76757776e-03 9.97869888e-01 1.55562008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.75, Y:40.43, Z:155.56 [[ 8.60435980e-01 5.06541676e-01 -5.53665473e-02 4.43746068e+02] [-5.05368324e-01 8.62213794e-01 3.44997273e-02 4.04306185e+01] [ 6.52133504e-02 -1.70430747e-03 9.97869888e-01 1.55562881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.80, Y:40.40, Z:155.57 [[ 8.60595585e-01 5.06271679e-01 -5.53554504e-02 4.43799632e+02] [-5.05096625e-01 8.62372274e-01 3.45175233e-02 4.03994631e+01] [ 6.52122501e-02 -1.74577700e-03 9.97869889e-01 1.55567764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.85, Y:40.37, Z:155.57 [[ 8.59876182e-01 5.07493704e-01 -5.53452097e-02 4.43852896e+02] [-5.06320121e-01 8.61653842e-01 3.45339353e-02 4.03659977e+01] [ 6.52141673e-02 -1.67251517e-03 9.97869889e-01 1.55569689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.91, Y:40.33, Z:155.58 [[ 8.60563678e-01 5.06328232e-01 -5.53342364e-02 4.43905430e+02] [-5.05151112e-01 8.62338998e-01 3.45515092e-02 4.03332648e+01] [ 6.52112745e-02 -1.78162281e-03 9.97869889e-01 1.55577134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.96, Y:40.30, Z:155.58 [[ 8.60044911e-01 5.07210013e-01 -5.53240776e-02 4.43959146e+02] [-5.06033669e-01 8.61820745e-01 3.45677679e-02 4.03026308e+01] [ 6.52125557e-02 -1.73398693e-03 9.97869889e-01 1.55580029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.01, Y:40.27, Z:155.58 [[ 8.58935862e-01 5.09086926e-01 -5.53144393e-02 4.44012757e+02] [-5.07913470e-01 8.60713605e-01 3.45831839e-02 4.02703298e+01] [ 6.52157373e-02 -1.60978803e-03 9.97869889e-01 1.55583718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.06, Y:40.24, Z:155.59 [[ 8.58318686e-01 5.10127916e-01 -5.53041046e-02 4.44064613e+02] [-5.08955552e-01 8.60097150e-01 3.45997029e-02 4.02385012e+01] [ 6.52171770e-02 -1.55024038e-03 9.97869890e-01 1.55587146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.12, Y:40.21, Z:155.59 [[ 8.57959247e-01 5.10733100e-01 -5.52958561e-02 4.44117411e+02] [-5.09561142e-01 8.59737978e-01 3.46128803e-02 4.02062808e+01] [ 6.52178912e-02 -1.51982109e-03 9.97869890e-01 1.55587271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.022755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:444.17, Y:40.17, Z:155.59 [[ 8.54757634e-01 5.16074507e-01 -5.52855401e-02 4.44167690e+02] [-5.14912602e-01 8.56542947e-01 3.46293498e-02 4.01703240e+01] [ 6.52257641e-02 -1.13247982e-03 9.97869890e-01 1.55594807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.22, Y:40.14, Z:155.60 [[ 8.53610745e-01 5.17970468e-01 -5.52746785e-02 4.44222496e+02] [-5.16811406e-01 8.55397906e-01 3.46466782e-02 4.01416022e+01] [ 6.52278004e-02 -1.00819252e-03 9.97869890e-01 1.55596820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.27, Y:40.11, Z:155.60 [[ 8.52363185e-01 5.20021636e-01 -5.52675272e-02 4.44273355e+02] [-5.18866136e-01 8.54152651e-01 3.46580820e-02 4.01090232e+01] [ 6.52298574e-02 -8.64824868e-04 9.97869890e-01 1.55601054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.32, Y:40.07, Z:155.60 [[ 8.50726520e-01 5.22694834e-01 -5.52675272e-02 4.44324837e+02] [-5.21544957e-01 8.52519604e-01 3.46580820e-02 4.00732037e+01] [ 6.52322508e-02 -6.60049387e-04 9.97869890e-01 1.55601931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.38, Y:40.04, Z:155.61 [[ 8.49866185e-01 5.24093673e-01 -5.52565807e-02 4.44377633e+02] [-5.22945614e-01 8.51660433e-01 3.46755256e-02 4.00385673e+01] [ 6.52330671e-02 -5.73370150e-04 9.97869890e-01 1.55606644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.43, Y:40.01, Z:155.61 [[ 8.49477204e-01 5.24725059e-01 -5.52457429e-02 4.44430685e+02] [-5.23577211e-01 8.51271587e-01 3.46927841e-02 4.00066333e+01] [ 6.52333044e-02 -5.45317272e-04 9.97869891e-01 1.55612603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.48, Y:39.98, Z:155.62 [[ 8.49104059e-01 5.25329714e-01 -5.52357491e-02 4.44479696e+02] [-5.24182109e-01 8.50898598e-01 3.47086884e-02 3.99750359e+01] [ 6.52335268e-02 -5.17696779e-04 9.97869891e-01 1.55615970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4427550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:444.53, Y:39.94, Z:155.62 [[ 8.48306260e-01 5.26616654e-01 -5.52393853e-02 4.44530992e+02] [-5.25472148e-01 8.50102776e-01 3.47029003e-02 3.99392779e+01] [ 6.52342801e-02 -4.11929074e-04 9.97869891e-01 1.55617749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.58, Y:39.91, Z:155.62 [[ 8.49790467e-01 5.24219426e-01 -5.52282137e-02 4.44583939e+02] [-5.23068698e-01 8.51583004e-01 3.47206704e-02 3.99061942e+01] [ 6.52326580e-02 -6.17144899e-04 9.97869891e-01 1.55623359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.64, Y:39.87, Z:155.63 [[ 8.51690587e-01 5.21127824e-01 -5.52171719e-02 4.44635992e+02] [-5.19969451e-01 8.53478193e-01 3.47382217e-02 3.98710947e+01] [ 6.52297059e-02 -8.74973839e-04 9.97869891e-01 1.55626813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.69, Y:39.84, Z:155.63 [[ 8.52645341e-01 5.19565399e-01 -5.52061442e-02 4.44688225e+02] [-5.18402617e-01 8.54430082e-01 3.47557380e-02 3.98359261e+01] [ 6.52276692e-02 -1.01530849e-03 9.97869891e-01 1.55629724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.74, Y:39.80, Z:155.63 [[ 8.54380599e-01 5.16708163e-01 -5.51948119e-02 4.44740031e+02] [-5.15538251e-01 8.56160674e-01 3.47737254e-02 3.98023400e+01] [ 6.52234951e-02 -1.25495951e-03 9.97869892e-01 1.55634219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.79, Y:39.77, Z:155.64 [[ 8.55561694e-01 5.14750915e-01 -5.51877126e-02 4.44792445e+02] [-5.13576206e-01 8.57338606e-01 3.47849887e-02 3.97683792e+01] [ 6.52201614e-02 -1.41760777e-03 9.97869892e-01 1.55637850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.84, Y:39.73, Z:155.64 [[ 8.55712694e-01 5.14501006e-01 -5.51769944e-02 4.44844929e+02] [-5.13324682e-01 8.57488538e-01 3.48019820e-02 3.97335718e+01] [ 6.52192950e-02 -1.45678462e-03 9.97869892e-01 1.55641666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.90, Y:39.70, Z:155.65 [[ 8.54901929e-01 5.15848234e-01 -5.51660294e-02 4.44898267e+02] [-5.14673589e-01 8.56678884e-01 3.48193543e-02 3.97000681e+01] [ 6.52210749e-02 -1.37463483e-03 9.97869892e-01 1.55645257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.95, Y:39.67, Z:155.65 [[ 8.54013705e-01 5.17318583e-01 -5.51550124e-02 4.44950945e+02] [-5.16145871e-01 8.55791936e-01 3.48367969e-02 3.96679298e+01] [ 6.52229373e-02 -1.28307009e-03 9.97869892e-01 1.55649048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.01, Y:39.64, Z:155.65 [[ 8.49826242e-01 5.24170204e-01 -5.51448608e-02 4.45005195e+02] [-5.23010789e-01 8.51613171e-01 3.48528590e-02 3.96362165e+01] [ 6.52309200e-02 -7.77517015e-04 9.97869893e-01 1.55654141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.06, Y:39.60, Z:155.66 [[ 8.47635147e-01 5.27707247e-01 -5.51336410e-02 4.45057696e+02] [-5.26554136e-01 8.49426150e-01 3.48705986e-02 3.96037579e+01] [ 6.52334240e-02 -5.26698358e-04 9.97869893e-01 1.55657719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.11, Y:39.57, Z:155.66 [[ 8.45267358e-01 5.31492725e-01 -5.51232875e-02 4.45111698e+02] [-5.30346567e-01 8.47062819e-01 3.48869578e-02 3.95721766e+01] [ 6.52350515e-02 -2.54360351e-04 9.97869893e-01 1.55661972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.16, Y:39.54, Z:155.66 [[ 8.43788807e-01 5.33838092e-01 -5.51120833e-02 4.45163867e+02] [-5.32695769e-01 8.45586709e-01 3.49046485e-02 3.95405011e+01] [ 6.52354761e-02 -9.41781024e-05 9.97869893e-01 1.55664613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.21, Y:39.51, Z:155.67 [[ 8.44130712e-01 5.33298213e-01 -5.51031501e-02 4.45214778e+02] [-5.32153820e-01 8.45927298e-01 3.49187453e-02 3.95054185e+01] [ 6.52353634e-02 -1.52633467e-04 9.97869893e-01 1.55669844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.26, Y:39.47, Z:155.68 [[ 8.43448282e-01 5.34377860e-01 -5.50935386e-02 4.45263787e+02] [-5.33234777e-01 8.45245701e-01 3.49339036e-02 3.94677806e+01] [ 6.52354812e-02 -8.71502247e-05 9.97869894e-01 1.55680923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3427550959999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:445.31, Y:39.43, Z:155.69 [[ 8.44517126e-01 5.32688135e-01 -5.50833501e-02 4.45314461e+02] [-5.31540408e-01 8.46311583e-01 3.49499613e-02 3.94327019e+01] [ 6.52351069e-02 -2.36814490e-04 9.97869894e-01 1.55685573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.402755096 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:445.37, Y:39.40, Z:155.68 [[ 8.47540153e-01 5.27866117e-01 -5.50731434e-02 4.45367536e+02] [-5.26707137e-01 8.49327362e-01 3.49660373e-02 3.94025558e+01] [ 6.52325139e-02 -6.27702939e-04 9.97869894e-01 1.55683052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.42, Y:39.37, Z:155.69 [[ 8.46161981e-01 5.30073011e-01 -5.50681944e-02 4.45417086e+02] [-5.28918185e-01 8.47951877e-01 3.49738297e-02 3.93663358e+01] [ 6.52338620e-02 -4.66955602e-04 9.97869894e-01 1.55692743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.47, Y:39.33, Z:155.70 [[ 8.44831686e-01 5.32191703e-01 -5.50582778e-02 4.45469067e+02] [-5.31040349e-01 8.46623817e-01 3.49894342e-02 3.93320227e+01] [ 6.52347359e-02 -3.22015671e-04 9.97869894e-01 1.55695564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.52, Y:39.30, Z:155.70 [[ 8.44148317e-01 5.33276010e-01 -5.50483054e-02 4.45523812e+02] [-5.32125935e-01 8.45941270e-01 3.50051166e-02 3.93033444e+01] [ 6.52350223e-02 -2.56879272e-04 9.97869894e-01 1.55695855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.642755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:445.58, Y:39.27, Z:155.70 [[ 8.43641897e-01 5.34077894e-01 -5.50377394e-02 4.45575449e+02] [-5.32928439e-01 8.45435247e-01 3.50217214e-02 3.92697696e+01] [ 6.52351720e-02 -2.14614931e-04 9.97869894e-01 1.55699703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.63, Y:39.24, Z:155.70 [[ 8.45026363e-01 5.31885734e-01 -5.50273772e-02 4.45628655e+02] [-5.30730568e-01 8.46816039e-01 3.50379953e-02 3.92380225e+01] [ 6.52342755e-02 -4.03318601e-04 9.97869895e-01 1.55700589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.68, Y:39.21, Z:155.70 [[ 8.47736844e-01 5.27556030e-01 -5.50170793e-02 4.45682053e+02] [-5.26390675e-01 8.49519902e-01 3.50541578e-02 3.92075058e+01] [ 6.52311361e-02 -7.56223530e-04 9.97869895e-01 1.55702513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.74, Y:39.18, Z:155.71 [[ 8.51237229e-01 5.21890153e-01 -5.50077099e-02 4.45735373e+02] [-5.20711982e-01 8.53011845e-01 3.50688544e-02 3.91756261e+01] [ 6.52243178e-02 -1.20874080e-03 9.97869895e-01 1.55708349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.79, Y:39.14, Z:155.71 [[ 8.53466306e-01 5.18237927e-01 -5.49974140e-02 4.45787620e+02] [-5.17051124e-01 8.55235160e-01 3.50849937e-02 3.91417317e+01] [ 6.52180965e-02 -1.50738532e-03 9.97869895e-01 1.55713689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.84, Y:39.11, Z:155.73 [[ 8.55970852e-01 5.14091900e-01 -5.49856230e-02 4.45837466e+02] [-5.12895345e-01 8.57733124e-01 3.51034631e-02 3.91082862e+01] [ 6.52093962e-02 -1.84567111e-03 9.97869895e-01 1.55727974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.89, Y:39.08, Z:155.73 [[ 8.57741758e-01 5.11131899e-01 -5.49841646e-02 4.45890360e+02] [-5.09929117e-01 8.59499786e-01 3.51057472e-02 3.90766044e+01] [ 6.52025449e-02 -2.07363884e-03 9.97869895e-01 1.55733455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.94, Y:39.04, Z:155.74 [[ 8.57972535e-01 5.10745460e-01 -5.49745829e-02 4.45943153e+02] [-5.09540927e-01 8.59729363e-01 3.51207455e-02 3.90425486e+01] [ 6.52010244e-02 -2.12083510e-03 9.97869896e-01 1.55738068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.00, Y:39.01, Z:155.74 [[ 8.56742071e-01 5.12808006e-01 -5.49633754e-02 4.45995056e+02] [-5.11606579e-01 8.58501025e-01 3.51382763e-02 3.90094982e+01] [ 6.52053035e-02 -1.98481515e-03 9.97869896e-01 1.55738957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1827550959999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:446.05, Y:38.98, Z:155.74 [[ 8.55213236e-01 5.15354350e-01 -5.49564807e-02 4.46047877e+02] [-5.14157469e-01 8.56975286e-01 3.51490563e-02 3.89757036e+01] [ 6.52105649e-02 -1.80365315e-03 9.97869896e-01 1.55743728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.10, Y:38.94, Z:155.75 [[ 8.53345559e-01 5.18442254e-01 -5.49452982e-02 4.46100387e+02] [-5.17250626e-01 8.55111166e-01 3.51665283e-02 3.89434823e+01] [ 6.52161522e-02 -1.58871084e-03 9.97869896e-01 1.55749921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.15, Y:38.91, Z:155.75 [[ 8.51827562e-01 5.20933687e-01 -5.49354008e-02 4.46151789e+02] [-5.19746228e-01 8.53595974e-01 3.51819826e-02 3.89107752e+01] [ 6.52201169e-02 -1.41651514e-03 9.97869896e-01 1.55754966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.20, Y:38.87, Z:155.76 [[ 8.49815478e-01 5.24210596e-01 -5.49263540e-02 4.46202390e+02] [-5.23029044e-01 8.51587843e-01 3.51961011e-02 3.88735612e+01] [ 6.52247844e-02 -1.18211308e-03 9.97869896e-01 1.55758066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.26, Y:38.84, Z:155.76 [[ 8.49283035e-01 5.25073949e-01 -5.49151472e-02 4.46255290e+02] [-5.23893069e-01 8.51055848e-01 3.52135780e-02 3.88393464e+01] [ 6.52255896e-02 -1.13662937e-03 9.97869897e-01 1.55762744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.31, Y:38.81, Z:155.77 [[ 8.48504846e-01 5.26331712e-01 -5.49040587e-02 4.46308619e+02] [-5.25152342e-01 8.50278663e-01 3.52308583e-02 3.88057717e+01] [ 6.52268676e-02 -1.06055895e-03 9.97869897e-01 1.55766510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.36, Y:38.77, Z:155.77 [[ 8.49054522e-01 5.25445721e-01 -5.48927442e-02 4.46362861e+02] [-5.24263362e-01 8.50826347e-01 3.52484786e-02 3.87747879e+01] [ 6.52253552e-02 -1.14962555e-03 9.97869897e-01 1.55770634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.42, Y:38.74, Z:155.78 [[ 8.47361589e-01 5.28172577e-01 -5.48822981e-02 4.46416345e+02] [-5.26994867e-01 8.49136508e-01 3.52647358e-02 3.87449657e+01] [ 6.52284293e-02 -9.59293160e-04 9.97869897e-01 1.55776415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.47, Y:38.71, Z:155.78 [[ 8.45283253e-01 5.31493368e-01 -5.48727875e-02 4.46467674e+02] [-5.30321671e-01 8.47062147e-01 3.52795282e-02 3.87101411e+01] [ 6.52314965e-02 -7.20965979e-04 9.97869897e-01 1.55776397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.52, Y:38.68, Z:155.78 [[ 8.45496907e-01 5.31154496e-01 -5.48623827e-02 4.46520628e+02] [-5.29981037e-01 8.47274639e-01 3.52957012e-02 3.86769104e+01] [ 6.52309759e-02 -7.66383769e-04 9.97869898e-01 1.55778562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.782755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:446.57, Y:38.64, Z:155.78 [[ 8.47068157e-01 5.28646385e-01 -5.48501284e-02 4.46572512e+02] [-5.27466430e-01 8.48841584e-01 3.53147342e-02 3.86429542e+01] [ 6.52280765e-02 -9.82385405e-04 9.97869898e-01 1.55781698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8427550959999 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:446.63, Y:38.61, Z:155.79 [[ 8.47555737e-01 5.27865480e-01 -5.48389219e-02 4.46625094e+02] [-5.26682766e-01 8.49327325e-01 3.53321279e-02 3.86082926e+01] [ 6.52268055e-02 -1.06323262e-03 9.97869898e-01 1.55787250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.902755096 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:446.68, Y:38.57, Z:155.79 [[ 8.49827328e-01 5.24201774e-01 -5.48271235e-02 4.46677875e+02] [-5.23010244e-01 8.51592997e-01 3.53504268e-02 3.85741973e+01] [ 6.52211509e-02 -1.36661155e-03 9.97869898e-01 1.55793977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9627550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:446.73, Y:38.54, Z:155.80 [[ 8.50946666e-01 5.22384053e-01 -5.48148945e-02 4.46730123e+02] [-5.21187531e-01 8.52708957e-01 3.53693792e-02 3.85420340e+01] [ 6.52175511e-02 -1.52861586e-03 9.97869899e-01 1.55803312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.022755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:446.78, Y:38.51, Z:155.80 [[ 8.50654287e-01 5.22860819e-01 -5.48073691e-02 4.46783508e+02] [-5.21664534e-01 8.52416739e-01 3.53810365e-02 3.85099932e+01] [ 6.52180765e-02 -1.50596971e-03 9.97869899e-01 1.55801875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.84, Y:38.48, Z:155.80 [[ 8.47018921e-01 5.28730711e-01 -5.47976546e-02 4.46837190e+02] [-5.27545670e-01 8.48788952e-01 3.53960758e-02 3.84788891e+01] [ 6.52266361e-02 -1.07288059e-03 9.97869899e-01 1.55802400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.142755096 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:446.89, Y:38.45, Z:155.81 [[ 8.44009033e-01 5.33523224e-01 -5.47879721e-02 4.46887930e+02] [-5.32347262e-01 8.45785108e-01 3.54110565e-02 3.84464373e+01] [ 6.52314720e-02 -7.21024583e-04 9.97869899e-01 1.55808285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.94, Y:38.41, Z:155.82 [[ 8.43271064e-01 5.34688943e-01 -5.47872913e-02 4.46940696e+02] [-5.33515368e-01 8.45048717e-01 3.54121099e-02 3.84137923e+01] [ 6.52323938e-02 -6.32145717e-04 9.97869899e-01 1.55815500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.99, Y:38.38, Z:155.82 [[ 8.40518403e-01 5.39006787e-01 -5.47767939e-02 4.46994145e+02] [-5.37841287e-01 8.42301361e-01 3.54283402e-02 3.83812890e+01] [ 6.52346839e-02 -3.16950557e-04 9.97869899e-01 1.55819402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.05, Y:38.35, Z:155.83 [[ 8.37338864e-01 5.43934243e-01 -5.47646507e-02 4.47046215e+02] [-5.42778007e-01 8.39127844e-01 3.54471010e-02 3.83493759e+01] [ 6.52354353e-02 4.38126735e-05 9.97869899e-01 1.55828633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.10, Y:38.32, Z:155.83 [[ 8.35102865e-01 5.47361544e-01 -5.47589652e-02 4.47099203e+02] [-5.46212075e-01 8.36896200e-01 3.54558820e-02 3.83160130e+01] [ 6.52347562e-02 3.00699326e-04 9.97869899e-01 1.55832855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.15, Y:38.28, Z:155.83 [[ 8.34216918e-01 5.48711992e-01 -5.47474551e-02 4.47151958e+02] [-5.47564260e-01 8.36011365e-01 3.54736458e-02 3.82838934e+01] [ 6.52343095e-02 3.85034227e-04 9.97869900e-01 1.55833752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.20, Y:38.25, Z:155.84 [[ 8.34489795e-01 5.48297980e-01 -5.47367023e-02 4.47203759e+02] [-5.47148270e-01 8.36282975e-01 3.54902300e-02 3.82511244e+01] [ 6.52345936e-02 3.32857234e-04 9.97869900e-01 1.55839914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.26, Y:38.22, Z:155.84 [[ 8.36356959e-01 5.45446616e-01 -5.47268369e-02 4.47255992e+02] [-5.44289797e-01 8.38145561e-01 3.55054361e-02 3.82170183e+01] [ 6.52353754e-02 9.20403889e-05 9.97869900e-01 1.55843358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.31, Y:38.18, Z:155.85 [[ 8.39009928e-01 5.41358135e-01 -5.47148207e-02 4.47307991e+02] [-5.40191393e-01 8.40792072e-01 3.55239438e-02 3.81838187e+01] [ 6.52349634e-02 -2.48466263e-04 9.97869900e-01 1.55849120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.36, Y:38.15, Z:155.85 [[ 8.40877401e-01 5.38453982e-01 -5.47037998e-02 4.47356944e+02] [-5.37279982e-01 8.42654772e-01 3.55409070e-02 3.81526124e+01] [ 6.52335608e-02 -4.94288895e-04 9.97869900e-01 1.55852701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.41, Y:38.12, Z:155.85 [[ 8.44483518e-01 5.32780171e-01 -5.47071903e-02 4.47407991e+02] [-5.31594569e-01 8.46253171e-01 3.55356872e-02 3.81234561e+01] [ 6.52288428e-02 -9.27256902e-04 9.97869900e-01 1.55852174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8027550959999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:447.46, Y:38.09, Z:155.86 [[ 8.44333255e-01 5.33017961e-01 -5.47102164e-02 4.47457192e+02] [-5.31833158e-01 8.46103444e-01 3.55310277e-02 3.80922000e+01] [ 6.52291784e-02 -9.03321042e-04 9.97869901e-01 1.55857857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.51, Y:38.06, Z:155.86 [[ 8.44857449e-01 5.32186379e-01 -5.47133364e-02 4.47506882e+02] [-5.31000146e-01 8.46626678e-01 3.55262226e-02 3.80632732e+01] [ 6.52283421e-02 -9.61804207e-04 9.97869901e-01 1.55860623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.56, Y:38.03, Z:155.86 [[ 8.45538596e-01 5.31102670e-01 -5.47214448e-02 4.47561088e+02] [-5.29914978e-01 8.47306846e-01 3.55137289e-02 3.80312690e+01] [ 6.52272910e-02 -1.03051528e-03 9.97869901e-01 1.55863808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9827550959999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:447.61, Y:38.00, Z:155.87 [[ 8.46946587e-01 5.28855686e-01 -5.47096165e-02 4.47613776e+02] [-5.27662126e-01 8.48710882e-01 3.55319413e-02 3.79994611e+01] [ 6.52239160e-02 -1.22546384e-03 9.97869901e-01 1.55866005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.67, Y:37.97, Z:155.87 [[ 8.48170068e-01 5.26892386e-01 -5.46987215e-02 4.47668079e+02] [-5.25693662e-01 8.49930858e-01 3.55487054e-02 3.79680030e+01] [ 6.52204735e-02 -1.39657663e-03 9.97869901e-01 1.55869557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.72, Y:37.94, Z:155.87 [[ 8.50926381e-01 5.22430528e-01 -5.46867136e-02 4.47721932e+02] [-5.21221388e-01 8.52680035e-01 3.55671683e-02 3.79391347e+01] [ 6.52116434e-02 -1.76115710e-03 9.97869901e-01 1.55874602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.162755096 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:447.77, Y:37.91, Z:155.87 [[ 8.51513681e-01 5.21473740e-01 -5.46771343e-02 4.47773241e+02] [-5.20261685e-01 8.53265321e-01 3.55818884e-02 3.79100425e+01] [ 6.52091230e-02 -1.85204670e-03 9.97869901e-01 1.55871744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.82, Y:37.88, Z:155.88 [[ 8.51054166e-01 5.22223045e-01 -5.46799654e-02 4.47824180e+02] [-5.21012811e-01 8.52807065e-01 3.55775373e-02 3.78807888e+01] [ 6.52108706e-02 -1.78944885e-03 9.97869901e-01 1.55880408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.282755096 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:447.88, Y:37.85, Z:155.88 [[ 8.50593092e-01 5.22973409e-01 -5.46827757e-02 4.47875105e+02] [-5.21764999e-01 8.52347248e-01 3.55732172e-02 3.78530674e+01] [ 6.52125601e-02 -1.72677435e-03 9.97869901e-01 1.55880225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.92, Y:37.83, Z:155.89 [[ 8.49095458e-01 5.25401104e-01 -5.46862312e-02 4.47924586e+02] [-5.24198052e-01 8.50853293e-01 3.55679043e-02 3.78252145e+01] [ 6.52173761e-02 -1.53413008e-03 9.97869902e-01 1.55886051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.97, Y:37.80, Z:155.89 [[ 8.47009221e-01 5.28757294e-01 -5.46909816e-02 4.47974270e+02] [-5.27561680e-01 8.48772124e-01 3.55605985e-02 3.77974576e+01] [ 6.52231064e-02 -1.26728872e-03 9.97869902e-01 1.55886194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4627550959999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:448.02, Y:37.77, Z:155.89 [[ 8.47052270e-01 5.28687574e-01 -5.46982792e-02 4.48023559e+02] [-5.27492539e-01 8.48815565e-01 3.55493700e-02 3.77684416e+01] [ 6.52232609e-02 -1.25924034e-03 9.97869902e-01 1.55892555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.07, Y:37.74, Z:155.90 [[ 8.45182193e-01 5.31671026e-01 -5.47081382e-02 4.48072246e+02] [-5.30483198e-01 8.46950351e-01 3.55341911e-02 3.77362147e+01] [ 6.52275767e-02 -1.01111737e-03 9.97869902e-01 1.55896328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.12, Y:37.71, Z:155.90 [[ 8.44958319e-01 5.32025583e-01 -5.47194503e-02 4.48120756e+02] [-5.30839626e-01 8.46727732e-01 3.55167630e-02 3.77051013e+01] [ 6.52283026e-02 -9.62931829e-04 9.97869902e-01 1.55900038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.17, Y:37.67, Z:155.90 [[ 8.45368365e-01 5.31372550e-01 -5.47315297e-02 4.48169068e+02] [-5.30186430e-01 8.47137670e-01 3.54981388e-02 3.76738217e+01] [ 6.52278771e-02 -9.91089240e-04 9.97869902e-01 1.55902896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.22, Y:37.64, Z:155.91 [[ 8.46523881e-01 5.29529350e-01 -5.47356051e-02 4.48216267e+02] [-5.28339784e-01 8.48290870e-01 3.54918538e-02 3.76404700e+01] [ 6.52256923e-02 -1.12570407e-03 9.97869902e-01 1.55906061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.26, Y:37.61, Z:155.91 [[ 8.47000304e-01 5.28766545e-01 -5.47396211e-02 4.48263514e+02] [-5.27575788e-01 8.48766491e-01 3.54856587e-02 3.76083950e+01] [ 6.52247853e-02 -1.17706495e-03 9.97869902e-01 1.55909626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.31, Y:37.57, Z:155.91 [[ 8.48000889e-01 5.27159901e-01 -5.47442224e-02 4.48311080e+02] [-5.25966257e-01 8.49765126e-01 3.54785587e-02 3.75749455e+01] [ 6.52226046e-02 -1.29223561e-03 9.97869902e-01 1.55913570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.36, Y:37.54, Z:155.92 [[ 8.47604849e-01 5.27796023e-01 -5.47483139e-02 4.48357361e+02] [-5.26604110e-01 8.49370256e-01 3.54722439e-02 3.75414782e+01] [ 6.52236987e-02 -1.23575887e-03 9.97869902e-01 1.55916671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.40, Y:37.51, Z:155.92 [[ 8.45895732e-01 5.30530163e-01 -5.47554278e-02 4.48404126e+02] [-5.29344668e-01 8.47665454e-01 3.54612595e-02 3.75078894e+01] [ 6.52275523e-02 -1.01203432e-03 9.97869902e-01 1.55919780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.45, Y:37.47, Z:155.92 [[ 8.44247929e-01 5.33148030e-01 -5.47595904e-02 4.48452580e+02] [-5.31968440e-01 8.46021592e-01 3.54548303e-02 3.74743934e+01] [ 6.52304688e-02 -8.02293171e-04 9.97869902e-01 1.55923829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.50, Y:37.44, Z:155.93 [[ 8.42278410e-01 5.36253820e-01 -5.47624038e-02 4.48498635e+02] [-5.35081052e-01 8.44056592e-01 3.54504843e-02 3.74399928e+01] [ 6.52330256e-02 -5.56852898e-04 9.97869903e-01 1.55929615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.55, Y:37.40, Z:155.93 [[ 8.41782680e-01 5.37031245e-01 -5.47664301e-02 4.48547159e+02] [-5.35860524e-01 8.43562210e-01 3.54442632e-02 3.74033941e+01] [ 6.52335676e-02 -4.89198909e-04 9.97869903e-01 1.55933700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.59, Y:37.37, Z:155.94 [[ 8.42915719e-01 5.35251090e-01 -5.47664301e-02 4.48594111e+02] [-5.34076611e-01 8.44692771e-01 3.54442632e-02 3.73681350e+01] [ 6.52323881e-02 -6.27057196e-04 9.97869903e-01 1.55935695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.64, Y:37.33, Z:155.94 [[ 8.43913472e-01 5.33676362e-01 -5.47685301e-02 4.48642748e+02] [-5.32498778e-01 8.45688468e-01 3.54410179e-02 3.73335455e+01] [ 6.52311478e-02 -7.44977095e-04 9.97869903e-01 1.55938321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.69, Y:37.30, Z:155.94 [[ 8.44945185e-01 5.32041249e-01 -5.47699182e-02 4.48689305e+02] [-5.30860369e-01 8.46717990e-01 3.54388726e-02 3.72985250e+01] [ 6.52296171e-02 -8.68725810e-04 9.97869903e-01 1.55941423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.74, Y:37.26, Z:155.94 [[ 8.45197169e-01 5.31640507e-01 -5.47733257e-02 4.48737717e+02] [-5.30459128e-01 8.46969641e-01 3.54336053e-02 3.72624158e+01] [ 6.52292839e-02 -8.93372295e-04 9.97869903e-01 1.55941634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.79, Y:37.23, Z:155.95 [[ 8.45258987e-01 5.31542217e-01 -5.47733257e-02 4.48785620e+02] [-5.30360631e-01 8.47031322e-01 3.54336053e-02 3.72262157e+01] [ 6.52291796e-02 -9.00957724e-04 9.97869903e-01 1.55946894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.83, Y:37.19, Z:155.95 [[ 8.45389541e-01 5.31334411e-01 -5.47746959e-02 4.48834515e+02] [-5.30152528e-01 8.47161677e-01 3.54314871e-02 3.71870218e+01] [ 6.52289916e-02 -9.14465189e-04 9.97869903e-01 1.55950858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.88, Y:37.15, Z:155.95 [[ 8.44690294e-01 5.32446469e-01 -5.47637200e-02 4.48882400e+02] [-5.31265820e-01 8.46463252e-01 3.54484436e-02 3.71497418e+01] [ 6.52298752e-02 -8.48863647e-04 9.97869903e-01 1.55953756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.93, Y:37.11, Z:155.96 [[ 8.43296617e-01 5.34651125e-01 -5.47630463e-02 4.48931591e+02] [-5.33475043e-01 8.45072608e-01 3.54494843e-02 3.71106245e+01] [ 6.52318570e-02 -6.79711708e-04 9.97869903e-01 1.55957890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.98, Y:37.08, Z:155.96 [[ 8.40116687e-01 5.39635254e-01 -5.47516616e-02 4.48983158e+02] [-5.38468564e-01 8.41898862e-01 3.54670593e-02 3.70771289e+01] [ 6.52346372e-02 -3.14419788e-04 9.97869903e-01 1.55963464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.03, Y:37.05, Z:155.97 [[ 8.36957683e-01 5.44522948e-01 -5.47411786e-02 4.49034356e+02] [-5.43365607e-01 8.38745943e-01 3.54832319e-02 3.70456249e+01] [ 6.52353755e-02 4.65102120e-05 9.97869903e-01 1.55966398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.09, Y:37.01, Z:155.97 [[ 8.36020349e-01 5.45960969e-01 -5.47411786e-02 4.49087669e+02] [-5.44806704e-01 8.37810596e-01 3.54832319e-02 3.70121695e+01] [ 6.52351991e-02 1.58657212e-04 9.97869903e-01 1.55970174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.14, Y:36.98, Z:155.97 [[ 8.36782177e-01 5.44793789e-01 -5.47294786e-02 4.49140674e+02] [-5.43635848e-01 8.38570048e-01 3.55012687e-02 3.69811425e+01] [ 6.52353722e-02 4.60776076e-05 9.97869903e-01 1.55974172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.19, Y:36.95, Z:155.98 [[ 8.40538959e-01 5.38980633e-01 -5.47187026e-02 4.49194608e+02] [-5.37809246e-01 8.42318049e-01 3.55178702e-02 3.69483161e+01] [ 6.52339950e-02 -4.25929499e-04 9.97869904e-01 1.55977460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.25, Y:36.91, Z:155.98 [[ 8.43411624e-01 5.34475381e-01 -5.47073997e-02 4.49246861e+02] [-5.33293363e-01 8.45183669e-01 3.55352714e-02 3.69137085e+01] [ 6.52305285e-02 -7.95767773e-04 9.97869904e-01 1.55981540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.30, Y:36.88, Z:155.99 [[ 8.47227727e-01 5.28406592e-01 -5.46959953e-02 4.49299130e+02] [-5.27210750e-01 8.48990472e-01 3.55528164e-02 3.68808001e+01] [ 6.52227215e-02 -1.28501512e-03 9.97869904e-01 1.55985958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.35, Y:36.85, Z:155.99 [[ 8.49009526e-01 5.25540028e-01 -5.46854952e-02 4.49352856e+02] [-5.24337196e-01 8.50767509e-01 3.55689598e-02 3.68489350e+01] [ 6.52175547e-02 -1.52474649e-03 9.97869904e-01 1.55988928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.40, Y:36.81, Z:155.99 [[ 8.49294553e-01 5.25080487e-01 -5.46739841e-02 4.49403931e+02] [-5.23875566e-01 8.51051104e-01 3.55866451e-02 3.68144560e+01] [ 6.52162075e-02 -1.58117946e-03 9.97869904e-01 1.55993435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.46, Y:36.78, Z:156.00 [[ 8.48367748e-01 5.26577339e-01 -5.46669062e-02 4.49456305e+02] [-5.25374817e-01 8.50125943e-01 3.55975146e-02 3.67803125e+01] [ 6.52185997e-02 -1.47916747e-03 9.97869905e-01 1.55997308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.51, Y:36.75, Z:156.00 [[ 8.45570798e-01 5.31058160e-01 -5.46558000e-02 4.49507979e+02] [-5.29863855e-01 8.47334585e-01 3.56145588e-02 3.67468630e+01] [ 6.52251516e-02 -1.15449801e-03 9.97869905e-01 1.56002412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.56, Y:36.72, Z:156.01 [[ 8.42689147e-01 5.35619170e-01 -5.46544348e-02 4.49557713e+02] [-5.34434277e-01 8.44459269e-01 3.56166537e-02 3.67152734e+01] [ 6.52304065e-02 -8.04564159e-04 9.97869905e-01 1.56006561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.60, Y:36.68, Z:156.01 [[ 8.41377410e-01 5.37677089e-01 -5.46571267e-02 4.49604828e+02] [-5.36496794e-01 8.43150602e-01 3.56125222e-02 3.66826953e+01] [ 6.52322266e-02 -6.40198511e-04 9.97869905e-01 1.56010567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.65, Y:36.65, Z:156.02 [[ 8.41702086e-01 5.37168350e-01 -5.46604345e-02 4.49652718e+02] [-5.35987313e-01 8.43474783e-01 3.56074445e-02 3.66495775e+01] [ 6.52318903e-02 -6.73560874e-04 9.97869905e-01 1.56015068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.70, Y:36.61, Z:156.02 [[ 8.43919117e-01 5.33678252e-01 -5.46630335e-02 4.49703781e+02] [-5.32490143e-01 8.45687083e-01 3.56034541e-02 3.66129913e+01] [ 6.52286105e-02 -9.38909029e-04 9.97869905e-01 1.56018091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.76, Y:36.58, Z:156.02 [[ 8.45395293e-01 5.31337933e-01 -5.46516168e-02 4.49755145e+02] [-5.30143798e-01 8.47159194e-01 3.56209702e-02 3.65774310e+01] [ 6.52253924e-02 -1.14058482e-03 9.97869905e-01 1.56021994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.81, Y:36.54, Z:156.03 [[ 8.45881164e-01 5.30565269e-01 -5.46402120e-02 4.49807633e+02] [-5.29368393e-01 8.47643206e-01 3.56384560e-02 3.65421467e+01] [ 6.52239314e-02 -1.22109738e-03 9.97869905e-01 1.56025745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.86, Y:36.51, Z:156.03 [[ 8.47076944e-01 5.28655202e-01 -5.46290036e-02 4.49858803e+02] [-5.27453247e-01 8.48835525e-01 3.56556287e-02 3.65062280e+01] [ 6.52205725e-02 -1.38881567e-03 9.97869905e-01 1.56030355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.91, Y:36.47, Z:156.03 [[ 8.47607321e-01 5.27805609e-01 -5.46174789e-02 4.49910014e+02] [-5.26600755e-01 8.49363916e-01 3.56732735e-02 3.64715169e+01] [ 6.52186697e-02 -1.47532216e-03 9.97869906e-01 1.56034667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.96, Y:36.44, Z:156.04 [[ 8.47571604e-01 5.27864061e-01 -5.46068580e-02 4.49961764e+02] [-5.26658282e-01 8.49327565e-01 3.56895241e-02 3.64356473e+01] [ 6.52183269e-02 -1.49027322e-03 9.97869906e-01 1.56039430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.01, Y:36.40, Z:156.04 [[ 8.46759665e-01 5.29166713e-01 -5.45954105e-02 4.50014614e+02] [-5.27962507e-01 8.48516705e-01 3.57070271e-02 3.64013225e+01] [ 6.52200880e-02 -1.41094048e-03 9.97869906e-01 1.56042505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.07, Y:36.37, Z:156.05 [[ 8.44614922e-01 5.32584481e-01 -5.45839224e-02 4.50066439e+02] [-5.31386252e-01 8.46376043e-01 3.57245800e-02 3.63682764e+01] [ 6.52248811e-02 -1.16836746e-03 9.97869906e-01 1.56045603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.12, Y:36.34, Z:156.05 [[ 8.42305827e-01 5.36230030e-01 -5.45733342e-02 4.50120212e+02] [-5.35038376e-01 8.44071404e-01 3.57407473e-02 3.63354041e+01] [ 6.52290528e-02 -9.05811564e-04 9.97869906e-01 1.56050136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.17, Y:36.30, Z:156.06 [[ 8.41175989e-01 5.38001797e-01 -5.45620937e-02 4.50173125e+02] [-5.36812750e-01 8.42943322e-01 3.57578990e-02 3.63016305e+01] [ 6.52305664e-02 -7.89058477e-04 9.97869907e-01 1.56055851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.22, Y:36.27, Z:156.06 [[ 8.41622613e-01 5.37304033e-01 -5.45504677e-02 4.50224551e+02] [-5.36112373e-01 8.43388184e-01 3.57756263e-02 3.62672324e+01] [ 6.52296082e-02 -8.64395446e-04 9.97869907e-01 1.56059584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.28, Y:36.23, Z:156.07 [[ 8.42765772e-01 5.35510288e-01 -5.45397543e-02 4.50276700e+02] [-5.34313813e-01 8.44528084e-01 3.57919514e-02 3.62315833e+01] [ 6.52273124e-02 -1.02288747e-03 9.97869907e-01 1.56065194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.33, Y:36.20, Z:156.07 [[ 8.44249168e-01 5.33169773e-01 -5.45283026e-02 4.50329345e+02] [-5.31967287e-01 8.46007384e-01 3.58093893e-02 3.61978113e+01] [ 6.52238306e-02 -1.22477395e-03 9.97869907e-01 1.56068516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.38, Y:36.16, Z:156.07 [[ 8.45248194e-01 5.31585734e-01 -5.45169446e-02 4.50381904e+02] [-5.30378840e-01 8.47003386e-01 3.58266727e-02 3.61632418e+01] [ 6.52209848e-02 -1.36779660e-03 9.97869908e-01 1.56072017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.43, Y:36.13, Z:156.08 [[ 8.46154557e-01 5.30142992e-01 -5.45057138e-02 4.50434538e+02] [-5.28932005e-01 8.47906928e-01 3.58437508e-02 3.61283108e+01] [ 6.52180856e-02 -1.49953664e-03 9.97869908e-01 1.56076407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.49, Y:36.09, Z:156.08 [[ 8.46184583e-01 5.30096223e-01 -5.44944546e-02 4.50486104e+02] [-5.28884038e-01 8.47936126e-01 3.58608603e-02 3.60949492e+01] [ 6.52175233e-02 -1.52365995e-03 9.97869908e-01 1.56080638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.54, Y:36.06, Z:156.08 [[ 8.45960638e-01 5.30454246e-01 -5.44875321e-02 4.50539880e+02] [-5.29242126e-01 8.47712225e-01 3.58713754e-02 3.60612977e+01] [ 6.52178705e-02 -1.50867427e-03 9.97869908e-01 1.56080955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.522755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:450.59, Y:36.03, Z:156.09 [[ 8.44065981e-01 5.33465090e-01 -5.44758445e-02 4.50591250e+02] [-5.32258074e-01 8.45821089e-01 3.58891160e-02 3.60292010e+01] [ 6.52224086e-02 -1.29757385e-03 9.97869908e-01 1.56086609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.64, Y:36.00, Z:156.09 [[ 8.43292133e-01 5.34688486e-01 -5.44665054e-02 4.50643773e+02] [-5.33483102e-01 8.45048362e-01 3.59032838e-02 3.59955295e+01] [ 6.52239036e-02 -1.21999652e-03 9.97869908e-01 1.56090354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.70, Y:35.96, Z:156.10 [[ 8.41117261e-01 5.38104445e-01 -5.44551113e-02 4.50696416e+02] [-5.36905076e-01 8.42877603e-01 3.59205571e-02 3.59618096e+01] [ 6.52280051e-02 -9.76174886e-04 9.97869909e-01 1.56096026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.75, Y:35.93, Z:156.10 [[ 8.38094739e-01 5.42801139e-01 -5.44438449e-02 4.50750029e+02] [-5.41610527e-01 8.39861015e-01 3.59376251e-02 3.59309091e+01] [ 6.52322467e-02 -6.31775024e-04 9.97869909e-01 1.56097783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.762755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:450.80, Y:35.90, Z:156.10 [[ 8.36117533e-01 5.45842866e-01 -5.44337821e-02 4.50802935e+02] [-5.44657688e-01 8.37887460e-01 3.59528607e-02 3.58967828e+01] [ 6.52339959e-02 -4.13039291e-04 9.97869909e-01 1.56104238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.85, Y:35.87, Z:156.11 [[ 8.35878221e-01 5.46210419e-01 -5.44222116e-02 4.50851741e+02] [-5.45024879e-01 8.37647906e-01 3.59703665e-02 3.58654839e+01] [ 6.52340405e-02 -4.05386650e-04 9.97869909e-01 1.56110538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.90, Y:35.83, Z:156.11 [[ 8.36634060e-01 5.45051824e-01 -5.44238885e-02 4.50901347e+02] [-5.43863998e-01 8.38402211e-01 3.59678291e-02 3.58340361e+01] [ 6.52334393e-02 -4.92717225e-04 9.97869909e-01 1.56112439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.95, Y:35.80, Z:156.12 [[ 8.38351795e-01 5.42405762e-01 -5.44266294e-02 4.50952764e+02] [-5.41212625e-01 8.40116366e-01 3.59636810e-02 3.57984863e+01] [ 6.52316099e-02 -6.93837540e-04 9.97869909e-01 1.56116948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.01, Y:35.77, Z:156.12 [[ 8.41553766e-01 5.37425622e-01 -5.44146962e-02 4.51005234e+02] [-5.36220878e-01 8.43310433e-01 3.59817275e-02 3.57652462e+01] [ 6.52259833e-02 -1.10226214e-03 9.97869909e-01 1.56122816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.05, Y:35.73, Z:156.12 [[ 8.41068113e-01 5.38186463e-01 -5.44036806e-02 4.51052009e+02] [-5.36982231e-01 8.42825130e-01 3.59983753e-02 3.57308937e+01] [ 6.52266274e-02 -1.06327578e-03 9.97869910e-01 1.56123451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.10, Y:35.69, Z:156.13 [[ 8.43952489e-01 5.33651580e-01 -5.44076093e-02 4.51103729e+02] [-5.32438291e-01 8.45703264e-01 3.59924365e-02 3.56943095e+01] [ 6.52201134e-02 -1.40721191e-03 9.97869910e-01 1.56126460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.15, Y:35.66, Z:156.13 [[ 8.42539754e-01 5.35880424e-01 -5.43960856e-02 4.51154278e+02] [-5.34670643e-01 8.44292956e-01 3.60098441e-02 3.56597834e+01] [ 6.52232024e-02 -1.25573520e-03 9.97869910e-01 1.56128687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.21, Y:35.63, Z:156.13 [[ 8.44911068e-01 5.32134709e-01 -5.43869363e-02 4.51209719e+02] [-5.30916268e-01 8.46658262e-01 3.60236573e-02 3.56292984e+01] [ 6.52165873e-02 -1.56187755e-03 9.97869910e-01 1.56134762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.26, Y:35.59, Z:156.14 [[ 8.43995525e-01 5.33586784e-01 -5.43755219e-02 4.51262382e+02] [-5.32370240e-01 8.45744041e-01 3.60408785e-02 3.55944241e+01] [ 6.52187100e-02 -1.47043051e-03 9.97869910e-01 1.56137401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.31, Y:35.56, Z:156.14 [[ 8.43741954e-01 5.33988821e-01 -5.43640905e-02 4.51310220e+02] [-5.32772001e-01 8.45490276e-01 3.60581134e-02 3.55641829e+01] [ 6.52189393e-02 -1.46007775e-03 9.97869910e-01 1.56140847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.36, Y:35.53, Z:156.15 [[ 8.42948133e-01 5.35240305e-01 -5.43715135e-02 4.51358542e+02] [-5.34026803e-01 8.44698759e-01 3.60469168e-02 3.55339565e+01] [ 6.52213128e-02 -1.34983573e-03 9.97869911e-01 1.56145165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.41, Y:35.50, Z:156.15 [[ 8.44087293e-01 5.33441477e-01 -5.43767573e-02 4.51407437e+02] [-5.32224754e-01 8.45835683e-01 3.60390049e-02 3.55023007e+01] [ 6.52185016e-02 -1.47940981e-03 9.97869911e-01 1.56150979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.45, Y:35.47, Z:156.16 [[ 8.42386992e-01 5.36122253e-01 -5.43790890e-02 4.51453557e+02] [-5.34911321e-01 8.44139397e-01 3.60354862e-02 3.54658847e+01] [ 6.52229575e-02 -1.26783449e-03 9.97869911e-01 1.56156538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.51, Y:35.43, Z:156.16 [[ 8.43220286e-01 5.34810360e-01 -5.43822411e-02 4.51506476e+02] [-5.33597008e-01 8.44971017e-01 3.60307287e-02 3.54345872e+01] [ 6.52210245e-02 -1.36364016e-03 9.97869911e-01 1.56160275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.56, Y:35.40, Z:156.16 [[ 8.44557090e-01 5.32697369e-01 -5.43767885e-02 4.51557691e+02] [-5.31479108e-01 8.46304408e-01 3.60389557e-02 3.54011527e+01] [ 6.52171727e-02 -1.53682845e-03 9.97869911e-01 1.56161607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.61, Y:35.37, Z:156.17 [[ 8.44823698e-01 5.32274590e-01 -5.43753711e-02 4.51606941e+02] [-5.31055317e-01 8.46570310e-01 3.60410942e-02 3.53686020e+01] [ 6.52163334e-02 -1.57204053e-03 9.97869911e-01 1.56166563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.66, Y:35.34, Z:156.17 [[ 8.44870808e-01 5.32199520e-01 -5.43782069e-02 4.51655262e+02] [-5.30980367e-01 8.46617504e-01 3.60368150e-02 3.53366955e+01] [ 6.52163175e-02 -1.57269277e-03 9.97869911e-01 1.56169586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.71, Y:35.30, Z:156.17 [[ 8.44705159e-01 5.32462052e-01 -5.43815940e-02 4.51708081e+02] [-5.31243771e-01 8.46452463e-01 3.60317030e-02 3.53020184e+01] [ 6.52169487e-02 -1.54628237e-03 9.97869911e-01 1.56173648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.75, Y:35.27, Z:156.18 [[ 8.43367154e-01 5.34579974e-01 -5.43699869e-02 4.51754706e+02] [-5.33364953e-01 8.45116726e-01 3.60492090e-02 3.52688919e+01] [ 6.52201706e-02 -1.40367331e-03 9.97869911e-01 1.56177766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.80, Y:35.24, Z:156.18 [[ 8.42606560e-01 5.35777532e-01 -5.43748165e-02 4.51802899e+02] [-5.34565468e-01 8.44358182e-01 3.60419229e-02 3.52363491e+01] [ 6.52222737e-02 -1.30226143e-03 9.97869911e-01 1.56184447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.86, Y:35.20, Z:156.19 [[ 8.40887295e-01 5.38471508e-01 -5.43782310e-02 4.51855930e+02] [-5.37265389e-01 8.42643016e-01 3.60367705e-02 3.52037782e+01] [ 6.52262107e-02 -1.08732103e-03 9.97869911e-01 1.56185210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0827550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:451.91, Y:35.17, Z:156.19 [[ 8.36866586e-01 5.44700389e-01 -5.43672925e-02 4.51905747e+02] [-5.43506269e-01 8.38630490e-01 3.60532654e-02 3.51663975e+01] [ 6.52322969e-02 -6.22808833e-04 9.97869911e-01 1.56187821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.96, Y:35.13, Z:156.19 [[ 8.35477511e-01 5.46829613e-01 -5.43571793e-02 4.51955741e+02] [-5.45638996e-01 8.37243781e-01 3.60685066e-02 3.51344191e+01] [ 6.52335378e-02 -4.75029288e-04 9.97869911e-01 1.56192448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.01, Y:35.10, Z:156.20 [[ 8.33111722e-01 5.50427178e-01 -5.43578993e-02 4.52006142e+02] [-5.49244259e-01 8.34883156e-01 3.60674215e-02 3.50988628e+01] [ 6.52349836e-02 -1.92427423e-04 9.97869911e-01 1.56198994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.06, Y:35.06, Z:156.20 [[ 8.31585329e-01 5.52731531e-01 -5.43479144e-02 4.52056926e+02] [-5.51552538e-01 8.33359379e-01 3.60824610e-02 3.50622594e+01] [ 6.52352580e-02 -2.99150587e-05 9.97869911e-01 1.56203650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.11, Y:35.03, Z:156.21 [[ 8.31912286e-01 5.52240444e-01 -5.43363619e-02 4.52107328e+02] [-5.51059268e-01 8.33684883e-01 3.60998495e-02 3.50250314e+01] [ 6.52352004e-02 -8.93524889e-05 9.97869912e-01 1.56207801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.16, Y:34.99, Z:156.21 [[ 8.33906073e-01 5.49226236e-01 -5.43249883e-02 4.52157306e+02] [-5.48037538e-01 8.35673634e-01 3.61169569e-02 3.49877092e+01] [ 6.52343407e-02 -3.46016896e-04 9.97869912e-01 1.56212012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.21, Y:34.95, Z:156.22 [[ 8.35751252e-01 5.46415494e-01 -5.43134774e-02 4.52208207e+02] [-5.45219727e-01 8.37514038e-01 3.61342590e-02 3.49516566e+01] [ 6.52326188e-02 -5.86472826e-04 9.97869912e-01 1.56216260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.25, Y:34.91, Z:156.22 [[ 8.36550563e-01 5.45192125e-01 -5.43019610e-02 4.52254790e+02] [-5.43992658e-01 8.38310833e-01 3.61515573e-02 3.49099662e+01] [ 6.52314666e-02 -7.02737539e-04 9.97869912e-01 1.56221462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.31, Y:34.88, Z:156.22 [[ 8.39012979e-01 5.41395982e-01 -5.42919098e-02 4.52305019e+02] [-5.40187575e-01 8.40767124e-01 3.61666458e-02 3.48752558e+01] [ 6.52273296e-02 -1.01647009e-03 9.97869913e-01 1.56222320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.36, Y:34.84, Z:156.23 [[ 8.37877013e-01 5.43153302e-01 -5.42826099e-02 4.52358273e+02] [-5.41947670e-01 8.39633067e-01 3.61805987e-02 3.48434641e+01] [ 6.52290859e-02 -8.96558052e-04 9.97869913e-01 1.56229945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.41, Y:34.81, Z:156.23 [[ 8.38163351e-01 5.42712451e-01 -5.42714776e-02 4.52409595e+02] [-5.41504815e-01 8.39918027e-01 3.61972898e-02 3.48088850e+01] [ 6.52283122e-02 -9.50975266e-04 9.97869913e-01 1.56233527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.742755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:452.46, Y:34.77, Z:156.24 [[ 8.37550190e-01 5.43659400e-01 -5.42598822e-02 4.52459796e+02] [-5.42452623e-01 8.39305457e-01 3.62146629e-02 3.47744913e+01] [ 6.52290571e-02 -8.98182381e-04 9.97869913e-01 1.56235689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.51, Y:34.75, Z:156.24 [[ 8.38050520e-01 5.42888423e-01 -5.42539022e-02 4.52514256e+02] [-5.41679451e-01 8.39804276e-01 3.62236194e-02 3.47455485e+01] [ 6.52280427e-02 -9.68999111e-04 9.97869913e-01 1.56238523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.56, Y:34.71, Z:156.24 [[ 8.34908096e-01 5.47709792e-01 -5.42444014e-02 4.52563349e+02] [-5.46510025e-01 8.36668161e-01 3.62378412e-02 3.47078283e+01] [ 6.52323840e-02 -6.10157905e-04 9.97869913e-01 1.56241957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.922755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:452.62, Y:34.68, Z:156.25 [[ 8.33735804e-01 5.49493641e-01 -5.42341871e-02 4.52616194e+02] [-5.48296646e-01 8.35497755e-01 3.62531218e-02 3.46751182e+01] [ 6.52334014e-02 -4.89102748e-04 9.97869913e-01 1.56246498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.67, Y:34.64, Z:156.25 [[ 8.32197179e-01 5.51822148e-01 -5.42233580e-02 4.52666230e+02] [-5.50629028e-01 8.33961756e-01 3.62693115e-02 3.46386207e+01] [ 6.52344162e-02 -3.26263801e-04 9.97869914e-01 1.56249393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.042755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:452.72, Y:34.60, Z:156.25 [[ 8.31372704e-01 5.53064553e-01 -5.42127970e-02 4.52717260e+02] [-5.51873042e-01 8.33138367e-01 3.62850904e-02 3.46027938e+01] [ 6.52347585e-02 -2.47852502e-04 9.97869914e-01 1.56253252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.77, Y:34.57, Z:156.26 [[ 8.31821155e-01 5.52391060e-01 -5.42003972e-02 4.52769621e+02] [-5.51196912e-01 8.33585036e-01 3.63036031e-02 3.45678273e+01] [ 6.52344259e-02 -3.23013481e-04 9.97869914e-01 1.56259672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.82, Y:34.53, Z:156.26 [[ 8.32190721e-01 5.51835359e-01 -5.41880075e-02 4.52819990e+02] [-5.50638829e-01 8.33952988e-01 3.63220869e-02 3.45341790e+01] [ 6.52340627e-02 -3.88882713e-04 9.97869914e-01 1.56262812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2227550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:452.87, Y:34.50, Z:156.27 [[ 8.30885175e-01 5.53800105e-01 -5.41781315e-02 4.52870854e+02] [-5.52606782e-01 8.32649614e-01 3.63368121e-02 3.44997494e+01] [ 6.52347307e-02 -2.52515585e-04 9.97869914e-01 1.56270319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.92, Y:34.47, Z:156.27 [[ 8.29974316e-01 5.55165282e-01 -5.41677485e-02 4.52922390e+02] [-5.53973852e-01 8.31740033e-01 3.63522836e-02 3.44656739e+01] [ 6.52350107e-02 -1.63945430e-04 9.97869915e-01 1.56273576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3427550959999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:452.97, Y:34.43, Z:156.28 [[ 8.31321702e-01 5.53146695e-01 -5.41568235e-02 4.52973395e+02] [-5.51949917e-01 8.33083800e-01 3.63685522e-02 3.44293819e+01] [ 6.52343167e-02 -3.42112543e-04 9.97869915e-01 1.56276310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.02, Y:34.39, Z:156.28 [[ 8.32612310e-01 5.51203272e-01 -5.41451226e-02 4.53020785e+02] [-5.50001250e-01 8.34370833e-01 3.63859641e-02 3.43913548e+01] [ 6.52331735e-02 -5.15516479e-04 9.97869915e-01 1.56282519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.07, Y:34.36, Z:156.29 [[ 8.34340772e-01 5.48584351e-01 -5.41358127e-02 4.53074323e+02] [-5.47375911e-01 8.36094891e-01 3.63998102e-02 3.43607985e+01] [ 6.52310427e-02 -7.37205923e-04 9.97869915e-01 1.56287594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.522755096 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:453.13, Y:34.33, Z:156.29 [[ 8.35682853e-01 5.46538738e-01 -5.41255711e-02 4.53125721e+02] [-5.45325018e-01 8.37433323e-01 3.64150329e-02 3.43265072e+01] [ 6.52287830e-02 -9.15390575e-04 9.97869915e-01 1.56293318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5827550959999 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:453.17, Y:34.29, Z:156.30 [[ 8.34848486e-01 5.47813402e-01 -5.41154518e-02 4.53174115e+02] [-5.46601381e-01 8.36600132e-01 3.64300648e-02 3.42878523e+01] [ 6.52298718e-02 -8.34003762e-04 9.97869916e-01 1.56298206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.642755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:453.23, Y:34.26, Z:156.30 [[ 8.36480173e-01 5.45319693e-01 -5.41050232e-02 4.53226585e+02] [-5.44101448e-01 8.38227497e-01 3.64455464e-02 3.42566267e+01] [ 6.52267924e-02 -1.04735548e-03 9.97869916e-01 1.56301097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.28, Y:34.22, Z:156.30 [[ 8.37806303e-01 5.43280644e-01 -5.40993621e-02 4.53277509e+02] [-5.42057605e-01 8.39550274e-01 3.64539478e-02 3.42227686e+01] [ 6.52238585e-02 -1.21637660e-03 9.97869916e-01 1.56304659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.33, Y:34.19, Z:156.31 [[ 8.38655699e-01 5.41968658e-01 -5.40979881e-02 4.53329108e+02] [-5.40742759e-01 8.40397661e-01 3.64559868e-02 3.41906185e+01] [ 6.52218249e-02 -1.32092575e-03 9.97869916e-01 1.56309767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8227550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:453.38, Y:34.15, Z:156.31 [[ 8.36365509e-01 5.45496236e-01 -5.40979881e-02 4.53377054e+02] [-5.44277685e-01 8.38112619e-01 3.64559868e-02 3.41530949e+01] [ 6.52268100e-02 -1.04620223e-03 9.97869916e-01 1.56314574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.882755096 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:453.43, Y:34.12, Z:156.32 [[ 8.36843501e-01 5.44762666e-01 -5.40979881e-02 4.53430812e+02] [-5.43542585e-01 8.38589542e-01 3.64559868e-02 3.41215495e+01] [ 6.52258676e-02 -1.10339538e-03 9.97869916e-01 1.56318859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9427550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:453.48, Y:34.08, Z:156.32 [[ 8.36587459e-01 5.45156768e-01 -5.40880969e-02 4.53481273e+02] [-5.43936560e-01 8.38333412e-01 3.64706561e-02 3.40844971e+01] [ 6.52260838e-02 -1.09040010e-03 9.97869916e-01 1.56321952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.002755096 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:453.54, Y:34.05, Z:156.32 [[ 8.37895181e-01 5.43145061e-01 -5.40842686e-02 4.53535793e+02] [-5.41920296e-01 8.39637940e-01 3.64763323e-02 3.40538219e+01] [ 6.52231436e-02 -1.25398019e-03 9.97869916e-01 1.56323503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0627550959999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:453.59, Y:34.02, Z:156.33 [[ 8.38227377e-01 5.42633535e-01 -5.40713523e-02 4.53585410e+02] [-5.41406472e-01 8.39968519e-01 3.64954689e-02 3.40224451e+01] [ 6.52218991e-02 -1.31692107e-03 9.97869916e-01 1.56327296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.122755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:453.64, Y:33.99, Z:156.33 [[ 8.35664295e-01 5.46572169e-01 -5.40744939e-02 4.53636104e+02] [-5.45353615e-01 8.37411402e-01 3.64908135e-02 3.39854457e+01] [ 6.52274609e-02 -1.00434921e-03 9.97869916e-01 1.56328642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1827550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:453.69, Y:33.96, Z:156.33 [[ 8.35564050e-01 5.46725796e-01 -5.40705263e-02 4.53689868e+02] [-5.45507183e-01 8.37311116e-01 3.64966916e-02 3.39564181e+01] [ 6.52275355e-02 -9.99462985e-04 9.97869916e-01 1.56327421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.242755096 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:453.74, Y:33.92, Z:156.33 [[ 8.33263646e-01 5.50226015e-01 -5.40650394e-02 4.53741951e+02] [-5.49014214e-01 8.35015443e-01 3.65048180e-02 3.39219445e+01] [ 6.52310434e-02 -7.35662596e-04 9.97869916e-01 1.56330564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3027550959999 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:453.79, Y:33.89, Z:156.33 [[ 8.29391351e-01 5.56046868e-01 -5.40543050e-02 4.53791545e+02] [-5.54846327e-01 8.31150884e-01 3.65207060e-02 3.38862926e+01] [ 6.52345076e-02 -2.98125086e-04 9.97869916e-01 1.56334776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.362755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:453.85, Y:33.86, Z:156.34 [[ 8.29164444e-01 5.56386128e-01 -5.40444427e-02 4.53845562e+02] [-5.55185356e-01 8.30923819e-01 3.65352946e-02 3.38552649e+01] [ 6.52345459e-02 -2.89084086e-04 9.97869917e-01 1.56338216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.89, Y:33.82, Z:156.34 [[ 8.26321645e-01 5.60600459e-01 -5.40339157e-02 4.53894696e+02] [-5.59407643e-01 8.28086423e-01 3.65508570e-02 3.38194016e+01] [ 6.52351792e-02 2.42211599e-05 9.97869917e-01 1.56344226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.94, Y:33.78, Z:156.35 [[ 8.24689801e-01 5.62999204e-01 -5.40243314e-02 4.53944177e+02] [-5.61810593e-01 8.26457414e-01 3.65650177e-02 3.37813818e+01] [ 6.52348851e-02 1.96644471e-04 9.97869917e-01 1.56352959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.99, Y:33.75, Z:156.36 [[ 8.25007880e-01 5.62534198e-01 -5.40117951e-02 4.53994614e+02] [-5.61343378e-01 8.26774006e-01 3.65835262e-02 3.37472474e+01] [ 6.52350328e-02 1.37466120e-04 9.97869917e-01 1.56357579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6027550959999 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:454.04, Y:33.71, Z:156.36 [[ 8.23967879e-01 5.64057388e-01 -5.40018322e-02 4.54042861e+02] [-5.62868870e-01 8.25735554e-01 3.65982269e-02 3.37063860e+01] [ 6.52347331e-02 2.40186840e-04 9.97869917e-01 1.56361900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.662755096 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:454.09, Y:33.67, Z:156.37 [[ 8.23901226e-01 5.64155891e-01 -5.39898249e-02 4.54091859e+02] [-5.62966423e-01 8.25668263e-01 3.66159315e-02 3.36684018e+01] [ 6.52347784e-02 2.26547774e-04 9.97869918e-01 1.56365665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7227550959999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:454.14, Y:33.63, Z:156.37 [[ 8.27501293e-01 5.58863054e-01 -5.39786764e-02 4.54141822e+02] [-5.57661212e-01 8.29259937e-01 3.66323592e-02 3.36330839e+01] [ 6.52348259e-02 -2.11510479e-04 9.97869918e-01 1.56372898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.782755096 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:454.19, Y:33.60, Z:156.38 [[ 8.26880503e-01 5.59782037e-01 -5.39694901e-02 4.54191655e+02] [-5.58581267e-01 8.28639878e-01 3.66458881e-02 3.35958392e+01] [ 6.52349816e-02 -1.55424250e-04 9.97869918e-01 1.56379226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.24, Y:33.56, Z:156.38 [[ 8.26381974e-01 5.60518927e-01 -5.39570755e-02 4.54242791e+02] [-5.59318532e-01 8.28141606e-01 3.66641581e-02 3.35627129e+01] [ 6.52350537e-02 -1.19407088e-04 9.97869918e-01 1.56381874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.902755096 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:454.29, Y:33.53, Z:156.38 [[ 8.28838250e-01 5.56881375e-01 -5.39470955e-02 4.54290029e+02] [-5.55672303e-01 8.30591930e-01 3.66788367e-02 3.35296758e+01] [ 6.52337832e-02 -4.23916004e-04 9.97869918e-01 1.56383626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9627550959999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:454.34, Y:33.49, Z:156.39 [[ 8.31306819e-01 5.53189234e-01 -5.39503901e-02 4.54340986e+02] [-5.51972688e-01 8.33055322e-01 3.66739901e-02 3.34940188e+01] [ 6.52313161e-02 -7.08196223e-04 9.97869918e-01 1.56392350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.022755096 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:454.39, Y:33.46, Z:156.40 [[ 8.32951820e-01 5.50710352e-01 -5.39386157e-02 4.54391565e+02] [-5.49487483e-01 8.34695906e-01 3.66912993e-02 3.34579196e+01] [ 6.52286200e-02 -9.23490375e-04 9.97869919e-01 1.56399245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.45, Y:33.43, Z:156.40 [[ 8.37191774e-01 5.44244255e-01 -5.39270275e-02 4.54446199e+02] [-5.43006822e-01 8.38925557e-01 3.67083232e-02 3.34265382e+01] [ 6.52190556e-02 -1.44916243e-03 9.97869919e-01 1.56402421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.50, Y:33.39, Z:156.41 [[ 8.37433155e-01 5.43873934e-01 -5.39152502e-02 4.54497147e+02] [-5.42634622e-01 8.39165596e-01 3.67256130e-02 3.33906546e+01] [ 6.52179266e-02 -1.49896455e-03 9.97869919e-01 1.56407826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.55, Y:33.35, Z:156.41 [[ 8.37055222e-01 5.44456561e-01 -5.39037001e-02 4.54548219e+02] [-5.43217364e-01 8.38787745e-01 3.67425577e-02 3.33542736e+01] [ 6.52184896e-02 -1.47412393e-03 9.97869919e-01 1.56413254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.60, Y:33.32, Z:156.42 [[ 8.36617882e-01 5.45129471e-01 -5.38922985e-02 4.54599488e+02] [-5.43890591e-01 8.38350631e-01 3.67592735e-02 3.33176426e+01] [ 6.52192057e-02 -1.44195145e-03 9.97869919e-01 1.56419750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.65, Y:33.28, Z:156.42 [[ 8.35465664e-01 5.46894863e-01 -5.38807315e-02 4.54650877e+02] [-5.45658553e-01 8.37200247e-01 3.67762203e-02 3.32821346e+01] [ 6.52216877e-02 -1.32478735e-03 9.97869920e-01 1.56423688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.70, Y:33.25, Z:156.43 [[ 8.33842100e-01 5.49368251e-01 -5.38690749e-02 4.54702463e+02] [-5.48135983e-01 8.35579558e-01 3.67932866e-02 3.32466111e+01] [ 6.52249613e-02 -1.15221303e-03 9.97869920e-01 1.56427871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.75, Y:33.21, Z:156.43 [[ 8.31005978e-01 5.53650102e-01 -5.38574862e-02 4.54752968e+02] [-5.52425690e-01 8.32748980e-01 3.68102422e-02 3.32100678e+01] [ 6.52297611e-02 -8.37272374e-04 9.97869920e-01 1.56431691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.80, Y:33.18, Z:156.44 [[ 8.30513939e-01 5.54388966e-01 -5.38467440e-02 4.54802588e+02] [-5.53165086e-01 8.32257314e-01 3.68259495e-02 3.31790348e+01] [ 6.52302466e-02 -7.98325573e-04 9.97869920e-01 1.56435837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.85, Y:33.15, Z:156.44 [[ 8.30970722e-01 5.53703774e-01 -5.38497052e-02 4.54851332e+02] [-5.52478737e-01 8.32713284e-01 3.68216190e-02 3.31451175e+01] [ 6.52296342e-02 -8.46870212e-04 9.97869920e-01 1.56435064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.90, Y:33.11, Z:156.44 [[ 8.32753912e-01 5.51017976e-01 -5.38526860e-02 4.54903071e+02] [-5.49787602e-01 8.34492710e-01 3.68172590e-02 3.31090718e+01] [ 6.52266454e-02 -1.05217737e-03 9.97869920e-01 1.56436830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6827550959999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:454.95, Y:33.08, Z:156.44 [[ 8.36048640e-01 5.46007156e-01 -5.38410373e-02 4.54953744e+02] [-5.44765265e-01 8.37779232e-01 3.68342860e-02 3.30765431e+01] [ 6.52186866e-02 -1.46452777e-03 9.97869920e-01 1.56440401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.742755096 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:455.00, Y:33.04, Z:156.44 [[ 8.37287483e-01 5.44105517e-01 -5.38410373e-02 4.55004716e+02] [-5.42859697e-01 8.39015247e-01 3.68342860e-02 3.30401198e+01] [ 6.52151894e-02 -1.61275743e-03 9.97869920e-01 1.56440968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8027550959999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:455.06, Y:33.01, Z:156.45 [[ 8.37574760e-01 5.43664567e-01 -5.38271372e-02 4.55057425e+02] [-5.42416533e-01 8.39300926e-01 3.68545875e-02 3.30071195e+01] [ 6.52136994e-02 -1.67174311e-03 9.97869921e-01 1.56446997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.862755096 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:455.11, Y:32.97, Z:156.45 [[ 8.37880874e-01 5.43193817e-01 -5.38155849e-02 4.55108362e+02] [-5.41943732e-01 8.39605555e-01 3.68714486e-02 3.29718934e+01] [ 6.52122069e-02 -1.72886274e-03 9.97869921e-01 1.56449183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.922755096 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:455.16, Y:32.94, Z:156.45 [[ 8.36661237e-01 5.45071563e-01 -5.38048827e-02 4.55160426e+02] [-5.43824346e-01 8.38387993e-01 3.68870593e-02 3.29381693e+01] [ 6.52154546e-02 -1.60156757e-03 9.97869921e-01 1.56453136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9827550959999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:455.21, Y:32.91, Z:156.46 [[ 8.33930339e-01 5.49241633e-01 -5.37942237e-02 4.55212596e+02] [-5.48002049e-01 8.35662583e-01 3.69025973e-02 3.29052259e+01] [ 6.52222627e-02 -1.29485069e-03 9.97869921e-01 1.56460465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.26, Y:32.87, Z:156.47 [[ 8.27764363e-01 5.58492209e-01 -5.37830135e-02 4.55260101e+02] [-5.57270927e-01 8.29509558e-01 3.69189282e-02 3.28669021e+01] [ 6.52324575e-02 -5.88463266e-04 9.97869922e-01 1.56470594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.31, Y:32.83, Z:156.48 [[ 8.24060367e-01 5.63943312e-01 -5.37815268e-02 4.55312140e+02] [-5.62733434e-01 8.25813487e-01 3.69210938e-02 3.28327754e+01] [ 6.52349141e-02 -1.60546848e-04 9.97869922e-01 1.56475500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.36, Y:32.80, Z:156.48 [[ 8.22269359e-01 5.66552577e-01 -5.37706118e-02 4.55364141e+02] [-5.65347223e-01 8.24025592e-01 3.69369832e-02 3.27996730e+01] [ 6.52351033e-02 2.69166012e-05 9.97869922e-01 1.56481059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.42, Y:32.77, Z:156.49 [[ 8.20304233e-01 5.69395205e-01 -5.37593289e-02 4.55417992e+02] [-5.68194861e-01 8.22063895e-01 3.69533975e-02 3.27685102e+01] [ 6.52346906e-02 2.32746029e-04 9.97869922e-01 1.56485275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.47, Y:32.74, Z:156.48 [[ 8.22070422e-01 5.66843317e-01 -5.37482468e-02 4.55472677e+02] [-5.65636457e-01 8.23825621e-01 3.69695092e-02 3.27405757e+01] [ 6.52351020e-02 1.04278231e-05 9.97869922e-01 1.56481503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3427550959999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:455.52, Y:32.71, Z:156.49 [[ 8.18890199e-01 5.71428196e-01 -5.37462466e-02 4.55522150e+02] [-5.70230972e-01 8.20651984e-01 3.69724169e-02 3.27082407e+01] [ 6.52340454e-02 3.71424625e-04 9.97869922e-01 1.56485056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.402755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:455.57, Y:32.68, Z:156.49 [[ 8.21756027e-01 5.67298904e-01 -5.37492756e-02 4.55571372e+02] [-5.66093115e-01 8.23511962e-01 3.69680130e-02 3.26762232e+01] [ 6.52350846e-02 4.84073908e-05 9.97869922e-01 1.56489387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.62, Y:32.64, Z:156.49 [[ 8.23185772e-01 5.65221956e-01 -5.37524355e-02 4.55619800e+02] [-5.64012037e-01 8.24938863e-01 3.69634178e-02 3.26427091e+01] [ 6.52350083e-02 -1.10738963e-04 9.97869922e-01 1.56493620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.522755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:455.67, Y:32.61, Z:156.50 [[ 8.24278613e-01 5.63626839e-01 -5.37545794e-02 4.55670539e+02] [-5.62413730e-01 8.26029498e-01 3.69602997e-02 3.26074771e+01] [ 6.52346851e-02 -2.33271094e-04 9.97869922e-01 1.56498049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.72, Y:32.57, Z:156.50 [[ 8.25174463e-01 5.62315453e-01 -5.37441828e-02 4.55717360e+02] [-5.61098578e-01 8.26922732e-01 3.69754113e-02 3.25737081e+01] [ 6.52341316e-02 -3.55380686e-04 9.97869922e-01 1.56501472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.76, Y:32.54, Z:156.51 [[ 8.26070418e-01 5.60997923e-01 -5.37493692e-02 4.55764542e+02] [-5.59778750e-01 8.27817086e-01 3.69678705e-02 3.25402345e+01] [ 6.52335448e-02 -4.50309544e-04 9.97869922e-01 1.56507914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.81, Y:32.50, Z:156.51 [[ 8.26677765e-01 5.60102098e-01 -5.37541980e-02 4.55813131e+02] [-5.58881489e-01 8.28423429e-01 3.69608478e-02 3.25012879e+01] [ 6.52330854e-02 -5.12484831e-04 9.97869922e-01 1.56511860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.762755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:455.86, Y:32.47, Z:156.52 [[ 8.27733079e-01 5.58542484e-01 -5.37423803e-02 4.55862350e+02] [-5.57317470e-01 8.29475656e-01 3.69780232e-02 3.24657595e+01] [ 6.52317930e-02 -6.56365603e-04 9.97869923e-01 1.56518778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8227550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:455.91, Y:32.43, Z:156.52 [[ 8.28064070e-01 5.58052715e-01 -5.37313979e-02 4.55912371e+02] [-5.56825636e-01 8.29805192e-01 3.69939745e-02 3.24269069e+01] [ 6.52311808e-02 -7.14361278e-04 9.97869923e-01 1.56523566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.882755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:455.96, Y:32.39, Z:156.53 [[ 8.27634394e-01 5.58690904e-01 -5.37194844e-02 4.55962421e+02] [-5.57464046e-01 8.29375671e-01 3.70112662e-02 3.23903145e+01] [ 6.52314912e-02 -6.85115785e-04 9.97869923e-01 1.56527329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.01, Y:32.35, Z:156.53 [[ 8.27322931e-01 5.59153078e-01 -5.37085015e-02 4.56011931e+02] [-5.57926158e-01 8.29064165e-01 3.70271970e-02 3.23509185e+01] [ 6.52316651e-02 -6.68071299e-04 9.97869923e-01 1.56531668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.002755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:456.06, Y:32.31, Z:156.53 [[ 8.28897190e-01 5.56817852e-01 -5.36966219e-02 4.56061691e+02] [-5.55584911e-01 8.30634166e-01 3.70444167e-02 3.23131977e+01] [ 6.52292413e-02 -8.72979980e-04 9.97869923e-01 1.56531424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0627550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:456.11, Y:32.27, Z:156.54 [[ 8.28054295e-01 5.58071574e-01 -5.36861456e-02 4.56108489e+02] [-5.56840279e-01 8.29792438e-01 3.70595932e-02 3.22739110e+01] [ 6.52302631e-02 -7.92747077e-04 9.97869924e-01 1.56538801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.16, Y:32.24, Z:156.54 [[ 8.29518764e-01 5.55893377e-01 -5.36765728e-02 4.56157142e+02] [-5.54656622e-01 8.31253025e-01 3.70734531e-02 3.22352005e+01] [ 6.52277005e-02 -9.81058426e-04 9.97869924e-01 1.56541680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.21, Y:32.20, Z:156.55 [[ 8.29879241e-01 5.55356115e-01 -5.36659131e-02 4.56207516e+02] [-5.54117240e-01 8.31611989e-01 3.70888772e-02 3.21972146e+01] [ 6.52267515e-02 -1.04208164e-03 9.97869924e-01 1.56546845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.26, Y:32.16, Z:156.55 [[ 8.30022051e-01 5.55143835e-01 -5.36536771e-02 4.56256806e+02] [-5.53903373e-01 8.31753663e-01 3.71065697e-02 3.21611673e+01] [ 6.52261259e-02 -1.08031837e-03 9.97869924e-01 1.56553384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.31, Y:32.12, Z:156.56 [[ 8.30022145e-01 5.55144638e-01 -5.36439148e-02 4.56307630e+02] [-5.53903267e-01 8.31753104e-01 3.71206775e-02 3.21249953e+01] [ 6.52258377e-02 -1.09744469e-03 9.97869924e-01 1.56557088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.362755096 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:456.36, Y:32.09, Z:156.56 [[ 8.29517707e-01 5.55899240e-01 -5.36321637e-02 4.56358084e+02] [-5.54658347e-01 8.31249008e-01 3.71376478e-02 3.20880896e+01] [ 6.52264731e-02 -1.05880926e-03 9.97869924e-01 1.56560325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.422755096 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:456.41, Y:32.05, Z:156.56 [[ 8.28774240e-01 5.57008191e-01 -5.36202769e-02 4.56408225e+02] [-5.55768504e-01 8.30506406e-01 3.71548024e-02 3.20528210e+01] [ 6.52275127e-02 -9.92482073e-04 9.97869925e-01 1.56564180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4827550959999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:456.46, Y:32.02, Z:156.57 [[ 8.27732638e-01 5.58555430e-01 -5.36144750e-02 4.56459514e+02] [-5.57318440e-01 8.29466730e-01 3.71631726e-02 3.20168735e+01] [ 6.52291151e-02 -8.80835326e-04 9.97869925e-01 1.56565733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.542755096 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:456.51, Y:31.98, Z:156.57 [[ 8.27607982e-01 5.58740637e-01 -5.36090349e-02 4.56510073e+02] [-5.57503527e-01 8.29341988e-01 3.71710184e-02 3.19818023e+01] [ 6.52291821e-02 -8.75805490e-04 9.97869925e-01 1.56573738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6027550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:456.56, Y:31.95, Z:156.58 [[ 8.26746436e-01 5.60015704e-01 -5.35979749e-02 4.56560381e+02] [-5.58780234e-01 8.28481611e-01 3.71869594e-02 3.19468625e+01] [ 6.52302178e-02 -7.94697122e-04 9.97869925e-01 1.56580931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.61, Y:31.91, Z:156.59 [[ 8.25737073e-01 5.61503832e-01 -5.35885570e-02 4.56612080e+02] [-5.60270609e-01 8.27473846e-01 3.72005262e-02 3.19109310e+01] [ 6.52313674e-02 -6.93760171e-04 9.97869925e-01 1.56586307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7227550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:456.67, Y:31.88, Z:156.59 [[ 8.25391276e-01 5.62013196e-01 -5.35761977e-02 4.56665174e+02] [-5.60779890e-01 8.27127990e-01 3.72183176e-02 3.18763757e+01] [ 6.52315583e-02 -6.75220378e-04 9.97869925e-01 1.56587663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.782755096 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:456.72, Y:31.84, Z:156.59 [[ 8.25369552e-01 5.62046349e-01 -5.35630812e-02 4.56715605e+02] [-5.60811889e-01 8.27105445e-01 3.72371848e-02 3.18407981e+01] [ 6.52313399e-02 -6.95625773e-04 9.97869926e-01 1.56592722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.77, Y:31.81, Z:156.60 [[ 8.26277169e-01 5.60712337e-01 -5.35510516e-02 4.56766999e+02] [-5.59473953e-01 8.28010265e-01 3.72544766e-02 3.18051982e+01] [ 6.52298651e-02 -8.22104871e-04 9.97869926e-01 1.56596139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.82, Y:31.77, Z:156.60 [[ 8.28429173e-01 5.57529055e-01 -5.35393178e-02 4.56818784e+02] [-5.56282923e-01 8.30156706e-01 3.72713320e-02 3.17689716e+01] [ 6.52258742e-02 -1.09365054e-03 9.97869926e-01 1.56599081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9627550959999 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:456.87, Y:31.73, Z:156.60 [[ 8.30668739e-01 5.54187907e-01 -5.35276518e-02 4.56869889e+02] [-5.52933749e-01 8.32390454e-01 3.72880787e-02 3.17320252e+01] [ 6.52205087e-02 -1.37679611e-03 9.97869926e-01 1.56602310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.022755096 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:456.92, Y:31.70, Z:156.61 [[ 8.31820448e-01 5.52458862e-01 -5.35158720e-02 4.56921000e+02] [-5.51200039e-01 8.33538755e-01 3.73049774e-02 3.16958139e+01] [ 6.52170187e-02 -1.53309229e-03 9.97869926e-01 1.56607499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:456.97, Y:31.66, Z:156.61 [[ 8.31757885e-01 5.52554175e-01 -5.35042553e-02 4.56972096e+02] [-5.51294478e-01 8.33475551e-01 3.73216311e-02 3.16591229e+01] [ 6.52167118e-02 -1.54596040e-03 9.97869927e-01 1.56611287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.142755096 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:457.02, Y:31.62, Z:156.61 [[ 8.30989752e-01 5.53709861e-01 -5.34922664e-02 4.57023197e+02] [-5.52451449e-01 8.32708359e-01 3.73388067e-02 3.16220343e+01] [ 6.52183228e-02 -1.47628561e-03 9.97869927e-01 1.56613507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2027550959999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:457.07, Y:31.59, Z:156.62 [[ 8.29092335e-01 5.56548067e-01 -5.34803631e-02 4.57074727e+02] [-5.55294440e-01 8.30814435e-01 3.73558480e-02 3.15858050e+01] [ 6.52225827e-02 -1.27409903e-03 9.97869927e-01 1.56619292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.262755096 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:457.12, Y:31.55, Z:156.62 [[ 8.26329298e-01 5.60643380e-01 -5.34686038e-02 4.57123855e+02] [-5.59397200e-01 8.28056795e-01 3.73726720e-02 3.15486388e+01] [ 6.52277818e-02 -9.71946552e-04 9.97869927e-01 1.56623095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3227550959999 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:457.17, Y:31.51, Z:156.63 [[ 8.24407023e-01 5.63467253e-01 -5.34576103e-02 4.57173649e+02] [-5.62225972e-01 8.26138042e-01 3.73883904e-02 3.15107587e+01] [ 6.52304992e-02 -7.67994691e-04 9.97869927e-01 1.56627848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.382755096 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:457.22, Y:31.47, Z:156.63 [[ 8.22985472e-01 5.65542658e-01 -5.34454391e-02 4.57223830e+02] [-5.64304613e-01 8.24718808e-01 3.74057806e-02 3.14734638e+01] [ 6.52320234e-02 -6.24906189e-04 9.97869928e-01 1.56632053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4427550959999 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:457.27, Y:31.44, Z:156.64 [[ 8.22318835e-01 5.66512636e-01 -5.34337660e-02 4.57274483e+02] [-5.65275552e-01 8.24052857e-01 3.74224482e-02 3.14362446e+01] [ 6.52325373e-02 -5.68382473e-04 9.97869928e-01 1.56636693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.502755096 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:457.33, Y:31.40, Z:156.64 [[ 8.22149483e-01 5.66758902e-01 -5.34282110e-02 4.57325332e+02] [-5.65521823e-01 8.23883508e-01 3.74303774e-02 3.14019615e+01] [ 6.52326215e-02 -5.58546225e-04 9.97869928e-01 1.56642725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5627550959999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:457.38, Y:31.37, Z:156.64 [[ 8.21907554e-01 5.67110807e-01 -5.34163369e-02 4.57377627e+02] [-5.65873369e-01 8.23641323e-01 3.74473151e-02 3.13672125e+01] [ 6.52326795e-02 -5.51348712e-04 9.97869928e-01 1.56644777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.622755096 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:457.43, Y:31.33, Z:156.65 [[ 8.22120224e-01 5.66803590e-01 -5.34043775e-02 4.57428567e+02] [-5.65564397e-01 8.23852738e-01 3.74643629e-02 3.13321979e+01] [ 6.52322780e-02 -5.96595865e-04 9.97869928e-01 1.56647128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6827550959999 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:457.48, Y:31.30, Z:156.65 [[ 8.23085239e-01 5.65402369e-01 -5.33933542e-02 4.57479678e+02] [-5.64159208e-01 8.24814908e-01 3.74800665e-02 3.12976045e+01] [ 6.52309529e-02 -7.26937124e-04 9.97869929e-01 1.56647900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.742755096 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:457.53, Y:31.26, Z:156.65 [[ 8.23498337e-01 5.64801537e-01 -5.33826983e-02 4.57531898e+02] [-5.63556130e-01 8.25226390e-01 3.74952375e-02 3.12630879e+01] [ 6.52301792e-02 -7.93118838e-04 9.97869929e-01 1.56652631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8027550959999 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:457.58, Y:31.23, Z:156.66 [[ 8.24192878e-01 5.63788668e-01 -5.33707518e-02 4.57584934e+02] [-5.62540038e-01 8.25918602e-01 3.75122345e-02 3.12286253e+01] [ 6.52288695e-02 -8.94131760e-04 9.97869929e-01 1.56657031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.862755096 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:457.64, Y:31.19, Z:156.66 [[ 8.24634740e-01 5.63143309e-01 -5.33587817e-02 4.57637064e+02] [-5.61892227e-01 8.26358687e-01 3.75292535e-02 3.11931213e+01] [ 6.52278408e-02 -9.66041509e-04 9.97869929e-01 1.56659809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.922755096 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:457.69, Y:31.16, Z:156.66 [[ 8.25575140e-01 5.61764895e-01 -5.33468867e-02 4.57688970e+02] [-5.60509843e-01 8.27296200e-01 3.75461544e-02 3.11594919e+01] [ 6.52257881e-02 -1.09571662e-03 9.97869929e-01 1.56664750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9827550959999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:457.74, Y:31.12, Z:156.67 [[ 8.26373308e-01 5.60591147e-01 -5.33359270e-02 4.57739641e+02] [-5.59332647e-01 8.28091847e-01 3.75617167e-02 3.11247424e+01] [ 6.52238122e-02 -1.20747486e-03 9.97869930e-01 1.56670284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.042755096 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:457.79, Y:31.09, Z:156.68 [[ 8.25370106e-01 5.62067818e-01 -5.33287607e-02 4.57790478e+02] [-5.60811735e-01 8.27090413e-01 3.75718884e-02 3.10888443e+01] [ 6.52256560e-02 -1.10331870e-03 9.97869930e-01 1.56675816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1027550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:457.84, Y:31.05, Z:156.68 [[ 8.24042041e-01 5.64014183e-01 -5.33171331e-02 4.57842330e+02] [-5.62761097e-01 8.25764531e-01 3.75883815e-02 3.10541548e+01] [ 6.52277777e-02 -9.69598309e-04 9.97869930e-01 1.56680057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.162755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:457.89, Y:31.02, Z:156.68 [[ 8.23448887e-01 5.64880917e-01 -5.33055377e-02 4.57892903e+02] [-5.63628581e-01 8.25171922e-01 3.76048182e-02 3.10180106e+01] [ 6.52284772e-02 -9.21121106e-04 9.97869930e-01 1.56684113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2227550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:457.94, Y:30.98, Z:156.69 [[ 8.22148171e-01 5.66773364e-01 -5.32948337e-02 4.57942516e+02] [-5.65524010e-01 8.23873371e-01 3.76199823e-02 3.09800941e+01] [ 6.52301981e-02 -7.89691540e-04 9.97869930e-01 1.56688234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.282755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:458.00, Y:30.95, Z:156.69 [[ 8.23009529e-01 5.65522934e-01 -5.32834522e-02 4.57998264e+02] [-5.64269916e-01 8.24732069e-01 3.76360957e-02 3.09506144e+01] [ 6.52286470e-02 -9.08616267e-04 9.97869930e-01 1.56685545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.04, Y:30.91, Z:156.69 [[ 8.20624261e-01 5.68979653e-01 -5.32726646e-02 4.58043749e+02] [-5.67732901e-01 8.22351341e-01 3.76513590e-02 3.09098086e+01] [ 6.52317043e-02 -6.52974251e-04 9.97869931e-01 1.56693583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.402755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:458.09, Y:30.87, Z:156.70 [[ 8.23517029e-01 5.64785602e-01 -5.32628023e-02 4.58093853e+02] [-5.63529153e-01 8.25237068e-01 3.76653054e-02 3.08728030e+01] [ 6.52272610e-02 -1.00287849e-03 9.97869931e-01 1.56698548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4627550959999 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:458.15, Y:30.84, Z:156.70 [[ 8.27786053e-01 5.58511021e-01 -5.32511941e-02 4.58145929e+02] [-5.57240483e-01 8.29495710e-01 3.76817100e-02 3.08387421e+01] [ 6.52172873e-02 -1.51867287e-03 9.97869931e-01 1.56701955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.20, Y:30.80, Z:156.71 [[ 8.31281006e-01 5.53296791e-01 -5.32404910e-02 4.58196822e+02] [-5.52014565e-01 8.32981915e-01 3.76968263e-02 3.08026032e+01] [ 6.52058991e-02 -1.94712929e-03 9.97869931e-01 1.56705395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5827550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:458.25, Y:30.76, Z:156.71 [[ 8.31690609e-01 5.52682059e-01 -5.32284985e-02 4.58246048e+02] [-5.51397493e-01 8.33389751e-01 3.77137523e-02 3.07634620e+01] [ 6.52037994e-02 -2.01611302e-03 9.97869931e-01 1.56709938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.30, Y:30.73, Z:156.71 [[ 8.32891032e-01 5.50872508e-01 -5.32166168e-02 4.58300004e+02] [-5.49583183e-01 8.34586565e-01 3.77305108e-02 3.07301275e+01] [ 6.51985745e-02 -2.17844644e-03 9.97869932e-01 1.56711044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:458.35, Y:30.70, Z:156.72 [[ 8.29738765e-01 5.55610316e-01 -5.32048772e-02 4.58350378e+02] [-5.54329615e-01 8.31440821e-01 3.77470578e-02 3.06950024e+01] [ 6.52093615e-02 -1.82715803e-03 9.97869932e-01 1.56715401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.40, Y:30.66, Z:156.72 [[ 8.28587367e-01 5.57326989e-01 -5.31940013e-02 4.58401322e+02] [-5.56048832e-01 8.30291334e-01 3.77623782e-02 3.06592534e+01] [ 6.52125109e-02 -1.71096722e-03 9.97869932e-01 1.56721455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.45, Y:30.62, Z:156.73 [[ 8.27826190e-01 5.58458072e-01 -5.31825211e-02 4.58449515e+02] [-5.57181206e-01 8.29531124e-01 3.77785394e-02 3.06216708e+01] [ 6.52142868e-02 -1.64176316e-03 9.97869932e-01 1.56726104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.882755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:458.50, Y:30.59, Z:156.73 [[ 8.28638186e-01 5.57253401e-01 -5.31733354e-02 4.58498329e+02] [-5.55973227e-01 8.30340639e-01 3.77914639e-02 3.05885750e+01] [ 6.52114030e-02 -1.75249926e-03 9.97869932e-01 1.56727300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:458.55, Y:30.56, Z:156.73 [[ 8.31253503e-01 5.53344367e-01 -5.31754130e-02 4.58550293e+02] [-5.52056376e-01 8.32950049e-01 3.77885403e-02 3.05598229e+01] [ 6.52025388e-02 -2.05603067e-03 9.97869932e-01 1.56731349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.59, Y:30.52, Z:156.74 [[ 8.31112341e-01 5.53556104e-01 -5.31781537e-02 4.58591700e+02] [-5.52268791e-01 8.32809402e-01 3.77846831e-02 3.05178076e+01] [ 6.52032083e-02 -2.03468176e-03 9.97869932e-01 1.56737142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0627550959999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:458.64, Y:30.48, Z:156.74 [[ 8.32347050e-01 5.51697485e-01 -5.31815080e-02 4.58639038e+02] [-5.50406685e-01 8.34041459e-01 3.77799613e-02 3.04824696e+01] [ 6.51986922e-02 -2.17458187e-03 9.97869932e-01 1.56737698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.122755096 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:458.69, Y:30.45, Z:156.74 [[ 8.30238695e-01 5.54864988e-01 -5.31841672e-02 4.58689271e+02] [-5.53580892e-01 8.31938191e-01 3.77762176e-02 3.04469222e+01] [ 6.52066403e-02 -1.92153885e-03 9.97869932e-01 1.56742222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.74, Y:30.41, Z:156.74 [[ 8.29019302e-01 5.56686212e-01 -5.31738494e-02 4.58740776e+02] [-5.55404920e-01 8.30720913e-01 3.77907353e-02 3.04120586e+01] [ 6.52102100e-02 -1.79623138e-03 9.97869932e-01 1.56744929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.79, Y:30.38, Z:156.75 [[ 8.30100201e-01 5.55074231e-01 -5.31625318e-02 4.58792761e+02] [-5.53788617e-01 8.31798548e-01 3.78066498e-02 3.03775552e+01] [ 6.52060138e-02 -1.94250265e-03 9.97869933e-01 1.56747571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.84, Y:30.34, Z:156.75 [[ 8.29966155e-01 5.55275737e-01 -5.31510849e-02 4.58843470e+02] [-5.53989507e-01 8.31664035e-01 3.78227358e-02 3.03414013e+01] [ 6.52058932e-02 -1.94644731e-03 9.97869933e-01 1.56753109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.362755096 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:458.90, Y:30.31, Z:156.76 [[ 8.30320455e-01 5.54747044e-01 -5.31381082e-02 4.58895513e+02] [-5.53458568e-01 8.32016632e-01 3.78409583e-02 3.03063796e+01] [ 6.52039496e-02 -2.01038052e-03 9.97869933e-01 1.56755747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.95, Y:30.27, Z:156.76 [[ 8.30132125e-01 5.55030086e-01 -5.31249314e-02 4.58947793e+02] [-5.53741007e-01 8.31827843e-01 3.78594483e-02 3.02723282e+01] [ 6.52039299e-02 -2.01089128e-03 9.97869933e-01 1.56760373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4827550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:459.00, Y:30.24, Z:156.76 [[ 8.29004693e-01 5.56713875e-01 -5.31119633e-02 4.58999049e+02] [-5.55427076e-01 8.30702142e-01 3.78776321e-02 3.02382579e+01] [ 6.52072250e-02 -1.90091232e-03 9.97869934e-01 1.56764274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.05, Y:30.20, Z:156.77 [[ 8.24895105e-01 5.62786327e-01 -5.31000526e-02 4.59048469e+02] [-5.61510954e-01 8.26601155e-01 3.78943222e-02 3.02016550e+01] [ 6.52189712e-02 -1.44257974e-03 9.97869934e-01 1.56772808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.10, Y:30.17, Z:156.77 [[ 8.25697998e-01 5.61608753e-01 -5.30888440e-02 4.59102353e+02] [-5.60329938e-01 8.27401469e-01 3.79100187e-02 3.01723896e+01] [ 6.52163858e-02 -1.55495782e-03 9.97869934e-01 1.56772410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.15, Y:30.13, Z:156.77 [[ 8.22218311e-01 5.66691905e-01 -5.30785579e-02 4.59152912e+02] [-5.65422695e-01 8.23928950e-01 3.79244149e-02 3.01342634e+01] [ 6.52244195e-02 -1.17032715e-03 9.97869934e-01 1.56774229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.20, Y:30.10, Z:156.78 [[ 8.21791128e-01 5.67312367e-01 -5.30661932e-02 4.59204176e+02] [-5.66043332e-01 8.23501896e-01 3.79417086e-02 3.00985645e+01] [ 6.52249112e-02 -1.14239467e-03 9.97869934e-01 1.56777416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.25, Y:30.06, Z:156.79 [[ 8.22318415e-01 5.66548983e-01 -5.30535038e-02 4.59253800e+02] [-5.65277216e-01 8.24027154e-01 3.79594437e-02 3.00619386e+01] [ 6.52234120e-02 -1.22481269e-03 9.97869935e-01 1.56785623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.30, Y:30.02, Z:156.79 [[ 8.21477548e-01 5.67768620e-01 -5.30417984e-02 4.59302770e+02] [-5.66498335e-01 8.23187388e-01 3.79757930e-02 3.00229935e+01] [ 6.52248031e-02 -1.14817083e-03 9.97869935e-01 1.56787755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.35, Y:29.99, Z:156.79 [[ 8.21333651e-01 5.67977875e-01 -5.30298700e-02 4.59352397e+02] [-5.66706951e-01 8.23043016e-01 3.79924427e-02 2.99854325e+01] [ 6.52247310e-02 -1.15207567e-03 9.97869935e-01 1.56792950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.40, Y:29.95, Z:156.80 [[ 8.24358660e-01 5.63579554e-01 -5.30177885e-02 4.59404097e+02] [-5.62298428e-01 8.26060392e-01 3.80092948e-02 2.99517165e+01] [ 6.52171566e-02 -1.52147226e-03 9.97869935e-01 1.56795360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.45, Y:29.91, Z:156.80 [[ 8.24259249e-01 5.63725635e-01 -5.30103640e-02 4.59450754e+02] [-5.62444145e-01 8.25960707e-01 3.80196467e-02 2.99116309e+01] [ 6.52171272e-02 -1.52267654e-03 9.97869935e-01 1.56802968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:459.50, Y:29.88, Z:156.80 [[ 8.24880930e-01 5.62816587e-01 -5.29994410e-02 4.59500919e+02] [-5.61532246e-01 8.26580236e-01 3.80348673e-02 2.98756027e+01] [ 6.52149446e-02 -1.61334158e-03 9.97869935e-01 1.56803943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.142755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:459.55, Y:29.84, Z:156.81 [[ 8.27342738e-01 5.59192461e-01 -5.29885420e-02 4.59551568e+02] [-5.57899706e-01 8.29035652e-01 3.80500453e-02 2.98411532e+01] [ 6.52066889e-02 -1.91813668e-03 9.97869936e-01 1.56805863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.60, Y:29.81, Z:156.81 [[ 8.25529738e-01 5.61866463e-01 -5.29785824e-02 4.59602167e+02] [-5.60578303e-01 8.27226151e-01 3.80639073e-02 2.98052013e+01] [ 6.52121018e-02 -1.72424360e-03 9.97869936e-01 1.56812458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.65, Y:29.77, Z:156.82 [[ 8.25111523e-01 5.62481499e-01 -5.29673298e-02 4.59653055e+02] [-5.61193600e-01 8.26808134e-01 3.80795593e-02 2.97722581e+01] [ 6.52128667e-02 -1.69495665e-03 9.97869936e-01 1.56817616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.70, Y:29.74, Z:156.82 [[ 8.22139889e-01 5.66817035e-01 -5.29570718e-02 4.59704539e+02] [-5.65537167e-01 8.23842566e-01 3.80938198e-02 2.97374296e+01] [ 6.52205159e-02 -1.36925640e-03 9.97869936e-01 1.56817350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.76, Y:29.70, Z:156.82 [[ 8.19581588e-01 5.70510966e-01 -5.29457983e-02 4.59755034e+02] [-5.69237762e-01 8.21289254e-01 3.81094822e-02 2.97011284e+01] [ 6.52256927e-02 -1.09508231e-03 9.97869936e-01 1.56822793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.80, Y:29.67, Z:156.83 [[ 8.18241648e-01 5.72432181e-01 -5.29339473e-02 4.59802982e+02] [-5.71161922e-01 8.19951506e-01 3.81259362e-02 2.96687595e+01] [ 6.52277826e-02 -9.62373779e-04 9.97869937e-01 1.56826971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.85, Y:29.64, Z:156.83 [[ 8.16380731e-01 5.75082708e-01 -5.29375292e-02 4.59852564e+02] [-5.73818323e-01 8.18094936e-01 3.81209621e-02 2.96386595e+01] [ 6.52306306e-02 -7.44694684e-04 9.97869937e-01 1.56830738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.90, Y:29.61, Z:156.83 [[ 8.16541936e-01 5.74853470e-01 -5.29410466e-02 4.59900229e+02] [-5.73588920e-01 8.18256021e-01 3.81160765e-02 2.96054171e+01] [ 6.52304890e-02 -7.56977139e-04 9.97869937e-01 1.56834437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.95, Y:29.57, Z:156.84 [[ 8.16889189e-01 5.74359521e-01 -5.29451853e-02 4.59946767e+02] [-5.73094308e-01 8.18602784e-01 3.81103268e-02 2.95691007e+01] [ 6.52301051e-02 -7.89329640e-04 9.97869937e-01 1.56840110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.00, Y:29.53, Z:156.84 [[ 8.18010186e-01 5.72761591e-01 -5.29480426e-02 4.59998321e+02] [-5.71493287e-01 8.19721494e-01 3.81063567e-02 2.95336688e+01] [ 6.52285061e-02 -9.11937035e-04 9.97869937e-01 1.56842926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.05, Y:29.50, Z:156.85 [[ 8.20581555e-01 5.69072728e-01 -5.29352666e-02 4.60051347e+02] [-5.67795588e-01 8.22286278e-01 3.81240961e-02 2.95011225e+01] [ 6.52233268e-02 -1.22751920e-03 9.97869937e-01 1.56847136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:460.10, Y:29.47, Z:156.85 [[ 8.21452329e-01 5.67816145e-01 -5.29234953e-02 4.60099953e+02] [-5.66535346e-01 8.23154305e-01 3.81404300e-02 2.94683042e+01] [ 6.52209549e-02 -1.34751440e-03 9.97869937e-01 1.56848745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.15, Y:29.43, Z:156.85 [[ 8.21453606e-01 5.67814027e-01 -5.29264076e-02 4.60152839e+02] [-5.66533483e-01 8.23155774e-01 3.81363882e-02 2.94338193e+01] [ 6.52210542e-02 -1.34269156e-03 9.97869937e-01 1.56851074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.20, Y:29.40, Z:156.85 [[ 8.21000704e-01 5.68469840e-01 -5.29139403e-02 4.60203708e+02] [-5.67189542e-01 8.22703057e-01 3.81536788e-02 2.93994931e+01] [ 6.52216761e-02 -1.31196359e-03 9.97869937e-01 1.56854066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.25, Y:29.37, Z:156.86 [[ 8.21262429e-01 5.68092587e-01 -5.29040297e-02 4.60253229e+02] [-5.66810623e-01 8.22963527e-01 3.81674159e-02 2.93665072e+01] [ 6.52207129e-02 -1.35889867e-03 9.97869937e-01 1.56857294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.042755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:460.31, Y:29.33, Z:156.86 [[ 8.22198340e-01 5.66737060e-01 -5.29055245e-02 4.60305451e+02] [-5.65452425e-01 8.23897422e-01 3.81653437e-02 2.93310390e+01] [ 6.52184399e-02 -1.46392505e-03 9.97869937e-01 1.56861128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.36, Y:29.30, Z:156.87 [[ 8.23415632e-01 5.64968151e-01 -5.28931477e-02 4.60355620e+02] [-5.63678766e-01 8.25111112e-01 3.81824890e-02 2.92963672e+01] [ 6.52146141e-02 -1.62531418e-03 9.97869938e-01 1.56865813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.162755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:460.41, Y:29.26, Z:156.87 [[ 8.23018430e-01 5.65546762e-01 -5.28916246e-02 4.60406455e+02] [-5.64258433e-01 8.24714713e-01 3.81845987e-02 2.92602080e+01] [ 6.52156771e-02 -1.58208320e-03 9.97869938e-01 1.56870004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.45, Y:29.23, Z:156.87 [[ 8.21033469e-01 5.68425752e-01 -5.28791838e-02 4.60454949e+02] [-5.67142263e-01 8.22733416e-01 3.82018193e-02 2.92288401e+01] [ 6.52203694e-02 -1.37495220e-03 9.97869938e-01 1.56872879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.79, Y:29.76, Z:158.00 [[ 8.43029598e-01 5.35261133e-01 -5.28830356e-02 4.60789016e+02] [-5.33911264e-01 8.44677329e-01 3.81964865e-02 2.97593522e+01] [ 6.51141960e-02 -3.96592033e-03 9.97869938e-01 1.58000356e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 625.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.84, Y:29.73, Z:158.00 [[ 8.40868638e-01 5.38494625e-01 -5.44377801e-02 4.60838377e+02] [-5.37301671e-01 8.42628482e-01 3.58351197e-02 2.97303524e+01] [ 6.51678434e-02 -8.83118056e-04 9.97873926e-01 1.58001911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.89, Y:29.70, Z:158.01 [[ 8.40189607e-01 5.39552919e-01 -5.44432906e-02 4.60886308e+02] [-5.38362724e-01 8.41951318e-01 3.58267459e-02 2.96974267e+01] [ 6.51690256e-02 -7.91021292e-04 9.97873926e-01 1.58005586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.93, Y:29.66, Z:158.01 [[ 8.40949514e-01 5.38367415e-01 -5.44466886e-02 4.60933773e+02] [-5.37175071e-01 8.42709771e-01 3.58215810e-02 2.96630867e+01] [ 6.51679285e-02 -8.76737329e-04 9.97873926e-01 1.58009527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.98, Y:29.63, Z:158.01 [[ 8.40997999e-01 5.38291400e-01 -5.44493781e-02 4.60979627e+02] [-5.37099162e-01 8.42758327e-01 3.58174925e-02 2.96281848e+01] [ 6.51679150e-02 -8.77724197e-04 9.97873926e-01 1.58012999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.03, Y:29.59, Z:158.02 [[ 8.38717654e-01 5.41837312e-01 -5.44520444e-02 4.61026668e+02] [-5.40652779e-01 8.40483177e-01 3.58134386e-02 2.95930465e+01] [ 6.51710845e-02 -5.97714115e-04 9.97873926e-01 1.58018266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.07, Y:29.56, Z:158.02 [[ 8.41254891e-01 5.37888658e-01 -5.44610001e-02 4.61074361e+02] [-5.36696720e-01 8.43015423e-01 3.57998146e-02 2.95605818e+01] [ 6.51677773e-02 -8.87729001e-04 9.97873926e-01 1.58019113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.12, Y:29.52, Z:158.02 [[ 8.38814384e-01 5.41686305e-01 -5.44644419e-02 4.61119813e+02] [-5.40502679e-01 8.40580515e-01 3.57945776e-02 2.95243831e+01] [ 6.51711811e-02 -5.86829801e-04 9.97873926e-01 1.58021867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.17, Y:29.49, Z:158.02 [[ 8.40026255e-01 5.39804060e-01 -5.44744701e-02 4.61166911e+02] [-5.38617467e-01 8.41790393e-01 3.57793096e-02 2.94909519e+01] [ 6.51699022e-02 -7.14658379e-04 9.97873926e-01 1.58023722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.22, Y:29.45, Z:158.03 [[ 8.38951556e-01 5.41472370e-01 -5.44789739e-02 4.61216436e+02] [-5.40289730e-01 8.40718347e-01 3.57724505e-02 2.94520006e+01] [ 6.51712665e-02 -5.76922939e-04 9.97873927e-01 1.58027651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.26, Y:29.41, Z:158.04 [[ 8.36731129e-01 5.44898397e-01 -5.44679282e-02 4.61264313e+02] [-5.43721897e-01 8.38502014e-01 3.57892612e-02 2.94102260e+01] [ 6.51729785e-02 -3.30583695e-04 9.97873927e-01 1.58035034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.31, Y:29.37, Z:158.04 [[ 8.38092842e-01 5.42802852e-01 -5.44559582e-02 4.61314773e+02] [-5.41620742e-01 8.39859987e-01 3.58074651e-02 2.93739475e+01] [ 6.51717746e-02 -5.15503740e-04 9.97873927e-01 1.58036275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.36, Y:29.34, Z:158.04 [[ 8.37642950e-01 5.43497967e-01 -5.44449160e-02 4.61364578e+02] [-5.42316232e-01 8.39410346e-01 3.58242468e-02 2.93406356e+01] [ 6.51720311e-02 -4.81566071e-04 9.97873927e-01 1.58040807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.42, Y:29.31, Z:158.05 [[ 8.35423694e-01 5.46903101e-01 -5.44449160e-02 4.61417216e+02] [-5.45728570e-01 8.37195886e-01 3.58242468e-02 2.93072157e+01] [ 6.51734514e-02 -2.16278419e-04 9.97873927e-01 1.58045053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.47, Y:29.27, Z:158.05 [[ 8.32492497e-01 5.51355766e-01 -5.44340147e-02 4.61469858e+02] [-5.50189631e-01 8.34270224e-01 3.58408035e-02 2.92737880e+01] [ 6.51737113e-02 1.11830459e-04 9.97873927e-01 1.58049291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.52, Y:29.24, Z:158.05 [[ 8.33931312e-01 5.49178274e-01 -5.44223222e-02 4.61523712e+02] [-5.48006339e-01 8.35705221e-01 3.58585491e-02 2.92425123e+01] [ 6.51737550e-02 -7.97893552e-05 9.97873928e-01 1.58050329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.58, Y:29.21, Z:158.06 [[ 8.35081071e-01 5.47429439e-01 -5.44115377e-02 4.61575530e+02] [-5.46252723e-01 8.36851811e-01 3.58749061e-02 2.92076868e+01] [ 6.51733736e-02 -2.36004348e-04 9.97873928e-01 1.58055143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.63, Y:29.17, Z:158.06 [[ 8.35382891e-01 5.46969893e-01 -5.44000100e-02 4.61629246e+02] [-5.45791066e-01 8.37152226e-01 3.58923779e-02 2.91744619e+01] [ 6.51731396e-02 -2.92838972e-04 9.97873928e-01 1.58058474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.68, Y:29.14, Z:158.06 [[ 8.37103925e-01 5.44333469e-01 -5.43883551e-02 4.61682017e+02] [-5.43147922e-01 8.38868765e-01 3.59100301e-02 2.91412401e+01] [ 6.51717236e-02 -5.19505108e-04 9.97873928e-01 1.58062024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.73, Y:29.11, Z:158.07 [[ 8.40382175e-01 5.39259664e-01 -5.43766002e-02 4.61733928e+02] [-5.38062312e-01 8.42139027e-01 3.59278212e-02 2.91058442e+01] [ 6.51670820e-02 -9.35101290e-04 9.97873928e-01 1.58067321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.78, Y:29.07, Z:158.07 [[ 8.42791542e-01 5.35487504e-01 -5.43649665e-02 4.61784698e+02] [-5.34281154e-01 8.44542228e-01 3.59454164e-02 2.90715498e+01] [ 6.51618312e-02 -1.24831589e-03 9.97873929e-01 1.58073130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.84, Y:29.04, Z:158.08 [[ 8.43708236e-01 5.34043095e-01 -5.43542618e-02 4.61836996e+02] [-5.32832707e-01 8.45456131e-01 3.59615960e-02 2.90368937e+01] [ 6.51591860e-02 -1.37936628e-03 9.97873929e-01 1.58077595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.89, Y:29.00, Z:158.08 [[ 8.42524136e-01 5.35910370e-01 -5.43429550e-02 4.61888785e+02] [-5.34702755e-01 8.44273948e-01 3.59786741e-02 2.90015008e+01] [ 6.51616857e-02 -1.25557356e-03 9.97873929e-01 1.58080645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.94, Y:28.97, Z:158.09 [[ 8.41194996e-01 5.37995382e-01 -5.43318366e-02 4.61940614e+02] [-5.36791020e-01 8.42947049e-01 3.59954563e-02 2.89662342e+01] [ 6.51642506e-02 -1.11435570e-03 9.97873929e-01 1.58085052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.99, Y:28.94, Z:158.09 [[ 8.38672026e-01 5.41921104e-01 -5.43208002e-02 4.61989103e+02] [-5.40723867e-01 8.40428955e-01 3.60121036e-02 2.89357349e+01] [ 6.51684924e-02 -8.29790787e-04 9.97873929e-01 1.58087355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.04, Y:28.91, Z:158.09 [[ 8.39499752e-01 5.40637446e-01 -5.43260479e-02 4.62040393e+02] [-5.39438034e-01 8.41255197e-01 3.60041856e-02 2.89059418e+01] [ 6.51672810e-02 -9.19968388e-04 9.97873930e-01 1.58087691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.09, Y:28.87, Z:158.10 [[ 8.38653188e-01 5.41949392e-01 -5.43294283e-02 4.62087467e+02] [-5.40753057e-01 8.40410731e-01 3.59990839e-02 2.88739095e+01] [ 6.51687162e-02 -8.11942014e-04 9.97873930e-01 1.58097050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.14, Y:28.84, Z:158.10 [[ 8.39835339e-01 5.40115243e-01 -5.43334956e-02 4.62140229e+02] [-5.38915467e-01 8.41590535e-01 3.59929441e-02 2.88405312e+01] [ 6.51668933e-02 -9.46985224e-04 9.97873930e-01 1.58102283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.19, Y:28.81, Z:158.10 [[ 8.41229755e-01 5.37942023e-01 -5.43219925e-02 4.62194427e+02] [-5.36736593e-01 8.42981072e-01 3.60102966e-02 2.88083675e+01] [ 6.51638633e-02 -1.13633179e-03 9.97873930e-01 1.58104047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.25, Y:28.78, Z:158.11 [[ 8.41912461e-01 5.36874069e-01 -5.43105990e-02 4.62248082e+02] [-5.35665310e-01 8.43661482e-01 3.60274721e-02 2.87750801e+01] [ 6.51619760e-02 -1.23967381e-03 9.97873930e-01 1.58108475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.30, Y:28.74, Z:158.11 [[ 8.41081784e-01 5.38175639e-01 -5.42992992e-02 4.62299918e+02] [-5.36968488e-01 8.42831915e-01 3.60444948e-02 2.87407943e+01] [ 6.51634513e-02 -1.15935539e-03 9.97873930e-01 1.58108671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.142755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:462.35, Y:28.71, Z:158.11 [[ 8.41476873e-01 5.37558693e-01 -5.42892677e-02 4.62351635e+02] [-5.36349284e-01 8.43225445e-01 3.60595977e-02 2.87061243e+01] [ 6.51622421e-02 -1.22530765e-03 9.97873930e-01 1.58113193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.40, Y:28.67, Z:158.12 [[ 8.41242699e-01 5.37926160e-01 -5.42786125e-02 4.62404748e+02] [-5.36716481e-01 8.42991084e-01 3.60756293e-02 2.86722744e+01] [ 6.51624111e-02 -1.21613390e-03 9.97873931e-01 1.58119011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.262755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:462.46, Y:28.64, Z:158.12 [[ 8.41422702e-01 5.37645722e-01 -5.42670701e-02 4.62458019e+02] [-5.36434342e-01 8.43169908e-01 3.60929836e-02 2.86380701e+01] [ 6.51615988e-02 -1.25873578e-03 9.97873931e-01 1.58119968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.51, Y:28.60, Z:158.13 [[ 8.42005091e-01 5.36734356e-01 -5.42554789e-02 4.62507137e+02] [-5.35519964e-01 8.43750205e-01 3.61103993e-02 2.86011505e+01] [ 6.51597634e-02 -1.35024797e-03 9.97873931e-01 1.58125105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.56, Y:28.56, Z:158.13 [[ 8.43065246e-01 5.35068686e-01 -5.42447499e-02 4.62558082e+02] [-5.33849809e-01 8.44807230e-01 3.61265092e-02 2.85647732e+01] [ 6.51565207e-02 -1.49845497e-03 9.97873931e-01 1.58129942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:462.61, Y:28.53, Z:158.13 [[ 8.44048905e-01 5.33516815e-01 -5.42333228e-02 4.62609086e+02] [-5.32293636e-01 8.45787870e-01 3.61436555e-02 2.85286611e+01] [ 6.51531346e-02 -1.63896029e-03 9.97873931e-01 1.58133192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.502755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:462.66, Y:28.49, Z:158.14 [[ 8.43002979e-01 5.35169120e-01 -5.42216830e-02 4.62659504e+02] [-5.33948227e-01 8.44743550e-01 3.61611088e-02 2.84910160e+01] [ 6.51557258e-02 -1.53235096e-03 9.97873932e-01 1.58138743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5627550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:462.71, Y:28.46, Z:158.15 [[ 8.44646709e-01 5.32572236e-01 -5.42102386e-02 4.62713612e+02] [-5.31344893e-01 8.46382738e-01 3.61782573e-02 2.84603004e+01] [ 6.51501456e-02 -1.75351253e-03 9.97873932e-01 1.58150532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.622755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:462.76, Y:28.42, Z:158.15 [[ 8.39697813e-01 5.40342553e-01 -5.41987920e-02 4.62762195e+02] [-5.39130173e-01 8.41444324e-01 3.61953974e-02 2.84182918e+01] [ 6.51631793e-02 -1.17299188e-03 9.97873932e-01 1.58147513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.81, Y:28.38, Z:158.15 [[ 8.36962273e-01 5.44571292e-01 -5.41872912e-02 4.62814495e+02] [-5.43366623e-01 8.38714111e-01 3.62126069e-02 2.83836713e+01] [ 6.51679919e-02 -8.65020374e-04 9.97873932e-01 1.58151641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.87, Y:28.35, Z:158.15 [[ 8.36271092e-01 5.45633273e-01 -5.41755719e-02 4.62867634e+02] [-5.44429694e-01 8.38023679e-01 3.62301310e-02 2.83512249e+01] [ 6.51687770e-02 -8.03421153e-04 9.97873932e-01 1.58154397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8027550959999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:462.92, Y:28.32, Z:158.16 [[ 8.35867194e-01 5.46252883e-01 -5.41647690e-02 4.62918841e+02] [-5.45049557e-01 8.37619954e-01 3.62462743e-02 2.83156464e+01] [ 6.51691232e-02 -7.74588237e-04 9.97873933e-01 1.58160172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.97, Y:28.28, Z:158.16 [[ 8.37381383e-01 5.43930106e-01 -5.41521851e-02 4.62970774e+02] [-5.42720703e-01 8.39129956e-01 3.62650651e-02 2.82817687e+01] [ 6.51663814e-02 -9.78178414e-04 9.97873933e-01 1.58162247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.922755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:463.02, Y:28.25, Z:158.17 [[ 8.37678813e-01 5.43473095e-01 -5.41405771e-02 4.63022454e+02] [-5.42261619e-01 8.39425950e-01 3.62823866e-02 2.82467920e+01] [ 6.51655063e-02 -1.03462952e-03 9.97873933e-01 1.58167233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9827550959999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:463.08, Y:28.22, Z:158.18 [[ 8.38797688e-01 5.41745798e-01 -5.41288138e-02 4.63076894e+02] [-5.40529593e-01 8.40541536e-01 3.62999275e-02 2.82166609e+01] [ 6.51628495e-02 -1.19006951e-03 9.97873933e-01 1.58177860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.042755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:463.13, Y:28.18, Z:158.18 [[ 8.39690468e-01 5.40362155e-01 -5.41170926e-02 4.63127236e+02] [-5.39141952e-01 8.41431520e-01 3.63173935e-02 2.81783017e+01] [ 6.51603725e-02 -1.31857423e-03 9.97873934e-01 1.58179425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.18, Y:28.14, Z:158.18 [[ 8.41727948e-01 5.37183994e-01 -5.41056129e-02 4.63178522e+02] [-5.35956120e-01 8.43463599e-01 3.63344878e-02 2.81429939e+01] [ 6.51544203e-02 -1.58551953e-03 9.97873934e-01 1.58182106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.162755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:463.23, Y:28.11, Z:158.19 [[ 8.41650954e-01 5.37305613e-01 -5.40957499e-02 4.63227478e+02] [-5.36077047e-01 8.43386114e-01 3.63491663e-02 2.81093975e+01] [ 6.51542154e-02 -1.59382061e-03 9.97873934e-01 1.58189994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.28, Y:28.08, Z:158.19 [[ 8.41098443e-01 5.38169830e-01 -5.40984576e-02 4.63276244e+02] [-5.36943306e-01 8.42835048e-01 3.63451359e-02 2.80777143e+01] [ 6.51559317e-02 -1.52203256e-03 9.97873934e-01 1.58193062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.32, Y:28.05, Z:158.19 [[ 8.39170803e-01 5.41170238e-01 -5.41030144e-02 4.63324547e+02] [-5.39950361e-01 8.40912083e-01 3.63383515e-02 2.80458877e+01] [ 6.51611129e-02 -1.28114151e-03 9.97873934e-01 1.58194969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.37, Y:28.01, Z:158.20 [[ 8.35087947e-01 5.47449061e-01 -5.41077350e-02 4.63372231e+02] [-5.46242733e-01 8.36838641e-01 3.63313212e-02 2.80140162e+01] [ 6.51689911e-02 -7.83891425e-04 9.97873934e-01 1.58201566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.43, Y:27.98, Z:158.20 [[ 8.33058151e-01 5.50532441e-01 -5.41123705e-02 4.63425816e+02] [-5.49333042e-01 8.34813599e-01 3.63244157e-02 2.79797904e+01] [ 6.51715120e-02 -5.34637481e-04 9.97873934e-01 1.58200687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.48, Y:27.95, Z:158.21 [[ 8.32319973e-01 5.51648949e-01 -5.41008286e-02 4.63476144e+02] [-5.50450788e-01 8.34076267e-01 3.63415978e-02 2.79505961e+01] [ 6.51720214e-02 -4.67993936e-04 9.97873934e-01 1.58205819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.52, Y:27.92, Z:158.21 [[ 8.32048672e-01 5.52057618e-01 -5.41053965e-02 4.63524225e+02] [-5.50860762e-01 8.33805855e-01 3.63347958e-02 2.79186203e+01] [ 6.51722972e-02 -4.27778628e-04 9.97873934e-01 1.58208760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5827550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:463.58, Y:27.88, Z:158.21 [[ 8.33819824e-01 5.49378384e-01 -5.41099980e-02 4.63575091e+02] [-5.48176327e-01 8.35573453e-01 3.63279419e-02 2.78824037e+01] [ 6.51706640e-02 -6.29138196e-04 9.97873934e-01 1.58213614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.62, Y:27.85, Z:158.22 [[ 8.34916327e-01 5.47711651e-01 -5.40987417e-02 4.63623576e+02] [-5.46505007e-01 8.36666803e-01 3.63446970e-02 2.78450185e+01] [ 6.51690352e-02 -7.79547682e-04 9.97873935e-01 1.58223383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.67, Y:27.81, Z:158.23 [[ 8.35876839e-01 5.46244803e-01 -5.40973566e-02 4.63672543e+02] [-5.45034955e-01 8.37625102e-01 3.63467585e-02 2.78101342e+01] [ 6.51675318e-02 -8.96463262e-04 9.97873935e-01 1.58225600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.73, Y:27.78, Z:158.22 [[ 8.37602051e-01 5.43595559e-01 -5.40987262e-02 4.63725998e+02] [-5.42380313e-01 8.39346566e-01 3.63447198e-02 2.77775733e+01] [ 6.51644083e-02 -1.10032783e-03 9.97873935e-01 1.58224371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.77, Y:27.74, Z:158.23 [[ 8.37501609e-01 5.43751384e-01 -5.40877818e-02 4.63774034e+02] [-5.42535411e-01 8.39245617e-01 3.63609998e-02 2.77392583e+01] [ 6.51642778e-02 -1.10785888e-03 9.97873935e-01 1.58229191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.83, Y:27.71, Z:158.23 [[ 8.37650864e-01 5.43522492e-01 -5.40770767e-02 4.63826362e+02] [-5.42305016e-01 8.39393823e-01 3.63769138e-02 2.77059598e+01] [ 6.51636350e-02 -1.14488337e-03 9.97873935e-01 1.58233235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.88, Y:27.67, Z:158.23 [[ 8.40111446e-01 5.39712592e-01 -5.40654773e-02 4.63875540e+02] [-5.38486104e-01 8.41848075e-01 3.63941455e-02 2.76744901e+01] [ 6.51572966e-02 -1.46162995e-03 9.97873935e-01 1.58228199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.93, Y:27.64, Z:158.24 [[ 8.34424346e-01 5.48463771e-01 -5.40694209e-02 4.63926596e+02] [-5.47255881e-01 8.36173961e-01 3.63882857e-02 2.76405759e+01] [ 6.51690982e-02 -7.73462921e-04 9.97873935e-01 1.58238331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.98, Y:27.61, Z:158.24 [[ 8.35905277e-01 5.46205150e-01 -5.40583270e-02 4.63978005e+02] [-5.44991467e-01 8.37650878e-01 3.64047592e-02 2.76056294e+01] [ 6.51664721e-02 -9.69603388e-04 9.97873935e-01 1.58241065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.03, Y:27.57, Z:158.24 [[ 8.37496640e-01 5.43763128e-01 -5.40466430e-02 4.64029570e+02] [-5.42543237e-01 8.39237908e-01 3.64220972e-02 2.75721268e+01] [ 6.51629851e-02 -1.18074340e-03 9.97873936e-01 1.58244326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.08, Y:27.54, Z:158.24 [[ 8.37685946e-01 5.43471589e-01 -5.40452370e-02 4.64078557e+02] [-5.42250958e-01 8.39426696e-01 3.64241833e-02 2.75410677e+01] [ 6.51625235e-02 -1.20594490e-03 9.97873936e-01 1.58243820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.242755096 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:464.13, Y:27.51, Z:158.25 [[ 8.34949666e-01 5.47665770e-01 -5.40486902e-02 4.64129895e+02] [-5.46454215e-01 8.36696745e-01 3.64190585e-02 2.75056539e+01] [ 6.51678349e-02 -8.72946112e-04 9.97873936e-01 1.58251018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.18, Y:27.47, Z:158.26 [[ 8.34285902e-01 5.48677560e-01 -5.40367418e-02 4.64179959e+02] [-5.47466977e-01 8.36033654e-01 3.64367784e-02 2.74704245e+01] [ 6.51685773e-02 -8.15358902e-04 9.97873936e-01 1.58257757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.23, Y:27.43, Z:158.26 [[ 8.35276128e-01 5.47169993e-01 -5.40258168e-02 4.64230639e+02] [-5.45955209e-01 8.37020962e-01 3.64529699e-02 2.74341239e+01] [ 6.51667125e-02 -9.52619456e-04 9.97873936e-01 1.58257554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.28, Y:27.40, Z:158.26 [[ 8.34732327e-01 5.48000295e-01 -5.40149820e-02 4.64280360e+02] [-5.46786208e-01 8.36477647e-01 3.64690176e-02 2.73966354e+01] [ 6.51673575e-02 -9.07220737e-04 9.97873936e-01 1.58264803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.33, Y:27.37, Z:158.27 [[ 8.34612108e-01 5.48184452e-01 -5.40040332e-02 4.64333306e+02] [-5.46969702e-01 8.36356965e-01 3.64852237e-02 2.73663349e+01] [ 6.51672817e-02 -9.12439512e-04 9.97873936e-01 1.58267332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.38, Y:27.33, Z:158.27 [[ 8.33921237e-01 5.49235841e-01 -5.39940836e-02 4.64384847e+02] [-5.48022337e-01 8.35666962e-01 3.64999421e-02 2.73324692e+01] [ 6.51681482e-02 -8.48112966e-04 9.97873937e-01 1.58271274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6027550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:464.43, Y:27.30, Z:158.28 [[ 8.31316044e-01 5.53172192e-01 -5.39829786e-02 4.64434902e+02] [-5.51965889e-01 8.33066752e-01 3.65163589e-02 2.72967113e+01] [ 6.51712589e-02 -5.59872260e-04 9.97873937e-01 1.58276316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.49, Y:27.27, Z:158.28 [[ 8.33595389e-01 5.49732426e-01 -5.39720932e-02 4.64489269e+02] [-5.48517858e-01 8.35340374e-01 3.65324406e-02 2.72656853e+01] [ 6.51681357e-02 -8.48617044e-04 9.97873937e-01 1.58281565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.54, Y:27.23, Z:158.28 [[ 8.33826564e-01 5.49382903e-01 -5.39600511e-02 4.64541497e+02] [-5.48166454e-01 8.35570237e-01 3.65502187e-02 2.72321027e+01] [ 6.51674780e-02 -8.97453393e-04 9.97873937e-01 1.58278542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.59, Y:27.20, Z:158.28 [[ 8.33958284e-01 5.49183960e-01 -5.39495910e-02 4.64593927e+02] [-5.47966096e-01 8.35700969e-01 3.65656519e-02 2.71968738e+01] [ 6.51669949e-02 -9.31681521e-04 9.97873937e-01 1.58281471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8427550959999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:464.64, Y:27.16, Z:158.28 [[ 8.35009299e-01 5.47585804e-01 -5.39375379e-02 4.64644245e+02] [-5.46363457e-01 8.36748843e-01 3.65834225e-02 2.71611599e+01] [ 6.51647353e-02 -1.07799832e-03 9.97873938e-01 1.58281829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.69, Y:27.12, Z:158.29 [[ 8.35072142e-01 5.47491058e-01 -5.39264277e-02 4.64694546e+02] [-5.46267458e-01 8.36810803e-01 3.65997925e-02 2.71242281e+01] [ 6.51642764e-02 -1.10521451e-03 9.97873938e-01 1.58288277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.75, Y:27.09, Z:158.29 [[ 8.35033231e-01 5.47550774e-01 -5.39226529e-02 4.64745520e+02] [-5.46326940e-01 8.36771727e-01 3.66053531e-02 2.70873884e+01] [ 6.51642408e-02 -1.10728836e-03 9.97873938e-01 1.58292046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.022755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:464.80, Y:27.05, Z:158.30 [[ 8.33913524e-01 5.49255772e-01 -5.39104030e-02 4.64795434e+02] [-5.48034326e-01 8.35653700e-01 3.66233852e-02 2.70491664e+01] [ 6.51660334e-02 -9.95984819e-04 9.97873938e-01 1.58297936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.85, Y:27.02, Z:158.31 [[ 8.33753337e-01 5.49500125e-01 -5.38979192e-02 4.64847139e+02] [-5.48278002e-01 8.35493037e-01 3.66417482e-02 2.70159927e+01] [ 6.51659814e-02 -9.99136333e-04 9.97873938e-01 1.58306672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.90, Y:26.98, Z:158.31 [[ 8.33047966e-01 5.50570012e-01 -5.38864400e-02 4.64900087e+02] [-5.49349033e-01 8.34788468e-01 3.66586220e-02 2.69814733e+01] [ 6.51669167e-02 -9.35926826e-04 9.97873938e-01 1.58310130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.95, Y:26.95, Z:158.31 [[ 8.31693192e-01 5.52614926e-01 -5.38811363e-02 4.64951800e+02] [-5.51397722e-01 8.33436336e-01 3.66664159e-02 2.69491372e+01] [ 6.51689055e-02 -7.85272667e-04 9.97873939e-01 1.58314619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.00, Y:26.92, Z:158.32 [[ 8.30784869e-01 5.53979683e-01 -5.38796080e-02 4.65003847e+02] [-5.52765196e-01 8.32529908e-01 3.66686615e-02 2.69153687e+01] [ 6.51700785e-02 -6.80997104e-04 9.97873939e-01 1.58317808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.06, Y:26.88, Z:158.32 [[ 8.29973649e-01 5.55195373e-01 -5.38687267e-02 4.65055720e+02] [-5.53982406e-01 8.31719743e-01 3.66846398e-02 2.68800868e+01] [ 6.51708259e-02 -6.04957568e-04 9.97873939e-01 1.58319846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.11, Y:26.84, Z:158.32 [[ 8.29916385e-01 5.55282104e-01 -5.38570319e-02 4.65106810e+02] [-5.54068205e-01 8.31661832e-01 3.67018012e-02 2.68437164e+01] [ 6.51706911e-02 -6.18957179e-04 9.97873939e-01 1.58323653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.16, Y:26.81, Z:158.33 [[ 8.29757345e-01 5.55520865e-01 -5.38453137e-02 4.65158513e+02] [-5.54306353e-01 8.31502365e-01 3.67189849e-02 2.68074152e+01] [ 6.51706679e-02 -6.21047880e-04 9.97873939e-01 1.58326774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.502755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:465.21, Y:26.77, Z:158.33 [[ 8.30103895e-01 5.55004039e-01 -5.38334490e-02 4.65208822e+02] [-5.53787313e-01 8.31847372e-01 3.67363714e-02 2.67706741e+01] [ 6.51700476e-02 -6.82723912e-04 9.97873939e-01 1.58330882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.26, Y:26.73, Z:158.33 [[ 8.30928722e-01 5.53769442e-01 -5.38225255e-02 4.65259789e+02] [-5.52549090e-01 8.32669662e-01 3.67523686e-02 2.67336203e+01] [ 6.51687228e-02 -7.99011142e-04 9.97873940e-01 1.58334095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.31, Y:26.69, Z:158.34 [[ 8.29917868e-01 5.55284352e-01 -5.38109702e-02 4.65307573e+02] [-5.54066082e-01 8.31660266e-01 3.67692794e-02 2.66932122e+01] [ 6.51698513e-02 -7.00648600e-04 9.97873940e-01 1.58340280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.36, Y:26.66, Z:158.34 [[ 8.28869584e-01 5.56848931e-01 -5.38003814e-02 4.65360596e+02] [-5.55632945e-01 8.30613576e-01 3.67847664e-02 2.66600377e+01] [ 6.51708850e-02 -5.96509691e-04 9.97873940e-01 1.58342355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.42, Y:26.63, Z:158.34 [[ 8.29902292e-01 5.55309868e-01 -5.37878886e-02 4.65415411e+02] [-5.54089463e-01 8.31643195e-01 3.68030247e-02 2.66305706e+01] [ 6.51694143e-02 -7.39612218e-04 9.97873940e-01 1.58340387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:465.47, Y:26.60, Z:158.34 [[ 8.29789311e-01 5.55479790e-01 -5.37764137e-02 4.65465196e+02] [-5.54258657e-01 8.31529702e-01 3.68197841e-02 2.65958776e+01] [ 6.51693313e-02 -7.46620443e-04 9.97873940e-01 1.58342079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.862755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:465.51, Y:26.57, Z:158.35 [[ 8.29222271e-01 5.56325914e-01 -5.37764137e-02 4.65514003e+02] [-5.55106556e-01 8.30963907e-01 3.68197841e-02 2.65652128e+01] [ 6.51700589e-02 -6.80145196e-04 9.97873940e-01 1.58345858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.57, Y:26.53, Z:158.35 [[ 8.29099394e-01 5.56508683e-01 -5.37799181e-02 4.65565563e+02] [-5.55290042e-01 8.30841531e-01 3.68146649e-02 2.65333222e+01] [ 6.51702702e-02 -6.59563440e-04 9.97873940e-01 1.58348096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.61, Y:26.50, Z:158.35 [[ 8.30425225e-01 5.54528327e-01 -5.37799181e-02 4.65613760e+02] [-5.53305531e-01 8.32164449e-01 3.68146649e-02 2.65007712e+01] [ 6.51685104e-02 -8.15100275e-04 9.97873940e-01 1.58352650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.66, Y:26.47, Z:158.36 [[ 8.33250986e-01 5.50272921e-01 -5.37820358e-02 4.65662481e+02] [-5.49041443e-01 8.34984073e-01 3.68115709e-02 2.64690105e+01] [ 6.51635539e-02 -1.14471121e-03 9.97873940e-01 1.58358407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.71, Y:26.44, Z:158.36 [[ 8.34349380e-01 5.48605783e-01 -5.37848211e-02 4.65712523e+02] [-5.47371105e-01 8.36080188e-01 3.68075009e-02 2.64383361e+01] [ 6.51612312e-02 -1.27005866e-03 9.97873940e-01 1.58363564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.76, Y:26.41, Z:158.37 [[ 8.33153720e-01 5.50419634e-01 -5.37875910e-02 4.65764912e+02] [-5.49188985e-01 8.34887396e-01 3.68034527e-02 2.64054376e+01] [ 6.51639248e-02 -1.12338109e-03 9.97873940e-01 1.58366963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.81, Y:26.37, Z:158.37 [[ 8.32543257e-01 5.51343564e-01 -5.37773172e-02 4.65814810e+02] [-5.50113870e-01 8.34277610e-01 3.68184587e-02 2.63738201e+01] [ 6.51648319e-02 -1.06931143e-03 9.97873941e-01 1.58369987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.86, Y:26.34, Z:158.37 [[ 8.33521154e-01 5.49863850e-01 -5.37794814e-02 4.65863279e+02] [-5.48631282e-01 8.35253465e-01 3.68152973e-02 2.63420671e+01] [ 6.51628993e-02 -1.18122329e-03 9.97873941e-01 1.58372029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.91, Y:26.31, Z:158.37 [[ 8.35531820e-01 5.46803430e-01 -5.37827746e-02 4.65911187e+02] [-5.45564826e-01 8.37259822e-01 3.68104856e-02 2.63094236e+01] [ 6.51582561e-02 -1.41434198e-03 9.97873941e-01 1.58374718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.96, Y:26.27, Z:158.38 [[ 8.38156531e-01 5.42771311e-01 -5.37860015e-02 4.65961034e+02] [-5.41524698e-01 8.39878763e-01 3.68057701e-02 2.62715332e+01] [ 6.51508365e-02 -1.72254838e-03 9.97873941e-01 1.58378874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.01, Y:26.23, Z:158.38 [[ 8.40695347e-01 5.38831763e-01 -5.37742077e-02 4.66011652e+02] [-5.37575981e-01 8.42410905e-01 3.68229931e-02 2.62345545e+01] [ 6.51413772e-02 -2.04919650e-03 9.97873941e-01 1.58383228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.06, Y:26.20, Z:158.38 [[ 8.43386413e-01 5.34611022e-01 -5.37625605e-02 4.66064964e+02] [-5.33345575e-01 8.45094854e-01 3.68399906e-02 2.62042950e+01] [ 6.51295282e-02 -2.39632378e-03 9.97873941e-01 1.58380412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.11, Y:26.17, Z:158.39 [[ 8.41702469e-01 5.37258356e-01 -5.37625605e-02 4.66110119e+02] [-5.35998283e-01 8.43414878e-01 3.68399906e-02 2.61661005e+01] [ 6.51367361e-02 -2.19167091e-03 9.97873941e-01 1.58391296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.16, Y:26.13, Z:158.39 [[ 8.39207158e-01 5.41147652e-01 -5.37639759e-02 4.66158216e+02] [-5.39895650e-01 8.40925475e-01 3.68379248e-02 2.61345735e+01] [ 6.51462535e-02 -1.88771351e-03 9.97873941e-01 1.58392084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.21, Y:26.10, Z:158.39 [[ 8.38728681e-01 5.41888419e-01 -5.37693236e-02 4.66207794e+02] [-5.40638434e-01 8.40448467e-01 3.68301174e-02 2.61032763e+01] [ 6.51481598e-02 -1.82071290e-03 9.97873941e-01 1.58392667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.25, Y:26.07, Z:158.40 [[ 8.35535213e-01 5.46799088e-01 -5.37742099e-02 4.66252748e+02] [-5.45559671e-01 8.37262631e-01 3.68229818e-02 2.60680561e+01] [ 6.51579093e-02 -1.42985769e-03 9.97873941e-01 1.58402104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.30, Y:26.04, Z:158.41 [[ 8.33658258e-01 5.49656129e-01 -5.37777658e-02 4.66300637e+02] [-5.48422968e-01 8.35390148e-01 3.68177880e-02 2.60373524e+01] [ 6.51625385e-02 -1.20049109e-03 9.97873941e-01 1.58405101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.35, Y:26.00, Z:158.41 [[ 8.30284972e-01 5.54738064e-01 -5.37823960e-02 4.66348341e+02] [-5.53515942e-01 8.32024669e-01 3.68110230e-02 2.60030642e+01] [ 6.51687559e-02 -7.94225611e-04 9.97873941e-01 1.58408489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:466.40, Y:25.97, Z:158.42 [[ 8.33460905e-01 5.49954616e-01 -5.37851285e-02 4.66396890e+02] [-5.48722769e-01 8.35193729e-01 3.68070301e-02 2.59710157e+01] [ 6.51631981e-02 -1.16409597e-03 9.97873941e-01 1.58416455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.45, Y:25.94, Z:158.42 [[ 8.35405662e-01 5.46995645e-01 -5.37879542e-02 4.66447151e+02] [-5.45757926e-01 8.37134298e-01 3.68029003e-02 2.59401904e+01] [ 6.51587674e-02 -1.39014900e-03 9.97873941e-01 1.58421164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.50, Y:25.91, Z:158.42 [[ 8.38003158e-01 5.43007600e-01 -5.37908343e-02 4.66495715e+02] [-5.41761927e-01 8.39726069e-01 3.67986903e-02 2.59090622e+01] [ 6.51515343e-02 -1.69559262e-03 9.97873941e-01 1.58423437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.54, Y:25.88, Z:158.42 [[ 8.36440614e-01 5.45411097e-01 -5.37943758e-02 4.66544106e+02] [-5.44170707e-01 8.38167333e-01 3.67935124e-02 2.58756223e+01] [ 6.51562785e-02 -1.50226458e-03 9.97873941e-01 1.58422956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.60, Y:25.84, Z:158.43 [[ 8.37019172e-01 5.44522518e-01 -5.37971407e-02 4.66595923e+02] [-5.43280556e-01 8.38744760e-01 3.67894693e-02 2.58430774e+01] [ 6.51547643e-02 -1.56655066e-03 9.97873941e-01 1.58428017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.65, Y:25.81, Z:158.43 [[ 8.38869017e-01 5.41668533e-01 -5.37956529e-02 4.66645881e+02] [-5.40420561e-01 8.40590264e-01 3.67916447e-02 2.58128464e+01] [ 6.51489783e-02 -1.79109395e-03 9.97873941e-01 1.58431095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.69, Y:25.78, Z:158.44 [[ 8.36297366e-01 5.45630377e-01 -5.37978396e-02 4.66693804e+02] [-5.44390766e-01 8.38024644e-01 3.67884470e-02 2.57778021e+01] [ 6.51568096e-02 -1.47903421e-03 9.97873941e-01 1.58436845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.74, Y:25.74, Z:158.44 [[ 8.36028032e-01 5.46042822e-01 -5.37993121e-02 4.66741465e+02] [-5.44804202e-01 8.37756021e-01 3.67862935e-02 2.57449161e+01] [ 6.51575891e-02 -1.44428131e-03 9.97873941e-01 1.58441435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.79, Y:25.71, Z:158.45 [[ 8.36659717e-01 5.45074089e-01 -5.38029228e-02 4.66790538e+02] [-5.43833808e-01 8.38386514e-01 3.67810117e-02 2.57131158e+01] [ 6.51560214e-02 -1.51334246e-03 9.97873941e-01 1.58446449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.84, Y:25.68, Z:158.45 [[ 8.37616569e-01 5.43602260e-01 -5.38058229e-02 4.66839017e+02] [-5.42359217e-01 8.39341378e-01 3.67767688e-02 2.56800557e+01] [ 6.51533882e-02 -1.62274691e-03 9.97873941e-01 1.58450871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.89, Y:25.65, Z:158.46 [[ 8.37156650e-01 5.44309992e-01 -5.38087010e-02 4.66887234e+02] [-5.43068678e-01 8.38882704e-01 3.67725573e-02 2.56461334e+01] [ 6.51548590e-02 -1.56257079e-03 9.97873941e-01 1.58457801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.94, Y:25.62, Z:158.46 [[ 8.39251086e-01 5.41074931e-01 -5.38101580e-02 4.66940411e+02] [-5.39827100e-01 8.40972436e-01 3.67704252e-02 2.56191007e+01] [ 6.51484149e-02 -1.81143776e-03 9.97873941e-01 1.58462388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.662755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:466.99, Y:25.58, Z:158.47 [[ 8.35279832e-01 5.47185374e-01 -5.38123554e-02 4.66986127e+02] [-5.45950345e-01 8.37010390e-01 3.67672090e-02 2.55773898e+01] [ 6.51599796e-02 -1.33203412e-03 9.97873941e-01 1.58472923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7227550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:467.04, Y:25.54, Z:158.48 [[ 8.33724268e-01 5.49553688e-01 -5.38013739e-02 4.67037801e+02] [-5.48322540e-01 8.35457589e-01 3.67832712e-02 2.55429438e+01] [ 6.51631485e-02 -1.16659982e-03 9.97873942e-01 1.58476383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.09, Y:25.51, Z:158.48 [[ 8.29865191e-01 5.55364747e-01 -5.37937095e-02 4.67087041e+02] [-5.54145011e-01 8.31606561e-01 3.67944766e-02 2.55102273e+01] [ 6.51695570e-02 -7.24939540e-04 9.97873942e-01 1.58479841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8427550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:467.14, Y:25.48, Z:158.48 [[ 8.27748440e-01 5.58514633e-01 -5.37952058e-02 4.67138185e+02] [-5.57301667e-01 8.29494532e-01 3.67922889e-02 2.54758968e+01] [ 6.51718608e-02 -4.74601868e-04 9.97873942e-01 1.58484948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.902755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:467.19, Y:25.44, Z:158.49 [[ 8.26005262e-01 5.61090526e-01 -5.37840903e-02 4.67188417e+02] [-5.59881948e-01 8.27754394e-01 3.68085307e-02 2.54418384e+01] [ 6.51729349e-02 -2.91298871e-04 9.97873942e-01 1.58490789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.24, Y:25.41, Z:158.50 [[ 8.26419008e-01 5.60481924e-01 -5.37739338e-02 4.67235632e+02] [-5.59271093e-01 8.28166581e-01 3.68233624e-02 2.54093700e+01] [ 6.51726039e-02 -3.57319907e-04 9.97873942e-01 1.58496725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.28, Y:25.37, Z:158.50 [[ 8.27392277e-01 5.59043834e-01 -5.37774280e-02 4.67281914e+02] [-5.57830297e-01 8.29137972e-01 3.68182588e-02 2.53743621e+01] [ 6.51719281e-02 -4.64464366e-04 9.97873942e-01 1.58501132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.33, Y:25.34, Z:158.50 [[ 8.29340727e-01 5.56148813e-01 -5.37815608e-02 4.67331414e+02] [-5.54929573e-01 8.31082444e-01 3.68122209e-02 2.53400804e+01] [ 6.51699839e-02 -6.84895496e-04 9.97873942e-01 1.58503977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.142755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:467.38, Y:25.30, Z:158.51 [[ 8.30146911e-01 5.54944727e-01 -5.37815608e-02 4.67380586e+02] [-5.53722961e-01 8.31886857e-01 3.68122209e-02 2.53039803e+01] [ 6.51689214e-02 -7.79466380e-04 9.97873942e-01 1.58507051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.43, Y:25.27, Z:158.51 [[ 8.33467405e-01 5.49945187e-01 -5.37808233e-02 4.67432289e+02] [-5.48712916e-01 8.35199927e-01 3.68132983e-02 2.52698403e+01] [ 6.51630359e-02 -1.17245178e-03 9.97873942e-01 1.58509177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.48, Y:25.24, Z:158.51 [[ 8.36658173e-01 5.45079673e-01 -5.37703720e-02 4.67484110e+02] [-5.43836348e-01 8.38382779e-01 3.68285573e-02 2.52351727e+01] [ 6.51546519e-02 -1.57063070e-03 9.97873942e-01 1.58510556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.54, Y:25.21, Z:158.51 [[ 8.42364147e-01 5.36220559e-01 -5.37601740e-02 4.67540720e+02] [-5.34958157e-01 8.44074837e-01 3.68434379e-02 2.52071750e+01] [ 6.51338190e-02 -2.27614748e-03 9.97873942e-01 1.58505926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.59, Y:25.18, Z:158.51 [[ 8.43832368e-01 5.33908121e-01 -5.37499125e-02 4.67590776e+02] [-5.32640080e-01 8.45538883e-01 3.68584020e-02 2.51753439e+01] [ 6.51266411e-02 -2.47295494e-03 9.97873943e-01 1.58512107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.63, Y:25.14, Z:158.52 [[ 8.39010009e-01 5.41454517e-01 -5.37513766e-02 4.67634817e+02] [-5.40201969e-01 8.40727928e-01 3.68562668e-02 2.51352770e+01] [ 6.51462756e-02 -1.88617727e-03 9.97873943e-01 1.58523488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.502755096 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:467.68, Y:25.10, Z:158.53 [[ 8.33466334e-01 5.49949548e-01 -5.37528229e-02 4.67680897e+02] [-5.48714651e-01 8.35196984e-01 3.68541573e-02 2.50966784e+01] [ 6.51621227e-02 -1.22173783e-03 9.97873943e-01 1.58529117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.73, Y:25.07, Z:158.53 [[ 8.32643227e-01 5.51194952e-01 -5.37529660e-02 4.67730827e+02] [-5.49962658e-01 8.34375731e-01 3.68539486e-02 2.50653003e+01] [ 6.51638808e-02 -1.12406663e-03 9.97873943e-01 1.58532309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.622755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:467.78, Y:25.03, Z:158.53 [[ 8.29382418e-01 5.56089126e-01 -5.37558340e-02 4.67778972e+02] [-5.54867327e-01 8.31122340e-01 3.68497648e-02 2.50298030e+01] [ 6.51694280e-02 -7.35191043e-04 9.97873943e-01 1.58528858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6827550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:467.83, Y:25.00, Z:158.54 [[ 8.30399641e-01 5.54568836e-01 -5.37572485e-02 4.67830072e+02] [-5.53343986e-01 8.32137416e-01 3.68477012e-02 2.50006767e+01] [ 6.51680046e-02 -8.52067647e-04 9.97873943e-01 1.58539656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.742755096 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:467.89, Y:24.98, Z:158.54 [[ 8.33830878e-01 5.49396021e-01 -5.37594516e-02 4.67886656e+02] [-5.48160599e-01 8.35561153e-01 3.68444866e-02 2.49767082e+01] [ 6.51615238e-02 -1.25325742e-03 9.97873943e-01 1.58538888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.93, Y:24.95, Z:158.55 [[ 8.34094619e-01 5.48995454e-01 -5.37601915e-02 4.67934970e+02] [-5.47759270e-01 8.35824351e-01 3.68434070e-02 2.49454525e+01] [ 6.51609401e-02 -1.28324426e-03 9.97873943e-01 1.58545474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.862755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:467.98, Y:24.91, Z:158.55 [[ 8.31893495e-01 5.52324787e-01 -5.37637655e-02 4.67981297e+02] [-5.51095864e-01 8.33628392e-01 3.68381909e-02 2.49086083e+01] [ 6.51656474e-02 -1.01646259e-03 9.97873943e-01 1.58552808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.03, Y:24.88, Z:158.56 [[ 8.32692358e-01 5.51119470e-01 -5.37658585e-02 4.68031370e+02] [-5.49888233e-01 8.34425613e-01 3.68351358e-02 2.48780031e+01] [ 6.51641700e-02 -1.10712316e-03 9.97873943e-01 1.58555101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9827550959999 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:468.08, Y:24.85, Z:158.56 [[ 8.33222944e-01 5.50316688e-01 -5.37686602e-02 4.68080445e+02] [-5.49084045e-01 8.34955200e-01 3.68310458e-02 2.48457483e+01] [ 6.51631616e-02 -1.16495897e-03 9.97873943e-01 1.58555331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.042755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:468.13, Y:24.81, Z:158.56 [[ 8.30769599e-01 5.54013091e-01 -5.37714535e-02 4.68127301e+02] [-5.52788420e-01 8.32507500e-01 3.68269673e-02 2.48120921e+01] [ 6.51677603e-02 -8.70488058e-04 9.97873943e-01 1.58564334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.17, Y:24.78, Z:158.57 [[ 8.28638956e-01 5.57194565e-01 -5.37745086e-02 4.68174872e+02] [-5.55976857e-01 8.30381742e-01 3.68225057e-02 2.47783263e+01] [ 6.51706702e-02 -6.15180370e-04 9.97873943e-01 1.58568513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.162755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:468.22, Y:24.74, Z:158.58 [[ 8.24498689e-01 5.63301908e-01 -5.37854213e-02 4.68220400e+02] [-5.62098150e-01 8.26251140e-01 3.68065589e-02 2.47412409e+01] [ 6.51734706e-02 -1.14273760e-04 9.97873943e-01 1.58576416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.27, Y:24.71, Z:158.58 [[ 8.25308107e-01 5.62115059e-01 -5.37883642e-02 4.68270243e+02] [-5.60909061e-01 8.27059018e-01 3.68022577e-02 2.47098567e+01] [ 6.51732550e-02 -2.02820781e-04 9.97873943e-01 1.58575600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.32, Y:24.67, Z:158.58 [[ 8.23954508e-01 5.64097039e-01 -5.37912600e-02 4.68315448e+02] [-5.62895529e-01 8.25708501e-01 3.67980248e-02 2.46724614e+01] [ 6.51735575e-02 -4.10386854e-05 9.97873943e-01 1.58579527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.36, Y:24.64, Z:158.59 [[ 8.24408671e-01 5.63432807e-01 -5.37941878e-02 4.68363721e+02] [-5.62230163e-01 8.26161887e-01 3.67937442e-02 2.46385337e+01] [ 6.51735103e-02 -8.83667790e-05 9.97873943e-01 1.58585633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.41, Y:24.61, Z:158.59 [[ 8.28439986e-01 5.57488173e-01 -5.37970798e-02 4.68413348e+02] [-5.56273224e-01 8.30184697e-01 3.67895152e-02 2.46064058e+01] [ 6.51712320e-02 -5.52030403e-04 9.97873943e-01 1.58585420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.46, Y:24.57, Z:158.59 [[ 8.30707738e-01 5.54103074e-01 -5.37999745e-02 4.68460387e+02] [-5.52881289e-01 8.32447670e-01 3.67852815e-02 2.45716557e+01] [ 6.51685010e-02 -8.12818748e-04 9.97873943e-01 1.58590904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.51, Y:24.54, Z:158.60 [[ 8.30740431e-01 5.54053779e-01 -5.38028405e-02 4.68508431e+02] [-5.52832163e-01 8.32480481e-01 3.67810893e-02 2.45376846e+01] [ 6.51685160e-02 -8.11597305e-04 9.97873943e-01 1.58596616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.56, Y:24.50, Z:158.60 [[ 8.31782142e-01 5.52488377e-01 -5.38057800e-02 4.68556955e+02] [-5.51263765e-01 8.33520084e-01 3.67767887e-02 2.45049032e+01] [ 6.51669465e-02 -9.29099217e-04 9.97873943e-01 1.58598359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.642755096 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:468.60, Y:24.47, Z:158.60 [[ 8.32117852e-01 5.51982344e-01 -5.38086720e-02 4.68604080e+02] [-5.50756948e-01 8.33855242e-01 3.67725568e-02 2.44716019e+01] [ 6.51664453e-02 -9.63601005e-04 9.97873943e-01 1.58601288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.65, Y:24.44, Z:158.61 [[ 8.32106187e-01 5.51999561e-01 -5.38124397e-02 4.68653859e+02] [-5.50774557e-01 8.33843853e-01 3.67670424e-02 2.44403384e+01] [ 6.51665633e-02 -9.55560867e-04 9.97873943e-01 1.58606088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.70, Y:24.41, Z:158.61 [[ 8.33281251e-01 5.50223834e-01 -5.38153283e-02 4.68702245e+02] [-5.48995400e-01 8.35016495e-01 3.67628139e-02 2.44063667e+01] [ 6.51644632e-02 -1.08939591e-03 9.97873943e-01 1.58611413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.75, Y:24.37, Z:158.61 [[ 8.32703255e-01 5.51097898e-01 -5.38181795e-02 4.68748597e+02] [-5.49871556e-01 8.34439977e-01 3.67586395e-02 2.43691310e+01] [ 6.51656494e-02 -1.01595274e-03 9.97873943e-01 1.58614898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.80, Y:24.33, Z:158.62 [[ 8.31667761e-01 5.52659127e-01 -5.38203048e-02 4.68798771e+02] [-5.51436246e-01 8.33406922e-01 3.67555275e-02 2.43324287e+01] [ 6.51674923e-02 -8.89920394e-04 9.97873943e-01 1.58618733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.85, Y:24.30, Z:158.62 [[ 8.35329699e-01 5.47109558e-01 -5.38091607e-02 4.68850471e+02] [-5.45874075e-01 8.37059930e-01 3.67718350e-02 2.43002200e+01] [ 6.51597146e-02 -1.34358000e-03 9.97873943e-01 1.58622190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.90, Y:24.26, Z:158.63 [[ 8.35839366e-01 5.46331602e-01 -5.37990169e-02 4.68902724e+02] [-5.45093555e-01 8.37567763e-01 3.67866699e-02 2.42648925e+01] [ 6.51580425e-02 -1.42224946e-03 9.97873943e-01 1.58627602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0627550959999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:468.95, Y:24.22, Z:158.64 [[ 8.32061315e-01 5.52069740e-01 -5.37863309e-02 4.68948347e+02] [-5.50842416e-01 8.33797343e-01 3.68052088e-02 2.42234728e+01] [ 6.51659419e-02 -9.96397976e-04 9.97873944e-01 1.58637011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.00, Y:24.19, Z:158.64 [[ 8.31260272e-01 5.53276206e-01 -5.37754590e-02 4.68999364e+02] [-5.52050375e-01 8.32997354e-01 3.68210869e-02 2.41878886e+01] [ 6.51670463e-02 -9.21144404e-04 9.97873944e-01 1.58641232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.05, Y:24.15, Z:158.64 [[ 8.32595317e-01 5.51266161e-01 -5.37648303e-02 4.69050755e+02] [-5.50035135e-01 8.34328721e-01 3.68366000e-02 2.41548751e+01] [ 6.51643132e-02 -1.09743498e-03 9.97873944e-01 1.58639932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.10, Y:24.12, Z:158.65 [[ 8.33926613e-01 5.49250733e-01 -5.37590562e-02 4.69098301e+02] [-5.48014975e-01 8.35656647e-01 3.68450247e-02 2.41216756e+01] [ 6.51612695e-02 -1.26527888e-03 9.97873944e-01 1.58647254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3027550959999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:469.15, Y:24.09, Z:158.65 [[ 8.34861266e-01 5.47828679e-01 -5.37624879e-02 4.69146465e+02] [-5.46590297e-01 8.36589422e-01 3.68400167e-02 2.40890748e+01] [ 6.51591463e-02 -1.37024880e-03 9.97873944e-01 1.58650829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.20, Y:24.06, Z:158.66 [[ 8.35833208e-01 5.46344287e-01 -5.37658587e-02 4.69197363e+02] [-5.45103152e-01 8.37559388e-01 3.68350966e-02 2.40552142e+01] [ 6.51567443e-02 -1.48005792e-03 9.97873944e-01 1.58656352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.422755096 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:469.25, Y:24.02, Z:158.66 [[ 8.35881117e-01 5.46271127e-01 -5.37644305e-02 4.69249565e+02] [-5.45029706e-01 8.37607092e-01 3.68371810e-02 2.40203332e+01] [ 6.51565567e-02 -1.48829228e-03 9.97873944e-01 1.58656938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.30, Y:23.99, Z:158.66 [[ 8.36954275e-01 5.44626655e-01 -5.37526512e-02 4.69301618e+02] [-5.43380742e-01 8.38677009e-01 3.68543613e-02 2.39873495e+01] [ 6.51529803e-02 -1.63725973e-03 9.97873944e-01 1.58662700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.35, Y:23.96, Z:158.67 [[ 8.34567140e-01 5.48278647e-01 -5.37421123e-02 4.69349092e+02] [-5.47039284e-01 8.36294592e-01 3.68697230e-02 2.39552850e+01] [ 6.51591198e-02 -1.37121266e-03 9.97873944e-01 1.58670310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.40, Y:23.92, Z:158.67 [[ 8.35912533e-01 5.46224861e-01 -5.37460604e-02 4.69399118e+02] [-5.44981624e-01 8.37637199e-01 3.68639670e-02 2.39248754e+01] [ 6.51557147e-02 -1.52443674e-03 9.97873944e-01 1.58672659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.662755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:469.45, Y:23.89, Z:158.68 [[ 8.35888124e-01 5.46261895e-01 -5.37492829e-02 4.69450675e+02] [-5.45019037e-01 8.37613063e-01 3.68592678e-02 2.38898251e+01] [ 6.51559150e-02 -1.51584183e-03 9.97873944e-01 1.58677629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7227550959999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:469.50, Y:23.86, Z:158.68 [[ 8.35701502e-01 5.46548365e-01 -5.37390455e-02 4.69502523e+02] [-5.45305139e-01 8.37426176e-01 3.68741874e-02 2.38565436e+01] [ 6.51560102e-02 -1.51163616e-03 9.97873945e-01 1.58681940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.56, Y:23.82, Z:158.69 [[ 8.34711203e-01 5.48060605e-01 -5.37287728e-02 4.69555212e+02] [-5.46819541e-01 8.36437433e-01 3.68891495e-02 2.38222977e+01] [ 6.51582464e-02 -1.41184341e-03 9.97873945e-01 1.58688213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8427550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:469.60, Y:23.79, Z:158.69 [[ 8.33041181e-01 5.50596851e-01 -5.37168280e-02 4.69604984e+02] [-5.49359923e-01 8.34770377e-01 3.69065349e-02 2.37893389e+01] [ 6.51618387e-02 -1.23479092e-03 9.97873945e-01 1.58691355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.902755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:469.65, Y:23.76, Z:158.69 [[ 8.31896962e-01 5.52324060e-01 -5.37175603e-02 4.69654262e+02] [-5.51090791e-01 8.33628770e-01 3.69054691e-02 2.37565259e+01] [ 6.51642823e-02 -1.09829483e-03 9.97873945e-01 1.58694569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9627550959999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:469.70, Y:23.72, Z:158.70 [[ 8.33304870e-01 5.50197474e-01 -5.37190239e-02 4.69704428e+02] [-5.48959922e-01 8.35033620e-01 3.69033386e-02 2.37207231e+01] [ 6.51613147e-02 -1.26214060e-03 9.97873945e-01 1.58699523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.76, Y:23.69, Z:158.71 [[ 8.34663740e-01 5.48134057e-01 -5.37168209e-02 4.69756540e+02] [-5.46892027e-01 8.36389274e-01 3.69065450e-02 2.36859954e+01] [ 6.51579071e-02 -1.42725389e-03 9.97873945e-01 1.58705151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.81, Y:23.65, Z:158.71 [[ 8.37009290e-01 5.44546818e-01 -5.37048588e-02 4.69807554e+02] [-5.43296277e-01 8.38728667e-01 3.69239436e-02 2.36503257e+01] [ 6.51506206e-02 -1.72803399e-03 9.97873945e-01 1.58710261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.142755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:469.86, Y:23.61, Z:158.71 [[ 8.39197804e-01 5.41169220e-01 -5.36928353e-02 4.69858496e+02] [-5.39910644e-01 8.40911308e-01 3.69414192e-02 2.36133967e+01] [ 6.51424714e-02 -2.01182463e-03 9.97873945e-01 1.58714244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.91, Y:23.58, Z:158.72 [[ 8.41014740e-01 5.38342435e-01 -5.36808214e-02 4.69910716e+02] [-5.37076988e-01 8.42723176e-01 3.69588688e-02 2.35797148e+01] [ 6.51345997e-02 -2.25221957e-03 9.97873946e-01 1.58717712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.96, Y:23.54, Z:158.72 [[ 8.41168463e-01 5.38103245e-01 -5.36704200e-02 4.69961653e+02] [-5.36836351e-01 8.42875826e-01 3.69739673e-02 2.35449042e+01] [ 6.51333113e-02 -2.28910284e-03 9.97873946e-01 1.58720207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.01, Y:23.51, Z:158.72 [[ 8.40896087e-01 5.38529832e-01 -5.36599662e-02 4.70012202e+02] [-5.37262838e-01 8.42603375e-01 3.69891325e-02 2.35108444e+01] [ 6.51338199e-02 -2.27451104e-03 9.97873946e-01 1.58723137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.382755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:470.06, Y:23.48, Z:158.73 [[ 8.40467035e-01 5.39200143e-01 -5.36504262e-02 4.70062616e+02] [-5.37933630e-01 8.42174680e-01 3.70029646e-02 2.34771900e+01] [ 6.51350343e-02 -2.23940350e-03 9.97873946e-01 1.58725240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4427550959999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:470.12, Y:23.45, Z:158.73 [[ 8.39828709e-01 5.40193828e-01 -5.36504262e-02 4.70117272e+02] [-5.38929335e-01 8.41537850e-01 3.70029646e-02 2.34465882e+01] [ 6.51376374e-02 -2.16236347e-03 9.97873946e-01 1.58725883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.17, Y:23.41, Z:158.73 [[ 8.38418451e-01 5.42380363e-01 -5.36473870e-02 4.70167713e+02] [-5.41120047e-01 8.40130674e-01 3.70073703e-02 2.34140599e+01] [ 6.51428864e-02 -1.99798554e-03 9.97873946e-01 1.58728783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5627550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:470.21, Y:23.38, Z:158.73 [[ 8.35204663e-01 5.47316148e-01 -5.36489139e-02 4.70214302e+02] [-5.46066094e-01 8.36924393e-01 3.70051566e-02 2.33789456e+01] [ 6.51536045e-02 -1.61102646e-03 9.97873946e-01 1.58732301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.26, Y:23.35, Z:158.74 [[ 8.33490848e-01 5.49922324e-01 -5.36511288e-02 4.70260953e+02] [-5.48677855e-01 8.35214624e-01 3.70019452e-02 2.33452503e+01] [ 6.51584030e-02 -1.40359639e-03 9.97873946e-01 1.58735820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6827550959999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:470.31, Y:23.31, Z:158.74 [[ 8.32459026e-01 5.51482672e-01 -5.36547499e-02 4.70307603e+02] [-5.50241773e-01 8.34185373e-01 3.69966936e-02 2.33104817e+01] [ 6.51610430e-02 -1.27514681e-03 9.97873946e-01 1.58737333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.36, Y:23.28, Z:158.75 [[ 8.31562112e-01 5.52833827e-01 -5.36583125e-02 4.70355346e+02] [-5.51596066e-01 8.33290710e-01 3.69915260e-02 2.32761855e+01] [ 6.51631401e-02 -1.16303741e-03 9.97873946e-01 1.58749381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8027550959999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:470.40, Y:23.24, Z:158.75 [[ 8.30486710e-01 5.54447818e-01 -5.36604328e-02 4.70401508e+02] [-5.53213615e-01 8.32217850e-01 3.69884499e-02 2.32397857e+01] [ 6.51653354e-02 -1.03273406e-03 9.97873946e-01 1.58748672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.862755096 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:470.45, Y:23.21, Z:158.75 [[ 8.31902861e-01 5.52320461e-01 -5.36631902e-02 4.70451430e+02] [-5.51082090e-01 8.33631022e-01 3.69844491e-02 2.32088141e+01] [ 6.51625680e-02 -1.19464602e-03 9.97873946e-01 1.58754099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.50, Y:23.18, Z:158.76 [[ 8.32625452e-01 5.51229978e-01 -5.36690703e-02 4.70499104e+02] [-5.49989893e-01 8.34352384e-01 3.69759144e-02 2.31761735e+01] [ 6.51611491e-02 -1.26964121e-03 9.97873946e-01 1.58762691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.55, Y:23.14, Z:158.77 [[ 8.30764934e-01 5.54029480e-01 -5.36745753e-02 4.70548460e+02] [-5.52795731e-01 8.32496398e-01 3.69679215e-02 2.31444498e+01] [ 6.51652089e-02 -1.04057680e-03 9.97873946e-01 1.58767832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.042755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:470.60, Y:23.11, Z:158.77 [[ 8.25784420e-01 5.61425722e-01 -5.36772750e-02 4.70597751e+02] [-5.60207738e-01 8.27527010e-01 3.69640011e-02 2.31076254e+01] [ 6.51719359e-02 -4.53871355e-04 9.97873946e-01 1.58773778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1027550959999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:470.65, Y:23.07, Z:158.78 [[ 8.23519896e-01 5.64743207e-01 -5.36664864e-02 4.70649293e+02] [-5.63531223e-01 8.25266663e-01 3.69796580e-02 2.30740614e+01] [ 6.51731728e-02 -2.10743427e-04 9.97873947e-01 1.58777624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.70, Y:23.04, Z:158.79 [[ 8.18320708e-01 5.72251871e-01 -5.36564612e-02 4.70699307e+02] [-5.71054961e-01 8.20077839e-01 3.69941986e-02 2.30446759e+01] [ 6.51724741e-02 3.67669551e-04 9.97873947e-01 1.58786149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.75, Y:23.01, Z:158.79 [[ 8.15649468e-01 5.76052534e-01 -5.36602535e-02 4.70747682e+02] [-5.74864173e-01 8.17412392e-01 3.69886970e-02 2.30113758e+01] [ 6.51699888e-02 6.77546196e-04 9.97873947e-01 1.58794213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.80, Y:22.98, Z:158.80 [[ 8.13722023e-01 5.78771750e-01 -5.36631196e-02 4.70798822e+02] [-5.77589554e-01 8.15489087e-01 3.69845385e-02 2.29777227e+01] [ 6.51672944e-02 9.00123860e-04 9.97873947e-01 1.58797944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.85, Y:22.94, Z:158.81 [[ 8.13856294e-01 5.78583071e-01 -5.36615605e-02 4.70847471e+02] [-5.77400316e-01 8.15622984e-01 3.69868005e-02 2.29431256e+01] [ 6.51675387e-02 8.82261616e-04 9.97873947e-01 1.58806137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.90, Y:22.91, Z:158.81 [[ 8.14870103e-01 5.77154215e-01 -5.36630947e-02 4.70895969e+02] [-5.75968509e-01 8.16634813e-01 3.69845743e-02 2.29112107e+01] [ 6.51689543e-02 7.70628720e-04 9.97873947e-01 1.58809168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.94, Y:22.88, Z:158.81 [[ 8.19022503e-01 5.71246014e-01 -5.36668566e-02 4.70944946e+02] [-5.70047934e-01 8.20778836e-01 3.69791148e-02 2.28779301e+01] [ 6.51727920e-02 3.05953587e-04 9.97873947e-01 1.58811991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.99, Y:22.85, Z:158.82 [[ 8.24475618e-01 5.63346706e-01 -5.36697720e-02 4.70991519e+02] [-5.62132074e-01 8.26220545e-01 3.69748831e-02 2.28450326e+01] [ 6.51727469e-02 -3.15389363e-04 9.97873947e-01 1.58815308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.04, Y:22.81, Z:158.82 [[ 8.30785506e-01 5.53998610e-01 -5.36747957e-02 4.71040495e+02] [-5.52764818e-01 8.32516939e-01 3.69675890e-02 2.28131372e+01] [ 6.51651695e-02 -1.04259844e-03 9.97873947e-01 1.58818003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.10, Y:22.78, Z:158.82 [[ 8.38518826e-01 5.42222054e-01 -5.36788807e-02 4.71095405e+02] [-5.40964336e-01 8.40232958e-01 3.69616564e-02 2.27829863e+01] [ 6.51441899e-02 -1.95468467e-03 9.97873947e-01 1.58815540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.15, Y:22.75, Z:158.82 [[ 8.41186260e-01 5.38075678e-01 -5.36678770e-02 4.71147772e+02] [-5.36808495e-01 8.42893407e-01 3.69776268e-02 2.27474757e+01] [ 6.51330612e-02 -2.29569929e-03 9.97873947e-01 1.58818104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.20, Y:22.71, Z:158.83 [[ 8.43449104e-01 5.34522875e-01 -5.36554195e-02 4.71196880e+02] [-5.33247357e-01 8.45150031e-01 3.69956940e-02 2.27113604e+01] [ 6.51219242e-02 -2.59237431e-03 9.97873947e-01 1.58825897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.25, Y:22.68, Z:158.83 [[ 8.45174543e-01 5.31791454e-01 -5.36455076e-02 4.71248987e+02] [-5.30509530e-01 8.46870648e-01 3.70100611e-02 2.26786353e+01] [ 6.51124400e-02 -2.82050848e-03 9.97873947e-01 1.58828024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.30, Y:22.64, Z:158.84 [[ 8.44673923e-01 5.32586410e-01 -5.36440107e-02 4.71297552e+02] [-5.31305945e-01 8.46371129e-01 3.70122307e-02 2.26439111e+01] [ 6.51149530e-02 -2.76188427e-03 9.97873947e-01 1.58835755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.35, Y:22.61, Z:158.84 [[ 8.42215581e-01 5.36465354e-01 -5.36454974e-02 4.71347143e+02] [-5.35192844e-01 8.43918760e-01 3.70100758e-02 2.26132512e+01] [ 6.51270651e-02 -2.45977616e-03 9.97873947e-01 1.58838220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.40, Y:22.58, Z:158.85 [[ 8.38878540e-01 5.41668312e-01 -5.36491836e-02 4.71396876e+02] [-5.40406711e-01 8.40589815e-01 3.70047315e-02 2.25816064e+01] [ 6.51412478e-02 -2.05009628e-03 9.97873947e-01 1.58845774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.44, Y:22.55, Z:158.85 [[ 8.36233780e-01 5.45742169e-01 -5.36521200e-02 4.71444867e+02] [-5.44489179e-01 8.37951370e-01 3.70004737e-02 2.25489277e+01] [ 6.51505862e-02 -1.72804719e-03 9.97873947e-01 1.58851088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.49, Y:22.52, Z:158.86 [[ 8.34329713e-01 5.48648332e-01 -5.36557360e-02 4.71493671e+02] [-5.47401663e-01 8.36051896e-01 3.69952292e-02 2.25160836e+01] [ 6.51563506e-02 -1.49497988e-03 9.97873947e-01 1.58856322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.54, Y:22.48, Z:158.86 [[ 8.32421166e-01 5.51539439e-01 -5.36586483e-02 4.71541291e+02] [-5.50299024e-01 8.34147859e-01 3.69910048e-02 2.24845300e+01] [ 6.51612446e-02 -1.26379356e-03 9.97873947e-01 1.58859837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.59, Y:22.45, Z:158.86 [[ 8.31256249e-01 5.53293106e-01 -5.36636519e-02 4.71589529e+02] [-5.52056803e-01 8.32985888e-01 3.69837444e-02 2.24515174e+01] [ 6.51639156e-02 -1.11758456e-03 9.97873948e-01 1.58861059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.64, Y:22.42, Z:158.87 [[ 8.29452219e-01 5.55993554e-01 -5.36673467e-02 4.71636122e+02] [-5.54763229e-01 8.31186116e-01 3.69783821e-02 2.24176469e+01] [ 6.51672956e-02 -8.99130491e-04 9.97873948e-01 1.58865291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.362755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:471.68, Y:22.38, Z:158.87 [[ 8.27877895e-01 5.58334680e-01 -5.36709928e-02 4.71684865e+02] [-5.57109601e-01 8.29615503e-01 3.69730894e-02 2.23838462e+01] [ 6.51696457e-02 -7.08578065e-04 9.97873948e-01 1.58867766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.73, Y:22.35, Z:158.87 [[ 8.26035420e-01 5.61056753e-01 -5.36731336e-02 4.71730683e+02] [-5.59837602e-01 8.27777192e-01 3.69699813e-02 2.23506730e+01] [ 6.51716535e-02 -4.90275564e-04 9.97873948e-01 1.58871503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4827550959999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:471.78, Y:22.31, Z:158.88 [[ 8.24411786e-01 5.63439325e-01 -5.36780547e-02 4.71776813e+02] [-5.62225674e-01 8.26157395e-01 3.69628348e-02 2.23147143e+01] [ 6.51728366e-02 -2.93416199e-04 9.97873948e-01 1.58875829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.82, Y:22.28, Z:158.88 [[ 8.22759358e-01 5.65849270e-01 -5.36809388e-02 4.71823222e+02] [-5.64641005e-01 8.24508699e-01 3.69586458e-02 2.22790059e+01] [ 6.51734237e-02 -9.76125284e-05 9.97873948e-01 1.58882880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.87, Y:22.24, Z:158.89 [[ 8.20447697e-01 5.69195590e-01 -5.36838586e-02 4.71867484e+02] [-5.67994737e-01 8.22202135e-01 3.69544042e-02 2.22420286e+01] [ 6.51732671e-02 1.72993289e-04 9.97873948e-01 1.58887147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.662755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:471.91, Y:22.20, Z:158.89 [[ 8.18508838e-01 5.71979773e-01 -5.36881836e-02 4.71910629e+02] [-5.70785300e-01 8.20267625e-01 3.69481196e-02 2.22044978e+01] [ 6.51722560e-02 4.02063576e-04 9.97873948e-01 1.58890792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7227550959999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:471.95, Y:22.17, Z:158.90 [[ 8.16934101e-01 5.74226192e-01 -5.36931472e-02 4.71954642e+02] [-5.73037030e-01 8.18696484e-01 3.69409052e-02 2.21655235e+01] [ 6.51708261e-02 5.89876430e-04 9.97873948e-01 1.58895548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.00, Y:22.12, Z:158.90 [[ 8.16197800e-01 5.75272016e-01 -5.36959832e-02 4.71997351e+02] [-5.74085383e-01 8.17961886e-01 3.69367824e-02 2.21246302e+01] [ 6.51699650e-02 6.78358477e-04 9.97873948e-01 1.58903060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.05, Y:22.09, Z:158.91 [[ 8.17598227e-01 5.73279652e-01 -5.36989747e-02 4.72045206e+02] [-5.72089005e-01 8.19359607e-01 3.69324328e-02 2.20864853e+01] [ 6.51713830e-02 5.24701418e-04 9.97873948e-01 1.58905675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.09, Y:22.05, Z:158.91 [[ 8.17666619e-01 5.73182261e-01 -5.36972680e-02 4.72090684e+02] [-5.71991241e-01 8.19427747e-01 3.69349141e-02 2.20453448e+01] [ 6.51714689e-02 5.13920675e-04 9.97873948e-01 1.58911324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9627550959999 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:472.14, Y:22.00, Z:158.91 [[ 8.18549816e-01 5.71921216e-01 -5.36872464e-02 4.72137831e+02] [-5.70726529e-01 8.20308458e-01 3.69494754e-02 2.20020448e+01] [ 6.51722912e-02 3.95749493e-04 9.97873948e-01 1.58911893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.022755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:472.18, Y:21.96, Z:158.92 [[ 8.20180131e-01 5.69581885e-01 -5.36752147e-02 4.72182959e+02] [-5.68381038e-01 8.21934572e-01 3.69669452e-02 2.19601773e+01] [ 6.51732169e-02 1.88420218e-04 9.97873948e-01 1.58915298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:472.23, Y:21.92, Z:158.92 [[ 8.21146605e-01 5.68188255e-01 -5.36689882e-02 4.72226310e+02] [-5.66983840e-01 8.22898598e-01 3.69759827e-02 2.19191217e+01] [ 6.51734542e-02 6.67462947e-05 9.97873948e-01 1.58918184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.142755096 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:472.27, Y:21.88, Z:158.92 [[ 8.21505612e-01 5.67668776e-01 -5.36720621e-02 4.72273101e+02] [-5.66463544e-01 8.23257043e-01 3.69715203e-02 2.18785204e+01] [ 6.51734808e-02 3.09551140e-05 9.97873948e-01 1.58922750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2027550959999 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:472.32, Y:21.84, Z:158.93 [[ 8.22043056e-01 5.66891254e-01 -5.36611556e-02 4.72319481e+02] [-5.65683333e-01 8.23792634e-01 3.69873433e-02 2.18385720e+01] [ 6.51734662e-02 -4.99674039e-05 9.97873948e-01 1.58927342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.37, Y:21.80, Z:158.94 [[ 8.19705633e-01 5.70266733e-01 -5.36519139e-02 4.72368229e+02] [-5.69065139e-01 8.21459562e-01 3.70007441e-02 2.18009990e+01] [ 6.51731712e-02 2.01715488e-04 9.97873949e-01 1.58935675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.42, Y:21.76, Z:158.94 [[ 8.19028447e-01 5.71239828e-01 -5.36419778e-02 4.72419385e+02] [-5.70039375e-01 8.20783157e-01 3.70151434e-02 2.17643793e+01] [ 6.51729560e-02 2.61584075e-04 9.97873949e-01 1.58940748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.47, Y:21.73, Z:158.95 [[ 8.17240274e-01 5.73796230e-01 -5.36304093e-02 4.72470299e+02] [-5.72600166e-01 8.18997979e-01 3.70318972e-02 2.17286818e+01] [ 6.51719598e-02 4.44823438e-04 9.97873949e-01 1.58945692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.52, Y:21.69, Z:158.95 [[ 8.16058154e-01 5.75477204e-01 -5.36197448e-02 4.72522754e+02] [-5.74283746e-01 8.17817629e-01 3.70473322e-02 2.16937871e+01] [ 6.51710677e-02 5.60170392e-04 9.97873949e-01 1.58950293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.502755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:472.57, Y:21.66, Z:158.95 [[ 8.16594800e-01 5.74716536e-01 -5.36081694e-02 4.72574300e+02] [-5.73520341e-01 8.18352414e-01 3.70640745e-02 2.16592672e+01] [ 6.51717114e-02 4.79045129e-04 9.97873949e-01 1.58952854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5627550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:472.63, Y:21.62, Z:158.96 [[ 8.18292195e-01 5.72298167e-01 -5.35974930e-02 4.72625798e+02] [-5.71095766e-01 8.20045570e-01 3.70795070e-02 2.16230090e+01] [ 6.51729206e-02 2.67430112e-04 9.97873949e-01 1.58957188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.622755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:472.68, Y:21.59, Z:158.96 [[ 8.19417477e-01 5.70686875e-01 -5.35862793e-02 4.72675569e+02] [-5.69479966e-01 8.21167752e-01 3.70957057e-02 2.15873424e+01] [ 6.51733569e-02 1.19442935e-04 9.97873950e-01 1.58961011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6827550959999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:472.73, Y:21.55, Z:158.96 [[ 8.21185924e-01 5.68139755e-01 -5.35807562e-02 4.72726448e+02] [-5.66926897e-01 8.22932081e-01 3.71036815e-02 2.15512281e+01] [ 6.51733997e-02 -9.26490541e-05 9.97873950e-01 1.58964025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.78, Y:21.51, Z:158.97 [[ 8.23624074e-01 5.64600306e-01 -5.35712424e-02 4.72775359e+02] [-5.63379052e-01 8.25364369e-01 3.71174128e-02 2.15135166e+01] [ 6.51722973e-02 -3.89879003e-04 9.97873950e-01 1.58968043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:472.83, Y:21.48, Z:158.97 [[ 8.26597417e-01 5.60239088e-01 -5.35618754e-02 4.72825269e+02] [-5.59007776e-01 8.28330611e-01 3.71309248e-02 2.14773454e+01] [ 6.51691364e-02 -7.50821701e-04 9.97873950e-01 1.58971233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.88, Y:21.44, Z:158.98 [[ 8.28242189e-01 5.57805576e-01 -5.35519854e-02 4.72875530e+02] [-5.56568251e-01 8.29971095e-01 3.71451831e-02 2.14395620e+01] [ 6.51663902e-02 -9.59872889e-04 9.97873950e-01 1.58979866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.92, Y:21.40, Z:158.99 [[ 8.29601222e-01 5.55783427e-01 -5.35405877e-02 4.72924851e+02] [-5.54540828e-01 8.31326341e-01 3.71616045e-02 2.14031003e+01] [ 6.51635047e-02 -1.13887064e-03 9.97873950e-01 1.58987209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.97, Y:21.37, Z:158.99 [[ 8.28978416e-01 5.56712910e-01 -5.35305718e-02 4.72974972e+02] [-5.55471314e-01 8.30704257e-01 3.71760265e-02 2.13674035e+01] [ 6.51644478e-02 -1.08342654e-03 9.97873950e-01 1.58990786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.042755096 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:473.03, Y:21.33, Z:158.99 [[ 8.26605580e-01 5.60231046e-01 -5.35199970e-02 4.73025768e+02] [-5.58995812e-01 8.28335979e-01 3.71912441e-02 2.13321066e+01] [ 6.51682288e-02 -8.25035752e-04 9.97873951e-01 1.58993673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:473.08, Y:21.30, Z:159.00 [[ 8.23363154e-01 5.64986579e-01 -5.35096425e-02 4.73077772e+02] [-5.63760372e-01 8.25099962e-01 3.72061360e-02 2.12980544e+01] [ 6.51717715e-02 -4.67545543e-04 9.97873951e-01 1.58997032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.13, Y:21.26, Z:159.00 [[ 8.20939934e-01 5.68502798e-01 -5.34994734e-02 4.73129416e+02] [-5.67283078e-01 8.22681303e-01 3.72207527e-02 2.12626526e+01] [ 6.51731185e-02 -2.06656302e-04 9.97873951e-01 1.59002440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.18, Y:21.23, Z:159.01 [[ 8.17523719e-01 5.73405672e-01 -5.34874213e-02 4.73179812e+02] [-5.72195262e-01 8.19271572e-01 3.72380639e-02 2.12268532e+01] [ 6.51732408e-02 1.62248588e-04 9.97873951e-01 1.59007852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.23, Y:21.19, Z:159.01 [[ 8.15393485e-01 5.76431913e-01 -5.34762902e-02 4.73232089e+02] [-5.75226942e-01 8.17145092e-01 3.72540420e-02 2.11921004e+01] [ 6.51723068e-02 3.84299722e-04 9.97873951e-01 1.59013569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:473.28, Y:21.16, Z:159.02 [[ 8.13942655e-01 5.78479820e-01 -5.34644970e-02 4.73282490e+02] [-5.77278144e-01 8.15696524e-01 3.72709592e-02 2.11557474e+01] [ 6.51713021e-02 5.27462061e-04 9.97873952e-01 1.59020285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.33, Y:21.12, Z:159.02 [[ 8.13951659e-01 5.78468269e-01 -5.34523981e-02 4.73333646e+02] [-5.77265429e-01 8.15704730e-01 3.72883028e-02 2.11193005e+01] [ 6.51714740e-02 5.05345625e-04 9.97873952e-01 1.59024845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4627550959999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:473.39, Y:21.08, Z:159.03 [[ 8.14415074e-01 5.77816759e-01 -5.34404416e-02 4.73385476e+02] [-5.76611393e-01 8.16166408e-01 3.73054306e-02 2.10833757e+01] [ 6.51719963e-02 4.32262446e-04 9.97873952e-01 1.59025787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.44, Y:21.05, Z:159.03 [[ 8.16368238e-01 5.75055035e-01 -5.34285243e-02 4.73435421e+02] [-5.73842627e-01 8.18114705e-01 3.73224908e-02 2.10462437e+01] [ 6.51731476e-02 1.90668658e-04 9.97873952e-01 1.59033136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5827550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:473.48, Y:21.01, Z:159.04 [[ 8.20605726e-01 5.68992912e-01 -5.34163711e-02 4.73484185e+02] [-5.67766471e-01 8.22342367e-01 3.73398764e-02 2.10074978e+01] [ 6.51726701e-02 -3.13291878e-04 9.97873952e-01 1.59036789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.53, Y:20.97, Z:159.04 [[ 8.25015624e-01 5.62580403e-01 -5.34088994e-02 4.73533870e+02] [-5.61339774e-01 8.26742157e-01 3.73505606e-02 2.09683907e+01] [ 6.51680821e-02 -8.34256502e-04 9.97873953e-01 1.59042229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.58, Y:20.93, Z:159.05 [[ 8.27136570e-01 5.59458546e-01 -5.33969080e-02 4.73584689e+02] [-5.58210295e-01 8.28857600e-01 3.73676958e-02 2.09308350e+01] [ 6.51641098e-02 -1.10148400e-03 9.97873953e-01 1.59047059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.64, Y:20.89, Z:159.05 [[ 8.28565709e-01 5.57340940e-01 -5.33848490e-02 4.73635103e+02] [-5.56087182e-01 8.30282732e-01 3.73849159e-02 2.08949195e+01] [ 6.51606624e-02 -1.28922913e-03 9.97873953e-01 1.59053030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.68, Y:20.86, Z:159.06 [[ 8.28787826e-01 5.57011655e-01 -5.33737419e-02 4.73683890e+02] [-5.55756194e-01 8.30503603e-01 3.74007665e-02 2.08570879e+01] [ 6.51597478e-02 -1.33451222e-03 9.97873953e-01 1.59056542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.882755096 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:473.74, Y:20.82, Z:159.06 [[ 8.27560010e-01 5.58835184e-01 -5.33635292e-02 4.73736601e+02] [-5.57582566e-01 8.29277864e-01 3.74153323e-02 2.08223251e+01] [ 6.51621977e-02 -1.20885925e-03 9.97873953e-01 1.59055970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.79, Y:20.79, Z:159.06 [[ 8.25255465e-01 5.62233935e-01 -5.33518531e-02 4.73788207e+02] [-5.60987317e-01 8.26977677e-01 3.74319743e-02 2.07875546e+01] [ 6.51663178e-02 -9.61228429e-04 9.97873954e-01 1.59062339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.002755096 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:473.84, Y:20.75, Z:159.06 [[ 8.20926591e-01 5.68537025e-01 -5.33402549e-02 4.73840472e+02] [-5.67302557e-01 8.22657534e-01 3.74484944e-02 2.07529833e+01] [ 6.51716182e-02 -4.82401859e-04 9.97873954e-01 1.59064704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.89, Y:20.72, Z:159.07 [[ 8.18531891e-01 5.71980456e-01 -5.33282437e-02 4.73892019e+02] [-5.70752157e-01 8.20267216e-01 3.74655911e-02 2.07177468e+01] [ 6.51729959e-02 -2.29571000e-04 9.97873954e-01 1.59071660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.94, Y:20.68, Z:159.08 [[ 8.16510980e-01 5.74862769e-01 -5.33161902e-02 4.73944561e+02] [-5.73639476e-01 8.18249838e-01 3.74827363e-02 2.06829811e+01] [ 6.51733935e-02 -2.07943465e-05 9.97873954e-01 1.59077171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1827550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:474.00, Y:20.65, Z:159.08 [[ 8.16160264e-01 5.75361713e-01 -5.33040504e-02 4.73995624e+02] [-5.74138356e-01 8.17899076e-01 3.74999924e-02 2.06463824e+01] [ 6.51733934e-02 -2.10384640e-06 9.97873954e-01 1.59082943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.242755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:474.05, Y:20.61, Z:159.09 [[ 8.16324192e-01 5.75130223e-01 -5.32920294e-02 4.74046958e+02] [-5.73905257e-01 8.18061871e-01 3.75170679e-02 2.06095653e+01] [ 6.51733769e-02 -4.15142825e-05 9.97873955e-01 1.59087574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3027550959999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:474.10, Y:20.57, Z:159.09 [[ 8.17660736e-01 5.73229584e-01 -5.32800511e-02 4.74098245e+02] [-5.71999472e-01 8.19394775e-01 3.75340712e-02 2.05732222e+01] [ 6.51730355e-02 -2.13975163e-04 9.97873955e-01 1.59092288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.362755096 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:474.15, Y:20.54, Z:159.09 [[ 8.21895551e-01 5.67142128e-01 -5.32682823e-02 4.74152315e+02] [-5.65898091e-01 8.23619628e-01 3.75507661e-02 2.05414020e+01] [ 6.51694242e-02 -7.18388319e-04 9.97873955e-01 1.59093169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.20, Y:20.50, Z:159.10 [[ 8.22166805e-01 5.66749955e-01 -5.32563000e-02 4.74199251e+02] [-5.65503995e-01 8.23889492e-01 3.75677523e-02 2.05005749e+01] [ 6.51688279e-02 -7.70308510e-04 9.97873955e-01 1.59100424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.25, Y:20.46, Z:159.10 [[ 8.26380705e-01 5.60588854e-01 -5.32453531e-02 4.74250302e+02] [-5.59329054e-01 8.28093296e-01 3.75832611e-02 2.04633304e+01] [ 6.51608772e-02 -1.27640878e-03 9.97873955e-01 1.59104600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.30, Y:20.43, Z:159.11 [[ 8.30591974e-01 5.54331268e-01 -5.32336214e-02 4.74302523e+02] [-5.53057505e-01 8.32294206e-01 3.75998707e-02 2.04296443e+01] [ 6.51488187e-02 -1.78889698e-03 9.97873956e-01 1.59105457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.35, Y:20.39, Z:159.11 [[ 8.32558700e-01 5.51374193e-01 -5.32213329e-02 4.74354575e+02] [-5.50093276e-01 8.34255554e-01 3.76172567e-02 2.03945645e+01] [ 6.51413772e-02 -2.04187694e-03 9.97873956e-01 1.59105460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.40, Y:20.36, Z:159.12 [[ 8.32705469e-01 5.51152883e-01 -5.32174950e-02 4.74404181e+02] [-5.49871169e-01 8.34401721e-01 3.76226855e-02 2.03572051e+01] [ 6.51406210e-02 -2.06584982e-03 9.97873956e-01 1.59119821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.46, Y:20.32, Z:159.12 [[ 8.30256272e-01 5.54836742e-01 -5.32044512e-02 4.74456402e+02] [-5.53561375e-01 8.31957301e-01 3.76411225e-02 2.03221239e+01] [ 6.51485094e-02 -1.79984891e-03 9.97873956e-01 1.59120570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.51, Y:20.29, Z:159.13 [[ 8.29015734e-01 5.56689743e-01 -5.31925093e-02 4.74509625e+02] [-5.55417097e-01 8.30718800e-01 3.76579906e-02 2.02882366e+01] [ 6.51518346e-02 -1.67503758e-03 9.97873956e-01 1.59127554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.56, Y:20.26, Z:159.13 [[ 8.28952440e-01 5.56785149e-01 -5.31803567e-02 4.74564186e+02] [-5.55511599e-01 8.30654830e-01 3.76751446e-02 2.02574675e+01] [ 6.51514812e-02 -1.68859811e-03 9.97873957e-01 1.59134239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.62, Y:20.22, Z:159.14 [[ 8.30080045e-01 5.55103816e-01 -5.31683347e-02 4.74616349e+02] [-5.53825734e-01 8.31779034e-01 3.76921028e-02 2.02221515e+01] [ 6.51473362e-02 -1.84147045e-03 9.97873957e-01 1.59140950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9627550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:474.67, Y:20.19, Z:159.14 [[ 8.32703192e-01 5.51162203e-01 -5.31565580e-02 4.74669942e+02] [-5.49875021e-01 8.34395299e-01 3.77087041e-02 2.01880336e+01] [ 6.51371945e-02 -2.17069480e-03 9.97873957e-01 1.59141925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.022755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:474.72, Y:20.15, Z:159.15 [[ 8.34088275e-01 5.49065009e-01 -5.31447632e-02 4.74721705e+02] [-5.47772517e-01 8.35776327e-01 3.77253197e-02 2.01531486e+01] [ 6.51307880e-02 -2.35500611e-03 9.97873957e-01 1.59147373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.77, Y:20.11, Z:159.15 [[ 8.31393111e-01 5.53138686e-01 -5.31327617e-02 4.74768230e+02] [-5.51853388e-01 8.33086648e-01 3.77422152e-02 2.01106858e+01] [ 6.51408737e-02 -2.05712312e-03 9.97873957e-01 1.59146426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.142755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:474.83, Y:20.08, Z:159.15 [[ 8.36212168e-01 5.45827133e-01 -5.31220303e-02 4.74825254e+02] [-5.44526078e-01 8.37893630e-01 3.77573137e-02 2.00817864e+01] [ 6.51195771e-02 -2.64679430e-03 9.97873958e-01 1.59147964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.87, Y:20.04, Z:159.15 [[ 8.33414596e-01 5.50090414e-01 -5.31097667e-02 4.74871091e+02] [-5.48796866e-01 8.35101840e-01 3.77745558e-02 2.00382175e+01] [ 6.51314850e-02 -2.33539261e-03 9.97873958e-01 1.59152292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.93, Y:20.01, Z:159.16 [[ 8.37877009e-01 5.43270441e-01 -5.30975235e-02 4.74925901e+02] [-5.41962079e-01 8.39552790e-01 3.77917576e-02 2.00109510e+01] [ 6.51093188e-02 -2.88800061e-03 9.97873958e-01 1.59158795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.97, Y:19.97, Z:159.16 [[ 8.32668125e-01 5.51221453e-01 -5.30914714e-02 4.74972517e+02] [-5.49928561e-01 8.34355870e-01 3.78002580e-02 1.99689497e+01] [ 6.51334939e-02 -2.27855353e-03 9.97873958e-01 1.59155776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.382755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:475.02, Y:19.93, Z:159.16 [[ 8.31024973e-01 5.53696556e-01 -5.30812308e-02 4.75024588e+02] [-5.52407775e-01 8.32715860e-01 3.78146329e-02 1.99333706e+01] [ 6.51394148e-02 -2.10241968e-03 9.97873958e-01 1.59160744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4427550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:475.08, Y:19.90, Z:159.16 [[ 8.29372209e-01 5.56170293e-01 -5.30692340e-02 4.75075716e+02] [-5.54885481e-01 8.31066113e-01 3.78314619e-02 1.98986996e+01] [ 6.51447772e-02 -1.92901573e-03 9.97873958e-01 1.59164778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.502755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:475.13, Y:19.86, Z:159.17 [[ 8.27791453e-01 5.58521358e-01 -5.30584772e-02 4.75127469e+02] [-5.57240392e-01 8.29488267e-01 3.78465423e-02 1.98640515e+01] [ 6.51494865e-02 -1.76271762e-03 9.97873959e-01 1.59171070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.18, Y:19.83, Z:159.17 [[ 8.23773277e-01 5.64432192e-01 -5.30460994e-02 4.75177694e+02] [-5.63162288e-01 8.25478385e-01 3.78638831e-02 1.98297204e+01] [ 6.51600030e-02 -1.31769238e-03 9.97873959e-01 1.59171949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.23, Y:19.79, Z:159.18 [[ 8.24015134e-01 5.64079976e-01 -5.30362143e-02 4.75228651e+02] [-5.62808452e-01 8.25719035e-01 3.78777243e-02 1.97939274e+01] [ 6.51590774e-02 -1.36258842e-03 9.97873959e-01 1.59178954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.28, Y:19.76, Z:159.18 [[ 8.22056633e-01 5.66931499e-01 -5.30242270e-02 4.75279121e+02] [-5.65664805e-01 8.23764126e-01 3.78944976e-02 1.97566534e+01] [ 6.51630404e-02 -1.15748407e-03 9.97873959e-01 1.59181625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.33, Y:19.72, Z:159.19 [[ 8.23652705e-01 5.64611302e-01 -5.30122591e-02 4.75329909e+02] [-5.63338722e-01 8.25355816e-01 3.79112326e-02 1.97206739e+01] [ 6.51590868e-02 -1.36183100e-03 9.97873959e-01 1.59187773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.38, Y:19.68, Z:159.19 [[ 8.26508416e-01 5.60423756e-01 -5.30004888e-02 4.75379506e+02] [-5.59141495e-01 8.28204250e-01 3.79276807e-02 1.96847387e+01] [ 6.51508033e-02 -1.71277475e-03 9.97873960e-01 1.59191920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.862755096 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:475.43, Y:19.65, Z:159.19 [[ 8.29721616e-01 5.55656354e-01 -5.29911021e-02 4.75432365e+02] [-5.54363515e-01 8.31409400e-01 3.79407908e-02 1.96507000e+01] [ 6.51393419e-02 -2.10396065e-03 9.97873960e-01 1.59189585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.48, Y:19.61, Z:159.20 [[ 8.29105257e-01 5.56576753e-01 -5.29791588e-02 4.75480034e+02] [-5.55284724e-01 8.30793660e-01 3.79574607e-02 1.96124895e+01] [ 6.51409895e-02 -2.05221258e-03 9.97873960e-01 1.59196191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9827550959999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:475.53, Y:19.57, Z:159.20 [[ 8.27950526e-01 5.58293956e-01 -5.29696588e-02 4.75530709e+02] [-5.57004582e-01 8.29640959e-01 3.79707134e-02 1.95749040e+01] [ 6.51446183e-02 -1.93352949e-03 9.97873960e-01 1.59197500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.042755096 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:475.58, Y:19.54, Z:159.20 [[ 8.28942502e-01 5.56821305e-01 -5.29562323e-02 4.75580670e+02] [-5.55527734e-01 8.30629725e-01 3.79894296e-02 1.95402569e+01] [ 6.51403444e-02 -2.07239707e-03 9.97873960e-01 1.59198062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1027550959999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:475.63, Y:19.50, Z:159.20 [[ 8.27654723e-01 5.58734258e-01 -5.29498727e-02 4.75631756e+02] [-5.57444021e-01 8.29344496e-01 3.79982916e-02 1.95040104e+01] [ 6.51446327e-02 -1.93287555e-03 9.97873960e-01 1.59201236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.162755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:475.68, Y:19.47, Z:159.21 [[ 8.24461541e-01 5.63436569e-01 -5.29377073e-02 4.75681136e+02] [-5.62154885e-01 8.26157810e-01 3.80152324e-02 1.94650355e+01] [ 6.51540724e-02 -1.58290637e-03 9.97873961e-01 1.59208556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2227550959999 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:475.73, Y:19.43, Z:159.21 [[ 8.23995494e-01 5.64119112e-01 -5.29249768e-02 4.75731642e+02] [-5.62837696e-01 8.25691966e-01 3.80329476e-02 1.94284388e+01] [ 6.51548408e-02 -1.55080545e-03 9.97873961e-01 1.59211048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.78, Y:19.40, Z:159.22 [[ 8.23293790e-01 5.65143879e-01 -5.29124921e-02 4.75783745e+02] [-5.63863460e-01 8.24991013e-01 3.80503088e-02 1.93957815e+01] [ 6.51562296e-02 -1.49116204e-03 9.97873961e-01 1.59219067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:475.83, Y:19.36, Z:159.22 [[ 8.21699498e-01 5.67460500e-01 -5.29010045e-02 4.75834065e+02] [-5.66183839e-01 8.23399550e-01 3.80662732e-02 1.93576505e+01] [ 6.51597697e-02 -1.32734374e-03 9.97873961e-01 1.59222993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.402755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:475.88, Y:19.32, Z:159.22 [[ 8.19197124e-01 5.71068154e-01 -5.28888912e-02 4.75883004e+02] [-5.69797895e-01 8.20901965e-01 3.80830958e-02 1.93179945e+01] [ 6.51646380e-02 -1.06158369e-03 9.97873961e-01 1.59224837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4627550959999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:475.93, Y:19.28, Z:159.23 [[ 8.18781597e-01 5.71664994e-01 -5.28756141e-02 4.75934647e+02] [-5.70394789e-01 8.20486477e-01 3.81015213e-02 1.92829608e+01] [ 6.51650323e-02 -1.03684971e-03 9.97873962e-01 1.59226780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.98, Y:19.25, Z:159.23 [[ 8.17103553e-01 5.74062060e-01 -5.28633659e-02 4.75983975e+02] [-5.72795757e-01 8.18811334e-01 3.81185073e-02 1.92464064e+01] [ 6.51675120e-02 -8.66856108e-04 9.97873962e-01 1.59231622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5827550959999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:476.04, Y:19.21, Z:159.23 [[ 8.18314326e-01 5.72335777e-01 -5.28528312e-02 4.76036043e+02] [-5.71064929e-01 8.20018727e-01 3.81331086e-02 1.92125861e+01] [ 6.51652537e-02 -1.02247075e-03 9.97873962e-01 1.59234684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.642755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:476.09, Y:19.17, Z:159.24 [[ 8.18882745e-01 5.71523310e-01 -5.28408593e-02 4.76086090e+02] [-5.70249702e-01 8.20585083e-01 3.81496907e-02 1.91747576e+01] [ 6.51638585e-02 -1.10763911e-03 9.97873962e-01 1.59238458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:476.14, Y:19.14, Z:159.24 [[ 8.19949956e-01 5.69992252e-01 -5.28289863e-02 4.76135685e+02] [-5.68714406e-01 8.21649117e-01 3.81661252e-02 1.91373549e+01] [ 6.51612856e-02 -1.24970710e-03 9.97873963e-01 1.59241590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.19, Y:19.10, Z:159.25 [[ 8.21640348e-01 5.67553868e-01 -5.28180435e-02 4.76185577e+02] [-5.66270008e-01 8.23334968e-01 3.81812630e-02 1.90989761e+01] [ 6.51568656e-02 -1.46199232e-03 9.97873963e-01 1.59245409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.24, Y:19.06, Z:159.25 [[ 8.22739114e-01 5.65960968e-01 -5.28065586e-02 4.76236759e+02] [-5.64672809e-01 8.24430468e-01 3.81971406e-02 1.90632756e+01] [ 6.51534265e-02 -1.60785385e-03 9.97873963e-01 1.59245744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.29, Y:19.03, Z:159.25 [[ 8.21765325e-01 5.67375000e-01 -5.27954572e-02 4.76285596e+02] [-5.66088767e-01 8.23458144e-01 3.82124786e-02 1.90271176e+01] [ 6.51556542e-02 -1.51477458e-03 9.97873963e-01 1.59254318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.34, Y:18.99, Z:159.25 [[ 8.21314271e-01 5.68028675e-01 -5.27853441e-02 4.76336461e+02] [-5.66742893e-01 8.23007432e-01 3.82264433e-02 1.89908032e+01] [ 6.51564465e-02 -1.48020477e-03 9.97873963e-01 1.59254595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.39, Y:18.95, Z:159.26 [[ 8.20495412e-01 5.69211855e-01 -5.27744583e-02 4.76387252e+02] [-5.67927548e-01 8.22189693e-01 3.82414662e-02 1.89542605e+01] [ 6.51581115e-02 -1.40487889e-03 9.97873963e-01 1.59257813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.44, Y:18.92, Z:159.26 [[ 8.18998767e-01 5.71364331e-01 -5.27619319e-02 4.76436480e+02] [-5.70083365e-01 8.20695574e-01 3.82587411e-02 1.89190064e+01] [ 6.51611640e-02 -1.25516208e-03 9.97873964e-01 1.59264626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.49, Y:18.88, Z:159.27 [[ 8.17888120e-01 5.72953974e-01 -5.27519332e-02 4.76487334e+02] [-5.71675417e-01 8.19586744e-01 3.82725226e-02 1.88828620e+01] [ 6.51631791e-02 -1.14565817e-03 9.97873964e-01 1.59268009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.54, Y:18.85, Z:159.27 [[ 8.16964449e-01 5.74271367e-01 -5.27397994e-02 4.76537584e+02] [-5.72994471e-01 8.18664321e-01 3.82892357e-02 1.88466858e+01] [ 6.51646038e-02 -1.06133088e-03 9.97873964e-01 1.59271662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.59, Y:18.81, Z:159.27 [[ 8.17412361e-01 5.73634321e-01 -5.27323314e-02 4.76589809e+02] [-5.72355437e-01 8.19110738e-01 3.82995179e-02 1.88123109e+01] [ 6.51635369e-02 -1.12486276e-03 9.97873964e-01 1.59270852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.64, Y:18.77, Z:159.28 [[ 8.15945447e-01 5.75719989e-01 -5.27211710e-02 4.76638841e+02] [-5.74444455e-01 8.17646341e-01 3.83148747e-02 1.87740864e+01] [ 6.51659118e-02 -9.77463227e-04 9.97873964e-01 1.59276734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.69, Y:18.74, Z:159.28 [[ 8.15964328e-01 5.75694249e-01 -5.27100237e-02 4.76688475e+02] [-5.74417671e-01 8.17664439e-01 3.83302039e-02 1.87375199e+01] [ 6.51655899e-02 -9.98509997e-04 9.97873964e-01 1.59284168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.422755096 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:476.74, Y:18.70, Z:159.29 [[ 8.15110077e-01 5.76904205e-01 -5.26982041e-02 4.76738888e+02] [-5.75629101e-01 8.16811293e-01 3.83464472e-02 1.87020616e+01] [ 6.51667149e-02 -9.21955680e-04 9.97873965e-01 1.59287242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.79, Y:18.67, Z:159.29 [[ 8.13493779e-01 5.79182094e-01 -5.26875032e-02 4.76787068e+02] [-5.77910802e-01 8.15197846e-01 3.83611446e-02 1.86675568e+01] [ 6.51688271e-02 -7.57875255e-04 9.97873965e-01 1.59290264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.542755096 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:476.84, Y:18.63, Z:159.29 [[ 8.15226241e-01 5.76740756e-01 -5.26903900e-02 4.76837053e+02] [-5.75464617e-01 8.16926681e-01 3.83571790e-02 1.86297667e+01] [ 6.51663338e-02 -9.48323699e-04 9.97873965e-01 1.59290986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.89, Y:18.59, Z:159.30 [[ 8.17606742e-01 5.73362279e-01 -5.26774304e-02 4.76885772e+02] [-5.72077969e-01 8.19301019e-01 3.83749687e-02 1.85932091e+01] [ 6.51614319e-02 -1.24003579e-03 9.97873965e-01 1.59296076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.94, Y:18.56, Z:159.30 [[ 8.18011401e-01 5.72785776e-01 -5.26669127e-02 4.76935837e+02] [-5.71499343e-01 8.19704066e-01 3.83893981e-02 1.85566124e+01] [ 6.51601836e-02 -1.30385932e-03 9.97873965e-01 1.59301028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.99, Y:18.52, Z:159.30 [[ 8.19172728e-01 5.71124640e-01 -5.26563173e-02 4.76986533e+02] [-5.69833842e-01 8.20862066e-01 3.84039257e-02 1.85201413e+01] [ 6.51570016e-02 -1.45409693e-03 9.97873965e-01 1.59304939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.03, Y:18.48, Z:159.31 [[ 8.15360763e-01 5.76554776e-01 -5.26442465e-02 4.77034934e+02] [-5.75274163e-01 8.17057834e-01 3.84204653e-02 1.84801029e+01] [ 6.51648968e-02 -1.04166508e-03 9.97873966e-01 1.59308234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.09, Y:18.45, Z:159.31 [[ 8.16686759e-01 5.74676210e-01 -5.26307169e-02 4.77090258e+02] [-5.73390500e-01 8.18379972e-01 3.84389900e-02 1.84522354e+01] [ 6.51618977e-02 -1.21466103e-03 9.97873966e-01 1.59310593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.14, Y:18.41, Z:159.31 [[ 8.11880442e-01 5.81447589e-01 -5.26198526e-02 4.77138040e+02] [-5.80175040e-01 8.13583569e-01 3.84538566e-02 1.84125957e+01] [ 6.51695497e-02 -6.91208964e-04 9.97873966e-01 1.59313942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.19, Y:18.38, Z:159.32 [[ 8.10028146e-01 5.84026325e-01 -5.26084940e-02 4.77189470e+02] [-5.82758190e-01 8.11734562e-01 3.84693901e-02 1.83762499e+01] [ 6.51712693e-02 -5.03258013e-04 9.97873966e-01 1.59318533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.24, Y:18.35, Z:159.32 [[ 8.10237817e-01 5.83736592e-01 -5.25953522e-02 4.77241822e+02] [-5.82466680e-01 8.11942911e-01 3.84873491e-02 1.83450077e+01] [ 6.51708974e-02 -5.48865524e-04 9.97873966e-01 1.59319263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.29, Y:18.31, Z:159.33 [[ 8.07921252e-01 5.86939587e-01 -5.25848930e-02 4.77289827e+02] [-5.85675506e-01 8.09630672e-01 3.85016341e-02 1.83084678e+01] [ 6.51724755e-02 -3.08604624e-04 9.97873967e-01 1.59327643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.34, Y:18.28, Z:159.33 [[ 8.11222128e-01 5.82369783e-01 -5.25746558e-02 4.77343409e+02] [-5.81095167e-01 8.12923708e-01 3.85156082e-02 1.82756177e+01] [ 6.51695105e-02 -6.93835224e-04 9.97873967e-01 1.59329014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.39, Y:18.23, Z:159.34 [[ 8.10320873e-01 5.83624298e-01 -5.25619893e-02 4.77389370e+02] [-5.82351196e-01 8.12023584e-01 3.85328863e-02 1.82345888e+01] [ 6.51703037e-02 -6.14464728e-04 9.97873967e-01 1.59335848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.44, Y:18.20, Z:159.34 [[ 8.12643965e-01 5.80386266e-01 -5.25506286e-02 4.77441135e+02] [-5.79105379e-01 8.14340828e-01 3.85483737e-02 1.82004295e+01] [ 6.51670691e-02 -8.93751510e-04 9.97873967e-01 1.59335871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.49, Y:18.17, Z:159.34 [[ 8.15423973e-01 5.76474890e-01 -5.25399439e-02 4.77491474e+02] [-5.75184926e-01 8.17113946e-01 3.85629311e-02 1.81653252e+01] [ 6.51616823e-02 -1.22495475e-03 9.97873967e-01 1.59337166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.382755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:477.54, Y:18.13, Z:159.34 [[ 8.13883002e-01 5.78649321e-01 -5.25302044e-02 4.77538858e+02] [-5.77363018e-01 8.15575762e-01 3.85761936e-02 1.81311968e+01] [ 6.51644497e-02 -1.06751096e-03 9.97873967e-01 1.59342737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.93, Y:18.73, Z:160.45 [[ 8.38650573e-01 5.42130564e-01 -5.25325415e-02 4.77925302e+02] [-5.40770935e-01 8.40285022e-01 3.85730107e-02 1.87306038e+01] [ 6.50539159e-02 -3.94120590e-03 9.97873967e-01 1.60454528e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 645.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.98, Y:18.70, Z:160.46 [[ 8.36862358e-01 5.44735221e-01 -5.40826433e-02 4.77977280e+02] [-5.43527795e-01 8.38607558e-01 3.62615490e-02 1.87019412e+01] [ 6.51070563e-02 -9.50505486e-04 9.97877832e-01 1.60456330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.03, Y:18.67, Z:160.46 [[ 8.33242144e-01 5.50256558e-01 -5.40855725e-02 4.78026640e+02] [-5.49060982e-01 8.34995482e-01 3.62571794e-02 1.86701328e+01] [ 6.51119595e-02 -5.14732387e-04 9.97877832e-01 1.60461949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.08, Y:18.64, Z:160.46 [[ 8.33009131e-01 5.50608952e-01 -5.40885443e-02 4.78080023e+02] [-5.49414405e-01 8.34763170e-01 3.62527456e-02 1.86375452e+01] [ 6.51122109e-02 -4.81842725e-04 9.97877832e-01 1.60463245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.13, Y:18.60, Z:160.47 [[ 8.34237681e-01 5.48747094e-01 -5.40751183e-02 4.78131566e+02] [-5.47547335e-01 8.35988159e-01 3.62727610e-02 1.86044386e+01] [ 6.51107308e-02 -6.51417119e-04 9.97877832e-01 1.60467430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.18, Y:18.57, Z:160.47 [[ 8.30562739e-01 5.54294718e-01 -5.40638730e-02 4.78183371e+02] [-5.53105562e-01 8.32320436e-01 3.62895142e-02 1.85716408e+01] [ 6.51135524e-02 -2.37689508e-04 9.97877833e-01 1.60471669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.23, Y:18.54, Z:160.48 [[ 8.28981174e-01 5.56657424e-01 -5.40622411e-02 4.78234968e+02] [-5.55473118e-01 8.30742144e-01 3.62919452e-02 1.85383281e+01] [ 6.51139628e-02 -5.52176875e-05 9.97877833e-01 1.60476423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.28, Y:18.51, Z:160.48 [[ 8.29091335e-01 5.56494456e-01 -5.40507029e-02 4.78282811e+02] [-5.55308685e-01 8.30851318e-01 3.63091212e-02 1.85060418e+01] [ 6.51139224e-02 -8.87530473e-05 9.97877833e-01 1.60481497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.34, Y:18.47, Z:160.48 [[ 8.30176002e-01 5.54874690e-01 -5.40544661e-02 4.78335483e+02] [-5.53685849e-01 8.31933913e-01 3.63035180e-02 1.84716896e+01] [ 6.51136467e-02 -2.09116419e-04 9.97877833e-01 1.60482486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.39, Y:18.44, Z:160.49 [[ 8.31783314e-01 5.52463467e-01 -5.40429038e-02 4.78387552e+02] [-5.51268413e-01 8.33537007e-01 3.63207219e-02 1.84356557e+01] [ 6.51126323e-02 -4.18824587e-04 9.97877833e-01 1.60485447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.44, Y:18.40, Z:160.49 [[ 8.31678964e-01 5.52621753e-01 -5.40305359e-02 4.78435655e+02] [-5.51425837e-01 8.33432070e-01 3.63391111e-02 1.83983646e+01] [ 6.51125646e-02 -4.28640761e-04 9.97877833e-01 1.60494238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.49, Y:18.37, Z:160.49 [[ 8.34543053e-01 5.48287564e-01 -5.40244413e-02 4.78488364e+02] [-5.47081958e-01 8.36289508e-01 3.63481696e-02 1.83703112e+01] [ 6.51093228e-02 -7.78315292e-04 9.97877833e-01 1.60491681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.162755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:478.54, Y:18.34, Z:160.50 [[ 8.36904365e-01 5.44676214e-01 -5.40269028e-02 4.78539585e+02] [-5.43463309e-01 8.38645759e-01 3.63445105e-02 1.83415155e+01] [ 6.51054232e-02 -1.05524014e-03 9.97877833e-01 1.60500286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2227550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:478.59, Y:18.31, Z:160.50 [[ 8.36891529e-01 5.44695606e-01 -5.40302375e-02 4.78590720e+02] [-5.43483061e-01 8.38633173e-01 3.63395523e-02 1.83052911e+01] [ 6.51055440e-02 -1.04774459e-03 9.97877833e-01 1.60499702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.64, Y:18.27, Z:160.50 [[ 8.37595646e-01 5.43612629e-01 -5.40263209e-02 4.78642652e+02] [-5.42397457e-01 8.39335459e-01 3.63453743e-02 1.82743860e+01] [ 6.51040113e-02 -1.13898825e-03 9.97877833e-01 1.60503980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.70, Y:18.24, Z:160.51 [[ 8.36116739e-01 5.45884562e-01 -5.40263209e-02 4.78696675e+02] [-5.44674118e-01 8.37859844e-01 3.63453743e-02 1.82420745e+01] [ 6.51068636e-02 -9.62237174e-04 9.97877833e-01 1.60505203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.75, Y:18.21, Z:160.51 [[ 8.33927265e-01 5.49224687e-01 -5.40144523e-02 4.78747608e+02] [-5.48020083e-01 8.35674411e-01 3.63630042e-02 1.82070386e+01] [ 6.51099552e-02 -7.23096020e-04 9.97877834e-01 1.60507622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.80, Y:18.18, Z:160.51 [[ 8.33674878e-01 5.49608114e-01 -5.40103673e-02 4.78798707e+02] [-5.48403921e-01 8.35422307e-01 3.63690706e-02 1.81752117e+01] [ 6.51102020e-02 -7.00483317e-04 9.97877834e-01 1.60510901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.522755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:478.85, Y:18.14, Z:160.51 [[ 8.33931571e-01 5.49218549e-01 -5.40103673e-02 4.78850936e+02] [-5.48013540e-01 8.35678438e-01 3.63690706e-02 1.81414923e+01] [ 6.51098676e-02 -7.30903661e-04 9.97877834e-01 1.60512417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.18, Y:18.71, Z:161.65 [[ 8.61167147e-01 5.05445666e-01 -5.39983626e-02 4.79179838e+02] [-5.04150993e-01 8.62848637e-01 3.63868858e-02 1.87054727e+01] [ 6.49840073e-02 -4.11186256e-03 9.97877834e-01 1.61654564e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 646.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.23, Y:18.68, Z:161.66 [[ 8.64213689e-01 5.00041036e-01 -5.56206907e-02 4.79230538e+02] [-4.98905339e-01 8.66000605e-01 3.37107580e-02 1.86776054e+01] [ 6.50243141e-02 -1.38383898e-03 9.97882720e-01 1.61658254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.28, Y:18.64, Z:161.66 [[ 8.64774374e-01 4.99070309e-01 -5.56247170e-02 4.79280414e+02] [-4.97933034e-01 8.66560285e-01 3.37041130e-02 1.86425332e+01] [ 6.50228927e-02 -1.44906911e-03 9.97882720e-01 1.61664027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.34, Y:18.61, Z:161.67 [[ 8.69053771e-01 4.91581526e-01 -5.56160652e-02 4.79336115e+02] [-4.90427953e-01 8.70829199e-01 3.37183837e-02 1.86130443e+01] [ 6.50074279e-02 -2.02741550e-03 9.97882721e-01 1.61667714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.39, Y:18.58, Z:161.67 [[ 8.65987408e-01 4.96964616e-01 -5.56055705e-02 4.79386355e+02] [-4.95820973e-01 8.67769248e-01 3.37356818e-02 1.85781316e+01] [ 6.50182442e-02 -1.64426763e-03 9.97882721e-01 1.61670764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.44, Y:18.55, Z:161.68 [[ 8.64979237e-01 4.98718223e-01 -5.55972450e-02 4.79440559e+02] [-4.97577312e-01 8.66762826e-01 3.37493968e-02 1.85466997e+01] [ 6.50210644e-02 -1.52859979e-03 9.97882721e-01 1.61675699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.49, Y:18.51, Z:161.68 [[ 8.65620765e-01 4.97605040e-01 -5.55870111e-02 4.79494504e+02] [-4.96460753e-01 8.67402191e-01 3.37662442e-02 1.85145064e+01] [ 6.50185485e-02 -1.63199279e-03 9.97882721e-01 1.61680210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.55, Y:18.49, Z:161.68 [[ 8.62358016e-01 5.03239517e-01 -5.55755462e-02 4.79548856e+02] [-5.02105657e-01 8.64146096e-01 3.37851036e-02 1.84854243e+01] [ 6.50273905e-02 -1.23005874e-03 9.97882721e-01 1.61681395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.60, Y:18.45, Z:161.69 [[ 8.62608968e-01 5.02810499e-01 -5.55641086e-02 4.79601527e+02] [-5.01674540e-01 8.64395715e-01 3.38039039e-02 1.84528792e+01] [ 6.50263352e-02 -1.28445199e-03 9.97882722e-01 1.61688557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.122755096 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:479.65, Y:18.41, Z:161.69 [[ 8.60341649e-01 5.06681325e-01 -5.55543144e-02 4.79651355e+02] [-5.05552367e-01 8.62132828e-01 3.38199923e-02 1.84149208e+01] [ 6.50311567e-02 -1.01113277e-03 9.97882722e-01 1.61689139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1827550959999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:479.70, Y:18.38, Z:161.69 [[ 8.61816456e-01 5.04169780e-01 -5.55448395e-02 4.79703841e+02] [-5.03034600e-01 8.63603698e-01 3.38355464e-02 1.83829647e+01] [ 6.50275888e-02 -1.21905460e-03 9.97882722e-01 1.61692172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.76, Y:18.35, Z:161.70 [[ 8.62212971e-01 5.03492334e-01 -5.55361408e-02 4.79755793e+02] [-5.02354831e-01 8.63998735e-01 3.38498181e-02 1.83502200e+01] [ 6.50262793e-02 -1.28690354e-03 9.97882722e-01 1.61696659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.81, Y:18.32, Z:161.70 [[ 8.63196492e-01 5.01805248e-01 -5.55275638e-02 4.79809421e+02] [-5.00663351e-01 8.64979449e-01 3.38638821e-02 1.83175698e+01] [ 6.50232753e-02 -1.43056810e-03 9.97882722e-01 1.61702145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.362755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:479.86, Y:18.28, Z:161.71 [[ 8.63725586e-01 5.00895172e-01 -5.55170238e-02 4.79860398e+02] [-4.99750287e-01 8.65506625e-01 3.38811527e-02 1.82849036e+01] [ 6.50212578e-02 -1.51936988e-03 9.97882722e-01 1.61707813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.91, Y:18.26, Z:161.71 [[ 8.62162943e-01 5.03581030e-01 -5.55086176e-02 4.79911965e+02] [-5.02440808e-01 8.63946971e-01 3.38949193e-02 1.82582398e+01] [ 6.50253404e-02 -1.33314872e-03 9.97882722e-01 1.61707465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4827550959999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:479.96, Y:18.23, Z:161.71 [[ 8.62301823e-01 5.03342835e-01 -5.55117744e-02 4.79962566e+02] [-5.02202452e-01 8.64085749e-01 3.38897484e-02 1.82288250e+01] [ 6.50250952e-02 -1.34504261e-03 9.97882723e-01 1.61713171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.542755096 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:480.02, Y:18.20, Z:161.72 [[ 8.63362630e-01 5.01520824e-01 -5.55142562e-02 4.80018354e+02] [-5.00376939e-01 8.65144311e-01 3.38856825e-02 1.82017477e+01] [ 6.50222184e-02 -1.47757836e-03 9.97882723e-01 1.61721752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.07, Y:18.17, Z:161.73 [[ 8.62922412e-01 5.02278932e-01 -5.55048158e-02 4.80072201e+02] [-5.01135618e-01 8.64704461e-01 3.39011390e-02 1.81699704e+01] [ 6.50230897e-02 -1.43861248e-03 9.97882723e-01 1.61726520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.12, Y:18.14, Z:161.73 [[ 8.64703624e-01 4.99207438e-01 -5.54939387e-02 4.80123205e+02] [-4.98056653e-01 8.66480857e-01 3.39189348e-02 1.81403767e+01] [ 6.50170201e-02 -1.69070046e-03 9.97882723e-01 1.61729058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.17, Y:18.11, Z:161.74 [[ 8.65597463e-01 4.97655632e-01 -5.54968889e-02 4.80171819e+02] [-4.96501971e-01 8.67372830e-01 3.39141070e-02 1.81101902e+01] [ 6.50140400e-02 -1.80165024e-03 9.97882723e-01 1.61737223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.22, Y:18.08, Z:161.74 [[ 8.65985498e-01 4.96979682e-01 -5.55005764e-02 4.80221087e+02] [-4.95825022e-01 8.67760215e-01 3.39080713e-02 1.80799351e+01] [ 6.50128146e-02 -1.84532354e-03 9.97882723e-01 1.61740482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.27, Y:18.05, Z:161.74 [[ 8.65942395e-01 4.97054468e-01 -5.55033684e-02 4.80270251e+02] [-4.95900254e-01 8.67717403e-01 3.39035007e-02 1.80482846e+01] [ 6.50131251e-02 -1.83434414e-03 9.97882723e-01 1.61743623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.32, Y:18.02, Z:161.75 [[ 8.65539672e-01 4.97755094e-01 -5.55062400e-02 4.80322551e+02] [-4.96602618e-01 8.67315808e-01 3.38987986e-02 1.80207724e+01] [ 6.50147391e-02 -1.77621095e-03 9.97882723e-01 1.61750597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.37, Y:17.99, Z:161.76 [[ 8.65830454e-01 4.97248794e-01 -5.55091169e-02 4.80373127e+02] [-4.96095581e-01 8.67606112e-01 3.38940870e-02 1.79907133e+01] [ 6.50138430e-02 -1.80870509e-03 9.97882723e-01 1.61755314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.022755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:480.43, Y:17.96, Z:161.75 [[ 8.65347505e-01 4.98088445e-01 -5.55121303e-02 4.80425886e+02] [-4.96937271e-01 8.67124486e-01 3.38891509e-02 1.79558808e+01] [ 6.50157219e-02 -1.73984561e-03 9.97882723e-01 1.61753602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:480.48, Y:17.93, Z:161.76 [[ 8.67009385e-01 4.95191214e-01 -5.55012465e-02 4.80478404e+02] [-4.94032964e-01 8.68781761e-01 3.39069663e-02 1.79290357e+01] [ 6.50089025e-02 -1.97821263e-03 9.97882723e-01 1.61758970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.142755096 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:480.53, Y:17.90, Z:161.77 [[ 8.66507069e-01 4.96069403e-01 -5.55035714e-02 4.80528517e+02] [-4.94913193e-01 8.68280777e-01 3.39031602e-02 1.78994177e+01] [ 6.50110045e-02 -1.90787826e-03 9.97882723e-01 1.61765105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.58, Y:17.87, Z:161.77 [[ 8.66480121e-01 4.96116121e-01 -5.55067078e-02 4.80582145e+02] [-4.94960335e-01 8.68254105e-01 3.38980244e-02 1.78679437e+01] [ 6.50112833e-02 -1.89834553e-03 9.97882723e-01 1.61770140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.63, Y:17.84, Z:161.77 [[ 8.65628373e-01 4.97601504e-01 -5.55001157e-02 4.80633412e+02] [-4.96448071e-01 8.67403888e-01 3.39088141e-02 1.78410537e+01] [ 6.50140930e-02 -1.79950622e-03 9.97882723e-01 1.61774648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.69, Y:17.81, Z:161.78 [[ 8.61986669e-01 5.03883180e-01 -5.55042625e-02 4.80685059e+02] [-5.02743126e-01 8.63770804e-01 3.39020249e-02 1.78094788e+01] [ 6.50256216e-02 -1.31870705e-03 9.97882723e-01 1.61782933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.74, Y:17.78, Z:161.78 [[ 8.61568319e-01 5.04598165e-01 -5.55042625e-02 4.80740502e+02] [-5.03459592e-01 8.63353399e-01 3.39020249e-02 1.77814531e+01] [ 6.50266933e-02 -1.26475721e-03 9.97882723e-01 1.61784843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.79, Y:17.75, Z:161.79 [[ 8.59552298e-01 5.08025909e-01 -5.54934518e-02 4.80793633e+02] [-5.06893313e-01 8.61341177e-01 3.39197114e-02 1.77545930e+01] [ 6.50308873e-02 -1.02650627e-03 9.97882724e-01 1.61788818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.85, Y:17.72, Z:161.79 [[ 8.57565876e-01 5.11371780e-01 -5.54947796e-02 4.80848612e+02] [-5.10246305e-01 8.59359243e-01 3.39175391e-02 1.77238467e+01] [ 6.50344241e-02 -7.70517922e-04 9.97882724e-01 1.61791384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5627550959999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:480.90, Y:17.70, Z:161.80 [[ 8.58193801e-01 5.10318520e-01 -5.54833924e-02 4.80903219e+02] [-5.09189641e-01 8.59985027e-01 3.39361564e-02 1.76955738e+01] [ 6.50331358e-02 -8.72230481e-04 9.97882724e-01 1.61795771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.622755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:480.96, Y:17.67, Z:161.80 [[ 8.61740853e-01 5.04306910e-01 -5.54729077e-02 4.80955342e+02] [-5.03164434e-01 8.63523437e-01 3.39532864e-02 1.76719095e+01] [ 6.50250328e-02 -1.34693976e-03 9.97882724e-01 1.61798849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.00, Y:17.64, Z:161.80 [[ 8.60029539e-01 5.07219346e-01 -5.54772679e-02 4.81004677e+02] [-5.06083367e-01 8.61816270e-01 3.39461605e-02 1.76438656e+01] [ 6.50293615e-02 -1.11857824e-03 9.97882724e-01 1.61802761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.06, Y:17.62, Z:161.81 [[ 8.60746943e-01 5.06000426e-01 -5.54821524e-02 4.81056344e+02] [-5.04862431e-01 8.62532391e-01 3.39381754e-02 1.76186486e+01] [ 6.50278848e-02 -1.20132644e-03 9.97882724e-01 1.61805420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.11, Y:17.59, Z:161.81 [[ 8.60999523e-01 5.05570041e-01 -5.54865282e-02 4.81108104e+02] [-5.04431615e-01 8.62784696e-01 3.39310197e-02 1.75895156e+01] [ 6.50274344e-02 -1.22543281e-03 9.97882724e-01 1.61808201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.16, Y:17.56, Z:161.81 [[ 8.62055364e-01 5.03767447e-01 -5.54879224e-02 4.81158216e+02] [-5.02625434e-01 8.63838245e-01 3.39287396e-02 1.75618354e+01] [ 6.50247840e-02 -1.35881081e-03 9.97882724e-01 1.61812712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.21, Y:17.53, Z:161.82 [[ 8.63221071e-01 5.01766935e-01 -5.54916743e-02 4.81210061e+02] [-5.00621185e-01 8.65001552e-01 3.39226022e-02 1.75346232e+01] [ 6.50216245e-02 -1.50239718e-03 9.97882724e-01 1.61817398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.26, Y:17.51, Z:161.82 [[ 8.64259164e-01 4.99976473e-01 -5.54943701e-02 4.81261034e+02] [-4.98827318e-01 8.66037449e-01 3.39181914e-02 1.75076060e+01] [ 6.50185005e-02 -1.63199996e-03 9.97882724e-01 1.61819573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.31, Y:17.48, Z:161.82 [[ 8.64420369e-01 4.99697296e-01 -5.54980993e-02 4.81312127e+02] [-4.98547958e-01 8.66198536e-01 3.39120886e-02 1.74803533e+01] [ 6.50181513e-02 -1.64583607e-03 9.97882724e-01 1.61817370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.36, Y:17.45, Z:161.82 [[ 8.64286002e-01 4.99929159e-01 -5.55026448e-02 4.81363004e+02] [-4.98780775e-01 8.66064786e-01 3.39046475e-02 1.74504308e+01] [ 6.50188081e-02 -1.61966001e-03 9.97882724e-01 1.61822417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.41, Y:17.42, Z:161.83 [[ 8.63395166e-01 5.01465771e-01 -5.55055684e-02 4.81412730e+02] [-5.00320861e-01 8.65176188e-01 3.38998605e-02 1.74184249e+01] [ 6.50217158e-02 -1.49838189e-03 9.97882724e-01 1.61826225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.46, Y:17.39, Z:161.83 [[ 8.61840453e-01 5.04132735e-01 -5.55087251e-02 4.81460393e+02] [-5.02993670e-01 8.63625219e-01 3.38946908e-02 1.73856261e+01] [ 6.50261581e-02 -1.29127837e-03 9.97882724e-01 1.61833117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.51, Y:17.35, Z:161.84 [[ 8.59786879e-01 5.07626486e-01 -5.55146289e-02 4.81508373e+02] [-5.06495298e-01 8.61576647e-01 3.38850186e-02 1.73528606e+01] [ 6.50310407e-02 -1.01599585e-03 9.97882724e-01 1.61836728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3427550959999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:481.56, Y:17.32, Z:161.83 [[ 8.57665877e-01 5.11201522e-01 -5.55179955e-02 4.81559047e+02] [-5.10078152e-01 8.59460562e-01 3.38795017e-02 1.73187268e+01] [ 6.50347805e-02 -7.38775991e-04 9.97882724e-01 1.61834813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.61, Y:17.28, Z:161.84 [[ 8.56701524e-01 5.12816002e-01 -5.55179955e-02 4.81610560e+02] [-5.11696014e-01 8.58498322e-01 3.38795017e-02 1.72831828e+01] [ 6.50360566e-02 -6.16283742e-04 9.97882724e-01 1.61841163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.66, Y:17.25, Z:161.84 [[ 8.56974321e-01 5.12361269e-01 -5.55062416e-02 4.81660642e+02] [-5.11239082e-01 8.58769746e-01 3.38987478e-02 1.72467891e+01] [ 6.50354864e-02 -6.73396454e-04 9.97882725e-01 1.61842539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.522755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:481.71, Y:17.21, Z:161.85 [[ 8.57892481e-01 5.10823602e-01 -5.54953937e-02 4.81709301e+02] [-5.09697049e-01 8.59685169e-01 3.39164976e-02 1.72103196e+01] [ 6.50339144e-02 -8.10869861e-04 9.97882725e-01 1.61848245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.76, Y:17.18, Z:161.85 [[ 8.57908714e-01 5.10796338e-01 -5.54953937e-02 4.81756910e+02] [-5.09669728e-01 8.59701367e-01 3.39164976e-02 1.71764743e+01] [ 6.50338886e-02 -8.12936649e-04 9.97882725e-01 1.61853240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.81, Y:17.14, Z:161.86 [[ 8.58012616e-01 5.10621568e-01 -5.54974370e-02 4.81806821e+02] [-5.09494808e-01 8.59805175e-01 3.39131537e-02 1.71373094e+01] [ 6.50337713e-02 -8.22257731e-04 9.97882725e-01 1.61858297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.85, Y:17.10, Z:161.86 [[ 8.57290949e-01 5.11833523e-01 -5.54857939e-02 4.81854672e+02] [-5.10708065e-01 8.59084326e-01 3.39321925e-02 1.70993421e+01] [ 6.50346095e-02 -7.52719039e-04 9.97882725e-01 1.61863809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.90, Y:17.06, Z:161.87 [[ 8.55839709e-01 5.14257087e-01 -5.54800944e-02 4.81904336e+02] [-5.13136105e-01 8.57635886e-01 3.39415088e-02 1.70619764e+01] [ 6.50363814e-02 -5.79651503e-04 9.97882725e-01 1.61866577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.95, Y:17.03, Z:161.87 [[ 8.54642127e-01 5.16245996e-01 -5.54698780e-02 4.81952528e+02] [-5.15128110e-01 8.56440232e-01 3.39581971e-02 1.70264483e+01] [ 6.50374185e-02 -4.48012418e-04 9.97882725e-01 1.61871625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.00, Y:16.99, Z:161.88 [[ 8.53359764e-01 5.18363076e-01 -5.54692211e-02 4.81999728e+02] [-5.17249581e-01 8.55160592e-01 3.39592700e-02 1.69895062e+01] [ 6.50383237e-02 -2.88043246e-04 9.97882725e-01 1.61875811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.05, Y:16.95, Z:161.88 [[ 8.52382471e-01 5.19968620e-01 -5.54685326e-02 4.82049563e+02] [-5.18858444e-01 8.54185347e-01 3.39603946e-02 1.69498159e+01] [ 6.50387473e-02 -1.66928556e-04 9.97882725e-01 1.61879196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.10, Y:16.91, Z:161.88 [[ 8.51164906e-01 5.21960446e-01 -5.54580587e-02 4.82098207e+02] [-5.20853375e-01 8.52969690e-01 3.39774902e-02 1.69092571e+01] [ 6.50389490e-02 -3.49301608e-05 9.97882726e-01 1.61882372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.15, Y:16.87, Z:161.89 [[ 8.50288472e-01 5.23388075e-01 -5.54476074e-02 4.82149462e+02] [-5.22282923e-01 8.52094431e-01 3.39945370e-02 1.68718991e+01] [ 6.50389328e-02 5.41755439e-05 9.97882726e-01 1.61885423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.20, Y:16.83, Z:161.88 [[ 8.49288502e-01 5.25010234e-01 -5.54372992e-02 4.82195992e+02] [-5.23907434e-01 8.51095899e-01 3.40113391e-02 1.68343309e+01] [ 6.50387591e-02 1.58573975e-04 9.97882726e-01 1.61884993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.25, Y:16.80, Z:161.89 [[ 8.47312556e-01 5.28192998e-01 -5.54399685e-02 4.82247633e+02] [-5.27097272e-01 8.49124249e-01 3.40069874e-02 1.68000635e+01] [ 6.50376743e-02 4.07708699e-04 9.97882726e-01 1.61894202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.242755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:482.30, Y:16.77, Z:161.90 [[ 8.45662003e-01 5.30832662e-01 -5.54297890e-02 4.82299790e+02] [-5.29741503e-01 8.47476452e-01 3.40235715e-02 1.67673484e+01] [ 6.50362639e-02 5.91018081e-04 9.97882726e-01 1.61898135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.35, Y:16.74, Z:161.90 [[ 8.45663253e-01 5.30831714e-01 -5.54198074e-02 4.82353379e+02] [-5.29739489e-01 8.47477059e-01 3.40398223e-02 1.67353658e+01] [ 6.50364326e-02 5.71833564e-04 9.97882726e-01 1.61901223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.362755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:482.41, Y:16.70, Z:161.91 [[ 8.46557081e-01 5.29406169e-01 -5.54095328e-02 4.82406939e+02] [-5.28309795e-01 8.48368383e-01 3.40565391e-02 1.67027824e+01] [ 6.50374376e-02 4.42594533e-04 9.97882727e-01 1.61906149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.46, Y:16.67, Z:161.91 [[ 8.49393571e-01 5.24844316e-01 -5.53986028e-02 4.82461073e+02] [-5.23737055e-01 8.51198237e-01 3.40743093e-02 1.66702979e+01] [ 6.50389006e-02 7.18017492e-05 9.97882727e-01 1.61910014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.52, Y:16.64, Z:161.91 [[ 8.53202376e-01 5.18630802e-01 -5.53876929e-02 4.82515054e+02] [-5.17509248e-01 8.54998194e-01 3.40920340e-02 1.66386480e+01] [ 6.50375564e-02 -4.23761137e-04 9.97882727e-01 1.61912948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.57, Y:16.61, Z:161.91 [[ 8.56800228e-01 5.12665717e-01 -5.53825875e-02 4.82567875e+02] [-5.11531126e-01 8.58587838e-01 3.41003259e-02 1.66065116e+01] [ 6.50328840e-02 -8.87249670e-04 9.97882727e-01 1.61912997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.62, Y:16.58, Z:161.92 [[ 8.57777032e-01 5.11030691e-01 -5.53732501e-02 4.82620715e+02] [-5.09891714e-01 8.59561850e-01 3.41154815e-02 1.65752986e+01] [ 6.50307914e-02 -1.02911501e-03 9.97882727e-01 1.61922722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.67, Y:16.54, Z:161.93 [[ 8.57992240e-01 5.10670316e-01 -5.53637457e-02 4.82674871e+02] [-5.09529595e-01 8.59775944e-01 3.41308987e-02 1.65431796e+01] [ 6.50300535e-02 -1.07457932e-03 9.97882727e-01 1.61926966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.73, Y:16.51, Z:161.93 [[ 8.57907480e-01 5.10813874e-01 -5.53528870e-02 4.82727991e+02] [-5.09672316e-01 8.59690648e-01 3.41485000e-02 1.65106686e+01] [ 6.50298869e-02 -1.08441944e-03 9.97882728e-01 1.61931549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.78, Y:16.48, Z:161.94 [[ 8.57493726e-01 5.11509297e-01 -5.53421015e-02 4.82780563e+02] [-5.10368058e-01 8.59277098e-01 3.41659704e-02 1.64774715e+01] [ 6.50304119e-02 -1.05226434e-03 9.97882728e-01 1.61938520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.83, Y:16.45, Z:161.94 [[ 8.56676082e-01 5.12878698e-01 -5.53311090e-02 4.82833949e+02] [-5.11739161e-01 8.58460542e-01 3.41837633e-02 1.64458447e+01] [ 6.50316978e-02 -9.69317194e-04 9.97882728e-01 1.61942621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.89, Y:16.41, Z:161.95 [[ 8.55349434e-01 5.15089251e-01 -5.53209747e-02 4.82888181e+02] [-5.13953265e-01 8.57136156e-01 3.42001562e-02 1.64137865e+01] [ 6.50337404e-02 -8.20688652e-04 9.97882728e-01 1.61947043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.94, Y:16.38, Z:161.95 [[ 8.55201891e-01 5.15335327e-01 -5.53102797e-02 4.82939946e+02] [-5.14198738e-01 8.56988229e-01 3.42174440e-02 1.63803811e+01] [ 6.50337163e-02 -8.22346806e-04 9.97882728e-01 1.61952228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.022755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:482.99, Y:16.35, Z:161.95 [[ 8.57439915e-01 5.11604004e-01 -5.53004033e-02 4.82993839e+02] [-5.10458613e-01 8.59220623e-01 3.42333983e-02 1.63499784e+01] [ 6.50291906e-02 -1.12451495e-03 9.97882729e-01 1.61953969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.04, Y:16.31, Z:161.96 [[ 8.58056730e-01 5.10569252e-01 -5.52963543e-02 4.83042550e+02] [-5.09421292e-01 8.59835783e-01 3.42399373e-02 1.63130204e+01] [ 6.50276432e-02 -1.21066840e-03 9.97882729e-01 1.61964787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.10, Y:16.28, Z:161.97 [[ 8.59381784e-01 5.08336921e-01 -5.52858396e-02 4.83095274e+02] [-5.07183249e-01 8.61157138e-01 3.42569066e-02 1.62793965e+01] [ 6.50238458e-02 -1.39970971e-03 9.97882729e-01 1.61970746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:483.15, Y:16.25, Z:161.98 [[ 8.61257056e-01 5.05154396e-01 -5.52749483e-02 4.83148648e+02] [-5.03993039e-01 8.63027391e-01 3.42744711e-02 1.62471026e+01] [ 6.50176942e-02 -1.66094088e-03 9.97882729e-01 1.61975036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.20, Y:16.22, Z:161.98 [[ 8.62671310e-01 5.02736615e-01 -5.52639744e-02 4.83201624e+02] [-5.01569165e-01 8.64437632e-01 3.42921562e-02 1.62155271e+01] [ 6.50121818e-02 -1.86415379e-03 9.97882729e-01 1.61977432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3227550959999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:483.26, Y:16.18, Z:161.98 [[ 8.62921938e-01 5.02307047e-01 -5.52572155e-02 4.83255376e+02] [-5.01138021e-01 8.64687218e-01 3.43030439e-02 1.61835420e+01] [ 6.50108686e-02 -1.90935754e-03 9.97882729e-01 1.61980460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.31, Y:16.16, Z:161.98 [[ 8.63927636e-01 5.00576457e-01 -5.52471790e-02 4.83311355e+02] [-4.99402864e-01 8.65689882e-01 3.43192008e-02 1.61561243e+01] [ 6.50063078e-02 -2.05870661e-03 9.97882729e-01 1.61983937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.36, Y:16.12, Z:161.99 [[ 8.59810239e-01 5.07617152e-01 -5.52374804e-02 4.83364912e+02] [-5.06456992e-01 8.61581358e-01 3.43348037e-02 1.61225190e+01] [ 6.50205187e-02 -1.54600763e-03 9.97882730e-01 1.61988400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.42, Y:16.09, Z:161.99 [[ 8.58666577e-01 5.09550554e-01 -5.52262790e-02 4.83418249e+02] [-5.08393224e-01 8.60439547e-01 3.43528113e-02 1.60914368e+01] [ 6.50233686e-02 -1.42094485e-03 9.97882730e-01 1.61992318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5627550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:483.47, Y:16.06, Z:162.00 [[ 8.58098506e-01 5.10507363e-01 -5.52194362e-02 4.83470603e+02] [-5.09351303e-01 8.59872304e-01 3.43638072e-02 1.60583105e+01] [ 6.50246404e-02 -1.36143986e-03 9.97882730e-01 1.61997514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.52, Y:16.03, Z:162.00 [[ 8.58618105e-01 5.09634043e-01 -5.52095242e-02 4.83524349e+02] [-5.08475156e-01 8.60390057e-01 3.43797246e-02 1.60283537e+01] [ 6.50228037e-02 -1.44638257e-03 9.97882730e-01 1.62002434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.58, Y:16.00, Z:162.01 [[ 8.61322049e-01 5.05051315e-01 -5.52041432e-02 4.83578458e+02] [-5.03882449e-01 8.63087434e-01 3.43883629e-02 1.59968290e+01] [ 6.50138901e-02 -1.80305633e-03 9.97882730e-01 1.62009161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.63, Y:15.96, Z:162.01 [[ 8.59669650e-01 5.07860064e-01 -5.51928300e-02 4.83630350e+02] [-5.06695802e-01 8.61438075e-01 3.44065108e-02 1.59637601e+01] [ 6.50188980e-02 -1.61225790e-03 9.97882730e-01 1.62013187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8027550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:483.69, Y:15.93, Z:162.02 [[ 8.62166288e-01 5.03610774e-01 -5.51858707e-02 4.83685012e+02] [-5.02437085e-01 8.63928469e-01 3.44176694e-02 1.59322125e+01] [ 6.50097540e-02 -1.94632632e-03 9.97882730e-01 1.62016278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.74, Y:15.90, Z:162.02 [[ 8.67151236e-01 4.94979302e-01 -5.51744944e-02 4.83739245e+02] [-4.93786923e-01 8.68900825e-01 3.44358971e-02 1.59020245e+01] [ 6.49862200e-02 -2.61668690e-03 9.97882731e-01 1.62019598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.79, Y:15.87, Z:162.03 [[ 8.68460041e-01 4.92680513e-01 -5.51640227e-02 4.83792680e+02] [-4.91482442e-01 8.70205736e-01 3.44526639e-02 1.58717915e+01] [ 6.49782051e-02 -2.80861332e-03 9.97882731e-01 1.62027694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:483.85, Y:15.84, Z:162.03 [[ 8.69175418e-01 4.91418426e-01 -5.51545394e-02 4.83845923e+02] [-4.90216859e-01 8.70918710e-01 3.44678387e-02 1.58402748e+01] [ 6.49732514e-02 -2.92091304e-03 9.97882731e-01 1.62030832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.90, Y:15.81, Z:162.03 [[ 8.69121637e-01 4.91514598e-01 -5.51450898e-02 4.83900201e+02] [-4.90312268e-01 8.70864402e-01 3.44829507e-02 1.58095590e+01] [ 6.49727692e-02 -2.93156449e-03 9.97882731e-01 1.62034119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:483.95, Y:15.77, Z:162.04 [[ 8.67186167e-01 4.94922413e-01 -5.51358137e-02 4.83950602e+02] [-4.93725992e-01 8.68932994e-01 3.44977761e-02 1.57725420e+01] [ 6.49830502e-02 -2.69400992e-03 9.97882731e-01 1.62039173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.00, Y:15.74, Z:162.04 [[ 8.68137747e-01 4.93251729e-01 -5.51324292e-02 4.84003619e+02] [-4.92051605e-01 8.69882031e-01 3.45031841e-02 1.57410905e+01] [ 6.49774647e-02 -2.82551625e-03 9.97882731e-01 1.62042463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.06, Y:15.71, Z:162.05 [[ 8.66711507e-01 4.95754676e-01 -5.51222669e-02 4.84055590e+02] [-4.94558561e-01 8.68458543e-01 3.45194118e-02 1.57082150e+01] [ 6.49845634e-02 -2.65718246e-03 9.97882732e-01 1.62050615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.11, Y:15.68, Z:162.05 [[ 8.66340640e-01 4.96403652e-01 -5.51117976e-02 4.84108204e+02] [-4.95207785e-01 8.68087845e-01 3.45361185e-02 1.56759050e+01] [ 6.49857369e-02 -2.62825181e-03 9.97882732e-01 1.62054708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.17, Y:15.65, Z:162.06 [[ 8.67984013e-01 4.93525331e-01 -5.51044614e-02 4.84165522e+02] [-4.92322930e-01 8.69726728e-01 3.45478198e-02 1.56518315e+01] [ 6.49760471e-02 -2.85776541e-03 9.97882732e-01 1.62056475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.21, Y:15.61, Z:162.06 [[ 8.64750437e-01 4.99170448e-01 -5.50957889e-02 4.84214888e+02] [-4.97978548e-01 8.66500351e-01 3.45616450e-02 1.56137079e+01] [ 6.49926722e-02 -2.45067660e-03 9.97882732e-01 1.62059875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.27, Y:15.59, Z:162.06 [[ 8.66233008e-01 4.96594240e-01 -5.50866259e-02 4.84270010e+02] [-4.95396210e-01 8.67978731e-01 3.45762434e-02 1.55872494e+01] [ 6.49843830e-02 -2.66137764e-03 9.97882732e-01 1.62063697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.32, Y:15.56, Z:162.07 [[ 8.66369994e-01 4.96355213e-01 -5.50866259e-02 4.84320635e+02] [-4.95156702e-01 8.68115386e-01 3.45762434e-02 1.55571285e+01] [ 6.49836462e-02 -2.67930777e-03 9.97882732e-01 1.62065335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.37, Y:15.52, Z:162.07 [[ 8.63853508e-01 5.00721849e-01 -5.50885420e-02 4.84370886e+02] [-4.99532357e-01 8.65605059e-01 3.45731903e-02 1.55196789e+01] [ 6.49964725e-02 -2.34766253e-03 9.97882732e-01 1.62068362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.42, Y:15.49, Z:162.07 [[ 8.61990718e-01 5.03923077e-01 -5.50775305e-02 4.84422849e+02] [-5.02738973e-01 8.63745916e-01 3.45907236e-02 1.54853069e+01] [ 6.50040559e-02 -2.12726153e-03 9.97882732e-01 1.62073235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.48, Y:15.45, Z:162.08 [[ 8.60183751e-01 5.07002565e-01 -5.50664416e-02 4.84476350e+02] [-5.05823617e-01 8.61942417e-01 3.46083675e-02 1.54529143e+01] [ 6.50106328e-02 -1.91564866e-03 9.97882733e-01 1.62076029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.53, Y:15.42, Z:162.08 [[ 8.58339558e-01 5.10119706e-01 -5.50553208e-02 4.84531383e+02] [-5.08946013e-01 8.60101734e-01 3.46260496e-02 1.54219800e+01] [ 6.50166071e-02 -1.70072213e-03 9.97882733e-01 1.62079707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.58, Y:15.39, Z:162.08 [[ 8.57526122e-01 5.11487138e-01 -5.50441460e-02 4.84583747e+02] [-5.10315116e-01 8.59289410e-01 3.46438047e-02 1.53873490e+01] [ 6.50187123e-02 -1.61810775e-03 9.97882733e-01 1.62083638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.64, Y:15.35, Z:162.09 [[ 8.56667344e-01 5.12925350e-01 -5.50331455e-02 4.84635059e+02] [-5.11755167e-01 8.58431852e-01 3.46612708e-02 1.53516199e+01] [ 6.50208495e-02 -1.52968224e-03 9.97882733e-01 1.62086671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.68, Y:15.31, Z:162.09 [[ 8.53764382e-01 5.17744076e-01 -5.50222829e-02 4.84682341e+02] [-5.16582743e-01 8.55534728e-01 3.46785059e-02 1.53116048e+01] [ 6.50280648e-02 -1.18371130e-03 9.97882733e-01 1.62094160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.73, Y:15.28, Z:162.10 [[ 8.55575440e-01 5.14746847e-01 -5.50122644e-02 4.84733537e+02] [-5.13578292e-01 8.57341027e-01 3.46943913e-02 1.52768764e+01] [ 6.50230999e-02 -1.43056432e-03 9.97882734e-01 1.62095829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0627550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:484.78, Y:15.24, Z:162.10 [[ 8.53096219e-01 5.18846464e-01 -5.50017142e-02 4.84784218e+02] [-5.17685318e-01 8.54866686e-01 3.47111088e-02 1.52411036e+01] [ 6.50288692e-02 -1.13833579e-03 9.97882734e-01 1.62102777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.83, Y:15.21, Z:162.11 [[ 8.52198202e-01 5.20321242e-01 -5.49911810e-02 4.84833892e+02] [-5.19162083e-01 8.53969971e-01 3.47277881e-02 1.52053381e+01] [ 6.50304231e-02 -1.04562245e-03 9.97882734e-01 1.62106459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.88, Y:15.17, Z:162.11 [[ 8.51479272e-01 5.21497913e-01 -5.49816009e-02 4.84884411e+02] [-5.20340224e-01 8.53252002e-01 3.47429489e-02 1.51688123e+01] [ 6.50315363e-02 -9.73762324e-04 9.97882734e-01 1.62109655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.93, Y:15.13, Z:162.11 [[ 8.50338455e-01 5.23356787e-01 -5.49744185e-02 4.84934559e+02] [-5.22202239e-01 8.52113232e-01 3.47543099e-02 1.51326862e+01] [ 6.50333334e-02 -8.45161777e-04 9.97882734e-01 1.62113065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3027550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:484.99, Y:15.10, Z:162.11 [[ 8.49918392e-01 5.24039718e-01 -5.49645439e-02 4.84986490e+02] [-5.22885587e-01 8.51693440e-01 3.47699198e-02 1.50994445e+01] [ 6.50337605e-02 -8.11426469e-04 9.97882734e-01 1.62112291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.03, Y:15.06, Z:162.12 [[ 8.46884682e-01 5.28929466e-01 -5.49541186e-02 4.85033773e+02] [-5.27784516e-01 8.48665666e-01 3.47863893e-02 1.50584945e+01] [ 6.50372200e-02 -4.56127409e-04 9.97882735e-01 1.62121454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.09, Y:15.03, Z:162.12 [[ 8.48832905e-01 5.25797612e-01 -5.49506151e-02 4.85086797e+02] [-5.24645733e-01 8.50609415e-01 3.47919228e-02 1.50273214e+01] [ 6.50350205e-02 -7.02923141e-04 9.97882735e-01 1.62119976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4827550959999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:485.14, Y:14.99, Z:162.13 [[ 8.47057379e-01 5.28654165e-01 -5.49415177e-02 4.85139667e+02] [-5.27507345e-01 8.48837159e-01 3.48062830e-02 1.49939056e+01] [ 6.50368883e-02 -5.00864730e-04 9.97882735e-01 1.62125745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.19, Y:14.96, Z:162.14 [[ 8.44465677e-01 5.32785473e-01 -5.49305019e-02 4.85189288e+02] [-5.31646231e-01 8.46250316e-01 3.48236592e-02 1.49568943e+01] [ 6.50384944e-02 -2.03790599e-04 9.97882735e-01 1.62135082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.24, Y:14.93, Z:162.13 [[ 8.45381626e-01 5.31331962e-01 -5.49204231e-02 4.85242846e+02] [-5.30188619e-01 8.47163641e-01 3.48395473e-02 1.49264492e+01] [ 6.50379506e-02 -3.34529816e-04 9.97882735e-01 1.62133166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.30, Y:14.90, Z:162.14 [[ 8.46566895e-01 5.29442393e-01 -5.49112407e-02 4.85296829e+02] [-5.28294135e-01 8.48345746e-01 3.48540139e-02 1.48952832e+01] [ 6.50369100e-02 -4.96967959e-04 9.97882735e-01 1.62135523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.35, Y:14.86, Z:162.14 [[ 8.47621434e-01 5.27753507e-01 -5.49011833e-02 4.85350300e+02] [-5.26600678e-01 8.49397327e-01 3.48698489e-02 1.48617598e+01] [ 6.50356034e-02 -6.45431022e-04 9.97882735e-01 1.62138992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.782755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:485.40, Y:14.83, Z:162.15 [[ 8.49035935e-01 5.25475973e-01 -5.48906554e-02 4.85404054e+02] [-5.24317309e-01 8.50808026e-01 3.48864135e-02 1.48291396e+01] [ 6.50333823e-02 -8.39697942e-04 9.97882736e-01 1.62145332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.46, Y:14.80, Z:162.15 [[ 8.48820338e-01 5.25824717e-01 -5.48853393e-02 4.85455029e+02] [-5.24666241e-01 8.50592552e-01 3.48947751e-02 1.47966246e+01] [ 6.50335961e-02 -8.22910167e-04 9.97882736e-01 1.62149970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.51, Y:14.76, Z:162.15 [[ 8.48905101e-01 5.25688889e-01 -5.48755114e-02 4.85508768e+02] [-5.24529131e-01 8.50676476e-01 3.49102238e-02 1.47633885e+01] [ 6.50332234e-02 -8.51662702e-04 9.97882736e-01 1.62150695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.56, Y:14.73, Z:162.16 [[ 8.49450488e-01 5.24808352e-01 -5.48640365e-02 4.85561503e+02] [-5.23645594e-01 8.51219895e-01 3.49282481e-02 1.47287056e+01] [ 6.50319957e-02 -9.40506400e-04 9.97882736e-01 1.62155437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.61, Y:14.69, Z:162.16 [[ 8.48968598e-01 5.25588737e-01 -5.48525278e-02 4.85614207e+02] [-5.24426439e-01 8.50738306e-01 3.49463125e-02 1.46942227e+01] [ 6.50325348e-02 -9.02206111e-04 9.97882736e-01 1.62159717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.67, Y:14.66, Z:162.16 [[ 8.47485740e-01 5.27977634e-01 -5.48410263e-02 4.85665558e+02] [-5.26819157e-01 8.49257952e-01 3.49643524e-02 1.46600872e+01] [ 6.50345738e-02 -7.40486783e-04 9.97882737e-01 1.62162557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.72, Y:14.63, Z:162.17 [[ 8.45607146e-01 5.30981913e-01 -5.48339543e-02 4.85718429e+02] [-5.29829014e-01 8.47382992e-01 3.49754398e-02 1.46258567e+01] [ 6.50366862e-02 -5.22861950e-04 9.97882737e-01 1.62167844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.77, Y:14.59, Z:162.17 [[ 8.43798032e-01 5.33853386e-01 -5.48219271e-02 4.85768356e+02] [-5.32705306e-01 8.45576997e-01 3.49942816e-02 1.45907054e+01] [ 6.50379762e-02 -3.24174527e-04 9.97882737e-01 1.62171423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.82, Y:14.56, Z:162.17 [[ 8.45193166e-01 5.31642847e-01 -5.48123639e-02 4.85821182e+02] [-5.30489143e-01 8.46968489e-01 3.50092543e-02 1.45607142e+01] [ 6.50367646e-02 -5.12218485e-04 9.97882737e-01 1.62171674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.87, Y:14.53, Z:162.18 [[ 8.47147320e-01 5.28524254e-01 -5.48044781e-02 4.85872830e+02] [-5.27363217e-01 8.48917856e-01 3.50215946e-02 1.45269229e+01] [ 6.50342622e-02 -7.66584150e-04 9.97882737e-01 1.62175552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.93, Y:14.49, Z:162.18 [[ 8.49578406e-01 5.24608540e-01 -5.47942675e-02 4.85926479e+02] [-5.23438314e-01 8.51342881e-01 3.50375626e-02 1.44932101e+01] [ 6.50297142e-02 -1.08573761e-03 9.97882737e-01 1.62177613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.98, Y:14.46, Z:162.18 [[ 8.51767178e-01 5.21048449e-01 -5.47831037e-02 4.85978647e+02] [-5.19869727e-01 8.53525989e-01 3.50550092e-02 1.44593121e+01] [ 6.50241609e-02 -1.37862909e-03 9.97882738e-01 1.62180543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.03, Y:14.42, Z:162.19 [[ 8.53901740e-01 5.17543965e-01 -5.47728278e-02 4.86029944e+02] [-5.16356997e-01 8.55654996e-01 3.50710578e-02 1.44242853e+01] [ 6.50174581e-02 -1.66490432e-03 9.97882738e-01 1.62188596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.08, Y:14.39, Z:162.19 [[ 8.54157914e-01 5.17121457e-01 -5.47691228e-02 4.86082114e+02] [-5.15933251e-01 8.55910331e-01 3.50768428e-02 1.43910995e+01] [ 6.50164461e-02 -1.70395128e-03 9.97882738e-01 1.62194134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.13, Y:14.36, Z:162.20 [[ 8.53422794e-01 5.18334889e-01 -5.47583601e-02 4.86134518e+02] [-5.17148099e-01 8.55176169e-01 3.50936364e-02 1.43574508e+01] [ 6.50183008e-02 -1.63152741e-03 9.97882738e-01 1.62197274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.19, Y:14.33, Z:162.20 [[ 8.51525683e-01 5.21446391e-01 -5.47510127e-02 4.86186693e+02] [-5.20265271e-01 8.53282884e-01 3.51050957e-02 1.43258155e+01] [ 6.50235274e-02 -1.40784014e-03 9.97882738e-01 1.62198698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.24, Y:14.29, Z:162.20 [[ 8.48645853e-01 5.26121234e-01 -5.47417954e-02 4.86241013e+02] [-5.24948869e-01 8.50408907e-01 3.51194630e-02 1.42938581e+01] [ 6.50300055e-02 -1.06734306e-03 9.97882738e-01 1.62202422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.29, Y:14.26, Z:162.21 [[ 8.46606376e-01 5.29397916e-01 -5.47310774e-02 4.86294212e+02] [-5.28231297e-01 8.48373236e-01 3.51361583e-02 1.42607876e+01] [ 6.50333902e-02 -8.35827695e-04 9.97882738e-01 1.62206878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.35, Y:14.23, Z:162.21 [[ 8.45869912e-01 5.30574945e-01 -5.47203768e-02 4.86346665e+02] [-5.29409706e-01 8.47637683e-01 3.51528152e-02 1.42258179e+01] [ 6.50342565e-02 -7.65210100e-04 9.97882739e-01 1.62214674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.40, Y:14.19, Z:162.22 [[ 8.47973949e-01 5.27206863e-01 -5.47092774e-02 4.86398479e+02] [-5.26033490e-01 8.49736331e-01 3.51700811e-02 1.41916478e+01] [ 6.50303688e-02 -1.04440040e-03 9.97882739e-01 1.62216288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.45, Y:14.16, Z:162.22 [[ 8.50615236e-01 5.22935702e-01 -5.46989289e-02 4.86450237e+02] [-5.21752447e-01 8.52370998e-01 3.51861685e-02 1.41552113e+01] [ 6.50238843e-02 -1.39059102e-03 9.97882739e-01 1.62220733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.50, Y:14.12, Z:162.22 [[ 8.53170821e-01 5.18756966e-01 -5.46878493e-02 4.86501924e+02] [-5.17564010e-01 8.54920006e-01 3.52033806e-02 1.41191106e+01] [ 6.50157353e-02 -1.73003451e-03 9.97882739e-01 1.62224877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.55, Y:14.08, Z:162.23 [[ 8.53491255e-01 5.18230748e-01 -5.46769514e-02 4.86552554e+02] [-5.17035631e-01 8.55238965e-01 3.52202987e-02 1.40822333e+01] [ 6.50141011e-02 -1.79028483e-03 9.97882739e-01 1.62229288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.60, Y:14.05, Z:162.23 [[ 8.51791896e-01 5.21020355e-01 -5.46658519e-02 4.86604232e+02] [-5.19829858e-01 8.53542756e-01 3.52375180e-02 1.40465734e+01] [ 6.50191060e-02 -1.59809027e-03 9.97882740e-01 1.62232176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.66, Y:14.01, Z:162.23 [[ 8.48569717e-01 5.26253052e-01 -5.46549274e-02 4.86656613e+02] [-5.25072264e-01 8.50327138e-01 3.52544543e-02 1.40110364e+01] [ 6.50273321e-02 -1.21807584e-03 9.97882740e-01 1.62234943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.71, Y:13.98, Z:162.24 [[ 8.45888561e-01 5.30553109e-01 -5.46437699e-02 4.86708806e+02] [-5.29380139e-01 8.47651210e-01 3.52717397e-02 1.39756627e+01] [ 6.50323888e-02 -9.08634660e-04 9.97882740e-01 1.62238278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.76, Y:13.94, Z:162.24 [[ 8.42605436e-01 5.35753065e-01 -5.46327101e-02 4.86760765e+02] [-5.34589864e-01 8.44374546e-01 3.52888621e-02 1.39409715e+01] [ 6.50365858e-02 -5.28494022e-04 9.97882740e-01 1.62242606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.81, Y:13.91, Z:162.25 [[ 8.40389800e-01 5.39223076e-01 -5.46210561e-02 4.86813313e+02] [-5.38066007e-01 8.42162927e-01 3.53068913e-02 1.39066070e+01] [ 6.50381190e-02 -2.81817785e-04 9.97882740e-01 1.62247437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.87, Y:13.87, Z:162.25 [[ 8.38566060e-01 5.42056096e-01 -5.46090792e-02 4.86865700e+02] [-5.40903812e-01 8.40342301e-01 3.53254063e-02 1.38728811e+01] [ 6.50386710e-02 -8.44277027e-05 9.97882741e-01 1.62251976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.92, Y:13.84, Z:162.26 [[ 8.39870954e-01 5.40033215e-01 -5.45976932e-02 4.86918844e+02] [-5.38875509e-01 8.41643665e-01 3.53429953e-02 1.38389656e+01] [ 6.50381939e-02 -2.62195438e-04 9.97882741e-01 1.62256565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.97, Y:13.81, Z:162.26 [[ 8.43126146e-01 5.34938028e-01 -5.45857811e-02 4.86972280e+02] [-5.33768420e-01 8.44891026e-01 3.53613835e-02 1.38063908e+01] [ 6.50351854e-02 -6.77940884e-04 9.97882741e-01 1.62256829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.02, Y:13.77, Z:162.26 [[ 8.46698510e-01 5.29266750e-01 -5.45741695e-02 4.87023228e+02] [-5.28084168e-01 8.48454723e-01 3.53792949e-02 1.37714749e+01] [ 6.50287963e-02 -1.13584136e-03 9.97882741e-01 1.62263889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.08, Y:13.74, Z:162.27 [[ 8.50395609e-01 5.23306944e-01 -5.45632735e-02 4.87076232e+02] [-5.22110980e-01 8.52142736e-01 3.53960912e-02 1.37387033e+01] [ 6.50187175e-02 -1.61259634e-03 9.97882742e-01 1.62268591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.13, Y:13.71, Z:162.27 [[ 8.52177711e-01 5.20401059e-01 -5.45516934e-02 4.87128835e+02] [-5.19197997e-01 8.53919958e-01 3.54139292e-02 1.37066057e+01] [ 6.50122260e-02 -1.85583115e-03 9.97882742e-01 1.62271177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.18, Y:13.67, Z:162.27 [[ 8.53428997e-01 5.18347216e-01 -5.45445744e-02 4.87182311e+02] [-5.17139262e-01 8.55167855e-01 3.54248905e-02 1.36742880e+01] [ 6.50071601e-02 -2.02548783e-03 9.97882742e-01 1.62274635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.24, Y:13.64, Z:162.28 [[ 8.52755411e-01 5.19455801e-01 -5.45333012e-02 4.87236406e+02] [-5.18248999e-01 8.54495069e-01 3.54422360e-02 1.36431404e+01] [ 6.50091121e-02 -1.96172977e-03 9.97882742e-01 1.62277752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.29, Y:13.61, Z:162.28 [[ 8.50676274e-01 5.22854739e-01 -5.45233721e-02 4.87290873e+02] [-5.21653912e-01 8.52420062e-01 3.54575042e-02 1.36120438e+01] [ 6.50159403e-02 -1.72052714e-03 9.97882742e-01 1.62282257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.34, Y:13.58, Z:162.29 [[ 8.48438716e-01 5.26479035e-01 -5.45121196e-02 4.87344526e+02] [-5.25284547e-01 8.50186852e-01 3.54747953e-02 1.35794384e+01] [ 6.50222234e-02 -1.46381573e-03 9.97882742e-01 1.62286954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.40, Y:13.55, Z:162.29 [[ 8.46200779e-01 5.30069707e-01 -5.45008924e-02 4.87397137e+02] [-5.28881529e-01 8.47953209e-01 3.54920356e-02 1.35459775e+01] [ 6.50274595e-02 -1.20887285e-03 9.97882743e-01 1.62293468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.45, Y:13.51, Z:162.30 [[ 8.44408508e-01 5.32921322e-01 -5.44897771e-02 4.87450018e+02] [-5.31737962e-01 8.46164195e-01 3.55090924e-02 1.35115893e+01] [ 6.50308508e-02 -1.00989668e-03 9.97882743e-01 1.62300082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.50, Y:13.48, Z:162.31 [[ 8.42563336e-01 5.35834994e-01 -5.44782823e-02 4.87500982e+02] [-5.34656566e-01 8.44322337e-01 3.55267191e-02 1.34768597e+01] [ 6.50336899e-02 -8.06339650e-04 9.97882743e-01 1.62305726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.55, Y:13.44, Z:162.31 [[ 8.41623102e-01 5.37311665e-01 -5.44676863e-02 4.87552692e+02] [-5.36135273e-01 8.43383464e-01 3.55429569e-02 1.34418540e+01] [ 6.50347913e-02 -7.11725838e-04 9.97882743e-01 1.62310602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.60, Y:13.41, Z:162.32 [[ 8.41561584e-01 5.37409144e-01 -5.44565142e-02 4.87604850e+02] [-5.36231848e-01 8.43321343e-01 3.55600658e-02 1.34066743e+01] [ 6.50346452e-02 -7.24668105e-04 9.97882744e-01 1.62316759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.66, Y:13.37, Z:162.32 [[ 8.42905799e-01 5.35299464e-01 -5.44453610e-02 4.87656959e+02] [-5.34116662e-01 8.44661861e-01 3.55771342e-02 1.33720533e+01] [ 6.50323408e-02 -9.07998281e-04 9.97882744e-01 1.62321323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.71, Y:13.34, Z:162.33 [[ 8.44306851e-01 5.33088023e-01 -5.44343697e-02 4.87709280e+02] [-5.31899538e-01 8.46059072e-01 3.55939434e-02 1.33377745e+01] [ 6.50293972e-02 -1.09859417e-03 9.97882744e-01 1.62325585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.76, Y:13.30, Z:162.33 [[ 8.45825398e-01 5.30676446e-01 -5.44233923e-02 4.87761443e+02] [-5.29481886e-01 8.47573483e-01 3.56107200e-02 1.33034347e+01] [ 6.50255945e-02 -1.30425102e-03 9.97882744e-01 1.62329557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.81, Y:13.27, Z:162.33 [[ 8.47497411e-01 5.28003258e-01 -5.44122986e-02 4.87814447e+02] [-5.26802098e-01 8.49240966e-01 3.56276628e-02 1.32699075e+01] [ 6.50206751e-02 -1.52983892e-03 9.97882744e-01 1.62333673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.87, Y:13.24, Z:162.33 [[ 8.48406272e-01 5.26542821e-01 -5.44008743e-02 4.87867902e+02] [-5.25337543e-01 8.50146983e-01 3.56450983e-02 1.32362183e+01] [ 6.50174098e-02 -1.66270333e-03 9.97882745e-01 1.62331525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.92, Y:13.20, Z:162.34 [[ 8.48390195e-01 5.26569893e-01 -5.43895654e-02 4.87920472e+02] [-5.25363565e-01 8.50130179e-01 3.56623458e-02 1.32028531e+01] [ 6.50169286e-02 -1.68128855e-03 9.97882745e-01 1.62340751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.97, Y:13.17, Z:162.35 [[ 8.48108552e-01 5.27024561e-01 -5.43782758e-02 4.87973626e+02] [-5.25818064e-01 8.49848418e-01 3.56795521e-02 1.31692032e+01] [ 6.50172919e-02 -1.66705350e-03 9.97882745e-01 1.62345816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.03, Y:13.14, Z:162.35 [[ 8.47219244e-01 5.28454131e-01 -5.43671351e-02 4.88025554e+02] [-5.27249482e-01 8.48960389e-01 3.56965198e-02 1.31352178e+01] [ 6.50195175e-02 -1.57773474e-03 9.97882745e-01 1.62347256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.08, Y:13.10, Z:162.36 [[ 8.46686518e-01 5.29308295e-01 -5.43568701e-02 4.88078515e+02] [-5.28104400e-01 8.48428185e-01 3.57121441e-02 1.31021976e+01] [ 6.50206347e-02 -1.53088863e-03 9.97882745e-01 1.62358779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.13, Y:13.07, Z:162.36 [[ 8.45253071e-01 5.31595544e-01 -5.43454220e-02 4.88131710e+02] [-5.30395243e-01 8.46997217e-01 3.57295569e-02 1.30686883e+01] [ 6.50240944e-02 -1.37596439e-03 9.97882746e-01 1.62364485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.18, Y:13.03, Z:162.37 [[ 8.43822899e-01 5.33863965e-01 -5.43339762e-02 4.88184213e+02] [-5.32667234e-01 8.45569496e-01 3.57469542e-02 1.30345781e+01] [ 6.50271635e-02 -1.22216969e-03 9.97882746e-01 1.62365600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.23, Y:13.00, Z:162.38 [[ 8.42162523e-01 5.36480372e-01 -5.43239872e-02 4.88234314e+02] [-5.35288089e-01 8.43912159e-01 3.57621278e-02 1.29994191e+01] [ 6.50303529e-02 -1.03854051e-03 9.97882746e-01 1.62376587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.29, Y:12.97, Z:162.38 [[ 8.42403823e-01 5.36102395e-01 -5.43141067e-02 4.88288565e+02] [-5.34908360e-01 8.44152263e-01 3.57771277e-02 1.29685403e+01] [ 6.50295799e-02 -1.08571941e-03 9.97882746e-01 1.62376687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.34, Y:12.94, Z:162.38 [[ 8.41633620e-01 5.37311739e-01 -5.43041872e-02 4.88340308e+02] [-5.36119246e-01 8.43383112e-01 3.57921776e-02 1.29359724e+01] [ 6.50307916e-02 -1.01038007e-03 9.97882746e-01 1.62376987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.39, Y:12.90, Z:162.39 [[ 8.41668727e-01 5.37257657e-01 -5.42951585e-02 4.88391623e+02] [-5.36064169e-01 8.43417540e-01 3.58058685e-02 1.29039963e+01] [ 6.50304660e-02 -1.03099073e-03 9.97882746e-01 1.62385776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.44, Y:12.88, Z:162.39 [[ 8.43140848e-01 5.34944433e-01 -5.42951585e-02 4.88442577e+02] [-5.33746147e-01 8.44886377e-01 3.58058685e-02 1.28760230e+01] [ 6.50273898e-02 -1.20955868e-03 9.97882746e-01 1.62388007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.49, Y:12.84, Z:162.39 [[ 8.43399892e-01 5.34535584e-01 -5.42985369e-02 4.88492707e+02] [-5.33336782e-01 8.45145067e-01 3.58007446e-02 1.28442129e+01] [ 6.50269125e-02 -1.23493717e-03 9.97882746e-01 1.62389368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.54, Y:12.81, Z:162.38 [[ 8.42492472e-01 5.35964380e-01 -5.43011706e-02 4.88541670e+02] [-5.34768795e-01 8.44239853e-01 3.57967494e-02 1.28116284e+01] [ 6.50289949e-02 -1.11992039e-03 9.97882746e-01 1.62382862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.59, Y:12.78, Z:162.39 [[ 8.42589718e-01 5.35811092e-01 -5.43050610e-02 4.88590887e+02] [-5.34615569e-01 8.44337141e-01 3.57908465e-02 1.27791840e+01] [ 6.50289125e-02 -1.12466818e-03 9.97882746e-01 1.62386196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.64, Y:12.75, Z:162.39 [[ 8.43493222e-01 5.34387360e-01 -5.43077768e-02 4.88638776e+02] [-5.33189153e-01 8.45238805e-01 3.57867251e-02 1.27467343e+01] [ 6.50270140e-02 -1.22954254e-03 9.97882746e-01 1.62389800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.69, Y:12.71, Z:162.39 [[ 8.44661401e-01 5.32538657e-01 -5.43111146e-02 4.88687194e+02] [-5.31336955e-01 8.46404580e-01 3.57816589e-02 1.27131154e+01] [ 6.50242927e-02 -1.36588383e-03 9.97882746e-01 1.62393692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.73, Y:12.68, Z:162.40 [[ 8.44612478e-01 5.32615974e-01 -5.43137771e-02 4.88734399e+02] [-5.31414691e-01 8.46355947e-01 3.57776171e-02 1.26763571e+01] [ 6.50245185e-02 -1.35508275e-03 9.97882747e-01 1.62403058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.78, Y:12.64, Z:162.41 [[ 8.46332767e-01 5.29878019e-01 -5.43151233e-02 4.88784839e+02] [-5.28671228e-01 8.48072427e-01 3.57755732e-02 1.26402369e+01] [ 6.50198483e-02 -1.56319697e-03 9.97882747e-01 1.62412515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.84, Y:12.60, Z:162.41 [[ 8.47372636e-01 5.28214666e-01 -5.43036165e-02 4.88837017e+02] [-5.27003342e-01 8.49109143e-01 3.57930309e-02 1.26048762e+01] [ 6.50161011e-02 -1.71184758e-03 9.97882747e-01 1.62414286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.89, Y:12.57, Z:162.42 [[ 8.46978206e-01 5.28848075e-01 -5.42921008e-02 4.88889456e+02] [-5.27636932e-01 8.48714838e-01 3.58104897e-02 1.25694922e+01] [ 6.50168201e-02 -1.68418685e-03 9.97882747e-01 1.62417673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.94, Y:12.53, Z:162.42 [[ 8.45239585e-01 5.31623622e-01 -5.42804512e-02 4.88940440e+02] [-5.30417050e-01 8.46979396e-01 3.58281391e-02 1.25343840e+01] [ 6.50215089e-02 -1.49208464e-03 9.97882747e-01 1.62423762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.99, Y:12.50, Z:162.43 [[ 8.43744164e-01 5.33994869e-01 -5.42703032e-02 4.88989699e+02] [-5.32792199e-01 8.45486674e-01 3.58435042e-02 1.24988020e+01] [ 6.50250655e-02 -1.32795336e-03 9.97882747e-01 1.62426689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.04, Y:12.46, Z:162.43 [[ 8.43370080e-01 5.34586425e-01 -5.42610628e-02 4.89039944e+02] [-5.33384077e-01 8.45112813e-01 3.58574871e-02 1.24613921e+01] [ 6.50256453e-02 -1.29914482e-03 9.97882747e-01 1.62432354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.09, Y:12.43, Z:162.44 [[ 8.43362670e-01 5.34599265e-01 -5.42497240e-02 4.89089923e+02] [-5.33395842e-01 8.45104660e-01 3.58746337e-02 1.24267335e+01] [ 6.50252474e-02 -1.31874964e-03 9.97882748e-01 1.62438881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.14, Y:12.39, Z:162.44 [[ 8.42683160e-01 5.35670645e-01 -5.42406808e-02 4.89140907e+02] [-5.34468557e-01 8.44426072e-01 3.58883015e-02 1.23911433e+01] [ 6.50265546e-02 -1.25252893e-03 9.97882748e-01 1.62442434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.19, Y:12.35, Z:162.45 [[ 8.42736621e-01 5.35587494e-01 -5.42312027e-02 4.89190923e+02] [-5.34384314e-01 8.44478779e-01 3.59026181e-02 1.23535767e+01] [ 6.50260931e-02 -1.27614705e-03 9.97882748e-01 1.62445421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.24, Y:12.32, Z:162.45 [[ 8.44019520e-01 5.33564660e-01 -5.42199475e-02 4.89241233e+02] [-5.32356214e-01 8.45758029e-01 3.59196078e-02 1.23177285e+01] [ 6.50223892e-02 -1.45252420e-03 9.97882748e-01 1.62449972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.29, Y:12.28, Z:162.45 [[ 8.44328431e-01 5.33076752e-01 -5.42095649e-02 4.89292678e+02] [-5.31866296e-01 8.46065541e-01 3.59352703e-02 1.22807786e+01] [ 6.50211020e-02 -1.50892991e-03 9.97882748e-01 1.62453633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.34, Y:12.24, Z:162.46 [[ 8.43850577e-01 5.33834040e-01 -5.41979825e-02 4.89341816e+02] [-5.32624023e-01 8.45587992e-01 3.59527305e-02 1.22434307e+01] [ 6.50219546e-02 -1.47158496e-03 9.97882749e-01 1.62459738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.39, Y:12.21, Z:162.46 [[ 8.44014949e-01 5.33575206e-01 -5.41873080e-02 4.89392619e+02] [-5.32363624e-01 8.45751273e-01 3.59688117e-02 1.22056651e+01] [ 6.50210509e-02 -1.51086309e-03 9.97882749e-01 1.62464107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.44, Y:12.17, Z:162.47 [[ 8.43937829e-01 5.33698344e-01 -5.41758128e-02 4.89443889e+02] [-5.32485905e-01 8.45673555e-01 3.59861174e-02 1.21695504e+01] [ 6.50207834e-02 -1.52218908e-03 9.97882749e-01 1.62466802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.522755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:489.49, Y:12.13, Z:162.47 [[ 8.43026575e-01 5.35137748e-01 -5.41644099e-02 4.89493688e+02] [-5.33927171e-01 8.44763600e-01 3.60032723e-02 1.21300815e+01] [ 6.50228320e-02 -1.43186520e-03 9.97882749e-01 1.62467786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.54, Y:12.09, Z:162.48 [[ 8.38366296e-01 5.42410738e-01 -5.41529779e-02 4.89541202e+02] [-5.41214123e-01 8.40112968e-01 3.60204591e-02 1.20906723e+01] [ 6.50325028e-02 -8.89982392e-04 9.97882749e-01 1.62476232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.642755096 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:489.60, Y:12.06, Z:162.48 [[ 8.36160775e-01 5.45805562e-01 -5.41428301e-02 4.89596689e+02] [-5.44615052e-01 8.37911614e-01 3.60357059e-02 1.20615527e+01] [ 6.50353949e-02 -6.44643538e-04 9.97882750e-01 1.62475566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7027550959999 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:489.64, Y:12.02, Z:162.48 [[ 8.30969219e-01 5.53678492e-01 -5.41321015e-02 4.89643937e+02] [-5.52503522e-01 8.32730524e-01 3.60518150e-02 1.20218266e+01] [ 6.50385678e-02 -4.97718236e-05 9.97882750e-01 1.62482076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.762755096 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:489.70, Y:11.99, Z:162.49 [[ 8.29861735e-01 5.55338002e-01 -5.41221361e-02 4.89696028e+02] [-5.54165578e-01 8.31624735e-01 3.60667693e-02 1.19868978e+01] [ 6.50385547e-02 6.21930814e-05 9.97882750e-01 1.62485728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8227550959999 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:489.75, Y:11.95, Z:162.49 [[ 8.30935452e-01 5.53731276e-01 -5.41105179e-02 4.89747607e+02] [-5.52554309e-01 8.32695423e-01 3.60841916e-02 1.19524640e+01] [ 6.50385260e-02 -8.46342546e-05 9.97882750e-01 1.62488291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.882755096 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:489.80, Y:11.92, Z:162.49 [[ 8.35126652e-01 5.47390803e-01 -5.40997642e-02 4.89803351e+02] [-5.46199430e-01 8.36876903e-01 3.61003069e-02 1.19243780e+01] [ 6.50358191e-02 -5.99068051e-04 9.97882750e-01 1.62493172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9427550959999 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:489.85, Y:11.89, Z:162.49 [[ 8.35688075e-01 5.46534398e-01 -5.40887612e-02 4.89853265e+02] [-5.45340165e-01 8.37436375e-01 3.61167851e-02 1.18860683e+01] [ 6.50349615e-02 -6.85592606e-04 9.97882751e-01 1.62490736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.002755096 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:489.91, Y:11.86, Z:162.50 [[ 8.37027086e-01 5.44482579e-01 -5.40775232e-02 4.89907113e+02] [-5.43282975e-01 8.38771704e-01 3.61336039e-02 1.18551906e+01] [ 6.50328142e-02 -8.65407519e-04 9.97882751e-01 1.62498213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0627550959999 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:489.95, Y:11.82, Z:162.50 [[ 8.34013700e-01 5.49088328e-01 -5.40662321e-02 4.89954993e+02] [-5.47897264e-01 8.35764160e-01 3.61504909e-02 1.18152471e+01] [ 6.50364316e-02 -5.27263998e-04 9.97882751e-01 1.62501047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.122755096 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:490.01, Y:11.78, Z:162.50 [[ 8.32744914e-01 5.51011880e-01 -5.40538276e-02 4.90006571e+02] [-5.49823656e-01 8.34497303e-01 3.61690292e-02 1.17819478e+01] [ 6.50373381e-02 -3.99502013e-04 9.97882751e-01 1.62504758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1827550959999 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:490.06, Y:11.75, Z:162.51 [[ 8.29487011e-01 5.55905169e-01 -5.40438872e-02 4.90059207e+02] [-5.54726316e-01 8.31245717e-01 3.61838760e-02 1.17474722e+01] [ 6.50385535e-02 -3.44887109e-05 9.97882751e-01 1.62513207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.242755096 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:490.11, Y:11.71, Z:162.52 [[ 8.29040646e-01 5.56571871e-01 -5.40311020e-02 4.90108528e+02] [-5.55393188e-01 8.30799466e-01 3.62029574e-02 1.17122712e+01] [ 6.50385584e-02 -5.21721305e-06 9.97882752e-01 1.62516867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.16, Y:11.67, Z:162.52 [[ 8.28312745e-01 5.57655562e-01 -5.40210172e-02 4.90158882e+02] [-5.56478199e-01 8.30072449e-01 3.62179993e-02 1.16749038e+01] [ 6.50385268e-02 6.16879658e-05 9.97882752e-01 1.62521088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.362755096 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:490.21, Y:11.64, Z:162.52 [[ 8.28056607e-01 5.58036954e-01 -5.40093828e-02 4.90209234e+02] [-5.56859270e-01 8.29816096e-01 3.62353407e-02 1.16384078e+01] [ 6.50385143e-02 7.07122464e-05 9.97882752e-01 1.62524194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.422755096 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:490.26, Y:11.60, Z:162.53 [[ 8.32953520e-01 5.50701223e-01 -5.40055199e-02 4.90258749e+02] [-5.49507671e-01 8.34702284e-01 3.62410971e-02 1.16027707e+01] [ 6.50365472e-02 -5.10701937e-04 9.97882752e-01 1.62525933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4827550959999 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:490.31, Y:11.57, Z:162.53 [[ 8.34314412e-01 5.48638268e-01 -5.39954901e-02 4.90309295e+02] [-5.47439426e-01 8.36059552e-01 3.62560343e-02 1.15662818e+01] [ 6.50348931e-02 -6.89671894e-04 9.97882752e-01 1.62530072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.542755096 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:490.36, Y:11.53, Z:162.54 [[ 8.33381643e-01 5.50055223e-01 -5.39841619e-02 4.90358855e+02] [-5.48858256e-01 8.35128070e-01 3.62728939e-02 1.15303309e+01] [ 6.50357836e-02 -5.99510979e-04 9.97882752e-01 1.62542532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.41, Y:11.50, Z:162.55 [[ 8.33997088e-01 5.49122611e-01 -5.39742127e-02 4.90412219e+02] [-5.47922733e-01 8.35741516e-01 3.62876923e-02 1.14966956e+01] [ 6.50348827e-02 -6.90131550e-04 9.97882753e-01 1.62547501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.46, Y:11.46, Z:162.55 [[ 8.34762073e-01 5.47960201e-01 -5.39620180e-02 4.90462449e+02] [-5.46756723e-01 8.36504019e-01 3.63058175e-02 1.14625538e+01] [ 6.50335880e-02 -8.02623389e-04 9.97882753e-01 1.62552985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.52, Y:11.43, Z:162.55 [[ 8.36568781e-01 5.45198541e-01 -5.39557811e-02 4.90518579e+02] [-5.43988715e-01 8.38306324e-01 3.63150841e-02 1.14322021e+01] [ 6.50304034e-02 -1.02872955e-03 9.97882753e-01 1.62549250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.57, Y:11.40, Z:162.55 [[ 8.35630807e-01 5.46636392e-01 -5.39426522e-02 4.90570138e+02] [-5.45428297e-01 8.37369555e-01 3.63345754e-02 1.13990682e+01] [ 6.50317358e-02 -9.40441583e-04 9.97882753e-01 1.62553562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.62, Y:11.36, Z:162.56 [[ 8.34513255e-01 5.48342051e-01 -5.39316486e-02 4.90620248e+02] [-5.47136456e-01 8.36253736e-01 3.63509007e-02 1.13621776e+01] [ 6.50332701e-02 -8.27337434e-04 9.97882753e-01 1.62563165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.67, Y:11.33, Z:162.57 [[ 8.34578224e-01 5.48243541e-01 -5.39278046e-02 4.90672807e+02] [-5.47037372e-01 8.36318307e-01 3.63566026e-02 1.13295863e+01] [ 6.50330828e-02 -8.41904296e-04 9.97882753e-01 1.62570198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.73, Y:11.30, Z:162.57 [[ 8.33761093e-01 5.49486497e-01 -5.39168747e-02 4.90725312e+02] [-5.48281874e-01 8.35502248e-01 3.63728044e-02 1.12953943e+01] [ 6.50340349e-02 -7.64584085e-04 9.97882754e-01 1.62572744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.78, Y:11.26, Z:162.58 [[ 8.32890833e-01 5.50805837e-01 -5.39053872e-02 4.90775524e+02] [-5.49602871e-01 8.34633132e-01 3.63898213e-02 1.12599008e+01] [ 6.50349481e-02 -6.82192990e-04 9.97882754e-01 1.62578735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.83, Y:11.23, Z:162.58 [[ 8.31472791e-01 5.52945151e-01 -5.38948747e-02 4.90825393e+02] [-5.51745660e-01 8.33217484e-01 3.64053841e-02 1.12250555e+01] [ 6.50363325e-02 -5.33823143e-04 9.97882754e-01 1.62579139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.88, Y:11.19, Z:162.58 [[ 8.31517789e-01 5.52878054e-01 -5.38889929e-02 4.90876274e+02] [-5.51677858e-01 8.33261997e-01 3.64140885e-02 1.11917193e+01] [ 6.50362002e-02 -5.49598210e-04 9.97882754e-01 1.62582893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:490.93, Y:11.16, Z:162.58 [[ 8.30485015e-01 5.54429089e-01 -5.38797273e-02 4.90928671e+02] [-5.53231261e-01 8.32230850e-01 3.64277931e-02 1.11571616e+01] [ 6.50369994e-02 -4.44786830e-04 9.97882754e-01 1.62583294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.98, Y:11.12, Z:162.59 [[ 8.33528837e-01 5.49842720e-01 -5.38763524e-02 4.90980671e+02] [-5.48634964e-01 8.35267819e-01 3.64327840e-02 1.11241671e+01] [ 6.50334843e-02 -8.09325400e-04 9.97882754e-01 1.62591915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3227550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:491.03, Y:11.09, Z:162.60 [[ 8.35186929e-01 5.47321873e-01 -5.38661408e-02 4.91033145e+02] [-5.46107896e-01 8.36921572e-01 3.64478757e-02 1.10896775e+01] [ 6.50304548e-02 -1.02406451e-03 9.97882754e-01 1.62595035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.09, Y:11.06, Z:162.60 [[ 8.39010904e-01 5.41442922e-01 -5.38541128e-02 4.91085557e+02] [-5.40215653e-01 8.40736169e-01 3.64656391e-02 1.10569728e+01] [ 6.50211627e-02 -1.50223414e-03 9.97882755e-01 1.62601164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.14, Y:11.02, Z:162.60 [[ 8.40479281e-01 5.39161850e-01 -5.38430840e-02 4.91137529e+02] [-5.37928857e-01 8.42200460e-01 3.64819164e-02 1.10236318e+01] [ 6.50163276e-02 -1.69854621e-03 9.97882755e-01 1.62601400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.19, Y:10.99, Z:162.61 [[ 8.41047301e-01 5.38276134e-01 -5.38353222e-02 4.91188429e+02] [-5.37040596e-01 8.42766654e-01 3.64933667e-02 1.09884457e+01] [ 6.50141227e-02 -1.78089407e-03 9.97882755e-01 1.62607304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5627550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:491.24, Y:10.95, Z:162.61 [[ 8.40705734e-01 5.38810549e-01 -5.38243602e-02 4.91238872e+02] [-5.37575070e-01 8.42425129e-01 3.65095275e-02 1.09520694e+01] [ 6.50147121e-02 -1.75913490e-03 9.97882755e-01 1.62612045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.622755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:491.29, Y:10.92, Z:162.62 [[ 8.40876571e-01 5.38544981e-01 -5.38135262e-02 4.91291734e+02] [-5.37307940e-01 8.42594841e-01 3.65254894e-02 1.09183936e+01] [ 6.50136186e-02 -1.79899337e-03 9.97882755e-01 1.62615576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:491.35, Y:10.89, Z:162.62 [[ 8.40365240e-01 5.39343766e-01 -5.38011762e-02 4.91345607e+02] [-5.38107194e-01 8.42083848e-01 3.65436717e-02 1.08857605e+01] [ 6.50147030e-02 -1.75923145e-03 9.97882755e-01 1.62620049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.742755096 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:491.40, Y:10.85, Z:162.62 [[ 8.38960557e-01 5.41527401e-01 -5.37890124e-02 4.91398887e+02] [-5.40294157e-01 8.40681554e-01 3.65615670e-02 1.08532123e+01] [ 6.50185209e-02 -1.61182348e-03 9.97882756e-01 1.62624442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8027550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:491.45, Y:10.82, Z:162.63 [[ 8.37620507e-01 5.43598926e-01 -5.37781921e-02 4.91449626e+02] [-5.42368918e-01 8.39343818e-01 3.65774755e-02 1.08198012e+01] [ 6.50218695e-02 -1.47042368e-03 9.97882756e-01 1.62632449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.862755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:491.50, Y:10.79, Z:162.63 [[ 8.36500385e-01 5.45321991e-01 -5.37683231e-02 4.91503351e+02] [-5.44094601e-01 8.38225562e-01 3.65919771e-02 1.07869025e+01] [ 6.50243926e-02 -1.35414861e-03 9.97882756e-01 1.62634809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.922755096 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:491.56, Y:10.75, Z:162.64 [[ 8.35513584e-01 5.46833934e-01 -5.37559196e-02 4.91555676e+02] [-5.45608495e-01 8.37240147e-01 3.66101895e-02 1.07532946e+01] [ 6.50263080e-02 -1.25862426e-03 9.97882756e-01 1.62636343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9827550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:491.61, Y:10.72, Z:162.64 [[ 8.34467470e-01 5.48430099e-01 -5.37444687e-02 4.91607037e+02] [-5.47206880e-01 8.36195607e-01 3.66269921e-02 1.07177155e+01] [ 6.50282335e-02 -1.15469036e-03 9.97882756e-01 1.62641452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.042755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:491.66, Y:10.68, Z:162.64 [[ 8.33939027e-01 5.49234550e-01 -5.37318178e-02 4.91656492e+02] [-5.48011804e-01 8.35667498e-01 3.66455415e-02 1.06807706e+01] [ 6.50289313e-02 -1.11447680e-03 9.97882757e-01 1.62641360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.71, Y:10.64, Z:162.65 [[ 8.35967819e-01 5.46142794e-01 -5.37201362e-02 4.91705989e+02] [-5.44912557e-01 8.37690966e-01 3.66626580e-02 1.06426227e+01] [ 6.50239193e-02 -1.37602548e-03 9.97882757e-01 1.62647044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.162755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:491.76, Y:10.61, Z:162.65 [[ 8.36651691e-01 5.45095802e-01 -5.37076723e-02 4.91756121e+02] [-5.43862237e-01 8.38372458e-01 3.66809076e-02 1.06057376e+01] [ 6.50216419e-02 -1.47956862e-03 9.97882757e-01 1.62649413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2227550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:491.81, Y:10.57, Z:162.65 [[ 8.38803265e-01 5.41780216e-01 -5.36961777e-02 4.91806549e+02] [-5.40538775e-01 8.40518358e-01 3.66977265e-02 1.05699884e+01] [ 6.50147253e-02 -1.75730665e-03 9.97882757e-01 1.62652310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.282755096 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:491.86, Y:10.54, Z:162.65 [[ 8.41582535e-01 5.37453887e-01 -5.36857266e-02 4.91858287e+02] [-5.36202658e-01 8.43290499e-01 3.67130093e-02 1.05356035e+01] [ 6.50042127e-02 -2.11059815e-03 9.97882758e-01 1.62651936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.91, Y:10.50, Z:162.67 [[ 8.37673426e-01 5.43527461e-01 -5.36761706e-02 4.91907584e+02] [-5.42287725e-01 8.39389750e-01 3.67269753e-02 1.04984480e+01] [ 6.50173471e-02 -1.65728281e-03 9.97882758e-01 1.62670924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.96, Y:10.46, Z:162.68 [[ 8.35008531e-01 5.47613730e-01 -5.36652270e-02 4.91957989e+02] [-5.46381368e-01 8.36730157e-01 3.67429591e-02 1.04634327e+01] [ 6.50242627e-02 -1.35900413e-03 9.97882758e-01 1.62676927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.01, Y:10.43, Z:162.68 [[ 8.34417061e-01 5.48515435e-01 -5.36561880e-02 4.92007338e+02] [-5.47284085e-01 8.36139411e-01 3.67561541e-02 1.04313762e+01] [ 6.50253713e-02 -1.30478432e-03 9.97882758e-01 1.62676539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.06, Y:10.40, Z:162.69 [[ 8.30197407e-01 5.54881033e-01 -5.36591449e-02 4.92055456e+02] [-5.53663171e-01 8.31929321e-01 3.67518369e-02 1.03982930e+01] [ 6.50335132e-02 -8.02187420e-04 9.97882758e-01 1.62686102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5827550959999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:492.10, Y:10.36, Z:162.69 [[ 8.28055280e-01 5.58072410e-01 -5.36622609e-02 4.92103124e+02] [-5.56861518e-01 8.29792075e-01 3.67472866e-02 1.03643691e+01] [ 6.50361656e-02 -5.46336651e-04 9.97882758e-01 1.62687181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.15, Y:10.33, Z:162.69 [[ 8.27563299e-01 5.58801546e-01 -5.36639440e-02 4.92150794e+02] [-5.57592343e-01 8.29301270e-01 3.67448286e-02 1.03309888e+01] [ 6.50366439e-02 -4.86067297e-04 9.97882758e-01 1.62693220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.20, Y:10.29, Z:162.70 [[ 8.24852661e-01 5.62794770e-01 -5.36668940e-02 4.92199190e+02] [-5.61594262e-01 8.26596649e-01 3.67405195e-02 1.02922151e+01] [ 6.50382469e-02 -1.66495492e-04 9.97882758e-01 1.62701856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.25, Y:10.26, Z:162.70 [[ 8.26150694e-01 5.60888672e-01 -5.36556462e-02 4.92250513e+02] [-5.59683073e-01 8.27891167e-01 3.67569384e-02 1.02562697e+01] [ 6.50375859e-02 -3.36613188e-04 9.97882758e-01 1.62701252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.30, Y:10.22, Z:162.71 [[ 8.27531702e-01 5.58850259e-01 -5.36439293e-02 4.92299695e+02] [-5.57639265e-01 8.29268425e-01 3.67740304e-02 1.02195172e+01] [ 6.50363931e-02 -5.17714647e-04 9.97882758e-01 1.62708180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.35, Y:10.18, Z:162.71 [[ 8.29174795e-01 5.56410155e-01 -5.36367354e-02 4.92350600e+02] [-5.55193372e-01 8.30907467e-01 3.67845200e-02 1.01831410e+01] [ 6.50344444e-02 -7.22036868e-04 9.97882759e-01 1.62708399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.40, Y:10.15, Z:162.71 [[ 8.32272418e-01 5.51767124e-01 -5.36252047e-02 4.92399725e+02] [-5.50539594e-01 8.33997493e-01 3.68013221e-02 1.01463942e+01] [ 6.50290459e-02 -1.10592688e-03 9.97882759e-01 1.62711714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.002755096 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:492.45, Y:10.11, Z:162.71 [[ 8.32814538e-01 5.50949497e-01 -5.36152690e-02 4.92449843e+02] [-5.49719343e-01 8.34537741e-01 3.68157916e-02 1.01095689e+01] [ 6.50276073e-02 -1.18737602e-03 9.97882759e-01 1.62711836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0627550959999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:492.50, Y:10.08, Z:162.72 [[ 8.33626648e-01 5.49720919e-01 -5.36052558e-02 4.92500998e+02] [-5.48487288e-01 8.35347364e-01 3.68303655e-02 1.00754646e+01] [ 6.50254315e-02 -1.30097274e-03 9.97882759e-01 1.62719413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.55, Y:10.04, Z:162.72 [[ 8.34617481e-01 5.48216425e-01 -5.35948895e-02 4.92553796e+02] [-5.46978725e-01 8.36335272e-01 3.68454441e-02 1.00421646e+01] [ 6.50225742e-02 -1.43658740e-03 9.97882759e-01 1.62718123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.61, Y:10.01, Z:162.72 [[ 8.34727507e-01 5.48049943e-01 -5.35840320e-02 4.92605379e+02] [-5.46810888e-01 8.36444321e-01 3.68612273e-02 1.00067058e+01] [ 6.50218528e-02 -1.46874825e-03 9.97882759e-01 1.62722830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.66, Y:9.97, Z:162.72 [[ 8.37259441e-01 5.44175263e-01 -5.35715538e-02 4.92657483e+02] [-5.42927105e-01 8.38969649e-01 3.68793534e-02 9.97306774e+00] [ 6.50137395e-02 -1.79213818e-03 9.97882760e-01 1.62722896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.71, Y:9.94, Z:162.73 [[ 8.38829808e-01 5.41752216e-01 -5.35638938e-02 4.92710050e+02] [-5.40498409e-01 8.40535878e-01 3.68904755e-02 9.94121631e+00] [ 6.50078714e-02 -1.99363106e-03 9.97882760e-01 1.62731717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.76, Y:9.91, Z:162.74 [[ 8.40841813e-01 5.38625217e-01 -5.35529734e-02 4.92760468e+02] [-5.37364060e-01 8.42542456e-01 3.69063216e-02 9.90812588e+00] [ 6.49993293e-02 -2.25493517e-03 9.97882760e-01 1.62741917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.81, Y:9.87, Z:162.74 [[ 8.43210843e-01 5.34909917e-01 -5.35430157e-02 4.92813362e+02] [-5.33640353e-01 8.44905220e-01 3.69207625e-02 9.87475828e+00] [ 6.49880554e-02 -2.55927342e-03 9.97882760e-01 1.62739438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.86, Y:9.84, Z:162.75 [[ 8.43292080e-01 5.34782848e-01 -5.35329191e-02 4.92864411e+02] [-5.33512102e-01 8.44985570e-01 3.69353962e-02 9.84088154e+00] [ 6.49869605e-02 -2.58686688e-03 9.97882760e-01 1.62748220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.92, Y:9.81, Z:162.74 [[ 8.43647351e-01 5.34223320e-01 -5.35218756e-02 4.92915748e+02] [-5.32950438e-01 8.45339237e-01 3.69513920e-02 9.81203049e+00] [ 6.49844368e-02 -2.64943694e-03 9.97882760e-01 1.62743076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.97, Y:9.78, Z:162.75 [[ 8.42275640e-01 5.36383445e-01 -5.35214452e-02 4.92968123e+02] [-5.35114864e-01 8.43970752e-01 3.69520154e-02 9.77936033e+00] [ 6.49909837e-02 -2.48366154e-03 9.97882760e-01 1.62748516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.02, Y:9.75, Z:162.75 [[ 8.40851166e-01 5.38614729e-01 -5.35115800e-02 4.93022341e+02] [-5.37349740e-01 8.42548960e-01 3.69662961e-02 9.74951398e+00] [ 6.49967176e-02 -2.32871960e-03 9.97882761e-01 1.62752734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.07, Y:9.72, Z:162.76 [[ 8.37093724e-01 5.44437064e-01 -5.35012242e-02 4.93074423e+02] [-5.43182931e-01 8.38799552e-01 3.69812780e-02 9.71621237e+00] [ 6.50107813e-02 -1.89584392e-03 9.97882761e-01 1.62757799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.13, Y:9.69, Z:162.77 [[ 8.35545634e-01 5.46810956e-01 -5.34908642e-02 4.93126180e+02] [-5.45560712e-01 8.37254314e-01 3.69962569e-02 9.68657985e+00] [ 6.50154154e-02 -1.72954702e-03 9.97882761e-01 1.62767679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.17, Y:9.66, Z:162.77 [[ 8.29987275e-01 5.55211459e-01 -5.34916762e-02 4.93174433e+02] [-5.53978589e-01 8.31708535e-01 3.69950828e-02 9.65504444e+00] [ 6.50295775e-02 -1.07220467e-03 9.97882761e-01 1.62769446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.23, Y:9.62, Z:162.77 [[ 8.28190005e-01 5.57888449e-01 -5.34957397e-02 4.93228433e+02] [-5.56661523e-01 8.29915506e-01 3.69892060e-02 9.62341111e+00] [ 6.50327946e-02 -8.55070718e-04 9.97882761e-01 1.62773495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.28, Y:9.59, Z:162.78 [[ 8.27412887e-01 5.59041577e-01 -5.34829826e-02 4.93281576e+02] [-5.57815864e-01 8.29139250e-01 3.70076424e-02 9.59008063e+00] [ 6.50336509e-02 -7.86944145e-04 9.97882761e-01 1.62776331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.34, Y:9.56, Z:162.78 [[ 8.29714575e-01 5.55620959e-01 -5.34703063e-02 4.93335348e+02] [-5.54386950e-01 8.31435018e-01 3.70259487e-02 9.55980948e+00] [ 6.50294782e-02 -1.07772931e-03 9.97882761e-01 1.62780569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.39, Y:9.52, Z:162.78 [[ 8.29726490e-01 5.55603916e-01 -5.34625046e-02 4.93386506e+02] [-5.54369147e-01 8.31446387e-01 3.70372102e-02 9.52362461e+00] [ 6.50292254e-02 -1.09279134e-03 9.97882761e-01 1.62784610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.44, Y:9.49, Z:162.79 [[ 8.34453887e-01 5.48479532e-01 -5.34500980e-02 4.93437519e+02] [-5.47228937e-01 8.36162310e-01 3.70551062e-02 9.49455099e+00] [ 6.50169247e-02 -1.67133712e-03 9.97882762e-01 1.62790849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.49, Y:9.46, Z:162.79 [[ 8.36829310e-01 5.44848067e-01 -5.34536187e-02 4.93485315e+02] [-5.43590384e-01 8.38532522e-01 3.70500267e-02 9.46197727e+00] [ 6.50092332e-02 -1.94767514e-03 9.97882762e-01 1.62789982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.54, Y:9.43, Z:162.79 [[ 8.41470552e-01 5.37651886e-01 -5.34580194e-02 4.93537783e+02] [-5.36380045e-01 8.43163219e-01 3.70436761e-02 9.43379915e+00] [ 6.49904380e-02 -2.49734770e-03 9.97882762e-01 1.62794034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.59, Y:9.41, Z:162.79 [[ 8.45749355e-01 5.30895388e-01 -5.34613524e-02 4.93590544e+02] [-5.29610335e-01 8.47432012e-01 3.70388653e-02 9.40506299e+00] [ 6.49686242e-02 -3.01191161e-03 9.97882762e-01 1.62786936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.64, Y:9.37, Z:162.79 [[ 8.46671008e-01 5.29423960e-01 -5.34647156e-02 4.93641401e+02] [-5.28136288e-01 8.48351662e-01 3.70340099e-02 9.37325619e+00] [ 6.49635725e-02 -3.11896606e-03 9.97882762e-01 1.62791530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.69, Y:9.34, Z:162.79 [[ 8.45795694e-01 5.30821295e-01 -5.34639741e-02 4.93690169e+02] [-5.29536333e-01 8.47478421e-01 3.70350803e-02 9.34062992e+00] [ 6.49685737e-02 -3.01299466e-03 9.97882762e-01 1.62793164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.74, Y:9.31, Z:162.80 [[ 8.44555026e-01 5.32792811e-01 -5.34661488e-02 4.93742743e+02] [-5.31511976e-01 8.46240897e-01 3.70319406e-02 9.30815656e+00] [ 6.49755934e-02 -2.85761321e-03 9.97882762e-01 1.62800156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.79, Y:9.28, Z:162.80 [[ 8.42834159e-01 5.35511988e-01 -5.34555123e-02 4.93792668e+02] [-5.34235622e-01 8.44523415e-01 3.70472880e-02 9.27829107e+00] [ 6.49836986e-02 -2.66688101e-03 9.97882762e-01 1.62804721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.84, Y:9.25, Z:162.81 [[ 8.40997103e-01 5.38392227e-01 -5.34572968e-02 4.93843723e+02] [-5.37121811e-01 8.42690839e-01 3.70447129e-02 9.24803573e+00] [ 6.49925597e-02 -2.44141618e-03 9.97882762e-01 1.62807448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6827550959999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:493.90, Y:9.21, Z:162.81 [[ 8.37317823e-01 5.44096372e-01 -5.34602755e-02 4.93895509e+02] [-5.42837772e-01 8.39020358e-01 3.70404138e-02 9.21362989e+00] [ 6.50078142e-02 -1.99434182e-03 9.97882762e-01 1.62813703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.95, Y:9.18, Z:162.82 [[ 8.34589244e-01 5.48273636e-01 -5.34491704e-02 4.93945125e+02] [-5.47022535e-01 8.36297296e-01 3.70564314e-02 9.18136814e+00] [ 6.50164611e-02 -1.68899834e-03 9.97882762e-01 1.62819363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.99, Y:9.15, Z:162.82 [[ 8.32832162e-01 5.50939082e-01 -5.34482801e-02 4.93992369e+02] [-5.49693365e-01 8.34544145e-01 3.70577154e-02 9.14636258e+00] [ 6.50214930e-02 -1.48269229e-03 9.97882762e-01 1.62824058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.04, Y:9.12, Z:162.83 [[ 8.33017545e-01 5.50658463e-01 -5.34511584e-02 4.94042715e+02] [-5.49412436e-01 8.34729303e-01 3.70535634e-02 9.11525100e+00] [ 6.50211065e-02 -1.49953730e-03 9.97882762e-01 1.62827843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.09, Y:9.08, Z:162.84 [[ 8.31934581e-01 5.52292962e-01 -5.34540625e-02 4.94087941e+02] [-5.51050567e-01 8.33648977e-01 3.70493735e-02 9.07772522e+00] [ 6.50240327e-02 -1.36676354e-03 9.97882762e-01 1.62836125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9827550959999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:494.14, Y:9.05, Z:162.84 [[ 8.33093627e-01 5.50542786e-01 -5.34569881e-02 4.94135735e+02] [-5.49297060e-01 8.34805604e-01 3.70451518e-02 9.04544013e+00] [ 6.50211343e-02 -1.49831346e-03 9.97882762e-01 1.62838484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.19, Y:9.01, Z:162.84 [[ 8.35831195e-01 5.46377253e-01 -5.34612981e-02 4.94185896e+02] [-5.45123395e-01 8.37537224e-01 3.70389308e-02 9.01429386e+00] [ 6.50130565e-02 -1.81528952e-03 9.97882762e-01 1.62839094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.23, Y:8.98, Z:162.84 [[ 8.36110272e-01 5.45949804e-01 -5.34642344e-02 4.94232419e+02] [-5.44695344e-01 8.37815859e-01 3.70346918e-02 8.97962870e+00] [ 6.50122662e-02 -1.84336670e-03 9.97882762e-01 1.62843510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.28, Y:8.95, Z:162.84 [[ 8.36739897e-01 5.44983977e-01 -5.34678302e-02 4.94281731e+02] [-5.43727880e-01 8.38444279e-01 3.70294998e-02 8.94685401e+00] [ 6.50102804e-02 -1.91210981e-03 9.97882762e-01 1.62844093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2227550959999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:494.33, Y:8.91, Z:162.85 [[ 8.35415691e-01 5.47011439e-01 -5.34706320e-02 4.94330283e+02] [-5.45759737e-01 8.37123303e-01 3.70254536e-02 8.91316344e+00] [ 6.50148587e-02 -1.74952685e-03 9.97882762e-01 1.62847378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.37, Y:8.87, Z:162.86 [[ 8.31333245e-01 5.53195829e-01 -5.34734579e-02 4.94373281e+02] [-5.51957096e-01 8.33050288e-01 3.70213719e-02 8.87210198e+00] [ 6.50261480e-02 -1.26204275e-03 9.97882762e-01 1.62856975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.42, Y:8.84, Z:162.86 [[ 8.29190103e-01 5.56402791e-01 -5.34762319e-02 4.94420127e+02] [-5.55170958e-01 8.30912102e-01 3.70173644e-02 8.83844553e+00] [ 6.50306132e-02 -1.00598129e-03 9.97882762e-01 1.62861848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.47, Y:8.81, Z:162.86 [[ 8.29497523e-01 5.55944047e-01 -5.34796684e-02 4.94467697e+02] [-5.54711582e-01 8.31219071e-01 3.70123991e-02 8.80586945e+00] [ 6.50301432e-02 -1.03590196e-03 9.97882762e-01 1.62863319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.51, Y:8.77, Z:162.87 [[ 8.29523490e-01 5.55904889e-01 -5.34839594e-02 4.94513410e+02] [-5.54672742e-01 8.31245265e-01 3.70061973e-02 8.76927290e+00] [ 6.50302141e-02 -1.03141553e-03 9.97882762e-01 1.62865118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.56, Y:8.73, Z:162.87 [[ 8.29357349e-01 5.56152411e-01 -5.34872165e-02 4.94557201e+02] [-5.54921082e-01 8.31079709e-01 3.70014892e-02 8.72922353e+00] [ 6.50306077e-02 -1.00627294e-03 9.97882762e-01 1.62873947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.61, Y:8.69, Z:162.88 [[ 8.32167827e-01 5.51937916e-01 -5.34906038e-02 4.94607837e+02] [-5.50698180e-01 8.33884145e-01 3.69965917e-02 8.69483998e+00] [ 6.50247881e-02 -1.33019518e-03 9.97882762e-01 1.62875525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.65, Y:8.66, Z:162.88 [[ 8.33578664e-01 5.49805794e-01 -5.34808380e-02 4.94653934e+02] [-5.48560763e-01 8.35291145e-01 3.70107033e-02 8.65711245e+00] [ 6.50207696e-02 -1.51384329e-03 9.97882763e-01 1.62878123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.70, Y:8.62, Z:162.88 [[ 8.32320135e-01 5.51709085e-01 -5.34815668e-02 4.94701440e+02] [-5.50468038e-01 8.34035506e-01 3.70096501e-02 8.62044313e+00] [ 6.50240859e-02 -1.36398383e-03 9.97882763e-01 1.62882998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.75, Y:8.58, Z:162.89 [[ 8.31047114e-01 5.53624657e-01 -5.34830286e-02 4.94750196e+02] [-5.52387700e-01 8.32765436e-01 3.70075376e-02 8.58394686e+00] [ 6.50271029e-02 -1.21164018e-03 9.97882763e-01 1.62886769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.80, Y:8.55, Z:162.89 [[ 8.28573854e-01 5.57319558e-01 -5.34815700e-02 4.94795647e+02] [-5.56090129e-01 8.30297570e-01 3.70096453e-02 8.54729336e+00] [ 6.50318168e-02 -9.24651308e-04 9.97882763e-01 1.62889753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.84, Y:8.51, Z:162.90 [[ 8.28110490e-01 5.58007623e-01 -5.34837198e-02 4.94844729e+02] [-5.56779826e-01 8.29835370e-01 3.70065385e-02 8.50929990e+00] [ 6.50326129e-02 -8.66846529e-04 9.97882763e-01 1.62895188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.89, Y:8.47, Z:162.90 [[ 8.25936859e-01 5.61220899e-01 -5.34734260e-02 4.94893438e+02] [-5.59998851e-01 8.27665816e-01 3.70214067e-02 8.47067878e+00] [ 6.50353139e-02 -6.32287285e-04 9.97882763e-01 1.62899113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.94, Y:8.43, Z:162.91 [[ 8.22733734e-01 5.65907155e-01 -5.34630230e-02 4.94941668e+02] [-5.64693980e-01 8.24468928e-01 3.70364237e-02 8.42956350e+00] [ 6.50377784e-02 -2.80867926e-04 9.97882763e-01 1.62905151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.99, Y:8.39, Z:162.91 [[ 8.21821249e-01 5.67232683e-01 -5.34501477e-02 4.94989624e+02] [-5.66021098e-01 8.23557554e-01 3.70549958e-02 8.39203784e+00] [ 6.50380775e-02 -1.98671645e-04 9.97882763e-01 1.62907817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.04, Y:8.35, Z:162.91 [[ 8.21900009e-01 5.67119525e-01 -5.34398735e-02 4.95038247e+02] [-5.65906738e-01 8.23635474e-01 3.70698071e-02 8.35374503e+00] [ 6.50379869e-02 -2.25690216e-04 9.97882763e-01 1.62911800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.09, Y:8.31, Z:162.92 [[ 8.23475818e-01 5.64830012e-01 -5.34287840e-02 4.95086709e+02] [-5.63611363e-01 8.25207172e-01 3.70857836e-02 8.31336404e+00] [ 6.50369793e-02 -4.26176186e-04 9.97882764e-01 1.62917219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.13, Y:8.27, Z:162.92 [[ 8.26112590e-01 5.60967576e-01 -5.34169287e-02 4.95133864e+02] [-5.59739729e-01 8.27837432e-01 3.71028516e-02 8.27303711e+00] [ 6.50340298e-02 -7.51555620e-04 9.97882764e-01 1.62922281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.18, Y:8.23, Z:162.93 [[ 8.28802240e-01 5.56987116e-01 -5.34060012e-02 4.95182570e+02] [-5.55749973e-01 8.30520427e-01 3.71185740e-02 8.23255913e+00] [ 6.50293424e-02 -1.08357352e-03 9.97882764e-01 1.62926873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.362755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:495.23, Y:8.19, Z:162.93 [[ 8.28268962e-01 5.57780923e-01 -5.33944661e-02 4.95229972e+02] [-5.56544358e-01 8.29987565e-01 3.71351597e-02 8.19166451e+00] [ 6.50300266e-02 -1.04151132e-03 9.97882764e-01 1.62930119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.28, Y:8.16, Z:162.93 [[ 8.26703059e-01 5.60100238e-01 -5.33832840e-02 4.95279953e+02] [-5.58867458e-01 8.28424379e-01 3.71512275e-02 8.15623535e+00] [ 6.50324253e-02 -8.78853251e-04 9.97882764e-01 1.62933692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.33, Y:8.12, Z:162.94 [[ 8.24253304e-01 5.63700106e-01 -5.33730497e-02 4.95331779e+02] [-5.62473892e-01 8.25979307e-01 3.71659247e-02 8.12360736e+00] [ 6.50354703e-02 -6.13189240e-04 9.97882764e-01 1.62938279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.542755096 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:495.38, Y:8.09, Z:162.94 [[ 8.22883121e-01 5.65698982e-01 -5.33669529e-02 4.95381830e+02] [-5.64476393e-01 8.24611693e-01 3.71746772e-02 8.08914896e+00] [ 6.50366904e-02 -4.66029259e-04 9.97882765e-01 1.62938558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6027550959999 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:495.43, Y:8.05, Z:162.94 [[ 8.23017689e-01 5.65504079e-01 -5.33574798e-02 4.95432526e+02] [-5.64280200e-01 8.24745348e-01 3.71882692e-02 8.05328763e+00] [ 6.50364511e-02 -4.98034057e-04 9.97882765e-01 1.62942224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.48, Y:8.02, Z:162.95 [[ 8.24160391e-01 5.63838424e-01 -5.33468091e-02 4.95483000e+02] [-5.62610063e-01 8.25884866e-01 3.72035701e-02 8.01799025e+00] [ 6.50351246e-02 -6.48257245e-04 9.97882765e-01 1.62952389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.53, Y:7.98, Z:162.96 [[ 8.25337033e-01 5.62115713e-01 -5.33357960e-02 4.95533930e+02] [-5.60882732e-01 8.27058209e-01 3.72193520e-02 7.98298526e+00] [ 6.50333904e-02 -8.03382529e-04 9.97882765e-01 1.62957526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.782755096 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:495.58, Y:7.95, Z:162.96 [[ 8.27167445e-01 5.59419837e-01 -5.33241361e-02 4.95583817e+02] [-5.58180171e-01 8.28883811e-01 3.72360496e-02 7.94834551e+00] [ 6.50300980e-02 -1.03597261e-03 9.97882765e-01 1.62962134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.64, Y:7.91, Z:162.97 [[ 8.27101974e-01 5.59517574e-01 -5.33142460e-02 4.95636363e+02] [-5.58277199e-01 8.28817827e-01 3.72502049e-02 7.91338968e+00] [ 6.50299418e-02 -1.04559007e-03 9.97882765e-01 1.62967753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.69, Y:7.88, Z:162.97 [[ 8.25619005e-01 5.61704626e-01 -5.33026419e-02 4.95687250e+02] [-5.60467725e-01 8.27337364e-01 3.72668022e-02 7.87749592e+00] [ 6.50322024e-02 -8.93769705e-04 9.97882766e-01 1.62969876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9627550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:495.74, Y:7.84, Z:162.97 [[ 8.25406579e-01 5.62017753e-01 -5.32918847e-02 4.95738976e+02] [-5.60780512e-01 8.27124692e-01 3.72821787e-02 7.84144659e+00] [ 6.50322801e-02 -8.87905199e-04 9.97882766e-01 1.62974135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.79, Y:7.81, Z:162.98 [[ 8.26608958e-01 5.60249008e-01 -5.32792641e-02 4.95789349e+02] [-5.59006929e-01 8.28323577e-01 3.73002059e-02 7.80837584e+00] [ 6.50298740e-02 -1.04920654e-03 9.97882766e-01 1.62983461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.84, Y:7.78, Z:162.99 [[ 8.27115556e-01 5.59501786e-01 -5.32692027e-02 4.95841772e+02] [-5.58257233e-01 8.28828381e-01 3.73145694e-02 7.77525420e+00] [ 6.50285952e-02 -1.12554314e-03 9.97882766e-01 1.62988521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.142755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:495.89, Y:7.74, Z:162.99 [[ 8.26682095e-01 5.60143023e-01 -5.32588754e-02 4.95893344e+02] [-5.58898850e-01 8.28395195e-01 3.73293036e-02 7.74079621e+00] [ 6.50291454e-02 -1.09314278e-03 9.97882766e-01 1.62991167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2027550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:495.95, Y:7.71, Z:162.99 [[ 8.26553840e-01 5.60333294e-01 -5.32479896e-02 4.95945277e+02] [-5.59088516e-01 8.28266500e-01 3.73448251e-02 7.70503971e+00] [ 6.50290749e-02 -1.09716912e-03 9.97882767e-01 1.62993877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.262755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:496.00, Y:7.67, Z:163.00 [[ 8.26629577e-01 5.60222650e-01 -5.32365033e-02 4.95996860e+02] [-5.58976589e-01 8.28341303e-01 3.73611922e-02 7.66900293e+00] [ 6.50285806e-02 -1.12590744e-03 9.97882767e-01 1.62998086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3227550959999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:496.05, Y:7.63, Z:163.00 [[ 8.26510971e-01 5.60398690e-01 -5.32252075e-02 4.96046678e+02] [-5.59151958e-01 8.28222209e-01 3.73772773e-02 7.63433175e+00] [ 6.50284762e-02 -1.13175077e-03 9.97882767e-01 1.63001756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.382755096 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:496.09, Y:7.59, Z:163.01 [[ 8.24675745e-01 5.63096752e-01 -5.32161926e-02 4.96094080e+02] [-5.61854791e-01 8.26390449e-01 3.73901080e-02 7.59410435e+00] [ 6.50316017e-02 -9.34942343e-04 9.97882767e-01 1.63008428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:496.15, Y:7.56, Z:163.01 [[ 8.28199416e-01 5.57902297e-01 -5.32048376e-02 4.96147591e+02] [-5.56648546e-01 8.29905518e-01 3.74062588e-02 7.56337009e+00] [ 6.50240260e-02 -1.36344623e-03 9.97882767e-01 1.63012782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.502755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:496.19, Y:7.52, Z:163.02 [[ 8.27755224e-01 5.58562280e-01 -5.31927571e-02 4.96193782e+02] [-5.57308786e-01 8.29461514e-01 3.74234298e-02 7.52172519e+00] [ 6.50246611e-02 -1.33264859e-03 9.97882767e-01 1.63015915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.24, Y:7.49, Z:163.02 [[ 8.28710249e-01 5.57145385e-01 -5.31821710e-02 4.96244989e+02] [-5.55888010e-01 8.30413681e-01 3.74384675e-02 7.48582178e+00] [ 6.50218718e-02 -1.46231054e-03 9.97882768e-01 1.63020121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.30, Y:7.45, Z:163.03 [[ 8.28257148e-01 5.57819897e-01 -5.31700893e-02 4.96295535e+02] [-5.56562809e-01 8.29960792e-01 3.74556181e-02 7.44969319e+00] [ 6.50225785e-02 -1.43038917e-03 9.97882768e-01 1.63025852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.35, Y:7.41, Z:163.03 [[ 8.27693293e-01 5.58657263e-01 -5.31589581e-02 4.96347553e+02] [-5.57400885e-01 8.29397460e-01 3.74714096e-02 7.41376625e+00] [ 6.50235799e-02 -1.38398414e-03 9.97882768e-01 1.63029436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.40, Y:7.38, Z:163.03 [[ 8.25709839e-01 5.61585836e-01 -5.31470734e-02 4.96397449e+02] [-5.60334419e-01 8.27417651e-01 3.74882584e-02 7.37764928e+00] [ 6.50277016e-02 -1.17428932e-03 9.97882768e-01 1.63034224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8027550959999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:496.45, Y:7.34, Z:163.04 [[ 8.25219289e-01 5.62307398e-01 -5.31367628e-02 4.96447856e+02] [-5.61056534e-01 8.26927506e-01 3.75028672e-02 7.34194447e+00] [ 6.50283905e-02 -1.13536142e-03 9.97882768e-01 1.63035778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.862755096 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:496.50, Y:7.31, Z:163.04 [[ 8.24259243e-01 5.63714771e-01 -5.31258673e-02 4.96499366e+02] [-5.62465829e-01 8.25968867e-01 3.75182954e-02 7.30569161e+00] [ 6.50299297e-02 -1.04331675e-03 9.97882769e-01 1.63041830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.55, Y:7.27, Z:163.05 [[ 8.24446708e-01 5.63441698e-01 -5.31138271e-02 4.96550351e+02] [-5.62191093e-01 8.26155115e-01 3.75353327e-02 7.26878734e+00] [ 6.50292315e-02 -1.08576096e-03 9.97882769e-01 1.63046356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9827550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:496.60, Y:7.23, Z:163.05 [[ 8.22834942e-01 5.65794075e-01 -5.31010629e-02 4.96600353e+02] [-5.64547190e-01 8.24546066e-01 3.75533815e-02 7.23305299e+00] [ 6.50317532e-02 -9.22178705e-04 9.97882769e-01 1.63049676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.042755096 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:496.65, Y:7.20, Z:163.05 [[ 8.23666469e-01 5.64583980e-01 -5.30893390e-02 4.96652479e+02] [-5.63333513e-01 8.25374977e-01 3.75699483e-02 7.19823358e+00] [ 6.50300029e-02 -1.03810284e-03 9.97882769e-01 1.63052404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1027550959999 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:496.70, Y:7.16, Z:163.06 [[ 8.24190356e-01 5.63820044e-01 -5.30774411e-02 4.96703950e+02] [-5.62566912e-01 8.25896910e-01 3.75867497e-02 7.16285511e+00] [ 6.50286575e-02 -1.11902447e-03 9.97882769e-01 1.63056383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.162755096 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:496.75, Y:7.13, Z:163.06 [[ 8.22791945e-01 5.65859919e-01 -5.30656846e-02 4.96753831e+02] [-5.64609949e-01 8.24500815e-01 3.76033405e-02 7.12503825e+00] [ 6.50309234e-02 -9.78312213e-04 9.97882770e-01 1.63064539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2227550959999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:496.80, Y:7.09, Z:163.07 [[ 8.22378195e-01 5.66462301e-01 -5.30524771e-02 4.96801321e+02] [-5.65212381e-01 8.24087102e-01 3.76219650e-02 7.08608344e+00] [ 6.50312870e-02 -9.53566853e-04 9.97882770e-01 1.63069271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.282755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:496.85, Y:7.05, Z:163.07 [[ 8.21475488e-01 5.67771584e-01 -5.30419656e-02 4.96851399e+02] [-5.66523432e-01 8.23185686e-01 3.76367790e-02 7.04904381e+00] [ 6.50324805e-02 -8.68175006e-04 9.97882770e-01 1.63074816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:496.90, Y:7.01, Z:163.08 [[ 8.22352477e-01 5.66501749e-01 -5.30299059e-02 4.96902154e+02] [-5.65249861e-01 8.24059943e-01 3.76537634e-02 7.01464331e+00] [ 6.50307440e-02 -9.89518699e-04 9.97882770e-01 1.63076091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.402755096 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:496.95, Y:6.98, Z:163.08 [[ 8.22293491e-01 5.66588265e-01 -5.30203085e-02 4.96951923e+02] [-5.65335685e-01 8.24000449e-01 3.76672727e-02 6.97669877e+00] [ 6.50305927e-02 -9.99280728e-04 9.97882770e-01 1.63079382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4627550959999 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:497.00, Y:6.94, Z:163.08 [[ 8.25242822e-01 5.62284200e-01 -5.30166204e-02 4.97002033e+02] [-5.61022386e-01 8.26942965e-01 3.76724630e-02 6.93936097e+00] [ 6.50243520e-02 -1.34541886e-03 9.97882770e-01 1.63083178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.05, Y:6.90, Z:163.09 [[ 8.26979617e-01 5.59727802e-01 -5.30047128e-02 4.97053051e+02] [-5.58459661e-01 8.28675046e-01 3.76892094e-02 6.90301349e+00] [ 6.50193811e-02 -1.56721402e-03 9.97882771e-01 1.63089930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.10, Y:6.87, Z:163.10 [[ 8.28122028e-01 5.58037321e-01 -5.29929689e-02 4.97104995e+02] [-5.56764663e-01 8.29814069e-01 3.77057147e-02 6.86743262e+00] [ 6.50155072e-02 -1.72032052e-03 9.97882771e-01 1.63095097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.642755096 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:497.16, Y:6.83, Z:163.10 [[ 8.28100146e-01 5.58070952e-01 -5.29807669e-02 4.97155438e+02] [-5.56797267e-01 8.29791413e-01 3.77228521e-02 6.83058311e+00] [ 6.50150134e-02 -1.73875310e-03 9.97882771e-01 1.63098759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7027550959999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:497.21, Y:6.80, Z:163.10 [[ 8.25986312e-01 5.61195970e-01 -5.29688173e-02 4.97205924e+02] [-5.59927610e-01 8.27681577e-01 3.77396238e-02 6.79614711e+00] [ 6.50206390e-02 -1.51370937e-03 9.97882771e-01 1.63101308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.26, Y:6.76, Z:163.10 [[ 8.24322939e-01 5.63637301e-01 -5.29592857e-02 4.97259393e+02] [-5.62373104e-01 8.26021309e-01 3.77529945e-02 6.76381754e+00] [ 6.50244945e-02 -1.33778149e-03 9.97882771e-01 1.63103625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8227550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:497.31, Y:6.73, Z:163.11 [[ 8.21784960e-01 5.67332263e-01 -5.29488712e-02 4.97310911e+02] [-5.66074763e-01 8.23488295e-01 3.77675954e-02 6.72808345e+00] [ 6.50295510e-02 -1.06382218e-03 9.97882772e-01 1.63110018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.36, Y:6.69, Z:163.11 [[ 8.20165282e-01 5.69672456e-01 -5.29358419e-02 4.97361709e+02] [-5.68418638e-01 8.21871329e-01 3.77858487e-02 6.69174728e+00] [ 6.50320080e-02 -9.00922113e-04 9.97882772e-01 1.63114540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.41, Y:6.66, Z:163.12 [[ 8.19357634e-01 5.70834674e-01 -5.29229832e-02 4.97413003e+02] [-5.69582114e-01 8.21064604e-01 3.78038502e-02 6.65509639e+00] [ 6.50329367e-02 -8.30888611e-04 9.97882772e-01 1.63119521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.46, Y:6.62, Z:163.13 [[ 8.17402932e-01 5.73631366e-01 -5.29103199e-02 4.97462775e+02] [-5.72383500e-01 8.19113337e-01 3.78215655e-02 6.61728511e+00] [ 6.50351849e-02 -6.30464461e-04 9.97882772e-01 1.63125424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0627550959999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:497.52, Y:6.58, Z:163.13 [[ 8.17693863e-01 5.73217775e-01 -5.28973399e-02 4.97515418e+02] [-5.71967870e-01 8.19402778e-01 3.78397106e-02 6.58464580e+00] [ 6.50346220e-02 -6.85720347e-04 9.97882773e-01 1.63130550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.122755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:497.57, Y:6.55, Z:163.14 [[ 8.16004716e-01 5.75620554e-01 -5.28893412e-02 4.97567421e+02] [-5.74374956e-01 8.17716773e-01 3.78508873e-02 6.54892347e+00] [ 6.50362501e-02 -5.08189488e-04 9.97882773e-01 1.63135681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1827550959999 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:497.62, Y:6.51, Z:163.14 [[ 8.14103454e-01 5.78307499e-01 -5.28772415e-02 4.97618621e+02] [-5.77066455e-01 8.15818814e-01 3.78677829e-02 6.51465350e+00] [ 6.50374713e-02 -3.14610540e-04 9.97882773e-01 1.63138235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.67, Y:6.48, Z:163.14 [[ 8.11857684e-01 5.81457031e-01 -5.28660830e-02 4.97666301e+02] [-5.80221627e-01 8.13577111e-01 3.78833545e-02 6.47879494e+00] [ 6.50381779e-02 -8.18477026e-05 9.97882773e-01 1.63140195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.71, Y:6.45, Z:163.15 [[ 8.09976225e-01 5.84075145e-01 -5.28653027e-02 4.97713853e+02] [-5.82845228e-01 8.11699581e-01 3.78844434e-02 6.44568419e+00] [ 6.50381058e-02 1.26791006e-04 9.97882773e-01 1.63149064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.77, Y:6.41, Z:163.15 [[ 8.13146574e-01 5.79652920e-01 -5.28690891e-02 4.97766656e+02] [-5.78413975e-01 8.14863451e-01 3.78791585e-02 6.41070667e+00] [ 6.50378533e-02 -2.21087999e-04 9.97882773e-01 1.63147623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.81, Y:6.37, Z:163.15 [[ 8.15376267e-01 5.76513532e-01 -5.28553716e-02 4.97814833e+02] [-5.75266737e-01 8.17087450e-01 3.78982899e-02 6.37230770e+00] [ 6.50363378e-02 -4.95429031e-04 9.97882773e-01 1.63154983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.86, Y:6.33, Z:163.16 [[ 8.18087337e-01 5.72661124e-01 -5.28426483e-02 4.97862415e+02] [-5.71405126e-01 8.19791777e-01 3.79160221e-02 6.33305879e+00] [ 6.50330004e-02 -8.24057429e-04 9.97882774e-01 1.63161780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.91, Y:6.30, Z:163.16 [[ 8.19795966e-01 5.70213476e-01 -5.28314844e-02 4.97913330e+02] [-5.68951387e-01 8.21495901e-01 3.79315713e-02 6.29658710e+00] [ 6.50299410e-02 -1.03760280e-03 9.97882774e-01 1.63162139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.96, Y:6.26, Z:163.17 [[ 8.22555383e-01 5.66226868e-01 -5.28183258e-02 4.97959938e+02] [-5.64955366e-01 8.24248288e-01 3.79498854e-02 6.26171657e+00] [ 6.50236594e-02 -1.37588592e-03 9.97882774e-01 1.63165304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.01, Y:6.22, Z:163.17 [[ 8.22923009e-01 5.65692218e-01 -5.28207894e-02 4.98010381e+02] [-5.64419836e-01 8.24615253e-01 3.79464560e-02 6.22382956e+00] [ 6.50228435e-02 -1.41391045e-03 9.97882774e-01 1.63168002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.06, Y:6.19, Z:163.17 [[ 8.21447754e-01 5.67833511e-01 -5.28080618e-02 4.98060344e+02] [-5.66564403e-01 8.23142454e-01 3.79641602e-02 6.18625912e+00] [ 6.50258800e-02 -1.26640607e-03 9.97882774e-01 1.63171178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.782755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:498.11, Y:6.15, Z:163.17 [[ 8.18766140e-01 5.71694544e-01 -5.27954145e-02 4.98111832e+02] [-5.70432295e-01 8.20465956e-01 3.79817402e-02 6.15089144e+00] [ 6.50307939e-02 -9.81953346e-04 9.97882775e-01 1.63172778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8427550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:498.16, Y:6.11, Z:163.18 [[ 8.15399611e-01 5.76487159e-01 -5.27828521e-02 4.98160998e+02] [-5.75233773e-01 8.17105971e-01 3.79991901e-02 6.11373208e+00] [ 6.50352288e-02 -6.22045685e-04 9.97882775e-01 1.63176937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.21, Y:6.08, Z:163.18 [[ 8.13956382e-01 5.78524159e-01 -5.27712618e-02 4.98211723e+02] [-5.77274000e-01 8.15665108e-01 3.80152793e-02 6.07727565e+00] [ 6.50364344e-02 -4.79301859e-04 9.97882775e-01 1.63180219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.26, Y:6.04, Z:163.19 [[ 8.11914542e-01 5.81387384e-01 -5.27587634e-02 4.98261375e+02] [-5.80142124e-01 8.13626841e-01 3.80326170e-02 6.03828589e+00] [ 6.50376297e-02 -2.71653767e-04 9.97882775e-01 1.63185217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.31, Y:6.00, Z:163.19 [[ 8.11097672e-01 5.82527612e-01 -5.27460678e-02 4.98311094e+02] [-5.81283615e-01 8.12810888e-01 3.80502160e-02 6.00110334e+00] [ 6.50378797e-02 -2.02016682e-04 9.97882775e-01 1.63188320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.36, Y:5.96, Z:163.20 [[ 8.10583334e-01 5.83244157e-01 -5.27343649e-02 4.98359968e+02] [-5.82000619e-01 8.12296883e-01 3.80664284e-02 5.96368364e+00] [ 6.50379822e-02 -1.64579457e-04 9.97882776e-01 1.63195106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.41, Y:5.93, Z:163.20 [[ 8.11490027e-01 5.81983019e-01 -5.27228787e-02 4.98411157e+02] [-5.80735785e-01 8.13200888e-01 3.80823304e-02 5.92768800e+00] [ 6.50375614e-02 -2.85368950e-04 9.97882776e-01 1.63199477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:498.46, Y:5.89, Z:163.20 [[ 8.13467545e-01 5.79216836e-01 -5.27106339e-02 4.98462319e+02] [-5.77962686e-01 8.15173343e-01 3.80992712e-02 5.89122186e+00] [ 6.50360429e-02 -5.27741057e-04 9.97882776e-01 1.63204605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.51, Y:5.86, Z:163.21 [[ 8.15377790e-01 5.76525742e-01 -5.26984666e-02 4.98513987e+02] [-5.75264876e-01 8.17078629e-01 3.81160934e-02 5.85586543e+00] [ 6.50336999e-02 -7.63439172e-04 9.97882776e-01 1.63206906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.57, Y:5.82, Z:163.21 [[ 8.16861399e-01 5.74422846e-01 -5.26863226e-02 4.98565391e+02] [-5.73156520e-01 8.18558176e-01 3.81328722e-02 5.82008685e+00] [ 6.50312132e-02 -9.51762088e-04 9.97882776e-01 1.63209278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.62, Y:5.78, Z:163.21 [[ 8.17093085e-01 5.74094379e-01 -5.26738407e-02 4.98615166e+02] [-5.72826260e-01 8.18788523e-01 3.81501060e-02 5.78429948e+00] [ 6.50304977e-02 -9.99228651e-04 9.97882777e-01 1.63213513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.67, Y:5.75, Z:163.22 [[ 8.16487103e-01 5.74956940e-01 -5.26623964e-02 4.98666955e+02] [-5.73689594e-01 8.18183118e-01 3.81658972e-02 5.75010851e+00] [ 6.50312312e-02 -9.50093975e-04 9.97882777e-01 1.63216059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.72, Y:5.71, Z:163.22 [[ 8.15417005e-01 5.76474594e-01 -5.26512230e-02 4.98718780e+02] [-5.75209409e-01 8.17114633e-01 3.81813052e-02 5.71454159e+00] [ 6.50326371e-02 -8.48206652e-04 9.97882777e-01 1.63220909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.77, Y:5.68, Z:163.23 [[ 8.13759805e-01 5.78812636e-01 -5.26394560e-02 4.98771295e+02] [-5.77551281e-01 8.15460279e-01 3.81975211e-02 5.68071540e+00] [ 6.50345934e-02 -6.81622112e-04 9.97882777e-01 1.63226311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.82, Y:5.65, Z:163.23 [[ 8.11925495e-01 5.81383823e-01 -5.26292831e-02 4.98824306e+02] [-5.80126945e-01 8.13629281e-01 3.82115324e-02 5.64704121e+00] [ 6.50362926e-02 -4.93252142e-04 9.97882777e-01 1.63230345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.88, Y:5.61, Z:163.23 [[ 8.10654988e-01 5.83155161e-01 -5.26170121e-02 4.98875906e+02] [-5.81900909e-01 8.12360708e-01 3.82284220e-02 5.61132431e+00] [ 6.50370948e-02 -3.72173766e-04 9.97882778e-01 1.63234826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.742755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:498.93, Y:5.58, Z:163.24 [[ 8.09277583e-01 5.85066252e-01 -5.26048876e-02 4.98925347e+02] [-5.83814944e-01 8.10985465e-01 3.82450989e-02 5.57701220e+00] [ 6.50377159e-02 -2.39381762e-04 9.97882778e-01 1.63237996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8027550959999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:498.98, Y:5.54, Z:163.24 [[ 8.08330374e-01 5.86374292e-01 -5.26041424e-02 4.98976345e+02] [-5.85125681e-01 8.10040228e-01 3.82461238e-02 5.54098061e+00] [ 6.50380153e-02 -1.35468931e-04 9.97882778e-01 1.63240771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.03, Y:5.50, Z:163.24 [[ 8.07803206e-01 5.87101258e-01 -5.25936628e-02 4.99026462e+02] [-5.85853247e-01 8.09513499e-01 3.82605294e-02 5.50366793e+00] [ 6.50380849e-02 -9.48101536e-05 9.97882778e-01 1.63244019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.08, Y:5.47, Z:163.25 [[ 8.08592152e-01 5.86015136e-01 -5.25831974e-02 4.99076759e+02] [-5.84763893e-01 8.10300081e-01 3.82749070e-02 5.46585726e+00] [ 6.50378439e-02 -2.00034180e-04 9.97882778e-01 1.63246767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.13, Y:5.43, Z:163.25 [[ 8.10074575e-01 5.83965299e-01 -5.25710364e-02 4.99126376e+02] [-5.82708651e-01 8.11778530e-01 3.82916031e-02 5.42797825e+00] [ 6.50370060e-02 -3.85456396e-04 9.97882778e-01 1.63250062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.042755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:499.17, Y:5.39, Z:163.25 [[ 8.12104286e-01 5.81140413e-01 -5.25589976e-02 4.99173367e+02] [-5.79876769e-01 8.13803060e-01 3.83081204e-02 5.38578038e+00] [ 6.50350700e-02 -6.32447004e-04 9.97882779e-01 1.63254051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1027550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:499.22, Y:5.35, Z:163.26 [[ 8.16390378e-01 5.75104895e-01 -5.25462762e-02 4.99224511e+02] [-5.73827572e-01 8.18078889e-01 3.83255621e-02 5.35155494e+00] [ 6.50282176e-02 -1.13611803e-03 9.97882779e-01 1.63257854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.28, Y:5.32, Z:163.26 [[ 8.16452468e-01 5.75017814e-01 -5.25345682e-02 4.99275786e+02] [-5.73739279e-01 8.18140062e-01 3.83416040e-02 5.31506469e+00] [ 6.50277402e-02 -1.16295191e-03 9.97882779e-01 1.63263808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.33, Y:5.28, Z:163.27 [[ 8.14979248e-01 5.77105020e-01 -5.25225790e-02 4.99325837e+02] [-5.75829750e-01 8.16669310e-01 3.83580205e-02 5.27734805e+00] [ 6.50301846e-02 -1.01692718e-03 9.97882779e-01 1.63267578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.38, Y:5.24, Z:163.27 [[ 8.13476238e-01 5.79222810e-01 -5.25104434e-02 4.99377585e+02] [-5.77950868e-01 8.15168806e-01 3.83746266e-02 5.24228535e+00] [ 6.50323345e-02 -8.68390542e-04 9.97882779e-01 1.63269559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.43, Y:5.21, Z:163.27 [[ 8.12976579e-01 5.79925015e-01 -5.24981764e-02 4.99429061e+02] [-5.78653452e-01 8.14669432e-01 3.83914010e-02 5.20630591e+00] [ 6.50327933e-02 -8.33058890e-04 9.97882780e-01 1.63272228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.402755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:499.48, Y:5.17, Z:163.28 [[ 8.13650031e-01 5.78980868e-01 -5.24860185e-02 4.99478978e+02] [-5.77706269e-01 8.15340599e-01 3.84080152e-02 5.16960131e+00] [ 6.50314877e-02 -9.29180830e-04 9.97882780e-01 1.63275541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.53, Y:5.13, Z:163.28 [[ 8.14723623e-01 5.77470182e-01 -5.24748213e-02 4.99527686e+02] [-5.76191464e-01 8.16411077e-01 3.84233073e-02 5.13344500e+00] [ 6.50293396e-02 -1.06883205e-03 9.97882780e-01 1.63280232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.58, Y:5.10, Z:163.28 [[ 8.16661634e-01 5.74726321e-01 -5.24731588e-02 4.99575289e+02] [-5.73441788e-01 8.18344665e-01 3.84255776e-02 5.10111201e+00] [ 6.50253204e-02 -1.29039293e-03 9.97882780e-01 1.63283732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.62, Y:5.07, Z:163.29 [[ 8.17578030e-01 5.73421569e-01 -5.24773168e-02 4.99623197e+02] [-5.72134715e-01 8.19259287e-01 3.84198982e-02 5.06699262e+00] [ 6.50233275e-02 -1.38717001e-03 9.97882780e-01 1.63287342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.67, Y:5.03, Z:163.29 [[ 8.18323755e-01 5.72356625e-01 -5.24797608e-02 4.99670243e+02] [-5.71067797e-01 8.20003500e-01 3.84165595e-02 5.03196511e+00] [ 6.50215599e-02 -1.46768186e-03 9.97882780e-01 1.63295000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.72, Y:5.00, Z:163.30 [[ 8.21696621e-01 5.67503477e-01 -5.24830233e-02 4.99724090e+02] [-5.66205014e-01 8.23368929e-01 3.84121020e-02 4.99997761e+00] [ 6.50118921e-02 -1.84694342e-03 9.97882780e-01 1.63295135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.77, Y:4.96, Z:163.30 [[ 8.19764087e-01 5.70292479e-01 -5.24721855e-02 4.99772096e+02] [-5.68998760e-01 8.21440068e-01 3.84269010e-02 4.96089725e+00] [ 6.50173283e-02 -1.64438494e-03 9.97882780e-01 1.63303345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8227550959999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:499.82, Y:4.92, Z:163.31 [[ 8.19748735e-01 5.70315591e-01 -5.24608344e-02 4.99823688e+02] [-5.69020928e-01 8.21423986e-01 3.84423915e-02 4.92430306e+00] [ 6.50168829e-02 -1.66178915e-03 9.97882780e-01 1.63305044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.87, Y:4.89, Z:163.31 [[ 8.19604686e-01 5.70523695e-01 -5.24487564e-02 4.99874650e+02] [-5.69228405e-01 8.21279452e-01 3.84588631e-02 4.89214340e+00] [ 6.50167786e-02 -1.66574245e-03 9.97882781e-01 1.63308631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:499.92, Y:4.86, Z:163.31 [[ 8.20335586e-01 5.69472327e-01 -5.24480169e-02 4.99922776e+02] [-5.68174827e-01 8.22008640e-01 3.84598716e-02 4.85972695e+00] [ 6.50145556e-02 -1.75035840e-03 9.97882781e-01 1.63311970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.97, Y:4.83, Z:163.32 [[ 8.20802493e-01 5.68798817e-01 -5.24516301e-02 4.99971641e+02] [-5.67500259e-01 8.22474725e-01 3.84549432e-02 4.82653841e+00] [ 6.50132663e-02 -1.79759959e-03 9.97882781e-01 1.63316278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.02, Y:4.79, Z:163.32 [[ 8.17703264e-01 5.73245057e-01 -5.24545160e-02 5.00020717e+02] [-5.71955845e-01 8.19382714e-01 3.84510062e-02 4.78857540e+00] [ 6.50221729e-02 -1.43984629e-03 9.97882781e-01 1.63323733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.122755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:500.08, Y:4.76, Z:163.32 [[ 8.21280511e-01 5.68109169e-01 -5.24432459e-02 5.00076019e+02] [-5.66808477e-01 8.22951085e-01 3.84663714e-02 4.75984453e+00] [ 6.50113244e-02 -1.86640478e-03 9.97882781e-01 1.63323530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1827550959999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:500.12, Y:4.73, Z:163.33 [[ 8.22007957e-01 5.67056636e-01 -5.24374936e-02 5.00123977e+02] [-5.65753306e-01 8.23676473e-01 3.84742113e-02 4.72702476e+00] [ 6.50085867e-02 -1.95942247e-03 9.97882781e-01 1.63327418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.18, Y:4.70, Z:163.33 [[ 8.22100309e-01 5.66922585e-01 -5.24391541e-02 5.00178195e+02] [-5.65619127e-01 8.23768725e-01 3.84719480e-02 4.69515441e+00] [ 6.50083514e-02 -1.96721172e-03 9.97882781e-01 1.63332056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.23, Y:4.67, Z:163.33 [[ 8.22248449e-01 5.66708866e-01 -5.24266076e-02 5.00229232e+02] [-5.65403886e-01 8.23915675e-01 3.84890378e-02 4.66520743e+00] [ 6.50071828e-02 -2.00534400e-03 9.97882781e-01 1.63333091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.28, Y:4.63, Z:163.34 [[ 8.21237153e-01 5.68173167e-01 -5.24289159e-02 5.00278478e+02] [-5.66871360e-01 8.22906858e-01 3.84858933e-02 4.63247335e+00] [ 6.50107663e-02 -1.88559460e-03 9.97882781e-01 1.63338648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.33, Y:4.60, Z:163.34 [[ 8.21224527e-01 5.68191136e-01 -5.24319469e-02 5.00329170e+02] [-5.66889629e-01 8.22894466e-01 3.84817635e-02 4.60129898e+00] [ 6.50109559e-02 -1.87904117e-03 9.97882781e-01 1.63340385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.38, Y:4.57, Z:163.34 [[ 8.21881744e-01 5.67239919e-01 -5.24335086e-02 5.00377216e+02] [-5.65936615e-01 8.23550281e-01 3.84796356e-02 4.56955714e+00] [ 6.50088161e-02 -1.95166764e-03 9.97882781e-01 1.63341745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.542755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:500.43, Y:4.54, Z:163.35 [[ 8.22703464e-01 5.66047052e-01 -5.24380086e-02 5.00425736e+02] [-5.64741720e-01 8.24370414e-01 3.84735021e-02 4.53678961e+00] [ 6.50061554e-02 -2.03835229e-03 9.97882781e-01 1.63345167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.47, Y:4.51, Z:163.35 [[ 8.24385858e-01 5.63593723e-01 -5.24411455e-02 5.00474105e+02] [-5.62283701e-01 8.26049126e-01 3.84692259e-02 4.50574707e+00] [ 6.49999766e-02 -2.22668441e-03 9.97882781e-01 1.63347956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.662755096 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:500.52, Y:4.47, Z:163.35 [[ 8.24036743e-01 5.64103557e-01 -5.24463878e-02 5.00522068e+02] [-5.62795019e-01 8.25701178e-01 3.84620777e-02 4.47378934e+00] [ 6.50016390e-02 -2.17759938e-03 9.97882781e-01 1.63350499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.57, Y:4.44, Z:163.36 [[ 8.23255669e-01 5.65242411e-01 -5.24511239e-02 5.00570457e+02] [-5.63936587e-01 8.24922234e-01 3.84556179e-02 4.44001611e+00] [ 6.50048445e-02 -2.07969765e-03 9.97882781e-01 1.63356594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.62, Y:4.41, Z:163.36 [[ 8.22581364e-01 5.66222966e-01 -5.24542938e-02 5.00619902e+02] [-5.64919404e-01 8.24249698e-01 3.84512936e-02 4.40744441e+00] [ 6.50074413e-02 -1.99686918e-03 9.97882781e-01 1.63359598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.67, Y:4.38, Z:163.36 [[ 8.21999743e-01 5.67066699e-01 -5.24574258e-02 5.00666802e+02] [-5.65765122e-01 8.23669627e-01 3.84470202e-02 4.37541384e+00] [ 6.50096132e-02 -1.92485885e-03 9.97882781e-01 1.63361141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.902755096 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:500.71, Y:4.34, Z:163.36 [[ 8.21558844e-01 5.67704777e-01 -5.24628643e-02 5.00714868e+02] [-5.66404970e-01 8.23230106e-01 3.84395977e-02 4.34306160e+00] [ 6.50113526e-02 -1.86516431e-03 9.97882781e-01 1.63362716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.76, Y:4.31, Z:163.37 [[ 8.20164403e-01 5.69716723e-01 -5.24710252e-02 5.00762559e+02] [-5.68421728e-01 8.21839396e-01 3.84284546e-02 4.31103319e+00] [ 6.50160889e-02 -1.69197967e-03 9.97882781e-01 1.63368804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.06, Y:4.78, Z:164.47 [[ 8.37193895e-01 5.44381927e-01 -5.24852342e-02 5.01060825e+02] [-5.43037552e-01 8.38829520e-01 3.84090383e-02 4.77971211e+00] [ 6.49353501e-02 -3.65435929e-03 9.97882782e-01 1.64467170e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 672.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.11, Y:4.75, Z:164.47 [[ 8.36035085e-01 5.46038378e-01 -5.37347881e-02 5.01109930e+02] [-5.44813717e-01 8.37759152e-01 3.65734415e-02 4.74853670e+00] [ 6.49873131e-02 -1.30123058e-03 9.97885242e-01 1.64469969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.16, Y:4.72, Z:164.47 [[ 8.35171030e-01 5.47358619e-01 -5.37391155e-02 5.01156806e+02] [-5.46137093e-01 8.36897320e-01 3.65670818e-02 4.71525940e+00] [ 6.49894292e-02 -1.19084306e-03 9.97885242e-01 1.64473977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.20, Y:4.68, Z:164.48 [[ 8.35245738e-01 5.47244185e-01 -5.37434593e-02 5.01203641e+02] [-5.46022834e-01 8.36972150e-01 3.65606966e-02 4.68298143e+00] [ 6.49894073e-02 -1.19201001e-03 9.97885242e-01 1.64478630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.25, Y:4.65, Z:164.48 [[ 8.34326787e-01 5.48643451e-01 -5.37510543e-02 5.01250442e+02] [-5.47425714e-01 8.36055752e-01 3.65495271e-02 4.64691395e+00] [ 6.49915368e-02 -1.06954022e-03 9.97885242e-01 1.64481267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.30, Y:4.62, Z:164.49 [[ 8.36125837e-01 5.45897523e-01 -5.37538694e-02 5.01299240e+02] [-5.44674374e-01 8.37850978e-01 3.65453864e-02 4.61572779e+00] [ 6.49877680e-02 -1.27818666e-03 9.97885242e-01 1.64485767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.35, Y:4.58, Z:164.49 [[ 8.37344188e-01 5.44025568e-01 -5.37670111e-02 5.01345530e+02] [-5.42799805e-01 8.39067471e-01 3.65260416e-02 4.58045899e+00] [ 6.49852506e-02 -1.40014551e-03 9.97885242e-01 1.64487183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.63, Y:5.07, Z:165.59 [[ 8.53936622e-01 5.17590480e-01 -5.37804817e-02 5.01634581e+02] [-5.16312702e-01 8.55621699e-01 3.65061969e-02 5.07162612e+00] [ 6.49110071e-02 -3.40643268e-03 9.97885243e-01 1.65590074e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 672.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.68, Y:5.04, Z:165.59 [[ 8.54667518e-01 5.16284859e-01 -5.47117776e-02 5.01682699e+02] [-5.15096607e-01 8.56415079e-01 3.50527722e-02 5.03851621e+00] [ 6.49532069e-02 -1.77661482e-03 9.97886729e-01 1.65593307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.73, Y:5.00, Z:165.60 [[ 8.53415045e-01 5.18351178e-01 -5.47249270e-02 5.01729063e+02] [-5.17168474e-01 8.55166365e-01 3.50322312e-02 5.00357675e+00] [ 6.49579152e-02 -1.59502613e-03 9.97886730e-01 1.65596577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.78, Y:4.97, Z:165.60 [[ 8.51358918e-01 5.21720942e-01 -5.47288940e-02 5.01776131e+02] [-5.20545569e-01 8.53115166e-01 3.50260328e-02 4.96784596e+00] [ 6.49638643e-02 -1.33084208e-03 9.97886730e-01 1.65597519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.82, Y:4.93, Z:165.60 [[ 8.50027724e-01 5.23886739e-01 -5.47316486e-02 5.01823748e+02] [-5.22716118e-01 8.51787144e-01 3.50217279e-02 4.93496054e+00] [ 6.49671334e-02 -1.16032476e-03 9.97886730e-01 1.65601139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.87, Y:4.90, Z:165.61 [[ 8.45644065e-01 5.30933371e-01 -5.47345536e-02 5.01870160e+02] [-5.29777708e-01 8.47413345e-01 3.50171871e-02 4.90055128e+00] [ 6.49745844e-02 -6.14930086e-04 9.97886730e-01 1.65606227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.92, Y:4.86, Z:165.61 [[ 8.41188941e-01 5.37963668e-01 -5.47380696e-02 5.01917406e+02] [-5.36823150e-01 8.42968023e-01 3.50116901e-02 4.86398063e+00] [ 6.49774595e-02 -6.67835754e-05 9.97886730e-01 1.65611148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.862755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.96, Y:4.83, Z:165.61 [[ 8.40027538e-01 5.39775252e-01 -5.47394911e-02 5.01964659e+02] [-5.38638715e-01 8.41809166e-01 3.50094675e-02 4.82641338e+00] [ 6.49774495e-02 7.58923983e-05 9.97886730e-01 1.65614706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.01, Y:4.79, Z:165.62 [[ 8.40986939e-01 5.38279256e-01 -5.47394911e-02 5.02011736e+02] [-5.37139550e-01 8.42766540e-01 3.50094675e-02 4.79184092e+00] [ 6.49774816e-02 -3.97592747e-05 9.97886730e-01 1.65618951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.06, Y:4.76, Z:165.62 [[ 8.42411396e-01 5.36046914e-01 -5.47425452e-02 5.02057468e+02] [-5.34902803e-01 8.44188168e-01 3.50046914e-02 4.75531955e+00] [ 6.49771657e-02 -2.06410051e-04 9.97886730e-01 1.65620913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.042755096 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:502.10, Y:4.72, Z:165.62 [[ 8.43898613e-01 5.33702069e-01 -5.47469837e-02 5.02103078e+02] [-5.32553471e-01 8.45672489e-01 3.49977481e-02 4.71654573e+00] [ 6.49763886e-02 -3.78854850e-04 9.97886730e-01 1.65622515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.15, Y:4.68, Z:165.63 [[ 8.44790500e-01 5.32288884e-01 -5.47499254e-02 5.02149790e+02] [-5.31137617e-01 8.46562645e-01 3.49931456e-02 4.67998163e+00] [ 6.49757041e-02 -4.82132031e-04 9.97886730e-01 1.65627127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.19, Y:4.64, Z:165.63 [[ 8.46532607e-01 5.29513848e-01 -5.47506143e-02 5.02194184e+02] [-5.28356842e-01 8.48301010e-01 3.49920677e-02 4.64225185e+00] [ 6.49737858e-02 -6.94064681e-04 9.97886730e-01 1.65629808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.24, Y:4.61, Z:165.63 [[ 8.45581352e-01 5.31031233e-01 -5.47540612e-02 5.02242991e+02] [-5.29877749e-01 8.47352054e-01 3.49866734e-02 4.60768533e+00] [ 6.49749825e-02 -5.71119864e-04 9.97886730e-01 1.65633406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.29, Y:4.58, Z:165.64 [[ 8.41695703e-01 5.37168749e-01 -5.47547099e-02 5.02292596e+02] [-5.36028244e-01 8.43474793e-01 3.49856581e-02 4.57699107e+00] [ 6.49774198e-02 -9.72071129e-05 9.97886730e-01 1.65635627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.34, Y:4.54, Z:165.64 [[ 8.37350885e-01 5.43916420e-01 -5.47578656e-02 5.02343428e+02] [-5.42790574e-01 8.39139287e-01 3.49807183e-02 4.54144485e+00] [ 6.49760633e-02 4.30917838e-04 9.97886730e-01 1.65642008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.40, Y:4.51, Z:165.64 [[ 8.35977617e-01 5.46025744e-01 -5.47476959e-02 5.02395503e+02] [-5.44903368e-01 8.37768199e-01 3.49966274e-02 4.50973017e+00] [ 6.49749381e-02 5.75806755e-04 9.97886730e-01 1.65641559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4627550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:502.45, Y:4.48, Z:165.64 [[ 8.35379392e-01 5.46941473e-01 -5.47384480e-02 5.02449329e+02] [-5.45820112e-01 8.37170609e-01 3.50110862e-02 4.47699574e+00] [ 6.49744349e-02 6.29805942e-04 9.97886730e-01 1.65644356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.50, Y:4.44, Z:165.65 [[ 8.35598601e-01 5.46607657e-01 -5.47270197e-02 5.02502403e+02] [-5.45484412e-01 8.37388637e-01 3.50289411e-02 4.44336450e+00] [ 6.49748719e-02 5.82601964e-04 9.97886730e-01 1.65650838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.56, Y:4.41, Z:165.65 [[ 8.37515970e-01 5.43666468e-01 -5.47153749e-02 5.02556061e+02] [-5.42535748e-01 8.39301293e-01 3.50471210e-02 4.41215740e+00] [ 6.49766294e-02 3.32523348e-04 9.97886731e-01 1.65652445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.61, Y:4.38, Z:165.66 [[ 8.38997651e-01 5.41378186e-01 -5.47046708e-02 5.02608524e+02] [-5.40241508e-01 8.40779187e-01 3.50638210e-02 4.37705892e+00] [ 6.49773364e-02 1.35270424e-04 9.97886731e-01 1.65656465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.66, Y:4.34, Z:165.66 [[ 8.42132363e-01 5.36490196e-01 -5.46932640e-02 5.02658673e+02] [-5.35342023e-01 8.43906511e-01 3.50816045e-02 4.34092960e+00] [ 6.49769385e-02 -2.63751898e-04 9.97886731e-01 1.65660844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.71, Y:4.31, Z:165.66 [[ 8.45076307e-01 5.31841563e-01 -5.46862547e-02 5.02710994e+02] [-5.30682924e-01 8.46843639e-01 3.50925273e-02 4.30644770e+00] [ 6.49743715e-02 -6.34801817e-04 9.97886731e-01 1.65664761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.76, Y:4.27, Z:165.67 [[ 8.46806183e-01 5.29084019e-01 -5.46753062e-02 5.02764894e+02] [-5.27918524e-01 8.48569001e-01 3.51095773e-02 4.27342549e+00] [ 6.49716862e-02 -8.66900159e-04 9.97886731e-01 1.65668955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.82, Y:4.24, Z:165.67 [[ 8.47647571e-01 5.27736119e-01 -5.46642868e-02 5.02817585e+02] [-5.26566716e-01 8.49407798e-01 3.51267257e-02 4.24017199e+00] [ 6.49699134e-02 -9.90689761e-04 9.97886732e-01 1.65673065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.87, Y:4.21, Z:165.68 [[ 8.47335064e-01 5.28238871e-01 -5.46533216e-02 5.02870174e+02] [-5.27069412e-01 8.49095254e-01 3.51437781e-02 4.20763330e+00] [ 6.49701856e-02 -9.72461366e-04 9.97886732e-01 1.65676941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.92, Y:4.18, Z:165.68 [[ 8.47994830e-01 5.27180128e-01 -5.46432129e-02 5.02924475e+02] [-5.26007460e-01 8.49752883e-01 3.51594886e-02 4.17505358e+00] [ 6.49686114e-02 -1.07232693e-03 9.97886732e-01 1.65676477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.97, Y:4.14, Z:165.68 [[ 8.47944221e-01 5.27262668e-01 -5.46321943e-02 5.02974860e+02] [-5.26089068e-01 8.49701653e-01 3.51766014e-02 4.13950063e+00] [ 6.49683745e-02 -1.08639564e-03 9.97886732e-01 1.65682984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.03, Y:4.11, Z:165.68 [[ 8.50231080e-01 5.23568084e-01 -5.46220904e-02 5.03029369e+02] [-5.22385841e-01 8.51982709e-01 3.51922836e-02 4.11103605e+00] [ 6.49626331e-02 -1.38776664e-03 9.97886732e-01 1.65684088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.08, Y:4.08, Z:165.69 [[ 8.50333730e-01 5.23401916e-01 -5.46166800e-02 5.03079609e+02] [-5.22218793e-01 8.52084764e-01 3.52006784e-02 4.07508760e+00] [ 6.49621434e-02 -1.41046753e-03 9.97886732e-01 1.65691264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.13, Y:4.04, Z:165.69 [[ 8.51916275e-01 5.20823186e-01 -5.46064895e-02 5.03132024e+02] [-5.19633751e-01 8.53663027e-01 3.52164798e-02 4.03967815e+00] [ 6.49571003e-02 -1.62611730e-03 9.97886733e-01 1.65694078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.18, Y:4.01, Z:165.70 [[ 8.52609882e-01 5.19688197e-01 -5.45945748e-02 5.03183855e+02] [-5.18495256e-01 8.54354241e-01 3.52349410e-02 4.00583685e+00] [ 6.49542894e-02 -1.73463087e-03 9.97886733e-01 1.65697828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.362755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.24, Y:3.97, Z:165.70 [[ 8.53241716e-01 5.18651332e-01 -5.45836030e-02 5.03235431e+02] [-5.17455185e-01 8.54983879e-01 3.52519296e-02 3.97412786e+00] [ 6.49515608e-02 -1.83384847e-03 9.97886733e-01 1.65700893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.29, Y:3.94, Z:165.71 [[ 8.52529387e-01 5.19822205e-01 -5.45758173e-02 5.03286118e+02] [-5.18627681e-01 8.54272662e-01 3.52639790e-02 3.93770240e+00] [ 6.49536280e-02 -1.75904882e-03 9.97886733e-01 1.65706545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.34, Y:3.90, Z:165.71 [[ 8.51269347e-01 5.21884266e-01 -5.45647495e-02 5.03336897e+02] [-5.20692868e-01 8.53014760e-01 3.52810962e-02 3.90182189e+00] [ 6.49571857e-02 -1.62223981e-03 9.97886733e-01 1.65710651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.39, Y:3.87, Z:165.71 [[ 8.50087430e-01 5.23807972e-01 -5.45579390e-02 5.03388098e+02] [-5.22619849e-01 8.51835075e-01 3.52916247e-02 3.87041463e+00] [ 6.49604004e-02 -1.48790467e-03 9.97886733e-01 1.65712377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:503.44, Y:3.84, Z:165.72 [[ 8.48558676e-01 5.26280994e-01 -5.45572086e-02 5.03437715e+02] [-5.25097892e-01 8.50309723e-01 3.52927538e-02 3.83886520e+00] [ 6.49644304e-02 -1.30009719e-03 9.97886733e-01 1.65716542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.49, Y:3.81, Z:165.72 [[ 8.47519347e-01 5.27952786e-01 -5.45601627e-02 5.03490639e+02] [-5.26773433e-01 8.49272921e-01 3.52881863e-02 3.80585775e+00] [ 6.49669650e-02 -1.16657646e-03 9.97886733e-01 1.65720665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.54, Y:3.77, Z:165.72 [[ 8.47665910e-01 5.27718544e-01 -5.45494653e-02 5.03543921e+02] [-5.26537643e-01 8.49418441e-01 3.53047149e-02 3.77254577e+00] [ 6.49662745e-02 -1.20425634e-03 9.97886734e-01 1.65723943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.59, Y:3.74, Z:165.73 [[ 8.47146031e-01 5.28553804e-01 -5.45387813e-02 5.03593682e+02] [-5.27373569e-01 8.48899011e-01 3.53212120e-02 3.73720678e+00] [ 6.49670784e-02 -1.15991279e-03 9.97886734e-01 1.65727209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.65, Y:3.70, Z:165.73 [[ 8.51405292e-01 5.21665714e-01 -5.45335794e-02 5.03647311e+02] [-5.20470787e-01 8.53148290e-01 3.53292414e-02 3.70465127e+00] [ 6.49552840e-02 -1.69636812e-03 9.97886734e-01 1.65730587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.70, Y:3.67, Z:165.74 [[ 8.53446773e-01 5.18320199e-01 -5.45231757e-02 5.03699247e+02] [-5.17117416e-01 8.55184359e-01 3.53452901e-02 3.66966832e+00] [ 6.49475449e-02 -1.97044001e-03 9.97886734e-01 1.65735787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.75, Y:3.63, Z:165.74 [[ 8.54512576e-01 5.16562357e-01 -5.45122780e-02 5.03751274e+02] [-5.15354930e-01 8.56246938e-01 3.53620895e-02 3.63472890e+00] [ 6.49426954e-02 -2.12417903e-03 9.97886734e-01 1.65741030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.80, Y:3.60, Z:165.75 [[ 8.54959742e-01 5.15823093e-01 -5.45011627e-02 5.03801926e+02] [-5.14613076e-01 8.56692298e-01 3.53792124e-02 3.59935418e+00] [ 6.49401411e-02 -2.20079124e-03 9.97886734e-01 1.65747319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.85, Y:3.57, Z:165.75 [[ 8.53369419e-01 5.18450579e-01 -5.44943232e-02 5.03854966e+02] [-5.17245226e-01 8.55105223e-01 3.53897440e-02 3.56524330e+00] [ 6.49462137e-02 -2.01359680e-03 9.97886734e-01 1.65751643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.91, Y:3.53, Z:165.76 [[ 8.51542820e-01 5.21446451e-01 -5.44832565e-02 5.03908053e+02] [-5.20246117e-01 8.53282098e-01 3.54067733e-02 3.53173718e+00] [ 6.49523237e-02 -1.80568093e-03 9.97886735e-01 1.65756296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.96, Y:3.50, Z:165.76 [[ 8.47989774e-01 5.27205980e-01 -5.44719860e-02 5.03961497e+02] [-5.26016349e-01 8.49736391e-01 3.54241041e-02 3.49865166e+00] [ 6.49626283e-02 -1.38612279e-03 9.97886735e-01 1.65760013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.02, Y:3.47, Z:165.76 [[ 8.45113419e-01 5.31805714e-01 -5.44609221e-02 5.04015581e+02] [-5.30624495e-01 8.46865735e-01 3.54411057e-02 3.46580918e+00] [ 6.49688713e-02 -1.05345473e-03 9.97886735e-01 1.65762418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.07, Y:3.43, Z:165.76 [[ 8.43240729e-01 5.34771249e-01 -5.44498258e-02 5.04068095e+02] [-5.33595094e-01 8.44996447e-01 3.54581452e-02 3.43406131e+00] [ 6.49719060e-02 -8.45592339e-04 9.97886735e-01 1.65763335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.12, Y:3.40, Z:165.77 [[ 8.42756312e-01 5.35534875e-01 -5.44444417e-02 5.04119956e+02] [-5.34359776e-01 8.44512737e-01 3.54664104e-02 3.39937232e+00] [ 6.49725241e-02 -7.96621486e-04 9.97886735e-01 1.65767749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.17, Y:3.36, Z:165.77 [[ 8.42402060e-01 5.36092883e-01 -5.44351860e-02 5.04172290e+02] [-5.34918031e-01 8.44158650e-01 3.54806107e-02 3.36423647e+00] [ 6.49728360e-02 -7.70577085e-04 9.97886735e-01 1.65773709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.22, Y:3.33, Z:165.78 [[ 8.41567025e-01 5.37403941e-01 -5.44237708e-02 5.04224102e+02] [-5.36230693e-01 8.43324687e-01 3.54981118e-02 3.33022323e+00] [ 6.49737347e-02 -6.90344006e-04 9.97886736e-01 1.65777333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5627550959999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:504.28, Y:3.30, Z:165.78 [[ 8.41029109e-01 5.38246092e-01 -5.44167426e-02 5.04276215e+02] [-5.37073908e-01 8.42787480e-01 3.55088824e-02 3.29600239e+00] [ 6.49742666e-02 -6.38191149e-04 9.97886736e-01 1.65781981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.33, Y:3.26, Z:165.79 [[ 8.40136096e-01 5.39640059e-01 -5.44053912e-02 5.04325298e+02] [-5.38469667e-01 8.41895660e-01 3.55262662e-02 3.26030400e+00] [ 6.49750591e-02 -5.51245795e-04 9.97886736e-01 1.65786041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.38, Y:3.22, Z:165.79 [[ 8.39766563e-01 5.40215843e-01 -5.43963514e-02 5.04375524e+02] [-5.39045760e-01 8.41526333e-01 3.55401022e-02 3.22403199e+00] [ 6.49752884e-02 -5.23266887e-04 9.97886736e-01 1.65787007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.43, Y:3.19, Z:165.80 [[ 8.39795917e-01 5.40171205e-01 -5.43864603e-02 5.04425373e+02] [-5.39000049e-01 8.41554973e-01 3.55552320e-02 3.19006756e+00] [ 6.49751086e-02 -5.44833850e-04 9.97886736e-01 1.65796879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:504.48, Y:3.16, Z:165.80 [[ 8.39627438e-01 5.40433961e-01 -5.43773725e-02 5.04477600e+02] [-5.39262456e-01 8.41386261e-01 3.55691253e-02 3.15511187e+00] [ 6.49751374e-02 -5.41138109e-04 9.97886736e-01 1.65803076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8627550959999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:504.53, Y:3.12, Z:165.81 [[ 8.39380618e-01 5.40818353e-01 -5.43662331e-02 5.04529926e+02] [-5.39646551e-01 8.41139243e-01 3.55861433e-02 3.11986020e+00] [ 6.49752116e-02 -5.31768765e-04 9.97886737e-01 1.65808980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.58, Y:3.09, Z:165.81 [[ 8.38769040e-01 5.41767520e-01 -5.43548679e-02 5.04582780e+02] [-5.40596584e-01 8.40528241e-01 3.56034942e-02 3.08578131e+00] [ 6.49756183e-02 -4.79052740e-04 9.97886737e-01 1.65814029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.64, Y:3.05, Z:165.82 [[ 8.37557269e-01 5.43640127e-01 -5.43436646e-02 5.04635442e+02] [-5.42472015e-01 8.39318347e-01 3.56205863e-02 3.05162244e+00] [ 6.49764148e-02 -3.54363797e-04 9.97886737e-01 1.65818324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.69, Y:3.02, Z:165.82 [[ 8.36664569e-01 5.45014124e-01 -5.43323541e-02 5.04686915e+02] [-5.43847784e-01 8.38426820e-01 3.56378300e-02 3.01729540e+00] [ 6.49768236e-02 -2.68379249e-04 9.97886737e-01 1.65822666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.74, Y:2.98, Z:165.83 [[ 8.36529184e-01 5.45222939e-01 -5.43219177e-02 5.04738487e+02] [-5.44056007e-01 8.38291043e-01 3.56537309e-02 2.98333085e+00] [ 6.49768090e-02 -2.71220845e-04 9.97886737e-01 1.65828001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.79, Y:2.95, Z:165.83 [[ 8.35862730e-01 5.46245122e-01 -5.43117342e-02 5.04789299e+02] [-5.45079336e-01 8.37625348e-01 3.56692368e-02 2.94720597e+00] [ 6.49770318e-02 -2.10381570e-04 9.97886738e-01 1.65833982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2227550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:504.84, Y:2.92, Z:165.84 [[ 8.37863357e-01 5.43172602e-01 -5.43002760e-02 5.04841843e+02] [-5.41999223e-01 8.39620929e-01 3.56866715e-02 2.91700865e+00] [ 6.49756703e-02 -4.69846964e-04 9.97886738e-01 1.65840458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.89, Y:2.88, Z:165.85 [[ 8.39332792e-01 5.40900123e-01 -5.42910718e-02 5.04894002e+02] [-5.39721081e-01 8.41086569e-01 3.57006686e-02 2.88352827e+00] [ 6.49739874e-02 -6.62705882e-04 9.97886738e-01 1.65846772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.95, Y:2.85, Z:165.85 [[ 8.39667606e-01 5.40380912e-01 -5.42842704e-02 5.04947359e+02] [-5.39200116e-01 8.41420203e-01 3.57110073e-02 2.85010449e+00] [ 6.49734286e-02 -7.15291112e-04 9.97886738e-01 1.65849590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.402755096 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:505.00, Y:2.82, Z:165.85 [[ 8.38702722e-01 5.41878404e-01 -5.42728195e-02 5.05000351e+02] [-5.40699612e-01 8.40456668e-01 3.57284017e-02 2.81871687e+00] [ 6.49744023e-02 -6.20215332e-04 9.97886738e-01 1.65850851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4627550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:505.05, Y:2.79, Z:165.86 [[ 8.37740632e-01 5.43365310e-01 -5.42657776e-02 5.05049298e+02] [-5.42188938e-01 8.39496201e-01 3.57390941e-02 2.78871727e+00] [ 6.49752981e-02 -5.17786860e-04 9.97886738e-01 1.65855808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.10, Y:2.76, Z:165.86 [[ 8.36181216e-01 5.45761712e-01 -5.42690281e-02 5.05103705e+02] [-5.44590693e-01 8.37940360e-01 3.57341576e-02 2.75821841e+00] [ 6.49765440e-02 -3.25823767e-04 9.97886738e-01 1.65861574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.16, Y:2.73, Z:165.87 [[ 8.34567394e-01 5.48227450e-01 -5.42579691e-02 5.05158232e+02] [-5.47060537e-01 8.36329265e-01 3.57509415e-02 2.72696529e+00] [ 6.49771749e-02 -1.54176393e-04 9.97886739e-01 1.65867457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.21, Y:2.70, Z:165.87 [[ 8.32595315e-01 5.51218954e-01 -5.42467194e-02 5.05210021e+02] [-5.50057259e-01 8.34360630e-01 3.57680031e-02 2.69634125e+00] [ 6.49773282e-02 5.85299570e-05 9.97886739e-01 1.65873331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.26, Y:2.66, Z:165.88 [[ 8.33084314e-01 5.50479942e-01 -5.42435240e-02 5.05264205e+02] [-5.49316366e-01 8.34848390e-01 3.57728485e-02 2.66451816e+00] [ 6.49773542e-02 -4.94346088e-06 9.97886739e-01 1.65876621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.31, Y:2.64, Z:165.88 [[ 8.32025606e-01 5.52079952e-01 -5.42320643e-02 5.05314636e+02] [-5.50918637e-01 8.33791171e-01 3.57902130e-02 2.63576788e+00] [ 6.49772755e-02 9.90812923e-05 9.97886739e-01 1.65877076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.36, Y:2.60, Z:165.88 [[ 8.32104909e-01 5.51960132e-01 -5.42349719e-02 5.05363688e+02] [-5.50798850e-01 8.33870496e-01 3.57858064e-02 2.60306262e+00] [ 6.49772813e-02 9.50149808e-05 9.97886739e-01 1.65882449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.41, Y:2.57, Z:165.88 [[ 8.32302182e-01 5.51662324e-01 -5.42379787e-02 5.05414831e+02] [-5.50500706e-01 8.34067548e-01 3.57812486e-02 2.57330466e+00] [ 6.49773047e-02 7.72343152e-05 9.97886739e-01 1.65882943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.47, Y:2.54, Z:165.89 [[ 8.33706826e-01 5.49537014e-01 -5.42401894e-02 5.05467794e+02] [-5.48371114e-01 8.35469367e-01 3.57778971e-02 2.54000035e+00] [ 6.49772955e-02 -8.45239563e-05 9.97886739e-01 1.65889722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.52, Y:2.51, Z:165.89 [[ 8.35147566e-01 5.47346314e-01 -5.42268924e-02 5.05520719e+02] [-5.46174483e-01 8.36906168e-01 3.57980396e-02 2.50720426e+00] [ 6.49767457e-02 -2.79300738e-04 9.97886739e-01 1.65894286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.58, Y:2.48, Z:165.90 [[ 8.40618444e-01 5.38907527e-01 -5.42153843e-02 5.05575326e+02] [-5.37716921e-01 8.42364390e-01 3.58154598e-02 2.47656840e+00] [ 6.49703300e-02 -9.54606615e-04 9.97886740e-01 1.65899981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.63, Y:2.45, Z:165.90 [[ 8.45323388e-01 5.31498183e-01 -5.42037969e-02 5.05629831e+02] [-5.30291154e-01 8.47058020e-01 3.58329878e-02 2.44694289e+00] [ 6.49589288e-02 -1.54666862e-03 9.97886740e-01 1.65896103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1827550959999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:505.69, Y:2.42, Z:165.90 [[ 8.47555191e-01 5.27932896e-01 -5.41946106e-02 5.05685695e+02] [-5.26717684e-01 8.49284100e-01 3.58468761e-02 2.41825016e+00] [ 6.49513662e-02 -1.83694607e-03 9.97886740e-01 1.65897019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.74, Y:2.39, Z:165.91 [[ 8.47171570e-01 5.28549358e-01 -5.41840189e-02 5.05738083e+02] [-5.27334381e-01 8.48900645e-01 3.58628788e-02 2.38563498e+00] [ 6.49521501e-02 -1.80891523e-03 9.97886740e-01 1.65909091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.79, Y:2.36, Z:165.91 [[ 8.47787658e-01 5.27561742e-01 -5.41728309e-02 5.05789613e+02] [-5.26343673e-01 8.49514555e-01 3.58797709e-02 2.36003084e+00] [ 6.49494028e-02 -1.90490010e-03 9.97886740e-01 1.65912430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.84, Y:2.33, Z:165.92 [[ 8.48428132e-01 5.26530648e-01 -5.41773192e-02 5.05841425e+02] [-5.25310913e-01 8.50153853e-01 3.58729924e-02 2.33289199e+00] [ 6.49472866e-02 -1.97571896e-03 9.97886740e-01 1.65916198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.89, Y:2.30, Z:165.92 [[ 8.49267808e-01 5.25174747e-01 -5.41818763e-02 5.05891548e+02] [-5.23952695e-01 8.50991889e-01 3.58661082e-02 2.30271383e+00] [ 6.49443115e-02 -2.07119097e-03 9.97886740e-01 1.65923038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.94, Y:2.28, Z:165.93 [[ 8.48680319e-01 5.26123274e-01 -5.41850293e-02 5.05943561e+02] [-5.24903453e-01 8.50405979e-01 3.58613441e-02 2.27704461e+00] [ 6.49467607e-02 -1.99290803e-03 9.97886740e-01 1.65927751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.00, Y:2.25, Z:165.93 [[ 8.46916172e-01 5.28957957e-01 -5.41892764e-02 5.05995002e+02] [-5.27744323e-01 8.48646189e-01 3.58549253e-02 2.24931067e+00] [ 6.49532709e-02 -1.76803306e-03 9.97886740e-01 1.65928860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.05, Y:2.22, Z:165.93 [[ 8.44026986e-01 5.33554711e-01 -5.42016272e-02 5.06046643e+02] [-5.32351700e-01 8.45764406e-01 3.58362450e-02 2.22246848e+00] [ 6.49624044e-02 -1.39242952e-03 9.97886741e-01 1.65931763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.10, Y:2.20, Z:165.94 [[ 8.42167147e-01 5.36484219e-01 -5.42141946e-02 5.06098814e+02] [-5.35288476e-01 8.43909577e-01 3.58172225e-02 2.19513253e+00] [ 6.49672527e-02 -1.14385446e-03 9.97886741e-01 1.65936460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.15, Y:2.17, Z:165.93 [[ 8.41336805e-01 5.37784372e-01 -5.42249892e-02 5.06150234e+02] [-5.36592374e-01 8.43081800e-01 3.58008728e-02 2.16683856e+00] [ 6.49692514e-02 -1.02387620e-03 9.97886741e-01 1.65934227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.20, Y:2.13, Z:165.94 [[ 8.39752919e-01 5.40253060e-01 -5.42371346e-02 5.06197322e+02] [-5.39067382e-01 8.41502212e-01 3.57824634e-02 2.13424359e+00] [ 6.49722541e-02 -8.10957906e-04 9.97886741e-01 1.65941840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.25, Y:2.10, Z:165.94 [[ 8.39462732e-01 5.40703477e-01 -5.42408746e-02 5.06247969e+02] [-5.39519103e-01 8.41212909e-01 3.57767933e-02 2.10405758e+00] [ 6.49727604e-02 -7.69296583e-04 9.97886741e-01 1.65943250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.29, Y:2.07, Z:165.95 [[ 8.39031242e-01 5.41371742e-01 -5.42513726e-02 5.06294985e+02] [-5.40189792e-01 8.40783057e-01 3.57608671e-02 2.06995178e+00] [ 6.49735579e-02 -6.98447090e-04 9.97886742e-01 1.65950249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.34, Y:2.03, Z:165.95 [[ 8.38846264e-01 5.41657125e-01 -5.42632840e-02 5.06340098e+02] [-5.40476941e-01 8.40599268e-01 3.57427838e-02 2.03373445e+00] [ 6.49740104e-02 -6.54646888e-04 9.97886742e-01 1.65954578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.022755096 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:506.39, Y:2.00, Z:165.96 [[ 8.38249465e-01 5.42579204e-01 -5.42737721e-02 5.06385731e+02] [-5.41401979e-01 8.40004458e-01 3.57268511e-02 1.99796514e+00] [ 6.49748569e-02 -5.64086167e-04 9.97886742e-01 1.65964955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.43, Y:1.97, Z:165.97 [[ 8.38814641e-01 5.41704627e-01 -5.42779526e-02 5.06432056e+02] [-5.40525983e-01 8.40568681e-01 3.57204987e-02 1.96523735e+00] [ 6.49743064e-02 -6.24233589e-04 9.97886742e-01 1.65965368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.48, Y:1.93, Z:165.97 [[ 8.39696544e-01 5.40336099e-01 -5.42827299e-02 5.06478240e+02] [-5.39155066e-01 8.41448976e-01 3.57132373e-02 1.92901865e+00] [ 6.49732989e-02 -7.21473139e-04 9.97886742e-01 1.65966192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.53, Y:1.89, Z:165.97 [[ 8.40096806e-01 5.39712468e-01 -5.42937339e-02 5.06525223e+02] [-5.38531215e-01 8.41849090e-01 3.56965005e-02 1.89408591e+00] [ 6.49729769e-02 -7.49645558e-04 9.97886742e-01 1.65968796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.57, Y:1.86, Z:165.98 [[ 8.39106000e-01 5.41250356e-01 -5.43062866e-02 5.06570238e+02] [-5.40073552e-01 8.40861274e-01 3.56773935e-02 1.85687565e+00] [ 6.49744553e-02 -6.07725867e-04 9.97886743e-01 1.65976909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.61, Y:1.82, Z:165.98 [[ 8.39775383e-01 5.40209928e-01 -5.43188786e-02 5.06613689e+02] [-5.39032189e-01 8.41530030e-01 3.56582118e-02 1.81861897e+00] [ 6.49738876e-02 -6.65264444e-04 9.97886743e-01 1.65980557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.66, Y:1.78, Z:165.99 [[ 8.41258882e-01 5.37896392e-01 -5.43227817e-02 5.06657466e+02] [-5.36714212e-01 8.43010540e-01 3.56522648e-02 1.78083915e+00] [ 6.49719021e-02 -8.36975537e-04 9.97886743e-01 1.65987514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.70, Y:1.74, Z:165.99 [[ 8.41661674e-01 5.37265350e-01 -5.43283537e-02 5.06703565e+02] [-5.36082405e-01 8.43412815e-01 3.56437720e-02 1.74304035e+00] [ 6.49713933e-02 -8.75522299e-04 9.97886743e-01 1.65992305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.75, Y:1.70, Z:165.99 [[ 8.41784235e-01 5.37073161e-01 -5.43297566e-02 5.06753414e+02] [-5.35889953e-01 8.43535199e-01 3.56416334e-02 1.70379868e+00] [ 6.49712268e-02 -8.87794409e-04 9.97886743e-01 1.65991343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5627550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:506.80, Y:1.66, Z:166.00 [[ 8.41258303e-01 5.37897761e-01 -5.43181978e-02 5.06800175e+02] [-5.36715134e-01 8.43009658e-01 3.56592404e-02 1.66338187e+00] [ 6.49717910e-02 -8.45233295e-04 9.97886743e-01 1.66002254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.85, Y:1.62, Z:166.00 [[ 8.41128186e-01 5.38101927e-01 -5.43110514e-02 5.06850212e+02] [-5.36919022e-01 8.42879354e-01 3.56701215e-02 1.62485436e+00] [ 6.49718251e-02 -8.42507943e-04 9.97886743e-01 1.65998768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.90, Y:1.58, Z:166.01 [[ 8.41123979e-01 5.38109631e-01 -5.42998835e-02 5.06898286e+02] [-5.36925645e-01 8.42874417e-01 3.56871141e-02 1.58342990e+00] [ 6.49715624e-02 -8.62287463e-04 9.97886743e-01 1.66005328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.95, Y:1.54, Z:166.01 [[ 8.42320586e-01 5.36235755e-01 -5.42885379e-02 5.06947485e+02] [-5.35046763e-01 8.44067627e-01 3.57043651e-02 1.54365758e+00] [ 6.49691546e-02 -1.02761527e-03 9.97886744e-01 1.66010729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:507.00, Y:1.51, Z:166.01 [[ 8.43282590e-01 5.34722841e-01 -5.42766653e-02 5.06997331e+02] [-5.33529555e-01 8.45026700e-01 3.57224045e-02 1.50676678e+00] [ 6.49668170e-02 -1.16587672e-03 9.97886744e-01 1.66011788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.04, Y:1.47, Z:166.02 [[ 8.42609310e-01 5.35784265e-01 -5.42657551e-02 5.07042219e+02] [-5.34592109e-01 8.44354193e-01 3.57389705e-02 1.46560019e+00] [ 6.49678958e-02 -1.10394477e-03 9.97886744e-01 1.66022841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.09, Y:1.43, Z:166.03 [[ 8.43653516e-01 5.34139452e-01 -5.42567131e-02 5.07092983e+02] [-5.32943012e-01 8.45395464e-01 3.57526922e-02 1.42872477e+00] [ 6.49653025e-02 -1.24714839e-03 9.97886744e-01 1.66025580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.14, Y:1.39, Z:166.03 [[ 8.42118325e-01 5.36557090e-01 -5.42514204e-02 5.07139789e+02] [-5.35365134e-01 8.43863344e-01 3.57607215e-02 1.39137032e+00] [ 6.49684537e-02 -1.07043987e-03 9.97886744e-01 1.66030138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.19, Y:1.36, Z:166.03 [[ 8.42671278e-01 5.35688173e-01 -5.42521725e-02 5.07191211e+02] [-5.34494492e-01 8.44415117e-01 3.57595805e-02 1.35595740e+00] [ 6.49673390e-02 -1.13608406e-03 9.97886744e-01 1.66031884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1027550959999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:507.24, Y:1.32, Z:166.04 [[ 8.40681715e-01 5.38806337e-01 -5.42400679e-02 5.07239627e+02] [-5.37617941e-01 8.42429160e-01 3.57779314e-02 1.31763209e+00] [ 6.49707910e-02 -9.17419116e-04 9.97886744e-01 1.66037240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.29, Y:1.28, Z:166.04 [[ 8.38238325e-01 5.42600922e-01 -5.42286779e-02 5.07288782e+02] [-5.41419321e-01 8.39990371e-01 3.57951869e-02 1.27775608e+00] [ 6.49740687e-02 -6.44443527e-04 9.97886745e-01 1.66041777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2227550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:507.34, Y:1.24, Z:166.05 [[ 8.35750047e-01 5.46426930e-01 -5.42168603e-02 5.07335593e+02] [-5.45252189e-01 8.37506701e-01 3.58130774e-02 1.23818745e+00] [ 6.49762137e-02 -3.68919390e-04 9.97886745e-01 1.66047993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.282755096 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:507.39, Y:1.20, Z:166.06 [[ 8.34829997e-01 5.47832486e-01 -5.42074214e-02 5.07385398e+02] [-5.46659775e-01 8.36588006e-01 3.58273586e-02 1.20104687e+00] [ 6.49766695e-02 -2.76736840e-04 9.97886745e-01 1.66055855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:507.44, Y:1.17, Z:166.06 [[ 8.35602058e-01 5.46655143e-01 -5.41973743e-02 5.07437824e+02] [-5.45478970e-01 8.37357752e-01 3.58425508e-02 1.16576911e+00] [ 6.49761063e-02 -3.86581341e-04 9.97886745e-01 1.66058918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.402755096 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:507.49, Y:1.13, Z:166.06 [[ 8.35639067e-01 5.46599696e-01 -5.41860073e-02 5.07489123e+02] [-5.45422292e-01 8.37393936e-01 3.58597271e-02 1.12883439e+00] [ 6.49759498e-02 -4.11532604e-04 9.97886745e-01 1.66062015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4627550959999 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:507.54, Y:1.09, Z:166.06 [[ 8.36468138e-01 5.45331234e-01 -5.41747095e-02 5.07539357e+02] [-5.44150064e-01 8.38220474e-01 3.58767870e-02 1.09012430e+00] [ 6.49750832e-02 -5.30617519e-04 9.97886746e-01 1.66064954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.522755096 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:507.59, Y:1.05, Z:166.07 [[ 8.36177723e-01 5.45777641e-01 -5.41625591e-02 5.07589352e+02] [-5.44596219e-01 8.37929889e-01 3.58951208e-02 1.05373652e+00] [ 6.49751815e-02 -5.17975491e-04 9.97886746e-01 1.66065219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.64, Y:1.02, Z:166.08 [[ 8.34872897e-01 5.47772650e-01 -5.41513611e-02 5.07641732e+02] [-5.46594320e-01 8.36627143e-01 3.59120062e-02 1.01932756e+00] [ 6.49761134e-02 -3.83134243e-04 9.97886746e-01 1.66079125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.642755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:507.69, Y:0.99, Z:166.08 [[ 8.33508270e-01 5.49847371e-01 -5.41463970e-02 5.07693729e+02] [-5.48672921e-01 8.35265117e-01 3.59194893e-02 9.85807538e-01] [ 6.49768334e-02 -2.30529531e-04 9.97886746e-01 1.66081602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.75, Y:0.95, Z:166.08 [[ 8.36202151e-01 5.45742869e-01 -5.41357862e-02 5.07747506e+02] [-5.44558762e-01 8.37952503e-01 3.59354743e-02 9.52666422e-01] [ 6.49747463e-02 -5.69204236e-04 9.97886746e-01 1.66078201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.80, Y:0.92, Z:166.08 [[ 8.37310580e-01 5.44041856e-01 -5.41244196e-02 5.07799050e+02] [-5.42853086e-01 8.39057768e-01 3.59525860e-02 9.19028368e-01] [ 6.49732263e-02 -7.21872350e-04 9.97886746e-01 1.66081893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.85, Y:0.89, Z:166.08 [[ 8.39530318e-01 5.40611185e-01 -5.41146120e-02 5.07851777e+02] [-5.39414325e-01 8.41271975e-01 3.59673420e-02 8.85256700e-01] [ 6.49694539e-02 -1.00547711e-03 9.97886747e-01 1.66083763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.882755096 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:507.90, Y:0.85, Z:166.09 [[ 8.42529052e-01 5.35926881e-01 -5.41033679e-02 5.07904260e+02] [-5.34719255e-01 8.44263260e-01 3.59842479e-02 8.52141387e-01] [ 6.49624115e-02 -1.38766169e-03 9.97886747e-01 1.66091501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.96, Y:0.82, Z:166.10 [[ 8.44133546e-01 5.33397064e-01 -5.40937024e-02 5.07958088e+02] [-5.32183311e-01 8.45863471e-01 3.59987718e-02 8.19055143e-01] [ 6.49575261e-02 -1.60000528e-03 9.97886747e-01 1.66097052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.01, Y:0.79, Z:166.10 [[ 8.44272706e-01 5.33177946e-01 -5.40821174e-02 5.08010688e+02] [-5.31962630e-01 8.46001534e-01 3.60161680e-02 7.85203398e-01] [ 6.49565807e-02 -1.63780218e-03 9.97886747e-01 1.66100514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.06, Y:0.75, Z:166.10 [[ 8.43536513e-01 5.34343059e-01 -5.40707502e-02 5.08063841e+02] [-5.33129039e-01 8.45266251e-01 3.60332254e-02 7.51017611e-01] [ 6.49582842e-02 -1.56865419e-03 9.97886747e-01 1.66104538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.12, Y:0.72, Z:166.11 [[ 8.43120779e-01 5.34999928e-01 -5.40594961e-02 5.08116572e+02] [-5.33786174e-01 8.44850703e-01 3.60501017e-02 7.16205784e-01] [ 6.49590051e-02 -1.53837818e-03 9.97886748e-01 1.66106992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.17, Y:0.68, Z:166.11 [[ 8.41858076e-01 5.36985821e-01 -5.40482124e-02 5.08168592e+02] [-5.35775063e-01 8.43590098e-01 3.60670109e-02 6.80458183e-01] [ 6.49620102e-02 -1.40562001e-03 9.97886748e-01 1.66111062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.22, Y:0.65, Z:166.11 [[ 8.41055787e-01 5.38242663e-01 -5.40370069e-02 5.08220743e+02] [-5.37033416e-01 8.42788864e-01 3.60837916e-02 6.46892725e-01] [ 6.49636238e-02 -1.32880331e-03 9.97886748e-01 1.66113343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.27, Y:0.61, Z:166.12 [[ 8.39598932e-01 5.40513414e-01 -5.40266831e-02 5.08272062e+02] [-5.39307861e-01 8.41334580e-01 3.60992424e-02 6.11552515e-01] [ 6.49666415e-02 -1.17187043e-03 9.97886748e-01 1.66117987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.32, Y:0.57, Z:166.13 [[ 8.37438421e-01 5.43855836e-01 -5.40159362e-02 5.08321356e+02] [-5.42656174e-01 8.39178146e-01 3.61153161e-02 5.73138222e-01] [ 6.49705186e-02 -9.32271967e-04 9.97886748e-01 1.66128597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.37, Y:0.54, Z:166.13 [[ 8.36538382e-01 5.45240385e-01 -5.40042386e-02 5.08373706e+02] [-5.44042474e-01 8.38279313e-01 3.61327992e-02 5.38031004e-01] [ 6.49716975e-02 -8.45873779e-04 9.97886749e-01 1.66131836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.43, Y:0.50, Z:166.14 [[ 8.34948129e-01 5.47673658e-01 -5.39924628e-02 5.08426241e+02] [-5.46479684e-01 8.36691762e-01 3.61503871e-02 5.02806955e-01] [ 6.49736636e-02 -6.77914088e-04 9.97886749e-01 1.66135689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.48, Y:0.47, Z:166.14 [[ 8.32610614e-01 5.51222064e-01 -5.39796463e-02 5.08476417e+02] [-5.50034281e-01 8.34358470e-01 3.61695146e-02 4.67054545e-01] [ 6.49758096e-02 -4.24465837e-04 9.97886749e-01 1.66135510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.53, Y:0.43, Z:166.14 [[ 8.31666668e-01 5.52646223e-01 -5.39694879e-02 5.08527804e+02] [-5.51460449e-01 8.33415888e-01 3.61846658e-02 4.31503099e-01] [ 6.49763476e-02 -3.31542425e-04 9.97886749e-01 1.66141281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.662755096 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:508.58, Y:0.40, Z:166.15 [[ 8.32364452e-01 5.51595827e-01 -5.39579812e-02 5.08579989e+02] [-5.50406734e-01 8.34111417e-01 3.62018163e-02 3.97339788e-01] [ 6.49757390e-02 -4.34268785e-04 9.97886749e-01 1.66145790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.63, Y:0.36, Z:166.15 [[ 8.34231394e-01 5.48769326e-01 -5.39463455e-02 5.08632905e+02] [-5.47573194e-01 8.35973547e-01 3.62191471e-02 3.63006390e-01] [ 6.49736747e-02 -6.75576881e-04 9.97886750e-01 1.66152296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.68, Y:0.32, Z:166.16 [[ 8.36538669e-01 5.45246905e-01 -5.39339280e-02 5.08679988e+02] [-5.44042247e-01 8.38274936e-01 3.62376286e-02 3.23485576e-01] [ 6.49699149e-02 -9.71842252e-04 9.97886750e-01 1.66160012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.73, Y:0.29, Z:166.16 [[ 8.40656930e-01 5.38876878e-01 -5.39225027e-02 5.08734676e+02] [-5.37657977e-01 8.42383228e-01 3.62546218e-02 2.91698909e-01] [ 6.49601893e-02 -1.48583531e-03 9.97886750e-01 1.66161228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.79, Y:0.26, Z:166.17 [[ 8.41595550e-01 5.37411014e-01 -5.39104089e-02 5.08785977e+02] [-5.36187955e-01 8.43318905e-01 3.62725963e-02 2.57547765e-01] [ 6.49569597e-02 -1.62074370e-03 9.97886750e-01 1.66166085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.84, Y:0.22, Z:166.17 [[ 8.43195536e-01 5.34898261e-01 -5.38993308e-02 5.08839054e+02] [-5.33669017e-01 8.44914484e-01 3.62890504e-02 2.23725534e-01] [ 6.49512752e-02 -1.83436250e-03 9.97886751e-01 1.66169774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.89, Y:0.19, Z:166.17 [[ 8.42490883e-01 5.36008611e-01 -5.38876670e-02 5.08891105e+02] [-5.34780526e-01 8.44210659e-01 3.63063624e-02 1.91058549e-01] [ 6.49530658e-02 -1.76970435e-03 9.97886751e-01 1.66172675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.94, Y:0.16, Z:166.18 [[ 8.42085730e-01 5.36645975e-01 -5.38769096e-02 5.08944067e+02] [-5.35418172e-01 8.43805706e-01 3.63223188e-02 1.56878376e-01] [ 6.49538700e-02 -1.73982991e-03 9.97886751e-01 1.66175131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.00, Y:0.12, Z:166.18 [[ 8.38544757e-01 5.42163439e-01 -5.38655345e-02 5.08996738e+02] [-5.40945873e-01 8.40271996e-01 3.63391802e-02 1.21744988e-01] [ 6.49634751e-02 -1.33369041e-03 9.97886751e-01 1.66178024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.05, Y:0.09, Z:166.19 [[ 8.38529285e-01 5.42188502e-01 -5.38541232e-02 5.09050241e+02] [-5.40969902e-01 8.40255794e-01 3.63560837e-02 8.95456895e-02] [ 6.49630896e-02 -1.35218108e-03 9.97886751e-01 1.66187331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.10, Y:0.05, Z:166.19 [[ 8.35017014e-01 5.47583403e-01 -5.38423972e-02 5.09101487e+02] [-5.46374841e-01 8.36750564e-01 3.63734413e-02 5.22844792e-02] [ 6.49701490e-02 -9.54311156e-04 9.97886752e-01 1.66188052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.15, Y:0.02, Z:166.20 [[ 8.33704002e-01 5.49581560e-01 -5.38307275e-02 5.09154807e+02] [-5.48376038e-01 8.35439667e-01 3.63907037e-02 1.97819072e-02] [ 6.49719848e-02 -8.19594204e-04 9.97886752e-01 1.66197272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.382755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:509.21, Y:-0.02, Z:166.20 [[ 8.32879601e-01 5.50831259e-01 -5.38190976e-02 5.09207278e+02] [-5.49627230e-01 8.34616303e-01 3.64078954e-02 -1.52621968e-02] [ 6.49729031e-02 -7.42951789e-04 9.97886752e-01 1.66200873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.26, Y:-0.05, Z:166.20 [[ 8.31587617e-01 5.52780988e-01 -5.38071986e-02 5.09257828e+02] [-5.51579895e-01 8.33326349e-01 3.64254725e-02 -5.12323203e-02] [ 6.49742650e-02 -6.12002891e-04 9.97886752e-01 1.66203655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.502755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:509.31, Y:-0.09, Z:166.21 [[ 8.30230408e-01 5.54818380e-01 -5.37962438e-02 5.09309024e+02] [-5.53620506e-01 8.31971359e-01 3.64416442e-02 -8.56183859e-02] [ 6.49754281e-02 -4.72257442e-04 9.97886752e-01 1.66208940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.36, Y:-0.12, Z:166.21 [[ 8.31284630e-01 5.53238621e-01 -5.37856093e-02 5.09357876e+02] [-5.52036423e-01 8.33022599e-01 3.64573334e-02 -1.24571158e-01] [ 6.49742329e-02 -6.14805501e-04 9.97886753e-01 1.66214525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.41, Y:-0.16, Z:166.22 [[ 8.34319394e-01 5.48652406e-01 -5.37743958e-02 5.09408788e+02] [-5.47439590e-01 8.36049970e-01 3.64738657e-02 -1.61655685e-01] [ 6.49695562e-02 -9.92620370e-04 9.97886753e-01 1.66217117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6827550959999 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:509.46, Y:-0.20, Z:166.22 [[ 8.37270811e-01 5.44138897e-01 -5.37629079e-02 5.09460866e+02] [-5.42915667e-01 8.38994041e-01 3.64907913e-02 -1.96601725e-01] [ 6.49628182e-02 -1.36394943e-03 9.97886753e-01 1.66220962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.51, Y:-0.23, Z:166.22 [[ 8.38632672e-01 5.42038815e-01 -5.37509445e-02 5.09511744e+02] [-5.40810143e-01 8.40352025e-01 3.65084048e-02 -2.31864537e-01] [ 6.49586876e-02 -1.54808514e-03 9.97886753e-01 1.66221690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.56, Y:-0.27, Z:166.23 [[ 8.39528418e-01 5.40651511e-01 -5.37399223e-02 5.09561901e+02] [-5.39418960e-01 8.41244993e-01 3.65246222e-02 -2.67426100e-01] [ 6.49555327e-02 -1.67512531e-03 9.97886753e-01 1.66227187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.62, Y:-0.30, Z:166.23 [[ 8.40915862e-01 5.38492024e-01 -5.37294420e-02 5.09615175e+02] [-5.37254082e-01 8.42628553e-01 3.65400328e-02 -3.01374929e-01] [ 6.49504781e-02 -1.86073119e-03 9.97886754e-01 1.66228916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.67, Y:-0.34, Z:166.23 [[ 8.40403394e-01 5.39292645e-01 -5.37175804e-02 5.09666276e+02] [-5.38055221e-01 8.42116459e-01 3.65574622e-02 -3.35316924e-01] [ 6.49516291e-02 -1.81999072e-03 9.97886754e-01 1.66234950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.72, Y:-0.37, Z:166.24 [[ 8.39780020e-01 5.40263931e-01 -5.37066470e-02 5.09719141e+02] [-5.39027463e-01 8.41493774e-01 3.65735175e-02 -3.67135526e-01] [ 6.49531614e-02 -1.76435156e-03 9.97886754e-01 1.66237539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.77, Y:-0.40, Z:166.24 [[ 8.37825540e-01 5.43290957e-01 -5.36963698e-02 5.09769474e+02] [-5.42059715e-01 8.39543054e-01 3.65885999e-02 -4.00473803e-01] [ 6.49586698e-02 -1.54822456e-03 9.97886754e-01 1.66243446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.82, Y:-0.43, Z:166.25 [[ 8.36380717e-01 5.45513385e-01 -5.36883925e-02 5.09822440e+02] [-5.44285957e-01 8.38100958e-01 3.66003018e-02 -4.34385711e-01] [ 6.49622477e-02 -1.38994858e-03 9.97886754e-01 1.66247169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.162755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:509.88, Y:-0.47, Z:166.25 [[ 8.34864558e-01 5.47832081e-01 -5.36766240e-02 5.09875926e+02] [-5.46608323e-01 8.36587411e-01 3.66175530e-02 -4.66933572e-01] [ 6.49654581e-02 -1.23060782e-03 9.97886755e-01 1.66249446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.93, Y:-0.50, Z:166.25 [[ 8.34563362e-01 5.48291968e-01 -5.36648252e-02 5.09927106e+02] [-5.47068047e-01 8.36286100e-01 3.66348365e-02 -5.01358113e-01] [ 6.49657339e-02 -1.21578122e-03 9.97886755e-01 1.66253864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.98, Y:-0.54, Z:166.26 [[ 8.34123227e-01 5.48962384e-01 -5.36539213e-02 5.09979756e+02] [-5.47738822e-01 8.35846219e-01 3.66507991e-02 -5.36419244e-01] [ 6.49663372e-02 -1.18294716e-03 9.97886755e-01 1.66257932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3427550959999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:510.03, Y:-0.57, Z:166.26 [[ 8.33872162e-01 5.49344805e-01 -5.36423634e-02 5.10031491e+02] [-5.48120946e-01 8.35594942e-01 3.66677074e-02 -5.71297040e-01] [ 6.49665022e-02 -1.17367742e-03 9.97886755e-01 1.66261399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.402755096 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:510.08, Y:-0.61, Z:166.27 [[ 8.33392930e-01 5.50072719e-01 -5.36304755e-02 5.10082447e+02] [-5.48849247e-01 8.35115985e-01 3.66850865e-02 -6.08212588e-01] [ 6.49671327e-02 -1.13804569e-03 9.97886755e-01 1.66269161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.13, Y:-0.64, Z:166.27 [[ 8.34390534e-01 5.48559503e-01 -5.36181707e-02 5.10133744e+02] [-5.47331751e-01 8.36110543e-01 3.67030622e-02 -6.42317553e-01] [ 6.49645314e-02 -1.27776041e-03 9.97886756e-01 1.66271694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.18, Y:-0.68, Z:166.28 [[ 8.35327966e-01 5.47131694e-01 -5.36106191e-02 5.10184324e+02] [-5.45900295e-01 8.37045365e-01 3.67140892e-02 -6.77962144e-01] [ 6.49619621e-02 -1.40225269e-03 9.97886756e-01 1.66275948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:510.24, Y:-0.71, Z:166.28 [[ 8.37211015e-01 5.44246895e-01 -5.36006778e-02 5.10236261e+02] [-5.43008652e-01 8.38923485e-01 3.67285974e-02 -7.13284654e-01] [ 6.49562925e-02 -1.64395455e-03 9.97886756e-01 1.66277687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.642755096 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:510.29, Y:-0.75, Z:166.28 [[ 8.38750629e-01 5.41872266e-01 -5.35894601e-02 5.10287688e+02] [-5.40628130e-01 8.40458823e-01 3.67449574e-02 -7.49409470e-01] [ 6.49508079e-02 -1.84788654e-03 9.97886756e-01 1.66278858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.34, Y:-0.79, Z:166.28 [[ 8.39964169e-01 5.39990339e-01 -5.35782567e-02 5.10339376e+02] [-5.38741336e-01 8.41668807e-01 3.67612860e-02 -7.85420373e-01] [ 6.49458867e-02 -2.01334141e-03 9.97886756e-01 1.66283213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.762755096 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:510.39, Y:-0.82, Z:166.29 [[ 8.38246804e-01 5.42653548e-01 -5.35669828e-02 5.10388976e+02] [-5.41408914e-01 8.39954635e-01 3.67777065e-02 -8.23237091e-01] [ 6.49513884e-02 -1.82715291e-03 9.97886756e-01 1.66289385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.44, Y:-0.86, Z:166.29 [[ 8.36111382e-01 5.45939235e-01 -5.35547182e-02 5.10438427e+02] [-5.44700171e-01 8.37823257e-01 3.67955572e-02 -8.60633841e-01] [ 6.49575269e-02 -1.59392003e-03 9.97886757e-01 1.66292261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.882755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:510.49, Y:-0.90, Z:166.30 [[ 8.34739333e-01 5.48035900e-01 -5.35434279e-02 5.10489393e+02] [-5.46800083e-01 8.36453554e-01 3.68119792e-02 -8.95484752e-01] [ 6.49608767e-02 -1.45085613e-03 9.97886757e-01 1.66296920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.54, Y:-0.93, Z:166.30 [[ 8.32950661e-01 5.50751698e-01 -5.35328269e-02 5.10538692e+02] [-5.49520481e-01 8.34668188e-01 3.68273889e-02 -9.31411528e-01] [ 6.49648946e-02 -1.25801311e-03 9.97886757e-01 1.66298812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.59, Y:-0.97, Z:166.30 [[ 8.32170142e-01 5.51931270e-01 -5.35231428e-02 5.10590097e+02] [-5.50701583e-01 8.33888765e-01 3.68414580e-02 -9.66725673e-01] [ 6.49663002e-02 -1.18308182e-03 9.97886757e-01 1.66303253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0627550959999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:510.64, Y:-1.00, Z:166.31 [[ 8.32684854e-01 5.51155559e-01 -5.35115281e-02 5.10642010e+02] [-5.49923187e-01 8.34401553e-01 3.68583204e-02 -1.00054775e+00] [ 6.49647704e-02 -1.26413504e-03 9.97886757e-01 1.66308852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.69, Y:-1.04, Z:166.31 [[ 8.32729908e-01 5.51088535e-01 -5.35007218e-02 5.10693409e+02] [-5.49855019e-01 8.34445784e-01 3.68739994e-02 -1.03575659e+00] [ 6.49642900e-02 -1.28844175e-03 9.97886758e-01 1.66311095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.74, Y:-1.07, Z:166.31 [[ 8.33047324e-01 5.50609650e-01 -5.34898993e-02 5.10744936e+02] [-5.49374141e-01 8.34761765e-01 3.68896920e-02 -1.07104838e+00] [ 6.49631431e-02 -1.34489173e-03 9.97886758e-01 1.66314180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.80, Y:-1.11, Z:166.32 [[ 8.33409889e-01 5.50061898e-01 -5.34777100e-02 5.10795302e+02] [-5.48824129e-01 8.35122699e-01 3.69073539e-02 -1.10541934e+00] [ 6.49617787e-02 -1.40909605e-03 9.97886758e-01 1.66319237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.85, Y:-1.14, Z:166.32 [[ 8.34511441e-01 5.48390213e-01 -5.34680129e-02 5.10847014e+02] [-5.47148114e-01 8.36221114e-01 3.69213969e-02 -1.13929333e+00] [ 6.49584140e-02 -1.55640567e-03 9.97886758e-01 1.66321785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.90, Y:-1.17, Z:166.32 [[ 8.34762514e-01 5.48009011e-01 -5.34571714e-02 5.10897879e+02] [-5.46765127e-01 8.36470889e-01 3.69370873e-02 -1.17427697e+00] [ 6.49572243e-02 -1.60517879e-03 9.97886758e-01 1.66324714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.422755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:510.95, Y:-1.21, Z:166.33 [[ 8.33178582e-01 5.50415214e-01 -5.34466342e-02 5.10948219e+02] [-5.49175287e-01 8.34889831e-01 3.69523279e-02 -1.21140282e+00] [ 6.49611749e-02 -1.43631748e-03 9.97886759e-01 1.66327603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:511.00, Y:-1.24, Z:166.33 [[ 8.31822925e-01 5.52463003e-01 -5.34345539e-02 5.11001301e+02] [-5.51226168e-01 8.33536410e-01 3.69697883e-02 -1.24425759e+00] [ 6.49640865e-02 -1.29779303e-03 9.97886759e-01 1.66330800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.05, Y:-1.28, Z:166.34 [[ 8.29391913e-01 5.56107114e-01 -5.34222021e-02 5.11052396e+02] [-5.54876660e-01 8.31109985e-01 3.69876284e-02 -1.28037778e+00] [ 6.49688089e-02 -1.03450678e-03 9.97886759e-01 1.66335323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:511.10, Y:-1.31, Z:166.34 [[ 8.28902840e-01 5.56837025e-01 -5.34098246e-02 5.11104439e+02] [-5.55606933e-01 8.30621171e-01 3.70054928e-02 -1.31347469e+00] [ 6.49693596e-02 -9.99089180e-04 9.97886759e-01 1.66338651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.16, Y:-1.35, Z:166.34 [[ 8.26765657e-01 5.60006390e-01 -5.33984165e-02 5.11157611e+02] [-5.58781823e-01 8.28487930e-01 3.70219472e-02 -1.34749639e+00] [ 6.49724706e-02 -7.70409967e-04 9.97886759e-01 1.66342766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.21, Y:-1.38, Z:166.35 [[ 8.25445022e-01 5.61952300e-01 -5.33865817e-02 5.11209555e+02] [-5.60730691e-01 8.27169393e-01 3.70390054e-02 -1.38218222e+00] [ 6.49739007e-02 -6.38167846e-04 9.97886760e-01 1.66346468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.26, Y:-1.42, Z:166.35 [[ 8.25263868e-01 5.62219411e-01 -5.33749159e-02 5.11261179e+02] [-5.60997273e-01 8.26987864e-01 3.70558088e-02 -1.41767526e+00] [ 6.49739027e-02 -6.37637896e-04 9.97886760e-01 1.66350380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.31, Y:-1.45, Z:166.35 [[ 8.25671418e-01 5.61621824e-01 -5.33632448e-02 5.11312631e+02] [-5.60397352e-01 8.27393757e-01 3.70726086e-02 -1.45326456e+00] [ 6.49732016e-02 -7.05172219e-04 9.97886760e-01 1.66353745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.36, Y:-1.49, Z:166.36 [[ 8.27487937e-01 5.58943023e-01 -5.33517611e-02 5.11363720e+02] [-5.57711911e-01 8.29205536e-01 3.70891275e-02 -1.49028358e+00] [ 6.49702847e-02 -9.35892982e-04 9.97886760e-01 1.66357372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.41, Y:-1.53, Z:166.36 [[ 8.28919434e-01 5.56819006e-01 -5.33400970e-02 5.11413894e+02] [-5.55582414e-01 8.30633092e-01 3.71058948e-02 -1.52649264e+00] [ 6.49673172e-02 -1.12297746e-03 9.97886760e-01 1.66361706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.47, Y:-1.56, Z:166.37 [[ 8.30046923e-01 5.55137554e-01 -5.33329239e-02 5.11465397e+02] [-5.53896829e-01 8.31757591e-01 3.71162021e-02 -1.56326073e+00] [ 6.49646619e-02 -1.26725190e-03 9.97886761e-01 1.66365490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.52, Y:-1.60, Z:166.37 [[ 8.29615806e-01 5.55782771e-01 -5.33209712e-02 5.11516030e+02] [-5.54542274e-01 8.31326638e-01 3.71333652e-02 -1.59801702e+00] [ 6.49652284e-02 -1.23769406e-03 9.97886761e-01 1.66367854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.57, Y:-1.63, Z:166.37 [[ 8.28377243e-01 5.57628184e-01 -5.33099661e-02 5.11567507e+02] [-5.56390482e-01 8.30090098e-01 3.71491580e-02 -1.63358627e+00] [ 6.49674925e-02 -1.11235932e-03 9.97886761e-01 1.66370060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2027550959999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:511.62, Y:-1.67, Z:166.37 [[ 8.26013060e-01 5.61125405e-01 -5.32982624e-02 5.11618793e+02] [-5.59893874e-01 8.27730356e-01 3.71659418e-02 -1.66738353e+00] [ 6.49713439e-02 -8.58182752e-04 9.97886761e-01 1.66372411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.67, Y:-1.70, Z:166.38 [[ 8.24475802e-01 5.63382729e-01 -5.32874647e-02 5.11672896e+02] [-5.62154899e-01 8.26195747e-01 3.71814168e-02 -1.70030364e+00] [ 6.49732447e-02 -6.99369154e-04 9.97886761e-01 1.66375825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.73, Y:-1.73, Z:166.38 [[ 8.24070760e-01 5.63976116e-01 -5.32759209e-02 5.11725553e+02] [-5.62748456e-01 8.25790826e-01 3.71979501e-02 -1.73277473e+00] [ 6.49735222e-02 -6.72800799e-04 9.97886762e-01 1.66381039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.78, Y:-1.77, Z:166.39 [[ 8.24124079e-01 5.63899205e-01 -5.32652812e-02 5.11777515e+02] [-5.62670400e-01 8.25843327e-01 3.72131793e-02 -1.76697392e+00] [ 6.49732593e-02 -6.97480029e-04 9.97886762e-01 1.66385612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:511.83, Y:-1.80, Z:166.39 [[ 8.25074977e-01 5.62507898e-01 -5.32554934e-02 5.11827787e+02] [-5.61275291e-01 8.26791500e-01 3.72271813e-02 -1.79825036e+00] [ 6.49717728e-02 -8.24223161e-04 9.97886762e-01 1.66388420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.88, Y:-1.83, Z:166.39 [[ 8.27183746e-01 5.59402141e-01 -5.32568666e-02 5.11880501e+02] [-5.58163216e-01 8.28895716e-01 3.72252167e-02 -1.83262262e+00] [ 6.49682545e-02 -1.06607029e-03 9.97886762e-01 1.66391697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5627550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:511.93, Y:-1.87, Z:166.40 [[ 8.30038494e-01 5.55158581e-01 -5.32451773e-02 5.11932002e+02] [-5.53909832e-01 8.31743312e-01 3.72419291e-02 -1.86886096e+00] [ 6.49614966e-02 -1.41920755e-03 9.97886762e-01 1.66395227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.98, Y:-1.90, Z:166.40 [[ 8.31210234e-01 5.53403763e-01 -5.32336489e-02 5.11982404e+02] [-5.52150362e-01 8.32911634e-01 3.72584006e-02 -1.90482823e+00] [ 6.49578645e-02 -1.57658542e-03 9.97886762e-01 1.66398654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.03, Y:-1.94, Z:166.40 [[ 8.31351520e-01 5.53192516e-01 -5.32230282e-02 5.12034288e+02] [-5.51937713e-01 8.33051885e-01 3.72735659e-02 -1.93928638e+00] [ 6.49570017e-02 -1.61163922e-03 9.97886762e-01 1.66404780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.09, Y:-1.97, Z:166.41 [[ 8.30004880e-01 5.55212074e-01 -5.32113933e-02 5.12085786e+02] [-5.53960344e-01 8.31707509e-01 3.72901684e-02 -1.97380733e+00] [ 6.49602671e-02 -1.47401998e-03 9.97886763e-01 1.66406497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:512.14, Y:-2.01, Z:166.41 [[ 8.28710780e-01 5.57142830e-01 -5.32006649e-02 5.12136145e+02] [-5.55894086e-01 8.30415599e-01 3.73054680e-02 -2.00962293e+00] [ 6.49631360e-02 -1.34150852e-03 9.97886763e-01 1.66409474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.19, Y:-2.04, Z:166.41 [[ 8.26582163e-01 5.60296941e-01 -5.31908340e-02 5.12187530e+02] [-5.59053802e-01 8.28291074e-01 3.73194798e-02 -2.04490269e+00] [ 6.49674834e-02 -1.11107839e-03 9.97886763e-01 1.66413098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.922755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:512.24, Y:-2.08, Z:166.42 [[ 8.24484089e-01 5.63380824e-01 -5.31792645e-02 5.12238432e+02] [-5.62143014e-01 8.26196864e-01 3.73359587e-02 -2.07974893e+00] [ 6.49709048e-02 -8.88551900e-04 9.97886763e-01 1.66416145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:512.29, Y:-2.12, Z:166.42 [[ 8.23714439e-01 5.64506527e-01 -5.31686295e-02 5.12288534e+02] [-5.63270082e-01 8.25428198e-01 3.73510975e-02 -2.11532621e+00] [ 6.49718244e-02 -8.18340084e-04 9.97886763e-01 1.66416356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.042755096 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:512.34, Y:-2.15, Z:166.42 [[ 8.23548590e-01 5.64749015e-01 -5.31626707e-02 5.12339289e+02] [-5.63512527e-01 8.25262318e-01 3.73595769e-02 -2.15124025e+00] [ 6.49719332e-02 -8.09595988e-04 9.97886763e-01 1.66421163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1027550959999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:512.38, Y:-2.19, Z:166.43 [[ 8.21946145e-01 5.67079672e-01 -5.31524212e-02 5.12384947e+02] [-5.65847101e-01 8.23662693e-01 3.73741535e-02 -2.19112023e+00] [ 6.49737891e-02 -6.43398041e-04 9.97886764e-01 1.66426265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.44, Y:-2.22, Z:166.43 [[ 8.23238061e-01 5.65202611e-01 -5.31516915e-02 5.12437270e+02] [-5.63966059e-01 8.24951744e-01 3.73751911e-02 -2.22401787e+00] [ 6.49721362e-02 -7.92929888e-04 9.97886764e-01 1.66431673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.49, Y:-2.25, Z:166.43 [[ 8.25541490e-01 5.61833875e-01 -5.31408090e-02 5.12490561e+02] [-5.60589335e-01 8.27249379e-01 3.73906578e-02 -2.25477452e+00] [ 6.49680394e-02 -1.07736849e-03 9.97886764e-01 1.66432083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.54, Y:-2.29, Z:166.43 [[ 8.26368460e-01 5.60617763e-01 -5.31308933e-02 5.12543767e+02] [-5.59369804e-01 8.28073854e-01 3.74047423e-02 -2.28711206e+00] [ 6.49660666e-02 -1.19028195e-03 9.97886764e-01 1.66432860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3427550959999 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:512.60, Y:-2.32, Z:166.43 [[ 8.26243010e-01 5.60803640e-01 -5.31202990e-02 5.12596768e+02] [-5.59555099e-01 8.27947976e-01 3.74197818e-02 -2.32169151e+00] [ 6.49659939e-02 -1.19409903e-03 9.97886764e-01 1.66434341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.402755096 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:512.64, Y:-2.36, Z:166.44 [[ 8.22144776e-01 5.66795806e-01 -5.31082048e-02 5.12642986e+02] [-5.65558585e-01 8.23857975e-01 3.74369388e-02 -2.35904473e+00] [ 6.49727179e-02 -7.42782535e-04 9.97886764e-01 1.66443720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4627550959999 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:512.70, Y:-2.39, Z:166.44 [[ 8.22063054e-01 5.66914327e-01 -5.31082048e-02 5.12698810e+02] [-5.65677353e-01 8.23776431e-01 3.74369388e-02 -2.38867550e+00] [ 6.49728243e-02 -7.33415503e-04 9.97886764e-01 1.66441585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.522755096 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:512.75, Y:-2.42, Z:166.44 [[ 8.20759924e-01 5.68799716e-01 -5.31039657e-02 5.12746779e+02] [-5.67566289e-01 8.22475856e-01 3.74429508e-02 -2.42179908e+00] [ 6.49742695e-02 -5.91652731e-04 9.97886764e-01 1.66444727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:512.79, Y:-2.46, Z:166.46 [[ 8.19841129e-01 5.70122910e-01 -5.31073481e-02 5.12793304e+02] [-5.68892563e-01 8.21559271e-01 3.74381529e-02 -2.45533338e+00] [ 6.49751829e-02 -4.80962174e-04 9.97886764e-01 1.66457823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.642755096 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:512.84, Y:-2.49, Z:166.46 [[ 8.20036373e-01 5.69841656e-01 -5.31115232e-02 5.12842125e+02] [-5.68611103e-01 8.21754368e-01 3.74322290e-02 -2.48679079e+00] [ 6.49750695e-02 -4.95987516e-04 9.97886764e-01 1.66455805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:512.89, Y:-2.52, Z:166.46 [[ 8.21223762e-01 5.68128755e-01 -5.31154500e-02 5.12891095e+02] [-5.66894980e-01 8.22939443e-01 3.74266560e-02 -2.51894667e+00] [ 6.49739584e-02 -6.24777254e-04 9.97886764e-01 1.66463337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.762755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:512.94, Y:-2.55, Z:166.47 [[ 8.23026250e-01 5.65514108e-01 -5.31186029e-02 5.12938618e+02] [-5.64275171e-01 8.24738208e-01 3.74221807e-02 -2.55319229e+00] [ 6.49717125e-02 -8.25928325e-04 9.97886764e-01 1.66470592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8227550959999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:512.99, Y:-2.59, Z:166.47 [[ 8.23496640e-01 5.64828611e-01 -5.31217773e-02 5.12985395e+02] [-5.63588540e-01 8.25207777e-01 3.74176740e-02 -2.59083990e+00] [ 6.49710766e-02 -8.74503863e-04 9.97886764e-01 1.66469568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.882755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:513.03, Y:-2.62, Z:166.48 [[ 8.25649442e-01 5.61676886e-01 -5.31232072e-02 5.13032326e+02] [-5.60430414e-01 8.27355922e-01 3.74156438e-02 -2.62360408e+00] [ 6.49673023e-02 -1.12034449e-03 9.97886764e-01 1.66479888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9427550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:513.08, Y:-2.66, Z:166.48 [[ 8.26346948e-01 5.60649866e-01 -5.31267339e-02 5.13080255e+02] [-5.59401595e-01 8.28052112e-01 3.74106355e-02 -2.65885103e+00] [ 6.49659720e-02 -1.19498474e-03 9.97886764e-01 1.66484823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.13, Y:-2.69, Z:166.49 [[ 8.26848674e-01 5.59909518e-01 -5.31281600e-02 5.13128564e+02] [-5.58659850e-01 8.28552815e-01 3.74086102e-02 -2.69397415e+00] [ 6.49649234e-02 -1.25068982e-03 9.97886764e-01 1.66489954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0627550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:513.18, Y:-2.73, Z:166.50 [[ 8.26859647e-01 5.59893179e-01 -5.31295757e-02 5.13178914e+02] [-5.58643607e-01 8.28563858e-01 3.74065994e-02 -2.73088514e+00] [ 6.49649461e-02 -1.24950979e-03 9.97886764e-01 1.66495974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.122755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:513.23, Y:-2.77, Z:166.50 [[ 8.25253357e-01 5.62259208e-01 -5.31175998e-02 5.13227459e+02] [-5.61013428e-01 8.26960342e-01 3.74235976e-02 -2.76885780e+00] [ 6.49679109e-02 -1.08426284e-03 9.97886765e-01 1.66501830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.28, Y:-2.80, Z:166.50 [[ 8.26849289e-01 5.59910661e-01 -5.31065478e-02 5.13279959e+02] [-5.58659027e-01 8.28551986e-01 3.74392746e-02 -2.79955458e+00] [ 6.49641846e-02 -1.28818534e-03 9.97886765e-01 1.66504393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.33, Y:-2.84, Z:166.51 [[ 8.25681005e-01 5.61632061e-01 -5.31065478e-02 5.13327411e+02] [-5.60383977e-01 8.27386306e-01 3.74392746e-02 -2.83611434e+00] [ 6.49667273e-02 -1.15283946e-03 9.97886765e-01 1.66508357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.38, Y:-2.86, Z:166.51 [[ 8.27553981e-01 5.58868456e-01 -5.31079770e-02 5.13380899e+02] [-5.57614808e-01 8.29255195e-01 3.74372471e-02 -2.86435179e+00] [ 6.49625623e-02 -1.36754852e-03 9.97886765e-01 1.66512216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.43, Y:-2.90, Z:166.52 [[ 8.27141756e-01 5.59478381e-01 -5.31079770e-02 5.13429405e+02] [-5.58225987e-01 8.28843894e-01 3.74372471e-02 -2.89570404e+00] [ 6.49635528e-02 -1.31965745e-03 9.97886765e-01 1.66517524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.48, Y:-2.93, Z:166.52 [[ 8.24195385e-01 5.63809435e-01 -5.31120319e-02 5.13479725e+02] [-5.62566358e-01 8.25904339e-01 3.74314936e-02 -2.93260852e+00] [ 6.49696868e-02 -9.71821962e-04 9.97886765e-01 1.66520550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.53, Y:-2.96, Z:166.52 [[ 8.22849083e-01 5.65773463e-01 -5.31015432e-02 5.13531046e+02] [-5.64533506e-01 8.24560301e-01 3.74463673e-02 -2.96386846e+00] [ 6.49715854e-02 -8.35108638e-04 9.97886765e-01 1.66524368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.542755096 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:513.58, Y:-2.99, Z:166.53 [[ 8.23239322e-01 5.65205489e-01 -5.31015432e-02 5.13582219e+02] [-5.63964350e-01 8.24949684e-01 3.74463673e-02 -2.99082227e+00] [ 6.49709936e-02 -8.79944700e-04 9.97886765e-01 1.66528294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.63, Y:-3.02, Z:166.53 [[ 8.20168420e-01 5.69652170e-01 -5.31052598e-02 5.13630088e+02] [-5.68420646e-01 8.21885718e-01 3.74410957e-02 -3.02498379e+00] [ 6.49748560e-02 -5.21878209e-04 9.97886765e-01 1.66534476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.68, Y:-3.06, Z:166.54 [[ 8.18870943e-01 5.71515443e-01 -5.31081725e-02 5.13684691e+02] [-5.70288095e-01 8.20591227e-01 3.74369638e-02 -3.05550036e+00] [ 6.49759034e-02 -3.69083308e-04 9.97886765e-01 1.66537705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.74, Y:-3.09, Z:166.54 [[ 8.17666102e-01 5.73238924e-01 -5.30969181e-02 5.13736005e+02] [-5.72014166e-01 8.19388231e-01 3.74529192e-02 -3.08517532e+00] [ 6.49764609e-02 -2.51793151e-04 9.97886765e-01 1.66542432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.782755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:513.79, Y:-3.12, Z:166.54 [[ 8.16327882e-01 5.75142884e-01 -5.30985084e-02 5.13789940e+02] [-5.73922290e-01 8.18052965e-01 3.74506644e-02 -3.11739945e+00] [ 6.49768754e-02 -9.76040509e-05 9.97886765e-01 1.66544851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.84, Y:-3.15, Z:166.55 [[ 8.14945252e-01 5.77101530e-01 -5.30854024e-02 5.13842984e+02] [-5.75883872e-01 8.16672409e-01 3.74692327e-02 -3.14591213e+00] [ 6.49769349e-02 3.56538160e-05 9.97886765e-01 1.66546455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.902755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:513.90, Y:-3.17, Z:166.55 [[ 8.15251735e-01 5.76668343e-01 -5.30870125e-02 5.13896208e+02] [-5.75449915e-01 8.16978349e-01 3.74669514e-02 -3.17244614e+00] [ 6.49769445e-02 3.91972180e-06 9.97886765e-01 1.66545628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9627550959999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:513.95, Y:-3.20, Z:166.55 [[ 8.15285753e-01 5.76619953e-01 -5.30902046e-02 5.13946287e+02] [-5.75401718e-01 8.17012503e-01 3.74624276e-02 -3.20398804e+00] [ 6.49769442e-02 5.61143777e-06 9.97886765e-01 1.66548941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.022755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:514.00, Y:-3.23, Z:166.55 [[ 8.15182383e-01 5.76765793e-01 -5.30933454e-02 5.13997183e+02] [-5.75548156e-01 8.16909554e-01 3.74579759e-02 -3.23275862e+00] [ 6.49769402e-02 2.26950045e-05 9.97886766e-01 1.66553410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.05, Y:-3.26, Z:166.56 [[ 8.14481324e-01 5.77754846e-01 -5.30990598e-02 5.14046146e+02] [-5.76539835e-01 8.16210344e-01 3.74498736e-02 -3.26292894e+00] [ 6.49768478e-02 1.11500579e-04 9.97886766e-01 1.66558114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.10, Y:-3.29, Z:166.56 [[ 8.19311512e-01 5.70884169e-01 -5.31028415e-02 5.14097412e+02] [-5.69655007e-01 8.21030500e-01 3.74445105e-02 -3.29142829e+00] [ 6.49755307e-02 -4.28418989e-04 9.97886766e-01 1.66563269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2027550959999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:514.15, Y:-3.32, Z:166.57 [[ 8.22622283e-01 5.66102775e-01 -5.31058280e-02 5.14145880e+02] [-5.64863895e-01 8.24334281e-01 3.74402743e-02 -3.32253099e+00] [ 6.49719977e-02 -8.01639073e-04 9.97886766e-01 1.66565985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.19, Y:-3.35, Z:166.57 [[ 8.28969216e-01 5.56766829e-01 -5.31106205e-02 5.14194446e+02] [-5.55509110e-01 8.30667421e-01 3.74334747e-02 -3.35256297e+00] [ 6.49589792e-02 -1.52776463e-03 9.97886766e-01 1.66570101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.24, Y:-3.38, Z:166.57 [[ 8.33459929e-01 5.50020775e-01 -5.31196307e-02 5.14244244e+02] [-5.48750128e-01 8.35148483e-01 3.74206845e-02 -3.38470043e+00] [ 6.49449329e-02 -2.03923686e-03 9.97886766e-01 1.66574084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.29, Y:-3.42, Z:166.58 [[ 8.34573110e-01 5.48329549e-01 -5.31265484e-02 5.14291718e+02] [-5.47056105e-01 8.36259556e-01 3.74108608e-02 -3.41758382e+00] [ 6.49410642e-02 -2.15889575e-03 9.97886766e-01 1.66582884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.34, Y:-3.45, Z:166.59 [[ 8.35595612e-01 5.46769668e-01 -5.31310006e-02 5.14340242e+02] [-5.45493478e-01 8.37279981e-01 3.74045368e-02 -3.44991970e+00] [ 6.49371893e-02 -2.27245247e-03 9.97886766e-01 1.66586721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.39, Y:-3.48, Z:166.59 [[ 8.36529525e-01 5.45338497e-01 -5.31439280e-02 5.14391985e+02] [-5.44060590e-01 8.38212592e-01 3.73861607e-02 -3.48002173e+00] [ 6.49340223e-02 -2.36111039e-03 9.97886766e-01 1.66585196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5627550959999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:514.44, Y:-3.51, Z:166.59 [[ 8.34828432e-01 5.47937969e-01 -5.31551645e-02 5.14440727e+02] [-5.46666320e-01 8.36516231e-01 3.73701779e-02 -3.51139283e+00] [ 6.49416973e-02 -2.13954881e-03 9.97886766e-01 1.66587860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.622755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:514.70, Y:-3.09, Z:167.70 [[ 8.43013235e-01 5.35258588e-01 -5.31688700e-02 5.14697889e+02] [-5.33962803e-01 8.44682575e-01 3.73506681e-02 -3.08520752e+00] [ 6.49030839e-02 -3.09690874e-03 9.97886767e-01 1.67699934e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 687.6827550959999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:514.95, Y:-2.65, Z:168.81 [[ 8.55908513e-01 5.14322468e-01 -5.37867737e-02 5.14950256e+02] [-5.13042627e-01 8.57589347e-01 3.64386563e-02 -2.65254472e+00] [ 6.48681837e-02 -3.59324850e-03 9.97887372e-01 1.68809772e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 687.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.00, Y:-2.68, Z:168.82 [[ 8.52492865e-01 5.19847184e-01 -5.49073914e-02 5.14999419e+02] [-5.18691292e-01 8.54258602e-01 3.46638717e-02 -2.68055768e+00] [ 6.49250275e-02 -1.07071754e-03 9.97889570e-01 1.68817730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.05, Y:-2.71, Z:168.82 [[ 8.47971847e-01 5.27189107e-01 -5.49125877e-02 5.15048853e+02] [-5.26049039e-01 8.49747842e-01 3.46556381e-02 -2.71059600e+00] [ 6.49319278e-02 -5.00291446e-04 9.97889570e-01 1.68818899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8627550959999 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:515.10, Y:-2.74, Z:168.81 [[ 8.49775143e-01 5.24276135e-01 -5.49248600e-02 5.15101791e+02] [-5.23131237e-01 8.51548028e-01 3.46361770e-02 -2.73650406e+00] [ 6.49300773e-02 -7.00052313e-04 9.97889571e-01 1.68813948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.15, Y:-2.77, Z:168.83 [[ 8.43871077e-01 5.33726084e-01 -5.49369786e-02 5.15146476e+02] [-5.32602293e-01 8.45657416e-01 3.46169448e-02 -2.77082020e+00] [ 6.49338298e-02 4.73222571e-05 9.97889571e-01 1.68825139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9827550959999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:515.20, Y:-2.80, Z:168.83 [[ 8.40941887e-01 5.38328991e-01 -5.49421459e-02 5.15195797e+02] [-5.37215513e-01 8.42734672e-01 3.46087418e-02 -2.80164513e+00] [ 6.49325403e-02 4.11832422e-04 9.97889571e-01 1.68827765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.24, Y:-2.84, Z:168.83 [[ 8.39786621e-01 5.40128253e-01 -5.49536234e-02 5.15241149e+02] [-5.39019809e-01 8.41582523e-01 3.45905076e-02 -2.83624057e+00] [ 6.49313194e-02 5.72446106e-04 9.97889571e-01 1.68833865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.29, Y:-2.87, Z:168.84 [[ 8.38997694e-01 5.41352122e-01 -5.49613512e-02 5.15288604e+02] [-5.40247102e-01 8.40795704e-01 3.45782243e-02 -2.87147469e+00] [ 6.49302631e-02 6.81660237e-04 9.97889571e-01 1.68840253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.33, Y:-2.91, Z:168.84 [[ 8.39139595e-01 5.41131234e-01 -5.49702528e-02 5.15334667e+02] [-5.40026667e-01 8.40937883e-01 3.45640674e-02 -2.90645562e+00] [ 6.49302645e-02 6.81324925e-04 9.97889571e-01 1.68842177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2227550959999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:515.38, Y:-2.94, Z:168.85 [[ 8.40055673e-01 5.39707691e-01 -5.49733991e-02 5.15381044e+02] [-5.38600404e-01 8.41852289e-01 3.45590626e-02 -2.94301596e+00] [ 6.49312737e-02 5.77158360e-04 9.97889571e-01 1.68850494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.43, Y:-2.98, Z:168.85 [[ 8.40339560e-01 5.39265258e-01 -5.49764019e-02 5.15427806e+02] [-5.38157339e-01 8.42135785e-01 3.45542850e-02 -2.97736273e+00] [ 6.49315208e-02 5.48621457e-04 9.97889571e-01 1.68853210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.48, Y:-3.01, Z:168.85 [[ 8.40111904e-01 5.39619477e-01 -5.49800802e-02 5.15475203e+02] [-5.38512698e-01 8.41908831e-01 3.45484315e-02 -3.00999188e+00] [ 6.49312216e-02 5.82922779e-04 9.97889571e-01 1.68854730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.52, Y:-3.05, Z:168.86 [[ 8.40883888e-01 5.38415251e-01 -5.49845809e-02 5.15522481e+02] [-5.37306367e-01 8.42679518e-01 3.45412670e-02 -3.04501321e+00] [ 6.49319251e-02 4.98370497e-04 9.97889571e-01 1.68857181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.57, Y:-3.08, Z:168.87 [[ 8.38910004e-01 5.41485362e-01 -5.49873413e-02 5.15567015e+02] [-5.40383337e-01 8.40709851e-01 3.45368720e-02 -3.08219632e+00] [ 6.49296102e-02 7.40915559e-04 9.97889571e-01 1.68870077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.62, Y:-3.11, Z:168.87 [[ 8.43439576e-01 5.34402193e-01 -5.49907095e-02 5.15617718e+02] [-5.33285401e-01 8.45230298e-01 3.45315083e-02 -3.11286988e+00] [ 6.49335275e-02 2.00501877e-04 9.97889571e-01 1.68871207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5827550959999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:515.66, Y:-3.15, Z:168.88 [[ 8.44129905e-01 5.33310816e-01 -5.49934400e-02 5.15663896e+02] [-5.32191992e-01 8.45919357e-01 3.45271592e-02 -3.14734402e+00] [ 6.49337229e-02 1.21660774e-04 9.97889571e-01 1.68875644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.642755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:515.71, Y:-3.18, Z:168.88 [[ 8.47136773e-01 5.28521185e-01 -5.49967794e-02 5.15713998e+02] [-5.27392589e-01 8.48920079e-01 3.45218393e-02 -3.18480815e+00] [ 6.49333937e-02 -2.39825682e-04 9.97889572e-01 1.68880189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7027550959999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:515.76, Y:-3.23, Z:168.89 [[ 8.44783426e-01 5.32275839e-01 -5.49854046e-02 5.15758011e+02] [-5.31153990e-01 8.46570984e-01 3.45399473e-02 -3.22799698e+00] [ 6.49338275e-02 2.69419691e-05 9.97889572e-01 1.68887802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.81, Y:-3.26, Z:168.89 [[ 8.45466268e-01 5.31190618e-01 -5.49847019e-02 5.15808774e+02] [-5.30066402e-01 8.47252338e-01 3.45410659e-02 -3.26399891e+00] [ 6.49338074e-02 -5.77629441e-05 9.97889572e-01 1.68889429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.86, Y:-3.30, Z:168.89 [[ 8.47739128e-01 5.27556465e-01 -5.49777047e-02 5.15859064e+02] [-5.26423870e-01 8.49519897e-01 3.45521995e-02 -3.29784540e+00] [ 6.49328902e-02 -3.49675360e-04 9.97889572e-01 1.68892512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.91, Y:-3.34, Z:168.90 [[ 8.45294073e-01 5.31465387e-01 -5.49770202e-02 5.15905688e+02] [-5.30340957e-01 8.47080008e-01 3.45532885e-02 -3.33592723e+00] [ 6.49338116e-02 -5.11244552e-05 9.97889572e-01 1.68901349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9427550959999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:516.22, Y:-2.77, Z:169.99 [[ 8.83934345e-01 4.64368392e-01 -5.49733612e-02 5.16217629e+02] [-4.63108598e-01 8.85627515e-01 3.45591090e-02 -2.76749051e+00] [ 6.47340791e-02 -5.08934711e-03 9.97889572e-01 1.69991300e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 689.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.27, Y:-2.80, Z:169.99 [[ 8.83714819e-01 4.64499703e-01 -5.73423405e-02 5.16268135e+02] [-4.63527404e-01 8.85573275e-01 3.00386595e-02 -2.79501559e+00] [ 6.47337926e-02 3.41376499e-05 9.97902568e-01 1.69994908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.32, Y:-2.83, Z:170.00 [[ 8.82542974e-01 4.66721966e-01 -5.73454834e-02 5.16319575e+02] [-4.65754737e-01 8.84404073e-01 3.00326583e-02 -2.82697544e+00] [ 6.47334804e-02 2.03818902e-04 9.97902568e-01 1.70002997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.38, Y:-2.85, Z:170.01 [[ 8.84719492e-01 4.62582875e-01 -5.73454834e-02 5.16375267e+02] [-4.61606938e-01 8.86576040e-01 3.00326583e-02 -2.85436518e+00] [ 6.47337250e-02 -9.94052325e-05 9.97902568e-01 1.70005082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:516.43, Y:-2.89, Z:170.01 [[ 8.82098539e-01 4.67562466e-01 -5.73367860e-02 5.16426035e+02] [-4.66595931e-01 8.83959999e-01 3.00492538e-02 -2.88992265e+00] [ 6.47333285e-02 2.46708176e-04 9.97902568e-01 1.70008930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.48, Y:-2.92, Z:170.01 [[ 8.82031863e-01 4.67689286e-01 -5.73282144e-02 5.16477926e+02] [-4.66721957e-01 8.83892909e-01 3.00655978e-02 -2.92417723e+00] [ 6.47333602e-02 2.37521129e-04 9.97902568e-01 1.70013646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.53, Y:-2.96, Z:170.02 [[ 8.81783892e-01 4.68157613e-01 -5.73203076e-02 5.16530690e+02] [-4.67190292e-01 8.83644942e-01 3.00806647e-02 -2.95618519e+00] [ 6.47332921e-02 2.54845694e-04 9.97902568e-01 1.70016309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.58, Y:-2.99, Z:170.02 [[ 8.84671746e-01 4.62678217e-01 -5.73129052e-02 5.16583708e+02] [-4.61698456e-01 8.86526278e-01 3.00947619e-02 -2.98986863e+00] [ 6.47335873e-02 -1.62705657e-04 9.97902569e-01 1.70022706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.422755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:516.63, Y:-3.03, Z:170.03 [[ 8.84166906e-01 4.63643455e-01 -5.73029528e-02 5.16634072e+02] [-4.62664491e-01 8.86021859e-01 3.01137003e-02 -3.02578680e+00] [ 6.47336888e-02 -1.13495707e-04 9.97902569e-01 1.70027987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4827550959999 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:516.69, Y:-3.06, Z:170.03 [[ 8.86302729e-01 4.59548580e-01 -5.72937664e-02 5.16686566e+02] [-4.58559917e-01 8.88152529e-01 3.01311680e-02 -3.06038875e+00] [ 6.47323390e-02 -4.32711644e-04 9.97902569e-01 1.70031214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.74, Y:-3.10, Z:170.04 [[ 8.87092026e-01 4.58023491e-01 -5.72906534e-02 5.16737463e+02] [-4.57031266e-01 8.88939918e-01 3.01370858e-02 -3.09503967e+00] [ 6.47314420e-02 -5.50748676e-04 9.97902569e-01 1.70035891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.79, Y:-3.13, Z:170.04 [[ 8.87033261e-01 4.58138279e-01 -5.72827362e-02 5.16790455e+02] [-4.57145321e-01 8.88880759e-01 3.01521269e-02 -3.12649104e+00] [ 6.47313656e-02 -5.59404572e-04 9.97902569e-01 1.70037079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.84, Y:-3.16, Z:170.05 [[ 8.85023928e-01 4.62008971e-01 -5.72744070e-02 5.16843921e+02] [-4.61023071e-01 8.86875202e-01 3.01679400e-02 -3.15610260e+00] [ 6.47331102e-02 -2.94525775e-04 9.97902569e-01 1.70050438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.90, Y:-3.18, Z:170.05 [[ 8.85017692e-01 4.62021418e-01 -5.72703568e-02 5.16899355e+02] [-4.61035046e-01 8.86868715e-01 3.01756270e-02 -3.18219685e+00] [ 6.47330737e-02 -3.02322266e-04 9.97902569e-01 1.70049214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.95, Y:-3.21, Z:170.05 [[ 8.81761762e-01 4.68205978e-01 -5.72656778e-02 5.16952349e+02] [-4.67232013e-01 8.83619342e-01 3.01845038e-02 -3.21483243e+00] [ 6.47336257e-02 1.40816616e-04 9.97902569e-01 1.70052699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.01, Y:-3.24, Z:170.06 [[ 8.80881963e-01 4.69860156e-01 -5.72573314e-02 5.17007720e+02] [-4.68888650e-01 8.82740831e-01 3.02003281e-02 -3.24150846e+00] [ 6.47333151e-02 2.44388543e-04 9.97902570e-01 1.70058876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.902755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:517.06, Y:-3.27, Z:170.06 [[ 8.81423158e-01 4.68845138e-01 -5.72490512e-02 5.17061530e+02] [-4.67870472e-01 8.83280371e-01 3.02160163e-02 -3.27226225e+00] [ 6.47335955e-02 1.52044149e-04 9.97902570e-01 1.70063218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.12, Y:-3.30, Z:170.07 [[ 8.82961878e-01 4.65941941e-01 -5.72400983e-02 5.17115999e+02] [-4.64960070e-01 8.84815292e-01 3.02329668e-02 -3.30083677e+00] [ 6.47337215e-02 -8.01970042e-05 9.97902570e-01 1.70073631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.022755096 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:517.17, Y:-3.33, Z:170.07 [[ 8.84620714e-01 4.62785880e-01 -5.72312966e-02 5.17170962e+02] [-4.61796319e-01 8.86470033e-01 3.02496193e-02 -3.32954493e+00] [ 6.47329261e-02 -3.30237698e-04 9.97902570e-01 1.70073761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.22, Y:-3.36, Z:170.09 [[ 8.83025915e-01 4.65822792e-01 -5.72220282e-02 5.17223142e+02] [-4.64838456e-01 8.84878020e-01 3.02671419e-02 -3.36184504e+00] [ 6.47336395e-02 -1.27671383e-04 9.97902570e-01 1.70085393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.142755096 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:517.28, Y:-3.39, Z:170.09 [[ 8.85801014e-01 4.60524820e-01 -5.72141025e-02 5.17277833e+02] [-4.59528440e-01 8.87646668e-01 3.02821165e-02 -3.39148753e+00] [ 6.47315737e-02 -5.32422260e-04 9.97902570e-01 1.70091559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:517.33, Y:-3.42, Z:170.09 [[ 8.86205772e-01 4.59746541e-01 -5.72053098e-02 5.17332255e+02] [-4.58747468e-01 8.88049970e-01 3.02987176e-02 -3.42022769e+00] [ 6.47309042e-02 -6.08107428e-04 9.97902571e-01 1.70092669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.39, Y:-3.45, Z:170.09 [[ 8.86093356e-01 4.59964322e-01 -5.71960476e-02 5.17387353e+02] [-4.58964574e-01 8.87937187e-01 3.03161921e-02 -3.44684761e+00] [ 6.47308643e-02 -6.12016715e-04 9.97902571e-01 1.70094608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3227550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:517.45, Y:-3.47, Z:170.10 [[ 8.89728878e-01 4.52892916e-01 -5.71885549e-02 5.17445327e+02] [-4.51877608e-01 8.91564187e-01 3.03303198e-02 -3.47008276e+00] [ 6.47236544e-02 -1.14353403e-03 9.97902571e-01 1.70098619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.50, Y:-3.50, Z:170.11 [[ 8.89245364e-01 4.53842181e-01 -5.71835500e-02 5.17497284e+02] [-4.52828226e-01 8.91081420e-01 3.03397529e-02 -3.50393906e+00] [ 6.47246585e-02 -1.08515909e-03 9.97902571e-01 1.70107587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.55, Y:-3.53, Z:170.12 [[ 8.89344368e-01 4.53649373e-01 -5.71737802e-02 5.17550914e+02] [-4.52633837e-01 8.91179551e-01 3.03581524e-02 -3.53267473e+00] [ 6.47240606e-02 -1.12006435e-03 9.97902571e-01 1.70115442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.61, Y:-3.55, Z:170.12 [[ 8.91778311e-01 4.48846468e-01 -5.71689736e-02 5.17609108e+02] [-4.47820471e-01 8.93607665e-01 3.03672012e-02 -3.55481842e+00] [ 6.47168441e-02 -1.47937473e-03 9.97902571e-01 1.70115115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.66, Y:-3.58, Z:170.12 [[ 8.89967919e-01 4.52426533e-01 -5.71606136e-02 5.17664584e+02] [-4.51406885e-01 8.91800819e-01 3.03829293e-02 -3.58133229e+00] [ 6.47219254e-02 -1.23713779e-03 9.97902571e-01 1.70117855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.72, Y:-3.61, Z:170.12 [[ 8.88582482e-01 4.55142740e-01 -5.71512018e-02 5.17720204e+02] [-4.54127557e-01 8.90417859e-01 3.04006229e-02 -3.60965019e+00] [ 6.47250736e-02 -1.05952533e-03 9.97902572e-01 1.70122726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.77, Y:-3.64, Z:170.13 [[ 8.86675573e-01 4.58847822e-01 -5.71410947e-02 5.17774555e+02] [-4.57839086e-01 8.88514501e-01 3.04196085e-02 -3.63778606e+00] [ 6.47286623e-02 -8.10897231e-04 9.97902572e-01 1.70130567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.83, Y:-3.67, Z:170.14 [[ 8.83659473e-01 4.64630843e-01 -5.71324310e-02 5.17826212e+02] [-4.63633091e-01 8.85504384e-01 3.04358715e-02 -3.67205781e+00] [ 6.47324627e-02 -4.06460571e-04 9.97902572e-01 1.70138406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.88, Y:-3.70, Z:170.14 [[ 8.81866341e-01 4.68026299e-01 -5.71239038e-02 5.17880189e+02] [-4.67034615e-01 8.83714520e-01 3.04518675e-02 -3.70228089e+00] [ 6.47334980e-02 -1.75636556e-04 9.97902572e-01 1.70143517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.94, Y:-3.73, Z:170.15 [[ 8.81957940e-01 4.67854757e-01 -5.71149652e-02 5.17935116e+02] [-4.66861628e-01 8.83805343e-01 3.04686233e-02 -3.73204647e+00] [ 6.47334017e-02 -2.07258601e-04 9.97902572e-01 1.70147924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.922755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:517.99, Y:-3.76, Z:170.15 [[ 8.83280415e-01 4.65354422e-01 -5.71049122e-02 5.17988353e+02] [-4.64354846e-01 8.85124337e-01 3.04874532e-02 -3.76253401e+00] [ 6.47324187e-02 -4.12027637e-04 9.97902573e-01 1.70152965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9827550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:518.04, Y:-3.79, Z:170.16 [[ 8.84220577e-01 4.63566519e-01 -5.70968763e-02 5.18041434e+02] [-4.62562243e-01 8.86061944e-01 3.05024954e-02 -3.79322374e+00] [ 6.47313049e-02 -5.60074880e-04 9.97902573e-01 1.70156711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.042755096 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:518.10, Y:-3.82, Z:170.16 [[ 8.86261716e-01 4.59653125e-01 -5.70891832e-02 5.18095252e+02] [-4.58639792e-01 8.88098114e-01 3.05168872e-02 -3.82330660e+00] [ 6.47279785e-02 -8.62577720e-04 9.97902573e-01 1.70160776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.15, Y:-3.85, Z:170.16 [[ 8.87658324e-01 4.56951359e-01 -5.70802494e-02 5.18148289e+02] [-4.55931363e-01 8.89491030e-01 3.05335883e-02 -3.85326301e+00] [ 6.47247345e-02 -1.07871795e-03 9.97902573e-01 1.70163428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.20, Y:-3.88, Z:170.17 [[ 8.88812354e-01 4.54703163e-01 -5.70756729e-02 5.18203070e+02] [-4.53677983e-01 8.90642165e-01 3.05421407e-02 -3.88263068e+00] [ 6.47216088e-02 -1.25225585e-03 9.97902573e-01 1.70169031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2227550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:518.26, Y:-3.91, Z:170.17 [[ 8.89048850e-01 4.54241637e-01 -5.70673094e-02 5.18255966e+02] [-4.53214505e-01 8.90877565e-01 3.05577597e-02 -3.91216853e+00] [ 6.47205925e-02 -1.30360872e-03 9.97902573e-01 1.70173976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.31, Y:-3.94, Z:170.17 [[ 8.90285345e-01 4.51813938e-01 -5.70628617e-02 5.18312420e+02] [-4.50781287e-01 8.92110950e-01 3.05660630e-02 -3.93907346e+00] [ 6.47165770e-02 -1.48964771e-03 9.97902573e-01 1.70174487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.37, Y:-3.96, Z:170.17 [[ 8.92681353e-01 4.47062358e-01 -5.70547906e-02 5.18370583e+02] [-4.46019031e-01 8.94500877e-01 3.05811212e-02 -3.96308591e+00] [ 6.47072284e-02 -1.85167426e-03 9.97902573e-01 1.70172040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.42, Y:-4.00, Z:170.17 [[ 8.89569213e-01 4.53224426e-01 -5.70459017e-02 5.18424055e+02] [-4.52192644e-01 8.91395308e-01 3.05976935e-02 -3.99516950e+00] [ 6.47180712e-02 -1.42302903e-03 9.97902574e-01 1.70174311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4627550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:518.48, Y:-4.03, Z:170.18 [[ 8.88786849e-01 4.54757929e-01 -5.70365096e-02 5.18478901e+02] [-4.53728174e-01 8.90614088e-01 3.06151913e-02 -4.02506302e+00] [ 6.47200199e-02 -1.33130805e-03 9.97902574e-01 1.70178697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.522755096 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:518.53, Y:-4.06, Z:170.18 [[ 8.85715995e-01 4.60711600e-01 -5.70262855e-02 5.18533033e+02] [-4.59692905e-01 8.87549423e-01 3.06342236e-02 -4.05549485e+00] [ 6.47271890e-02 -9.18642945e-04 9.97902574e-01 1.70183820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5827550959999 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:518.59, Y:-4.09, Z:170.19 [[ 8.84072255e-01 4.63859168e-01 -5.70168501e-02 5.18586912e+02] [-4.62845868e-01 8.85908670e-01 3.06517748e-02 -4.08647383e+00] [ 6.47298286e-02 -7.08370143e-04 9.97902574e-01 1.70190202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.642755096 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:518.64, Y:-4.11, Z:170.20 [[ 8.83577633e-01 4.64801851e-01 -5.70070654e-02 5.18643105e+02] [-4.63789338e-01 8.85414481e-01 3.06699619e-02 -4.11236190e+00] [ 6.47303363e-02 -6.60023203e-04 9.97902574e-01 1.70198059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.70, Y:-4.15, Z:170.20 [[ 8.80815555e-01 4.70015785e-01 -5.70010474e-02 5.18695444e+02] [-4.69013422e-01 8.82657962e-01 3.06811426e-02 -4.14818205e+00] [ 6.47330496e-02 -2.90171392e-04 9.97902574e-01 1.70202108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.762755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:518.75, Y:-4.18, Z:170.21 [[ 8.81703229e-01 4.68349665e-01 -5.69912916e-02 5.18751898e+02] [-4.67342650e-01 8.83543097e-01 3.06992537e-02 -4.17638767e+00] [ 6.47322474e-02 -4.33169836e-04 9.97902575e-01 1.70205637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8227550959999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:518.81, Y:-4.21, Z:170.21 [[ 8.82357156e-01 4.67117699e-01 -5.69816188e-02 5.18807527e+02] [-4.66106956e-01 8.84194978e-01 3.07171971e-02 -4.20593129e+00] [ 6.47314076e-02 -5.44009848e-04 9.97902575e-01 1.70209057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.87, Y:-4.23, Z:170.21 [[ 8.84556734e-01 4.62940133e-01 -5.69720835e-02 5.18866077e+02] [-4.61919573e-01 8.86389122e-01 3.07348724e-02 -4.23025271e+00] [ 6.47278410e-02 -8.70217914e-04 9.97902575e-01 1.70210748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9427550959999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:518.92, Y:-4.26, Z:170.21 [[ 8.84980130e-01 4.62131388e-01 -5.69626954e-02 5.18919160e+02] [-4.61108034e-01 8.86810960e-01 3.07522620e-02 -4.26305779e+00] [ 6.47267282e-02 -9.49184316e-04 9.97902575e-01 1.70214038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.002755096 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:518.98, Y:-4.29, Z:170.22 [[ 8.87125014e-01 4.58001578e-01 -5.69540489e-02 5.18975599e+02] [-4.56968675e-01 8.88950473e-01 3.07682674e-02 -4.28644947e+00] [ 6.47212437e-02 -1.26908340e-03 9.97902575e-01 1.70215317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.03, Y:-4.32, Z:170.22 [[ 8.86989796e-01 4.58264377e-01 -5.69461348e-02 5.19027833e+02] [-4.57231075e-01 8.88815030e-01 3.07829079e-02 -4.32141616e+00] [ 6.47212906e-02 -1.26658278e-03 9.97902576e-01 1.70222347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.08, Y:-4.35, Z:170.23 [[ 8.87879545e-01 4.56539353e-01 -5.69362094e-02 5.19082588e+02] [-4.55501329e-01 8.89702097e-01 3.08012551e-02 -4.35000567e+00] [ 6.47182499e-02 -1.41328528e-03 9.97902576e-01 1.70225241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.14, Y:-4.38, Z:170.23 [[ 8.88291081e-01 4.55739254e-01 -5.69270433e-02 5.19139149e+02] [-4.54698504e-01 8.90112077e-01 3.08181866e-02 -4.37781427e+00] [ 6.47165061e-02 -1.49087887e-03 9.97902576e-01 1.70226848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.19, Y:-4.41, Z:170.23 [[ 8.86274150e-01 4.59650448e-01 -5.69174624e-02 5.19193917e+02] [-4.58616600e-01 8.88099073e-01 3.08358711e-02 -4.40854252e+00] [ 6.47220676e-02 -1.22574234e-03 9.97902576e-01 1.70230581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.25, Y:-4.43, Z:170.23 [[ 8.86370794e-01 4.59465249e-01 -5.69078243e-02 5.19251796e+02] [-4.58429879e-01 8.88194854e-01 3.08536482e-02 -4.43422420e+00] [ 6.47214158e-02 -1.25952569e-03 9.97902576e-01 1.70234224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.30, Y:-4.47, Z:170.24 [[ 8.83635527e-01 4.64705223e-01 -5.68973679e-02 5.19303261e+02] [-4.63679431e-01 8.85464990e-01 3.08729189e-02 -4.46977584e+00] [ 6.47274339e-02 -8.98268811e-04 9.97902577e-01 1.70238708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.36, Y:-4.50, Z:170.24 [[ 8.83028069e-01 4.65859673e-01 -5.68875545e-02 5.19357554e+02] [-4.64835108e-01 8.84858220e-01 3.08909909e-02 -4.49895362e+00] [ 6.47282871e-02 -8.34279488e-04 9.97902577e-01 1.70239869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.41, Y:-4.53, Z:170.25 [[ 8.81726502e-01 4.68319022e-01 -5.68829420e-02 5.19412514e+02] [-4.67299014e-01 8.83559196e-01 3.08994820e-02 -4.52797762e+00] [ 6.47302617e-02 -6.63549479e-04 9.97902577e-01 1.70246196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.47, Y:-4.55, Z:170.25 [[ 8.82179257e-01 4.67466600e-01 -5.68747436e-02 5.19468064e+02] [-4.66443849e-01 8.84010422e-01 3.09145649e-02 -4.55461446e+00] [ 6.47293926e-02 -7.43313561e-04 9.97902577e-01 1.70252051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6027550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:519.52, Y:-4.59, Z:170.26 [[ 8.81836137e-01 4.68114580e-01 -5.68662296e-02 5.19520495e+02] [-4.67092165e-01 8.83667489e-01 3.09302183e-02 -4.58774061e+00] [ 6.47297244e-02 -7.13613883e-04 9.97902577e-01 1.70256147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.662755096 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:519.58, Y:-4.62, Z:170.26 [[ 8.82561842e-01 4.66746044e-01 -5.68570603e-02 5.19575765e+02] [-4.65719704e-01 8.84390998e-01 3.09470644e-02 -4.61612132e+00] [ 6.47282921e-02 -8.33244819e-04 9.97902577e-01 1.70257438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.63, Y:-4.65, Z:170.26 [[ 8.82689244e-01 4.66506234e-01 -5.68474383e-02 5.19628702e+02] [-4.65478260e-01 8.84517481e-01 3.09647293e-02 -4.64997351e+00] [ 6.47277922e-02 -8.70986820e-04 9.97902578e-01 1.70262456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.68, Y:-4.68, Z:170.26 [[ 8.83477904e-01 4.65012108e-01 -5.68377833e-02 5.19681429e+02] [-4.63979903e-01 8.85303755e-01 3.09824414e-02 -4.68331342e+00] [ 6.47259134e-02 -1.00071321e-03 9.97902578e-01 1.70264955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.74, Y:-4.71, Z:170.27 [[ 8.84185765e-01 4.63665839e-01 -5.68288948e-02 5.19737449e+02] [-4.62629807e-01 8.86009447e-01 3.09987366e-02 -4.71230384e+00] [ 6.47239928e-02 -1.11790100e-03 9.97902578e-01 1.70266429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.79, Y:-4.75, Z:170.28 [[ 8.80269327e-01 4.71059970e-01 -5.68191649e-02 5.19787989e+02] [-4.70038108e-01 8.82100986e-01 3.10165607e-02 -4.74775988e+00] [ 6.47309016e-02 -5.95754254e-04 9.97902578e-01 1.70277073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.84, Y:-4.78, Z:170.28 [[ 8.79222515e-01 4.73012042e-01 -5.68100095e-02 5.19842494e+02] [-4.71993165e-01 8.81055836e-01 3.10333207e-02 -4.77597243e+00] [ 6.47319248e-02 -4.71258134e-04 9.97902578e-01 1.70278457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.022755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:519.90, Y:-4.81, Z:170.28 [[ 8.77327224e-01 4.76519164e-01 -5.68016510e-02 5.19895945e+02] [-4.75506625e-01 8.79164054e-01 3.10486122e-02 -4.80668894e+00] [ 6.47332285e-02 -2.30231422e-04 9.97902578e-01 1.70281791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.95, Y:-4.84, Z:170.28 [[ 8.76842393e-01 4.77411818e-01 -5.67923768e-02 5.19951630e+02] [-4.76400051e-01 8.78679647e-01 3.10655669e-02 -4.83586819e+00] [ 6.47333743e-02 -1.83714782e-04 9.97902579e-01 1.70284918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.01, Y:-4.86, Z:170.28 [[ 8.78711202e-01 4.73964599e-01 -5.67818887e-02 5.20009056e+02] [-4.72944386e-01 8.80543780e-01 3.10847253e-02 -4.85763319e+00] [ 6.47319982e-02 -4.59820827e-04 9.97902579e-01 1.70284617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.06, Y:-4.89, Z:170.29 [[ 8.76014831e-01 4.78930473e-01 -5.67769171e-02 5.20060924e+02] [-4.77920060e-01 8.77852830e-01 3.10938033e-02 -4.89365376e+00] [ 6.47335473e-02 -1.03805155e-04 9.97902579e-01 1.70291398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.12, Y:-4.92, Z:170.30 [[ 8.76011628e-01 4.78937566e-01 -5.67664972e-02 5.20115552e+02] [-4.77925936e-01 8.77848958e-01 3.11128148e-02 -4.92466256e+00] [ 6.47335062e-02 -1.25006271e-04 9.97902579e-01 1.70295878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.17, Y:-4.95, Z:170.30 [[ 8.77004868e-01 4.77117616e-01 -5.67559870e-02 5.20170849e+02] [-4.76100933e-01 8.78839406e-01 3.11319758e-02 -4.95413283e+00] [ 6.47330120e-02 -2.81315918e-04 9.97902579e-01 1.70298890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.23, Y:-4.98, Z:170.30 [[ 8.78614314e-01 4.74148541e-01 -5.67454672e-02 5.20225835e+02] [-4.73124421e-01 8.80444711e-01 3.11511388e-02 -4.98447404e+00] [ 6.47315135e-02 -5.22170106e-04 9.97902580e-01 1.70301616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.28, Y:-5.02, Z:170.30 [[ 8.80165240e-01 4.71264569e-01 -5.67349717e-02 5.20281124e+02] [-4.70233220e-01 8.81991573e-01 3.11702424e-02 -5.01526752e+00] [ 6.47291978e-02 -7.56295465e-04 9.97902580e-01 1.70304725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.34, Y:-5.05, Z:170.31 [[ 8.80007479e-01 4.71560377e-01 -5.67243158e-02 5.20335219e+02] [-4.70528394e-01 8.81833453e-01 3.11896223e-02 -5.04718398e+00] [ 6.47291893e-02 -7.56699717e-04 9.97902580e-01 1.70309698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.39, Y:-5.08, Z:170.31 [[ 8.79763991e-01 4.72015748e-01 -5.67137935e-02 5.20390305e+02] [-4.70983477e-01 8.81589802e-01 3.12087439e-02 -5.07776874e+00] [ 6.47293205e-02 -7.45069408e-04 9.97902580e-01 1.70313697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.45, Y:-5.11, Z:170.32 [[ 8.78925841e-01 4.73575869e-01 -5.67032816e-02 5.20445260e+02] [-4.72545608e-01 8.80752787e-01 3.12278313e-02 -5.10833211e+00] [ 6.47303206e-02 -6.52061191e-04 9.97902581e-01 1.70319031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.50, Y:-5.13, Z:170.32 [[ 8.80147288e-01 4.71303155e-01 -5.66929191e-02 5.20501531e+02] [-4.70266966e-01 8.81970877e-01 3.12466327e-02 -5.13459330e+00] [ 6.47281402e-02 -8.40831938e-04 9.97902581e-01 1.70320598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.55, Y:-5.17, Z:170.32 [[ 8.78007628e-01 4.75278443e-01 -5.66833900e-02 5.20554402e+02] [-4.74249395e-01 8.79835257e-01 3.12639097e-02 -5.16767062e+00] [ 6.47311073e-02 -5.67887740e-04 9.97902581e-01 1.70324711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:520.61, Y:-5.20, Z:170.33 [[ 8.76946972e-01 4.77233733e-01 -5.66742715e-02 5.20607483e+02] [-4.76207692e-01 8.78776290e-01 3.12804306e-02 -5.19856670e+00] [ 6.47320828e-02 -4.42554839e-04 9.97902581e-01 1.70330077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.66, Y:-5.22, Z:170.33 [[ 8.78188418e-01 4.74946471e-01 -5.66652651e-02 5.20664278e+02] [-4.73914614e-01 8.80014462e-01 3.12967376e-02 -5.22202113e+00] [ 6.47305278e-02 -6.29935182e-04 9.97902581e-01 1.70330819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.922755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:520.72, Y:-5.25, Z:170.34 [[ 8.77322804e-01 4.76544514e-01 -5.66570667e-02 5.20719711e+02] [-4.75515025e-01 8.79150184e-01 3.13115722e-02 -5.25126693e+00] [ 6.47314286e-02 -5.29069795e-04 9.97902582e-01 1.70336035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9827550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:520.77, Y:-5.28, Z:170.34 [[ 8.77732342e-01 4.75790936e-01 -5.66473406e-02 5.20773914e+02] [-4.74758743e-01 8.79558196e-01 3.13291584e-02 -5.28092489e+00] [ 6.47307622e-02 -6.04795385e-04 9.97902582e-01 1.70339288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.83, Y:-5.31, Z:170.34 [[ 8.78733256e-01 4.73940529e-01 -5.66413281e-02 5.20828724e+02] [-4.72903791e-01 8.80556533e-01 3.13400248e-02 -5.31209745e+00] [ 6.47291994e-02 -7.53623226e-04 9.97902582e-01 1.70343324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.88, Y:-5.34, Z:170.35 [[ 8.78055505e-01 4.75196252e-01 -5.66308531e-02 5.20883087e+02] [-4.74160901e-01 8.79879569e-01 3.13589416e-02 -5.34213044e+00] [ 6.47299821e-02 -6.82754972e-04 9.97902582e-01 1.70346291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.94, Y:-5.37, Z:170.35 [[ 8.78419278e-01 4.74524619e-01 -5.66211848e-02 5.20937185e+02] [-4.73486750e-01 8.80241910e-01 3.13763888e-02 -5.37380928e+00] [ 6.47292088e-02 -7.52244070e-04 9.97902582e-01 1.70352081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.99, Y:-5.41, Z:170.36 [[ 8.78760324e-01 4.73894003e-01 -5.66106596e-02 5.20991355e+02] [-4.72853603e-01 8.80581513e-01 3.13953674e-02 -5.40511520e+00] [ 6.47283766e-02 -8.20448903e-04 9.97902583e-01 1.70355599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.282755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:521.04, Y:-5.44, Z:170.36 [[ 8.78230973e-01 4.74875543e-01 -5.66001524e-02 5.21044290e+02] [-4.73835959e-01 8.80052627e-01 3.14142986e-02 -5.43719121e+00] [ 6.47289949e-02 -7.69822527e-04 9.97902583e-01 1.70362075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.10, Y:-5.47, Z:170.36 [[ 8.77614866e-01 4.76014296e-01 -5.65909585e-02 5.21098223e+02] [-4.74976008e-01 8.79437260e-01 3.14308522e-02 -5.46694194e+00] [ 6.47297324e-02 -7.04835597e-04 9.97902583e-01 1.70364872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.15, Y:-5.50, Z:170.37 [[ 8.77273086e-01 4.76644656e-01 -5.65845014e-02 5.21152850e+02] [-4.75606928e-01 8.79095798e-01 3.14424725e-02 -5.49861466e+00] [ 6.47300838e-02 -6.71653997e-04 9.97902583e-01 1.70368350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4627550959999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:521.21, Y:-5.53, Z:170.37 [[ 8.76002094e-01 4.78977715e-01 -5.65745552e-02 5.21205595e+02] [-4.77943686e-01 8.77826907e-01 3.14603585e-02 -5.53176034e+00] [ 6.47314775e-02 -5.19888415e-04 9.97902583e-01 1.70373537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.522755096 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:521.26, Y:-5.56, Z:170.38 [[ 8.75635090e-01 4.79649603e-01 -5.65636582e-02 5.21260937e+02] [-4.78615710e-01 8.77459980e-01 3.14799385e-02 -5.55720942e+00] [ 6.47316864e-02 -4.92683347e-04 9.97902583e-01 1.70377866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.31, Y:-5.59, Z:170.38 [[ 8.72675950e-01 4.85013629e-01 -5.65549780e-02 5.21312183e+02] [-4.83989944e-01 8.74506585e-01 3.14955251e-02 -5.59231673e+00] [ 6.47334596e-02 -1.13346616e-04 9.97902584e-01 1.70381577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.642755096 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:521.37, Y:-5.62, Z:170.38 [[ 8.72728426e-01 4.84920265e-01 -5.65458284e-02 5.21367227e+02] [-4.83895319e-01 8.74558356e-01 3.15119433e-02 -5.61816851e+00] [ 6.47334067e-02 -1.39106998e-04 9.97902584e-01 1.70383122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7027550959999 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:521.42, Y:-5.65, Z:170.39 [[ 8.71039764e-01 4.87947997e-01 -5.65374319e-02 5.21417902e+02] [-4.86928435e-01 8.72872698e-01 3.15270010e-02 -5.65482917e+00] [ 6.47335177e-02 6.84117110e-05 9.97902584e-01 1.70388014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.762755096 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:521.47, Y:-5.68, Z:170.39 [[ 8.71286543e-01 4.87508266e-01 -5.65283212e-02 5.21471940e+02] [-4.86486719e-01 8.73118372e-01 3.15433282e-02 -5.68440378e+00] [ 6.47335489e-02 1.70001526e-05 9.97902584e-01 1.70391446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8227550959999 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:521.53, Y:-5.72, Z:170.39 [[ 8.72733546e-01 4.84914201e-01 -5.65188143e-02 5.21525453e+02] [-4.83886107e-01 8.74561707e-01 3.15603533e-02 -5.71569080e+00] [ 6.47332542e-02 -1.95110031e-04 9.97902584e-01 1.70394693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.882755096 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:521.58, Y:-5.75, Z:170.40 [[ 8.73431856e-01 4.83656437e-01 -5.65087987e-02 5.21579770e+02] [-4.82624551e-01 8.75257880e-01 3.15782760e-02 -5.74692291e+00] [ 6.47328078e-02 -3.08938650e-04 9.97902585e-01 1.70399276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9427550959999 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:521.64, Y:-5.77, Z:170.41 [[ 8.74535434e-01 4.81659337e-01 -5.64983004e-02 5.21635345e+02] [-4.80622068e-01 8.76358405e-01 3.15970480e-02 -5.77378847e+00] [ 6.47317736e-02 -4.78408123e-04 9.97902585e-01 1.70405303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.002755096 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:521.69, Y:-5.80, Z:170.41 [[ 8.75512741e-01 4.79881353e-01 -5.64918395e-02 5.21689259e+02] [-4.78839637e-01 8.77333174e-01 3.16085950e-02 -5.80449392e+00] [ 6.47305402e-02 -6.23195752e-04 9.97902585e-01 1.70409099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0627550959999 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:521.75, Y:-5.83, Z:170.40 [[ 8.78193983e-01 4.74957881e-01 -5.64830885e-02 5.21746618e+02] [-4.73904955e-01 8.80007956e-01 3.16242249e-02 -5.82904571e+00] [ 6.47257421e-02 -1.00458846e-03 9.97902585e-01 1.70403782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.122755096 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:521.80, Y:-5.86, Z:170.41 [[ 8.78741184e-01 4.73945671e-01 -5.64750634e-02 5.21802846e+02] [-4.72889736e-01 8.80553406e-01 3.16385499e-02 -5.85739572e+00] [ 6.47242632e-02 -1.09561901e-03 9.97902585e-01 1.70406602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1827550959999 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:521.85, Y:-5.89, Z:170.42 [[ 8.78689981e-01 4.74041762e-01 -5.64652568e-02 5.21853265e+02] [-4.72984900e-01 8.80501663e-01 3.16560421e-02 -5.89045364e+00] [ 6.47240385e-02 -1.10863317e-03 9.97902585e-01 1.70419366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.242755096 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:521.91, Y:-5.92, Z:170.42 [[ 8.78354028e-01 4.74664540e-01 -5.64603978e-02 5.21908954e+02] [-4.73608406e-01 8.80166134e-01 3.16647059e-02 -5.91897146e+00] [ 6.47246432e-02 -1.07270290e-03 9.97902585e-01 1.70424046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.96, Y:-5.95, Z:170.43 [[ 8.79132417e-01 4.73222443e-01 -5.64509729e-02 5.21963725e+02] [-4.72162259e-01 8.80942157e-01 3.16814995e-02 -5.94762809e+00] [ 6.47224384e-02 -1.19821438e-03 9.97902586e-01 1.70429300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3627550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:522.02, Y:-5.98, Z:170.43 [[ 8.78648912e-01 4.74120672e-01 -5.64418152e-02 5.22020264e+02] [-4.73061291e-01 8.80459121e-01 3.16978060e-02 -5.97581937e+00] [ 6.47232961e-02 -1.15080477e-03 9.97902586e-01 1.70433468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.07, Y:-6.00, Z:170.44 [[ 8.76171889e-01 4.78683966e-01 -5.64312130e-02 5.22074495e+02] [-4.77632799e-01 8.77986880e-01 3.17166697e-02 -6.00471728e+00] [ 6.47281259e-02 -8.35856104e-04 9.97902586e-01 1.70436831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.13, Y:-6.03, Z:170.44 [[ 8.75136466e-01 4.80575476e-01 -5.64214346e-02 5.22130115e+02] [-4.79527111e-01 8.76953077e-01 3.17340553e-02 -6.03308107e+00] [ 6.47295594e-02 -7.16021517e-04 9.97902586e-01 1.70439716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.19, Y:-6.06, Z:170.44 [[ 8.73885878e-01 4.82847021e-01 -5.64112184e-02 5.22185094e+02] [-4.81802207e-01 8.75704534e-01 3.17522054e-02 -6.06269031e+00] [ 6.47310175e-02 -5.68754418e-04 9.97902586e-01 1.70444833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.24, Y:-6.09, Z:170.45 [[ 8.73939283e-01 4.82751543e-01 -5.64010391e-02 5.22240095e+02] [-4.81705364e-01 8.75757154e-01 3.17702766e-02 -6.09005103e+00] [ 6.47307635e-02 -5.96609730e-04 9.97902587e-01 1.70448594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.30, Y:-6.12, Z:170.45 [[ 8.74343627e-01 4.82019921e-01 -5.63916417e-02 5.22296074e+02] [-4.80971146e-01 8.76160001e-01 3.17869481e-02 -6.11946087e+00] [ 6.47300430e-02 -6.69963005e-04 9.97902587e-01 1.70451046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.35, Y:-6.15, Z:170.45 [[ 8.76176935e-01 4.78680685e-01 -5.63806762e-02 5.22352694e+02] [-4.77623737e-01 8.77988564e-01 3.18063858e-02 -6.14813154e+00] [ 6.47266915e-02 -9.39272305e-04 9.97902587e-01 1.70452655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.40, Y:-6.18, Z:170.46 [[ 8.75290784e-01 4.80300410e-01 -5.63698447e-02 5.22404379e+02] [-4.79245580e-01 8.77103647e-01 3.18255707e-02 -6.18156237e+00] [ 6.47280310e-02 -8.41629787e-04 9.97902587e-01 1.70459390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.46, Y:-6.21, Z:170.46 [[ 8.78100693e-01 4.75144967e-01 -5.63598550e-02 5.22458352e+02] [-4.74078359e-01 8.79906652e-01 3.18432516e-02 -6.21209046e+00] [ 6.47215721e-02 -1.24259372e-03 9.97902587e-01 1.70463897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.51, Y:-6.24, Z:170.47 [[ 8.79413080e-01 4.72712692e-01 -5.63502109e-02 5.22511816e+02] [-4.71639998e-01 8.81215430e-01 3.18603088e-02 -6.24406633e+00] [ 6.47174477e-02 -1.44135888e-03 9.97902588e-01 1.70468541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.56, Y:-6.28, Z:170.47 [[ 8.80148518e-01 4.71343091e-01 -5.63407227e-02 5.22564760e+02] [-4.70266520e-01 8.81948554e-01 3.18770786e-02 -6.27625172e+00] [ 6.47146597e-02 -1.56140786e-03 9.97902588e-01 1.70472817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.62, Y:-6.31, Z:170.48 [[ 8.80517514e-01 4.70654604e-01 -5.63307273e-02 5.22616561e+02] [-4.69575496e-01 8.82316031e-01 3.18947320e-02 -6.30770137e+00] [ 6.47129062e-02 -1.63234091e-03 9.97902588e-01 1.70478427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.67, Y:-6.34, Z:170.48 [[ 8.81571740e-01 4.68677962e-01 -5.63225972e-02 5.22672351e+02] [-4.67593906e-01 8.83367279e-01 3.19090824e-02 -6.33737499e+00] [ 6.47086231e-02 -1.79404209e-03 9.97902588e-01 1.70479582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.72, Y:-6.37, Z:170.49 [[ 8.80573250e-01 4.70552515e-01 -5.63123676e-02 5.22724569e+02] [-4.69471129e-01 8.82370397e-01 3.19271251e-02 -6.36915861e+00] [ 6.47117552e-02 -1.67714154e-03 9.97902588e-01 1.70486223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.78, Y:-6.40, Z:170.49 [[ 8.81125663e-01 4.69518262e-01 -5.63042349e-02 5.22778270e+02] [-4.68433851e-01 8.82920987e-01 3.19414609e-02 -6.39901518e+00] [ 6.47092899e-02 -1.76963132e-03 9.97902589e-01 1.70490905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.83, Y:-6.43, Z:170.49 [[ 8.80640122e-01 4.70429378e-01 -5.62954339e-02 5.22831968e+02] [-4.69345834e-01 8.82435970e-01 3.19569649e-02 -6.43017711e+00] [ 6.47106109e-02 -1.72055807e-03 9.97902589e-01 1.70490925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.89, Y:-6.46, Z:170.49 [[ 8.79846094e-01 4.71913835e-01 -5.62866153e-02 5.22886439e+02] [-4.70832329e-01 8.81643169e-01 3.19724897e-02 -6.46133363e+00] [ 6.47129702e-02 -1.62931196e-03 9.97902589e-01 1.70493219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.94, Y:-6.49, Z:170.50 [[ 8.77110792e-01 4.76979661e-01 -5.62766545e-02 5.22939656e+02] [-4.75907413e-01 8.78913405e-01 3.19900127e-02 -6.49341358e+00] [ 6.47208915e-02 -1.27630830e-03 9.97902589e-01 1.70500354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.99, Y:-6.52, Z:170.50 [[ 8.77655255e-01 4.75978145e-01 -5.62677375e-02 5.22994345e+02] [-4.74902835e-01 8.79456044e-01 3.20056893e-02 -6.52376678e+00] [ 6.47190105e-02 -1.36825339e-03 9.97902589e-01 1.70503491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.05, Y:-6.56, Z:170.50 [[ 8.75672240e-01 4.79617188e-01 -5.62626000e-02 5.23046391e+02] [-4.78548783e-01 8.77477134e-01 3.20147181e-02 -6.55576382e+00] [ 6.47239540e-02 -1.11000117e-03 9.97902589e-01 1.70503470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.10, Y:-6.59, Z:170.51 [[ 8.72433271e-01 4.85484995e-01 -5.62539478e-02 5.23098118e+02] [-4.84427751e-01 8.74244725e-01 3.20299138e-02 -6.58890590e+00] [ 6.47297597e-02 -6.92989067e-04 9.97902589e-01 1.70512969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.15, Y:-6.62, Z:170.52 [[ 8.71543336e-01 4.87081805e-01 -5.62452550e-02 5.23150940e+02] [-4.86026894e-01 8.73356150e-01 3.20451713e-02 -6.62247092e+00] [ 6.47307593e-02 -5.92048923e-04 9.97902590e-01 1.70517382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.20, Y:-6.66, Z:170.52 [[ 8.72263292e-01 4.85792531e-01 -5.62349287e-02 5.23203270e+02] [-4.84733773e-01 8.74073861e-01 3.20632823e-02 -6.65650039e+00] [ 6.47295844e-02 -7.08654994e-04 9.97902590e-01 1.70522610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.25, Y:-6.69, Z:170.53 [[ 8.71557957e-01 4.87057882e-01 -5.62258675e-02 5.23253226e+02] [-4.86000729e-01 8.73369463e-01 3.20791641e-02 -6.69159503e+00] [ 6.47303655e-02 -6.33038186e-04 9.97902590e-01 1.70529061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.31, Y:-6.73, Z:170.53 [[ 8.72014126e-01 4.86241654e-01 -5.62175953e-02 5.23305581e+02] [-4.85181872e-01 8.73824095e-01 3.20936543e-02 -6.72523601e+00] [ 6.47295609e-02 -7.10361782e-04 9.97902590e-01 1.70531428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.36, Y:-6.76, Z:170.54 [[ 8.72269578e-01 4.85784333e-01 -5.62082218e-02 5.23357478e+02] [-4.84722544e-01 8.74078371e-01 3.21100626e-02 -6.75943815e+00] [ 6.47289563e-02 -7.63238519e-04 9.97902590e-01 1.70536003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.41, Y:-6.79, Z:170.54 [[ 8.73119681e-01 4.84255762e-01 -5.61994641e-02 5.23409454e+02] [-4.83189821e-01 8.74926029e-01 3.21253831e-02 -6.79383009e+00] [ 6.47272759e-02 -8.94295260e-04 9.97902590e-01 1.70540942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:523.46, Y:-6.83, Z:170.55 [[ 8.73928865e-01 4.82794984e-01 -5.61902256e-02 5.23461281e+02] [-4.81724985e-01 8.75732813e-01 3.21415340e-02 -6.82806606e+00] [ 6.47253958e-02 -1.02117873e-03 9.97902591e-01 1.70545476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.51, Y:-6.86, Z:170.55 [[ 8.75073169e-01 4.80718852e-01 -5.61812660e-02 5.23513938e+02] [-4.79643568e-01 8.76873972e-01 3.21571872e-02 -6.86104766e+00] [ 6.47224560e-02 -1.19290880e-03 9.97902591e-01 1.70547743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1027550959999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:523.57, Y:-6.89, Z:170.55 [[ 8.73265583e-01 4.83995674e-01 -5.61730277e-02 5.23566652e+02] [-4.82926223e-01 8.75069856e-01 3.21715716e-02 -6.89315761e+00] [ 6.47262248e-02 -9.66898124e-04 9.97902591e-01 1.70552861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.162755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:523.62, Y:-6.93, Z:170.56 [[ 8.72847498e-01 4.84750341e-01 -5.61636099e-02 5.23619381e+02] [-4.83681394e-01 8.74652069e-01 3.21880045e-02 -6.92506784e+00] [ 6.47267637e-02 -9.29926150e-04 9.97902591e-01 1.70556389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.67, Y:-6.96, Z:170.56 [[ 8.70745274e-01 4.88517588e-01 -5.61536678e-02 5.23673835e+02] [-4.87455331e-01 8.72553790e-01 3.22053396e-02 -6.95547980e+00] [ 6.47299705e-02 -6.70242487e-04 9.97902591e-01 1.70561290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.282755096 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:523.73, Y:-6.98, Z:170.56 [[ 8.70563744e-01 4.88842230e-01 -5.61430514e-02 5.23728755e+02] [-4.87779454e-01 8.72371955e-01 3.22238364e-02 -6.98347265e+00] [ 6.47299956e-02 -6.67476633e-04 9.97902592e-01 1.70564511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.78, Y:-7.01, Z:170.57 [[ 8.70846200e-01 4.88339997e-01 -5.61332700e-02 5.23784296e+02] [-4.87275080e-01 8.72653151e-01 3.22408665e-02 -7.01354220e+00] [ 6.47293796e-02 -7.24492440e-04 9.97902592e-01 1.70570212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.402755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:523.84, Y:-7.04, Z:170.57 [[ 8.72485070e-01 4.85407034e-01 -5.61232052e-02 5.23840531e+02] [-4.84334917e-01 8.74287759e-01 3.22583772e-02 -7.04235870e+00] [ 6.47262745e-02 -9.62524559e-04 9.97902592e-01 1.70572226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4627550959999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:523.89, Y:-7.07, Z:170.58 [[ 8.73553910e-01 4.83482128e-01 -5.61123749e-02 5.23893592e+02] [-4.82404830e-01 8.75353507e-01 3.22772053e-02 -7.07168494e+00] [ 6.47236160e-02 -1.12699821e-03 9.97902592e-01 1.70578537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.95, Y:-7.10, Z:170.58 [[ 8.76239489e-01 4.78598712e-01 -5.61037517e-02 5.23949136e+02] [-4.77510428e-01 8.78032463e-01 3.22921870e-02 -7.10175817e+00] [ 6.47159144e-02 -1.50556291e-03 9.97902592e-01 1.70579628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.00, Y:-7.13, Z:170.58 [[ 8.78118801e-01 4.75143002e-01 -5.60936655e-02 5.24004417e+02] [-4.74046545e-01 8.79906789e-01 3.23096980e-02 -7.13086396e+00] [ 6.47089240e-02 -1.78074496e-03 9.97902593e-01 1.70583210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.06, Y:-7.16, Z:170.58 [[ 8.79876125e-01 4.71882121e-01 -5.60827048e-02 5.24059894e+02] [-4.70777828e-01 8.81659283e-01 3.23287122e-02 -7.15935822e+00] [ 6.47011786e-02 -2.04276806e-03 9.97902593e-01 1.70583973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.11, Y:-7.19, Z:170.59 [[ 8.78989100e-01 4.73533549e-01 -5.60726244e-02 5.24112385e+02] [-4.72431493e-01 8.80773642e-01 3.23461867e-02 -7.19137370e+00] [ 6.47042943e-02 -1.94147190e-03 9.97902593e-01 1.70591993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.17, Y:-7.22, Z:170.60 [[ 8.79104943e-01 4.73319626e-01 -5.60627368e-02 5.24166569e+02] [-4.72216045e-01 8.80888542e-01 3.23633150e-02 -7.22028311e+00] [ 6.47032146e-02 -1.97702634e-03 9.97902593e-01 1.70595403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.22, Y:-7.25, Z:170.60 [[ 8.77577912e-01 4.76146012e-01 -5.60534092e-02 5.24220100e+02] [-4.75047145e-01 8.79364418e-01 3.23794625e-02 -7.24978913e+00] [ 6.47087255e-02 -1.78748906e-03 9.97902593e-01 1.70601831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.27, Y:-7.28, Z:170.61 [[ 8.76115251e-01 4.78832928e-01 -5.60454662e-02 5.24274504e+02] [-4.77738662e-01 8.77904580e-01 3.23932052e-02 -7.28002950e+00] [ 6.47135047e-02 -1.60509505e-03 9.97902593e-01 1.70606975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.33, Y:-7.31, Z:170.61 [[ 8.77424764e-01 4.76430227e-01 -5.60358974e-02 5.24329495e+02] [-4.75330007e-01 8.79210437e-01 3.24097495e-02 -7.30905516e+00] [ 6.47083301e-02 -1.80157333e-03 9.97902594e-01 1.70613774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.38, Y:-7.34, Z:170.61 [[ 8.75365387e-01 4.80204485e-01 -5.60276022e-02 5.24383415e+02] [-4.79111048e-01 8.77155221e-01 3.24240833e-02 -7.33996920e+00] [ 6.47150940e-02 -1.53947706e-03 9.97902594e-01 1.70613972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.44, Y:-7.37, Z:170.62 [[ 8.71883372e-01 4.86499074e-01 -5.60181879e-02 5.24437473e+02] [-4.85417517e-01 8.73680410e-01 3.24403399e-02 -7.37049545e+00] [ 6.47241887e-02 -1.09198324e-03 9.97902594e-01 1.70619729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.49, Y:-7.40, Z:170.62 [[ 8.69882843e-01 4.90068283e-01 -5.60081838e-02 5.24490515e+02] [-4.88992989e-01 8.71683636e-01 3.24576029e-02 -7.40028442e+00] [ 6.47278590e-02 -8.46702744e-04 9.97902594e-01 1.70618719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.55, Y:-7.43, Z:170.62 [[ 8.70195677e-01 4.89513050e-01 -5.60040942e-02 5.24545210e+02] [-4.88436152e-01 8.71995511e-01 3.24646578e-02 -7.43182494e+00] [ 6.47271924e-02 -8.96180540e-04 9.97902594e-01 1.70622081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.60, Y:-7.46, Z:170.63 [[ 8.69785697e-01 4.90242361e-01 -5.59934756e-02 5.24597509e+02] [-4.89165794e-01 8.71585729e-01 3.24829619e-02 -7.46363985e+00] [ 6.47276382e-02 -8.63122688e-04 9.97902594e-01 1.70628210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.65, Y:-7.50, Z:170.63 [[ 8.69082297e-01 4.91489357e-01 -5.59836858e-02 5.24651578e+02] [-4.90414288e-01 8.70883223e-01 3.24998258e-02 -7.49547512e+00] [ 6.47285712e-02 -7.89823843e-04 9.97902595e-01 1.70631517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.70, Y:-7.53, Z:170.64 [[ 8.69161605e-01 4.91350273e-01 -5.59733273e-02 5.24704329e+02] [-4.90273767e-01 8.70961673e-01 3.25176560e-02 -7.52875426e+00] [ 6.47281819e-02 -8.20844033e-04 9.97902595e-01 1.70639448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.76, Y:-7.56, Z:170.64 [[ 8.70262926e-01 4.89398270e-01 -5.59622391e-02 5.24758483e+02] [-4.88316501e-01 8.72059835e-01 3.25367274e-02 -7.55911306e+00] [ 6.47258391e-02 -9.88222805e-04 9.97902595e-01 1.70639604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.81, Y:-7.59, Z:170.64 [[ 8.70315045e-01 4.89306359e-01 -5.59554160e-02 5.24812055e+02] [-4.88223646e-01 8.72111386e-01 3.25484572e-02 -7.59096795e+00] [ 6.47255226e-02 -1.00865481e-03 9.97902595e-01 1.70643841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.542755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:524.86, Y:-7.62, Z:170.65 [[ 8.67708196e-01 4.93915656e-01 -5.59447278e-02 5.24864470e+02] [-4.92841302e-01 8.69509548e-01 3.25668181e-02 -7.62463217e+00] [ 6.47297362e-02 -6.86622475e-04 9.97902595e-01 1.70647838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.92, Y:-7.66, Z:170.65 [[ 8.70531532e-01 4.88923448e-01 -5.59349029e-02 5.24919416e+02] [-4.87837681e-01 8.72326029e-01 3.25836840e-02 -7.65560692e+00] [ 6.47243988e-02 -1.07797104e-03 9.97902596e-01 1.70650361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.97, Y:-7.69, Z:170.65 [[ 8.70007385e-01 4.89856742e-01 -5.59242591e-02 5.24972186e+02] [-4.88771727e-01 8.71802336e-01 3.26019420e-02 -7.68621873e+00] [ 6.47251808e-02 -1.02973359e-03 9.97902596e-01 1.70654882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.03, Y:-7.72, Z:170.66 [[ 8.70452191e-01 4.89066877e-01 -5.59157753e-02 5.25025585e+02] [-4.87979299e-01 8.72245589e-01 3.26164863e-02 -7.71966697e+00] [ 6.47239314e-02 -1.10535108e-03 9.97902596e-01 1.70659044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.08, Y:-7.75, Z:170.66 [[ 8.71899271e-01 4.86483562e-01 -5.59053262e-02 5.25078590e+02] [-4.85389524e-01 8.73688736e-01 3.26343863e-02 -7.75143524e+00] [ 6.47199463e-02 -1.31803788e-03 9.97902596e-01 1.70662488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.13, Y:-7.79, Z:170.67 [[ 8.73430142e-01 4.83730755e-01 -5.58958234e-02 5.25130257e+02] [-4.82630037e-01 8.75215506e-01 3.26506545e-02 -7.78558007e+00] [ 6.47150171e-02 -1.54106242e-03 9.97902596e-01 1.70665075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.18, Y:-7.82, Z:170.67 [[ 8.74964273e-01 4.80951389e-01 -5.58863460e-02 5.25182462e+02] [-4.79843966e-01 8.76745484e-01 3.26668685e-02 -7.81963004e+00] [ 6.47092773e-02 -1.76561698e-03 9.97902596e-01 1.70669617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.23, Y:-7.86, Z:170.68 [[ 8.72911966e-01 4.84667594e-01 -5.58750636e-02 5.25231966e+02] [-4.83566521e-01 8.74697111e-01 3.26861551e-02 -7.85529632e+00] [ 6.47156768e-02 -1.51282576e-03 9.97902597e-01 1.70679691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.28, Y:-7.89, Z:170.68 [[ 8.75074362e-01 4.80753410e-01 -5.58660924e-02 5.25284991e+02] [-4.79643377e-01 8.76853947e-01 3.27014813e-02 -7.88940625e+00] [ 6.47077522e-02 -1.82042669e-03 9.97902597e-01 1.70681349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.34, Y:-7.92, Z:170.68 [[ 8.74078589e-01 4.82562781e-01 -5.58550037e-02 5.25340419e+02] [-4.81455223e-01 8.75859716e-01 3.27204101e-02 -7.91953526e+00] [ 6.47107998e-02 -1.70852665e-03 9.97902597e-01 1.70684197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.39, Y:-7.95, Z:170.69 [[ 8.69045080e-01 4.91571053e-01 -5.58439799e-02 5.25391851e+02] [-4.90480754e-01 8.70836824e-01 3.27392137e-02 -7.95341973e+00] [ 6.47246438e-02 -1.06145525e-03 9.97902597e-01 1.70689515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.45, Y:-7.98, Z:170.69 [[ 8.70607002e-01 4.88800607e-01 -5.58338171e-02 5.25448776e+02] [-4.87703497e-01 8.72394583e-01 3.27565363e-02 -7.98167239e+00] [ 6.47205344e-02 -1.28772204e-03 9.97902598e-01 1.70690843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.262755096 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:525.50, Y:-8.01, Z:170.70 [[ 8.68804996e-01 4.91997638e-01 -5.58229648e-02 5.25502129e+02] [-4.90905919e-01 8.70595875e-01 3.27750200e-02 -8.01223305e+00] [ 6.47244753e-02 -1.07127731e-03 9.97902598e-01 1.70697092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.56, Y:-8.04, Z:170.70 [[ 8.68147196e-01 4.93158559e-01 -5.58129232e-02 5.25557141e+02] [-4.92068137e-01 8.69938864e-01 3.27921111e-02 -8.04068033e+00] [ 6.47255413e-02 -1.00461815e-03 9.97902598e-01 1.70702954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.61, Y:-8.07, Z:170.71 [[ 8.66448710e-01 4.96137708e-01 -5.58032961e-02 5.25610733e+02] [-4.95052392e-01 8.68243475e-01 3.28084857e-02 -8.07267536e+00] [ 6.47283747e-02 -8.01314820e-04 9.97902598e-01 1.70705449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.66, Y:-8.10, Z:170.71 [[ 8.65364751e-01 4.98027243e-01 -5.57916905e-02 5.25662821e+02] [-4.96944574e-01 8.67161115e-01 3.28282095e-02 -8.10432979e+00] [ 6.47297272e-02 -6.82997400e-04 9.97902598e-01 1.70709502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.502755096 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:525.72, Y:-8.13, Z:170.71 [[ 8.66574019e-01 4.95921172e-01 -5.57822709e-02 5.25718528e+02] [-4.94833108e-01 8.68367119e-01 3.28442077e-02 -8.13433491e+00] [ 6.47276279e-02 -8.59022546e-04 9.97902599e-01 1.70711907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5627550959999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:525.77, Y:-8.16, Z:170.72 [[ 8.67771031e-01 4.93824806e-01 -5.57718374e-02 5.25773098e+02] [-4.92731273e-01 8.69560801e-01 3.28619150e-02 -8.16422528e+00] [ 6.47250324e-02 -1.03608943e-03 9.97902599e-01 1.70716559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.622755096 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:525.83, Y:-8.20, Z:170.72 [[ 8.67379186e-01 4.94513808e-01 -5.57623759e-02 5.25825966e+02] [-4.93420665e-01 8.69169194e-01 3.28779621e-02 -8.19621349e+00] [ 6.47255456e-02 -1.00335142e-03 9.97902599e-01 1.70715202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.88, Y:-8.23, Z:170.72 [[ 8.66058815e-01 4.96823624e-01 -5.57531673e-02 5.25879523e+02] [-4.95734250e-01 8.67851120e-01 3.28935704e-02 -8.22605362e+00] [ 6.47277515e-02 -8.49011974e-04 9.97902599e-01 1.70720388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.94, Y:-8.26, Z:170.73 [[ 8.69067594e-01 4.91542087e-01 -5.57484858e-02 5.25935148e+02] [-4.90441314e-01 8.70852920e-01 3.29015027e-02 -8.25550736e+00] [ 6.47212050e-02 -1.25226913e-03 9.97902599e-01 1.70726314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.98, Y:-8.29, Z:170.74 [[ 8.65470889e-01 4.97848861e-01 -5.57373474e-02 5.25981564e+02] [-4.96759886e-01 8.67263435e-01 3.29203612e-02 -8.29368108e+00] [ 6.47283277e-02 -8.03535942e-04 9.97902599e-01 1.70739074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8627550959999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:526.04, Y:-8.32, Z:170.73 [[ 8.68165369e-01 4.93135114e-01 -5.57373474e-02 5.26038363e+02] [-4.92036406e-01 8.69951967e-01 3.29203612e-02 -8.31657194e+00] [ 6.47230010e-02 -1.15551342e-03 9.97902599e-01 1.70733512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.09, Y:-8.35, Z:170.74 [[ 8.68176174e-01 4.93116447e-01 -5.57342045e-02 5.26091808e+02] [-4.92017360e-01 8.69962538e-01 3.29256812e-02 -8.34723311e+00] [ 6.47228649e-02 -1.16309581e-03 9.97902599e-01 1.70740232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.15, Y:-8.38, Z:170.74 [[ 8.69150514e-01 4.91398165e-01 -5.57245635e-02 5.26147018e+02] [-4.90294502e-01 8.70934054e-01 3.29419900e-02 -8.37667471e+00] [ 6.47200534e-02 -1.31010045e-03 9.97902600e-01 1.70741992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.042755096 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:526.20, Y:-8.41, Z:170.74 [[ 8.69709482e-01 4.90409284e-01 -5.57149099e-02 5.26200112e+02] [-4.89302548e-01 8.71491117e-01 3.29583090e-02 -8.40757741e+00] [ 6.47181098e-02 -1.40270648e-03 9.97902600e-01 1.70743404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.25, Y:-8.44, Z:170.75 [[ 8.72395313e-01 4.85616357e-01 -5.57061144e-02 5.26254321e+02] [-4.84498886e-01 8.74170235e-01 3.29731684e-02 -8.43758170e+00] [ 6.47089371e-02 -1.77608719e-03 9.97902600e-01 1.70748962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.31, Y:-8.47, Z:170.76 [[ 8.73609121e-01 4.83430425e-01 -5.56967482e-02 5.26307958e+02] [-4.82307506e-01 8.75380601e-01 3.29889818e-02 -8.46758396e+00] [ 6.47037304e-02 -1.95651566e-03 9.97902600e-01 1.70755402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2227550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:526.36, Y:-8.50, Z:170.76 [[ 8.74126166e-01 4.82496038e-01 -5.56867923e-02 5.26360915e+02] [-4.81370158e-01 8.75895764e-01 3.30057793e-02 -8.50017459e+00] [ 6.47009833e-02 -2.04525533e-03 9.97902600e-01 1.70760660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.282755096 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:526.41, Y:-8.53, Z:170.76 [[ 8.73757796e-01 4.83163953e-01 -5.56768177e-02 5.26413244e+02] [-4.82038354e-01 8.75527574e-01 3.30225968e-02 -8.53221923e+00] [ 6.47019175e-02 -2.01538988e-03 9.97902601e-01 1.70762442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:526.47, Y:-8.56, Z:170.77 [[ 8.73548177e-01 4.83543883e-01 -5.56677248e-02 5.26467035e+02] [-4.82418079e-01 8.75317824e-01 3.30379179e-02 -8.56210024e+00] [ 6.47022349e-02 -2.00509615e-03 9.97902601e-01 1.70769043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.52, Y:-8.59, Z:170.77 [[ 8.72466529e-01 4.85493920e-01 -5.56579679e-02 5.26522175e+02] [-4.84371025e-01 8.74238023e-01 3.30543470e-02 -8.59280811e+00] [ 6.47059963e-02 -1.87970442e-03 9.97902601e-01 1.70772888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.57, Y:-8.63, Z:170.78 [[ 8.70092346e-01 4.89737448e-01 -5.56465756e-02 5.26574902e+02] [-4.88621969e-01 8.71868519e-01 3.30735147e-02 -8.62582336e+00] [ 6.47138361e-02 -1.58687262e-03 9.97902601e-01 1.70778420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.522755096 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:526.63, Y:-8.65, Z:170.78 [[ 8.69136673e-01 4.91432598e-01 -5.56367211e-02 5.26629786e+02] [-4.90319524e-01 8.70914354e-01 3.30900838e-02 -8.65272019e+00] [ 6.47163648e-02 -1.48003478e-03 9.97902601e-01 1.70779222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5827550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:526.68, Y:-8.69, Z:170.79 [[ 8.66599552e-01 4.95893910e-01 -5.56277567e-02 5.26680758e+02] [-4.94789022e-01 8.68382331e-01 3.31051470e-02 -8.68862296e+00] [ 6.47228018e-02 -1.16490228e-03 9.97902601e-01 1.70786538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.73, Y:-8.72, Z:170.79 [[ 8.64319515e-01 4.99858400e-01 -5.56179563e-02 5.26732388e+02] [-4.98760631e-01 8.66106687e-01 3.31216038e-02 -8.72024093e+00] [ 6.47271958e-02 -8.87601569e-04 9.97902602e-01 1.70789443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7027550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:526.78, Y:-8.76, Z:170.80 [[ 8.61901783e-01 5.04016673e-01 -5.56103351e-02 5.26781721e+02] [-5.02926702e-01 8.63693721e-01 3.31343948e-02 -8.75547420e+00] [ 6.47305847e-02 -5.90671514e-04 9.97902602e-01 1.70797125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.84, Y:-8.79, Z:170.80 [[ 8.60708824e-01 5.06052139e-01 -5.56017370e-02 5.26835450e+02] [-5.04965474e-01 8.62502769e-01 3.31488168e-02 -8.78610933e+00] [ 6.47316817e-02 -4.54521669e-04 9.97902602e-01 1.70799464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8227550959999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:526.89, Y:-8.82, Z:170.80 [[ 8.61456769e-01 5.04778884e-01 -5.55923932e-02 5.26888828e+02] [-5.03688557e-01 8.63248490e-01 3.31644795e-02 -8.81594550e+00] [ 6.47307784e-02 -5.68513029e-04 9.97902602e-01 1.70798438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.94, Y:-8.85, Z:170.80 [[ 8.64290330e-01 4.99912653e-01 -5.55838502e-02 5.26942192e+02] [-4.98811318e-01 8.66075306e-01 3.31787913e-02 -8.84710326e+00] [ 6.47262977e-02 -9.50254909e-04 9.97902602e-01 1.70799111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9427550959999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:526.99, Y:-8.88, Z:170.81 [[ 8.62123918e-01 5.03640607e-01 -5.55741793e-02 5.26992293e+02] [-5.02545948e-01 8.63912995e-01 3.31949821e-02 -8.88435024e+00] [ 6.47295967e-02 -6.89609425e-04 9.97902602e-01 1.70809591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.05, Y:-8.92, Z:170.81 [[ 8.64990296e-01 4.98702761e-01 -5.55638685e-02 5.27045524e+02] [-4.97596782e-01 8.66772398e-01 3.32122320e-02 -8.91576583e+00] [ 6.47242594e-02 -1.07985622e-03 9.97902603e-01 1.70813128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0627550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:527.10, Y:-8.95, Z:170.82 [[ 8.64080883e-01 5.00277841e-01 -5.55545521e-02 5.27098086e+02] [-4.99174110e-01 8.65864378e-01 3.32278084e-02 -8.94942703e+00] [ 6.47258440e-02 -9.80119908e-04 9.97902603e-01 1.70817265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.122755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:527.15, Y:-8.98, Z:170.82 [[ 8.65152263e-01 4.98423933e-01 -5.55440804e-02 5.27152788e+02] [-4.97315257e-01 8.66932688e-01 3.32453040e-02 -8.97843290e+00] [ 6.47232340e-02 -1.13933143e-03 9.97902603e-01 1.70823333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.20, Y:-9.01, Z:170.82 [[ 8.64400751e-01 4.99727164e-01 -5.55347118e-02 5.27204586e+02] [-4.98620167e-01 8.66182220e-01 3.32609465e-02 -9.01274745e+00] [ 6.47245784e-02 -1.06005984e-03 9.97902603e-01 1.70824469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.242755096 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:527.26, Y:-9.04, Z:170.83 [[ 8.63934819e-01 5.00533290e-01 -5.55252541e-02 5.27257186e+02] [-4.99426942e-01 8.65716691e-01 3.32767275e-02 -9.04322773e+00] [ 6.47252491e-02 -1.01811568e-03 9.97902603e-01 1.70833797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3027550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:527.31, Y:-9.08, Z:170.84 [[ 8.60862021e-01 5.05800845e-01 -5.55165302e-02 5.27309133e+02] [-5.04704463e-01 8.62650043e-01 3.32912754e-02 -9.07630970e+00] [ 6.47300924e-02 -6.39754105e-04 9.97902603e-01 1.70837115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.36, Y:-9.11, Z:170.84 [[ 8.58505029e-01 5.09792224e-01 -5.55067899e-02 5.27362413e+02] [-5.08703106e-01 8.60297483e-01 3.33075076e-02 -9.10901233e+00] [ 6.47322601e-02 -3.58186340e-04 9.97902604e-01 1.70838514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.422755096 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:527.42, Y:-9.14, Z:170.85 [[ 8.56800962e-01 5.12652264e-01 -5.54956675e-02 5.27415562e+02] [-5.11567929e-01 8.58596314e-01 3.33260291e-02 -9.14073794e+00] [ 6.47330398e-02 -1.63970036e-04 9.97902604e-01 1.70846085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4827550959999 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:527.47, Y:-9.17, Z:170.85 [[ 8.53602676e-01 5.17961234e-01 -5.54854169e-02 5.27467938e+02] [-5.16886957e-01 8.55404064e-01 3.33430869e-02 -9.17463443e+00] [ 6.47328775e-02 2.17940139e-04 9.97902604e-01 1.70846490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.542755096 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:527.52, Y:-9.21, Z:170.85 [[ 8.51816743e-01 5.20894158e-01 -5.54753371e-02 5.27522999e+02] [-5.19824991e-01 8.53621168e-01 3.33598489e-02 -9.20502312e+00] [ 6.47318725e-02 4.20988829e-04 9.97902604e-01 1.70854299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6027550959999 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:527.58, Y:-9.24, Z:170.86 [[ 8.51338960e-01 5.21675789e-01 -5.54648264e-02 5.27577312e+02] [-5.20607141e-01 8.53143692e-01 3.33773152e-02 -9.23697444e+00] [ 6.47316040e-02 4.59975853e-04 9.97902604e-01 1.70857886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.662755096 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:527.63, Y:-9.27, Z:170.86 [[ 8.52471859e-01 5.19823613e-01 -5.54539512e-02 5.27630147e+02] [-5.18749869e-01 8.54273564e-01 3.33953738e-02 -9.26883960e+00] [ 6.47325484e-02 2.98113581e-04 9.97902605e-01 1.70862161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7227550959999 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:527.68, Y:-9.30, Z:170.87 [[ 8.53722103e-01 5.17768811e-01 -5.54439299e-02 5.27684063e+02] [-5.16689651e-01 8.55520569e-01 3.34120031e-02 -9.30196728e+00] [ 6.47331156e-02 1.22739251e-04 9.97902605e-01 1.70866081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.782755096 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:527.74, Y:-9.33, Z:170.87 [[ 8.57262101e-01 5.11887546e-01 -5.54331243e-02 5.27737505e+02] [-5.10794888e-01 8.59052398e-01 3.34299209e-02 -9.33372152e+00] [ 6.47323185e-02 -3.43247725e-04 9.97902605e-01 1.70867870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8427550959999 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:527.79, Y:-9.36, Z:170.87 [[ 8.56396916e-01 5.13334742e-01 -5.54235119e-02 5.27791005e+02] [-5.12244078e-01 8.58188429e-01 3.34458497e-02 -9.36443050e+00] [ 6.47327332e-02 -2.52556732e-04 9.97902605e-01 1.70871937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.902755096 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:527.85, Y:-9.40, Z:170.88 [[ 8.58280081e-01 5.10181018e-01 -5.54132781e-02 5.27845031e+02] [-5.09082678e-01 8.60066898e-01 3.34627966e-02 -9.39530112e+00] [ 6.47312098e-02 -5.10511827e-04 9.97902605e-01 1.70876884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9627550959999 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:527.90, Y:-9.43, Z:170.88 [[ 8.55621741e-01 5.14627865e-01 -5.54039438e-02 5.27899228e+02] [-5.13537811e-01 8.57413625e-01 3.34782443e-02 -9.42524650e+00] [ 6.47329336e-02 -1.92693613e-04 9.97902606e-01 1.70881086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.022755096 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:527.95, Y:-9.45, Z:170.89 [[ 8.57152639e-01 5.12074688e-01 -5.53973552e-02 5.27954179e+02] [-5.10978593e-01 8.58940833e-01 3.34891430e-02 -9.45484710e+00] [ 6.47319929e-02 -3.98444718e-04 9.97902606e-01 1.70885001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0827550959999 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:528.01, Y:-9.49, Z:170.89 [[ 8.54051079e-01 5.17231347e-01 -5.53939335e-02 5.28006952e+02] [-5.16145682e-01 8.55845625e-01 3.34948018e-02 -9.48754338e+00] [ 6.47332171e-02 -1.49320710e-05 9.97902606e-01 1.70889979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.142755096 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:528.06, Y:-9.52, Z:170.90 [[ 8.53822642e-01 5.17609453e-01 -5.53836631e-02 5.28061185e+02] [-5.16523481e-01 8.55617002e-01 3.35117753e-02 -9.51816407e+00] [ 6.47332155e-02 -6.15004772e-06 9.97902606e-01 1.70895065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2027550959999 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:528.11, Y:-9.55, Z:170.90 [[ 8.52245283e-01 5.20203615e-01 -5.53730759e-02 5.28113835e+02] [-5.19121969e-01 8.54042253e-01 3.35292599e-02 -9.55235643e+00] [ 6.47329887e-02 1.70226595e-04 9.97902606e-01 1.70902825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.262755096 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:528.17, Y:-9.58, Z:170.90 [[ 8.54591576e-01 5.16341183e-01 -5.53626403e-02 5.28169233e+02] [-5.15250299e-01 8.56382953e-01 3.35464821e-02 -9.58024229e+00] [ 6.47330517e-02 -1.42924030e-04 9.97902606e-01 1.70902450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3227550959999 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:528.22, Y:-9.61, Z:170.91 [[ 8.55734799e-01 5.14445303e-01 -5.53532731e-02 5.28223041e+02] [-5.13349451e-01 8.57523141e-01 3.35619313e-02 -9.61047977e+00] [ 6.47324906e-02 -3.04540132e-04 9.97902606e-01 1.70906416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.382755096 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:528.28, Y:-9.64, Z:170.91 [[ 8.55009696e-01 5.15650582e-01 -5.53434495e-02 5.28275237e+02] [-5.14556203e-01 8.56798940e-01 3.35781226e-02 -9.64378111e+00] [ 6.47327873e-02 -2.32305167e-04 9.97902607e-01 1.70913012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4427550959999 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:528.33, Y:-9.67, Z:170.91 [[ 8.56510599e-01 5.13154647e-01 -5.53344542e-02 5.28330221e+02] [-5.12054097e-01 8.58296054e-01 3.35929397e-02 -9.67414482e+00] [ 6.47317168e-02 -4.38474922e-04 9.97902607e-01 1.70914678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.502755096 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:528.39, Y:-9.70, Z:170.92 [[ 8.59135137e-01 5.08749614e-01 -5.53231036e-02 5.28385848e+02] [-5.07638707e-01 8.60914166e-01 3.36116224e-02 -9.70309322e+00] [ 6.47283435e-02 -7.92777068e-04 9.97902607e-01 1.70915651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5627550959999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:528.44, Y:-9.73, Z:170.92 [[ 8.61220904e-01 5.05211995e-01 -5.53117930e-02 5.28439203e+02] [-5.04092587e-01 8.62994596e-01 3.36302250e-02 -9.73339776e+00] [ 6.47241715e-02 -1.08078798e-03 9.97902607e-01 1.70920437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.622755096 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:528.49, Y:-9.76, Z:170.92 [[ 8.65586656e-01 4.97696187e-01 -5.53014087e-02 5.28494587e+02] [-4.96560292e-01 8.67349835e-01 3.36472923e-02 -9.76276505e+00] [ 6.47117967e-02 -1.66416356e-03 9.97902607e-01 1.70922221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6827550959999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:528.55, Y:-9.79, Z:170.93 [[ 8.67492724e-01 4.94367635e-01 -5.52902903e-02 5.28550238e+02] [-4.93223813e-01 8.69250770e-01 3.36655525e-02 -9.79285068e+00] [ 6.47042869e-02 -1.93413405e-03 9.97902608e-01 1.70928065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.742755096 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:528.60, Y:-9.82, Z:170.93 [[ 8.68511305e-01 4.92576555e-01 -5.52851746e-02 5.28604329e+02] [-4.91428574e-01 8.70266638e-01 3.36739512e-02 -9.82417303e+00] [ 6.46998420e-02 -2.07749279e-03 9.97902608e-01 1.70931922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8027550959999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:528.66, Y:-9.85, Z:170.93 [[ 8.67562602e-01 4.94246903e-01 -5.52732357e-02 5.28661353e+02] [-4.93101055e-01 8.69319329e-01 3.36935368e-02 -9.85161302e+00] [ 6.47030183e-02 -1.97596166e-03 9.97902608e-01 1.70934554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8627550959999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:528.72, Y:-9.88, Z:170.94 [[ 8.66189031e-01 4.96651453e-01 -5.52620812e-02 5.28717337e+02] [-4.95509317e-01 8.67948172e-01 3.37118218e-02 -9.88117301e+00] [ 6.47076476e-02 -1.81793414e-03 9.97902608e-01 1.70936854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.922755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:528.77, Y:-9.91, Z:170.94 [[ 8.63293881e-01 5.01668224e-01 -5.52509479e-02 5.28772780e+02] [-5.00535147e-01 8.65058871e-01 3.37300586e-02 -9.90825906e+00] [ 6.47166212e-02 -1.46391184e-03 9.97902608e-01 1.70940379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9827550959999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:528.83, Y:-9.94, Z:170.94 [[ 8.63597739e-01 5.01146104e-01 -5.52406385e-02 5.28828284e+02] [-5.00010881e-01 8.65361348e-01 3.37469340e-02 -9.93646722e+00] [ 6.47152580e-02 -1.52285558e-03 9.97902609e-01 1.70944606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.88, Y:-9.96, Z:170.95 [[ 8.63370143e-01 5.01539285e-01 -5.52299011e-02 5.28880091e+02] [-5.00403742e-01 8.65133547e-01 3.37644977e-02 -9.96274653e+00] [ 6.47154623e-02 -1.51400994e-03 9.97902609e-01 1.70947290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.93, Y:-9.99, Z:170.95 [[ 8.63346532e-01 5.01579508e-01 -5.52337158e-02 5.28932217e+02] [-5.00444446e-01 8.65110245e-01 3.37582563e-02 -9.98916537e+00] [ 6.47157030e-02 -1.50366718e-03 9.97902609e-01 1.70953402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.98, Y:-10.02, Z:170.96 [[ 8.64370731e-01 4.99812123e-01 -5.52365872e-02 5.28981891e+02] [-4.98673756e-01 8.66132313e-01 3.37535573e-02 -1.00196559e+01] [ 6.47126302e-02 -1.63055066e-03 9.97902609e-01 1.70959134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2227550959999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:529.04, Y:-10.04, Z:170.96 [[ 8.66693419e-01 4.95773252e-01 -5.52394831e-02 5.29035128e+02] [-4.94626979e-01 8.68449866e-01 3.37488173e-02 -1.00446884e+01] [ 6.47044826e-02 -1.92693925e-03 9.97902609e-01 1.70960567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.09, Y:-10.08, Z:170.97 [[ 8.64754090e-01 4.99147707e-01 -5.52442869e-02 5.29085531e+02] [-4.98008790e-01 8.66515316e-01 3.37409520e-02 -1.00752642e+01] [ 6.47117396e-02 -1.66548574e-03 9.97902609e-01 1.70965979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.14, Y:-10.10, Z:170.97 [[ 8.64466961e-01 4.99644463e-01 -5.52474683e-02 5.29140718e+02] [-4.98506892e-01 8.66229057e-01 3.37357421e-02 -1.01016135e+01] [ 6.47128391e-02 -1.62219075e-03 9.97902609e-01 1.70967832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.19, Y:-10.13, Z:170.97 [[ 8.62261507e-01 5.03441970e-01 -5.52383702e-02 5.29191153e+02] [-5.02311206e-01 8.64027978e-01 3.37506326e-02 -1.01303100e+01] [ 6.47189823e-02 -1.35501894e-03 9.97902609e-01 1.70971441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.24, Y:-10.16, Z:170.98 [[ 8.60147063e-01 5.07045757e-01 -5.52415634e-02 5.29243547e+02] [-5.05922731e-01 8.61918464e-01 3.37454053e-02 -1.01613946e+01] [ 6.47241880e-02 -1.07804865e-03 9.97902609e-01 1.70976725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.29, Y:-10.19, Z:170.98 [[ 8.58962809e-01 5.09049518e-01 -5.52402147e-02 5.29294745e+02] [-5.07930482e-01 8.60736733e-01 3.37476129e-02 -1.01935666e+01] [ 6.47264880e-02 -9.29755485e-04 9.97902609e-01 1.70981647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.35, Y:-10.23, Z:170.99 [[ 8.56023140e-01 5.13977532e-01 -5.52402147e-02 5.29346433e+02] [-5.12868709e-01 8.57803466e-01 3.37476129e-02 -1.02272682e+01] [ 6.47307624e-02 -5.57759932e-04 9.97902609e-01 1.70988976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.40, Y:-10.26, Z:170.99 [[ 8.54655787e-01 5.16249053e-01 -5.52304345e-02 5.29400966e+02] [-5.15143929e-01 8.56438411e-01 3.37636114e-02 -1.02569540e+01] [ 6.47318979e-02 -4.04642816e-04 9.97902609e-01 1.70991421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.45, Y:-10.29, Z:170.99 [[ 8.53716390e-01 5.17802077e-01 -5.52207867e-02 5.29450893e+02] [-5.16699175e-01 8.55500389e-01 3.37793831e-02 -1.02874326e+01] [ 6.47324392e-02 -3.05478098e-04 9.97902609e-01 1.70993881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.50, Y:-10.32, Z:171.00 [[ 8.53042299e-01 5.18911603e-01 -5.52230411e-02 5.29499347e+02] [-5.17811260e-01 8.54827878e-01 3.37756972e-02 -1.03187032e+01] [ 6.47327962e-02 -2.16985837e-04 9.97902610e-01 1.70997890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.55, Y:-10.35, Z:171.00 [[ 8.53487159e-01 5.18179187e-01 -5.52268008e-02 5.29549782e+02] [-5.17077709e-01 8.55272039e-01 3.37695486e-02 -1.03528792e+01] [ 6.47326157e-02 -2.65328507e-04 9.97902610e-01 1.71001717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.60, Y:-10.39, Z:171.01 [[ 8.55253691e-01 5.15258308e-01 -5.52268008e-02 5.29598179e+02] [-5.14150736e-01 8.57034794e-01 3.37695486e-02 -1.03882010e+01] [ 6.47313303e-02 -4.86630890e-04 9.97902610e-01 1.71006842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.65, Y:-10.42, Z:171.01 [[ 8.56824205e-01 5.12642379e-01 -5.52274572e-02 5.29648067e+02] [-5.11529438e-01 8.58601959e-01 3.37684750e-02 -1.04225707e+01] [ 6.47295543e-02 -6.83176622e-04 9.97902610e-01 1.71010721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.70, Y:-10.46, Z:171.01 [[ 8.59334356e-01 5.08423438e-01 -5.52274572e-02 5.29696702e+02] [-5.07301770e-01 8.61106616e-01 3.37684750e-02 -1.04584928e+01] [ 6.47254130e-02 -1.00142394e-03 9.97902610e-01 1.71014689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.75, Y:-10.49, Z:171.02 [[ 8.60559897e-01 5.06346643e-01 -5.52244653e-02 5.29745749e+02] [-5.05220384e-01 8.62329243e-01 3.37733673e-02 -1.04921040e+01] [ 6.47227025e-02 -1.16347991e-03 9.97902610e-01 1.71018596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.80, Y:-10.53, Z:171.02 [[ 8.61161971e-01 5.05321857e-01 -5.52257264e-02 5.29795070e+02] [-5.04193625e-01 8.62930060e-01 3.37713049e-02 -1.05262054e+01] [ 6.47213179e-02 -1.23810432e-03 9.97902610e-01 1.71023312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.84, Y:-10.56, Z:171.03 [[ 8.60695454e-01 5.06115914e-01 -5.52269663e-02 5.29843069e+02] [-5.04989443e-01 8.62464665e-01 3.37692772e-02 -1.05602377e+01] [ 6.47224756e-02 -1.17602837e-03 9.97902610e-01 1.71026909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.89, Y:-10.60, Z:171.03 [[ 8.59638379e-01 5.07909017e-01 -5.52294151e-02 5.29894285e+02] [-5.06786493e-01 8.61410098e-01 3.37652717e-02 -1.05967484e+01] [ 6.47248618e-02 -1.03640182e-03 9.97902610e-01 1.71032434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.94, Y:-10.63, Z:171.04 [[ 8.59471066e-01 5.08193258e-01 -5.52186507e-02 5.29944243e+02] [-5.07070191e-01 8.61242440e-01 3.37828664e-02 -1.06342255e+01] [ 6.47248704e-02 -1.03566450e-03 9.97902610e-01 1.71035150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.99, Y:-10.67, Z:171.04 [[ 8.60412350e-01 5.06599037e-01 -5.52087277e-02 5.29990364e+02] [-5.05471648e-01 8.62180976e-01 3.37990750e-02 -1.06691032e+01] [ 6.47224936e-02 -1.17469494e-03 9.97902610e-01 1.71040399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.04, Y:-10.71, Z:171.05 [[ 8.60528474e-01 5.06401390e-01 -5.52121074e-02 5.30041229e+02] [-5.05273949e-01 8.62297067e-01 3.37935532e-02 -1.07053018e+01] [ 6.47223406e-02 -1.18307524e-03 9.97902610e-01 1.71047455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.09, Y:-10.74, Z:171.05 [[ 8.60447161e-01 5.06540677e-01 -5.52016767e-02 5.30090451e+02] [-5.05412430e-01 8.62215240e-01 3.38105831e-02 -1.07421794e+01] [ 6.47221626e-02 -1.19260670e-03 9.97902610e-01 1.71052728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.14, Y:-10.78, Z:171.06 [[ 8.59521930e-01 5.08110115e-01 -5.51920524e-02 5.30141281e+02] [-5.06984089e-01 8.61291424e-01 3.38262865e-02 -1.07799899e+01] [ 6.47239197e-02 -1.09294268e-03 9.97902610e-01 1.71058965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.19, Y:-10.82, Z:171.06 [[ 8.58219008e-01 5.10308874e-01 -5.51814009e-02 5.30193096e+02] [-5.09186265e-01 8.59990672e-01 3.38436536e-02 -1.08163213e+01] [ 6.47262068e-02 -9.47655393e-04 9.97902611e-01 1.71062847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.24, Y:-10.85, Z:171.07 [[ 8.56758227e-01 5.12758755e-01 -5.51706472e-02 5.30243377e+02] [-5.11640084e-01 8.58532379e-01 3.38611749e-02 -1.08525676e+01] [ 6.47284008e-02 -7.83325629e-04 9.97902611e-01 1.71066079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.29, Y:-10.89, Z:171.07 [[ 8.56212410e-01 5.13670715e-01 -5.51607283e-02 5.30294820e+02] [-5.12552893e-01 8.57987097e-01 3.38773254e-02 -1.08882823e+01] [ 6.47289831e-02 -7.33395519e-04 9.97902611e-01 1.71069673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.35, Y:-10.92, Z:171.07 [[ 8.56405601e-01 5.13348888e-01 -5.51576489e-02 5.30345974e+02] [-5.12230076e-01 8.58179664e-01 3.38823384e-02 -1.09244211e+01] [ 6.47286333e-02 -7.63617657e-04 9.97902611e-01 1.71072862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.40, Y:-10.96, Z:171.08 [[ 8.57842138e-01 5.10945771e-01 -5.51478449e-02 5.30396359e+02] [-5.09820965e-01 8.59612407e-01 3.38982880e-02 -1.09616697e+01] [ 6.47259586e-02 -9.63852384e-04 9.97902611e-01 1.71078099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.902755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:530.45, Y:-11.00, Z:171.08 [[ 8.59361690e-01 5.08386991e-01 -5.51375864e-02 5.30447439e+02] [-5.07255844e-01 8.61127914e-01 3.39149660e-02 -1.09984561e+01] [ 6.47224422e-02 -1.17635960e-03 9.97902611e-01 1.71082545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9627550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:530.50, Y:-11.03, Z:171.09 [[ 8.60056440e-01 5.07211907e-01 -5.51271421e-02 5.30499272e+02] [-5.06077260e-01 8.61820417e-01 3.39319343e-02 -1.10334537e+01] [ 6.47203776e-02 -1.28478562e-03 9.97902612e-01 1.71086943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.55, Y:-11.07, Z:171.09 [[ 8.58820413e-01 5.09303136e-01 -5.51163706e-02 5.30552348e+02] [-5.08171662e-01 8.60586427e-01 3.39494216e-02 -1.10656984e+01] [ 6.47229473e-02 -1.14787860e-03 9.97902612e-01 1.71091690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.60, Y:-11.10, Z:171.10 [[ 8.58027589e-01 5.10638754e-01 -5.51064432e-02 5.30604964e+02] [-5.09508996e-01 8.59794700e-01 3.39655280e-02 -1.10990187e+01] [ 6.47243427e-02 -1.06613154e-03 9.97902612e-01 1.71097109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.142755096 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:530.66, Y:-11.13, Z:171.10 [[ 8.58810269e-01 5.09322449e-01 -5.50959554e-02 5.30656823e+02] [-5.08188892e-01 8.60574946e-01 3.39825320e-02 -1.11318580e+01] [ 6.47222653e-02 -1.18539492e-03 9.97902612e-01 1.71099745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.71, Y:-11.16, Z:171.10 [[ 8.59693751e-01 5.07830766e-01 -5.50869165e-02 5.30711392e+02] [-5.06693209e-01 8.61455852e-01 3.39971780e-02 -1.11635390e+01] [ 6.47197595e-02 -1.31499503e-03 9.97902612e-01 1.71103388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.77, Y:-11.20, Z:171.10 [[ 8.60870186e-01 5.05834995e-01 -5.50770472e-02 5.30765053e+02] [-5.04692331e-01 8.62628979e-01 3.40131593e-02 -1.11961703e+01] [ 6.47161033e-02 -1.48395146e-03 9.97902612e-01 1.71100251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.82, Y:-11.23, Z:171.11 [[ 8.59760314e-01 5.07720251e-01 -5.50667660e-02 5.30817354e+02] [-5.06580379e-01 8.61520918e-01 3.40297963e-02 -1.12290932e+01] [ 6.47187875e-02 -1.36172519e-03 9.97902613e-01 1.71110520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.87, Y:-11.26, Z:171.11 [[ 8.58041628e-01 5.10620511e-01 -5.50568676e-02 5.30870735e+02] [-5.09485564e-01 8.59805410e-01 3.40458034e-02 -1.12599771e+01] [ 6.47226782e-02 -1.16203732e-03 9.97902613e-01 1.71113759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.92, Y:-11.29, Z:171.12 [[ 8.54956459e-01 5.15770633e-01 -5.50464207e-02 5.30923165e+02] [-5.14645225e-01 8.56726343e-01 3.40626860e-02 -1.12929611e+01] [ 6.47282518e-02 -7.92735868e-04 9.97902613e-01 1.71116393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.98, Y:-11.32, Z:171.13 [[ 8.53593173e-01 5.18024806e-01 -5.50363126e-02 5.30977266e+02] [-5.16903020e-01 8.55365354e-01 3.40790102e-02 -1.13240628e+01] [ 6.47299277e-02 -6.41174234e-04 9.97902613e-01 1.71126097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5627550959999 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:531.03, Y:-11.36, Z:171.13 [[ 8.51389712e-01 5.21639461e-01 -5.50257374e-02 5.31028466e+02] [-5.20524096e-01 8.53165941e-01 3.40960770e-02 -1.13609795e+01] [ 6.47319442e-02 -3.86826982e-04 9.97902613e-01 1.71128581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.08, Y:-11.39, Z:171.13 [[ 8.51982978e-01 5.20671167e-01 -5.50140056e-02 5.31080881e+02] [-5.19552562e-01 8.53757168e-01 3.41149958e-02 -1.13932753e+01] [ 6.47312963e-02 -4.82728116e-04 9.97902614e-01 1.71130756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:531.13, Y:-11.42, Z:171.14 [[ 8.53372561e-01 5.18391673e-01 -5.50031480e-02 5.31133549e+02] [-5.17267201e-01 8.55143038e-01 3.41324924e-02 -1.14245787e+01] [ 6.47295589e-02 -6.76408069e-04 9.97902614e-01 1.71138829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.742755096 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:531.19, Y:-11.46, Z:171.14 [[ 8.55674087e-01 5.14584946e-01 -5.49926359e-02 5.31185477e+02] [-5.13451510e-01 8.57438840e-01 3.41494206e-02 -1.14590563e+01] [ 6.47255997e-02 -9.84722313e-04 9.97902614e-01 1.71139782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.24, Y:-11.50, Z:171.14 [[ 8.56583531e-01 5.13070691e-01 -5.49829057e-02 5.31237362e+02] [-5.11933131e-01 8.58345628e-01 3.41650797e-02 -1.14955341e+01] [ 6.47234378e-02 -1.11767360e-03 9.97902614e-01 1.71140670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8627550959999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:531.29, Y:-11.53, Z:171.15 [[ 8.58487634e-01 5.09879504e-01 -5.49715693e-02 5.31289682e+02] [-5.08734228e-01 8.60244725e-01 3.41833103e-02 -1.15291380e+01] [ 6.47183718e-02 -1.38003030e-03 9.97902614e-01 1.71149423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.34, Y:-11.56, Z:171.15 [[ 8.59904861e-01 5.07486874e-01 -5.49609202e-02 5.31342018e+02] [-5.06335616e-01 8.61658038e-01 3.42004236e-02 -1.15639675e+01] [ 6.47137848e-02 -1.58043910e-03 9.97902615e-01 1.71152592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.39, Y:-11.60, Z:171.15 [[ 8.60021694e-01 5.07290035e-01 -5.49500397e-02 5.31393462e+02] [-5.06137260e-01 8.61773874e-01 3.42178965e-02 -1.15995357e+01] [ 6.47129065e-02 -1.61587074e-03 9.97902615e-01 1.71153567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.45, Y:-11.63, Z:171.16 [[ 8.60975443e-01 5.05670893e-01 -5.49384628e-02 5.31447555e+02] [-5.04513639e-01 8.62724668e-01 3.42364737e-02 -1.16307449e+01] [ 6.47091553e-02 -1.75955934e-03 9.97902615e-01 1.71156930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1027550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:531.50, Y:-11.66, Z:171.16 [[ 8.61371815e-01 5.04996667e-01 -5.49268915e-02 5.31499583e+02] [-5.03836862e-01 8.63119348e-01 3.42550281e-02 -1.16616701e+01] [ 6.47071378e-02 -1.83212304e-03 9.97902615e-01 1.71164853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.162755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:531.55, Y:-11.69, Z:171.17 [[ 8.60445080e-01 5.06574700e-01 -5.49211956e-02 5.31552843e+02] [-5.05417518e-01 8.62194352e-01 3.42641578e-02 -1.16946699e+01] [ 6.47101001e-02 -1.72429167e-03 9.97902615e-01 1.71170638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.61, Y:-11.73, Z:171.17 [[ 8.58472053e-01 5.09912442e-01 -5.49093513e-02 5.31607690e+02] [-5.08760849e-01 8.60225009e-01 3.42831281e-02 -1.17250757e+01] [ 6.47157908e-02 -1.49537918e-03 9.97902616e-01 1.71170797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.66, Y:-11.76, Z:171.17 [[ 8.55737344e-01 5.14490020e-01 -5.48964265e-02 5.31661258e+02] [-5.13346479e-01 8.57495563e-01 3.43038118e-02 -1.17556685e+01] [ 6.47224110e-02 -1.17416561e-03 9.97902616e-01 1.71173319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.71, Y:-11.79, Z:171.18 [[ 8.54237736e-01 5.16977230e-01 -5.48856483e-02 5.31714732e+02] [-5.15837702e-01 8.55998558e-01 3.43210482e-02 -1.17879085e+01] [ 6.47252362e-02 -1.00624781e-03 9.97902616e-01 1.71178319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.77, Y:-11.82, Z:171.18 [[ 8.51950341e-01 5.20739276e-01 -5.48746230e-02 5.31767410e+02] [-5.19606389e-01 8.53715443e-01 3.43386670e-02 -1.18208416e+01] [ 6.47288057e-02 -7.41634370e-04 9.97902616e-01 1.71182157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.82, Y:-11.85, Z:171.19 [[ 8.50649070e-01 5.22863321e-01 -5.48644431e-02 5.31820413e+02] [-5.21733794e-01 8.52416323e-01 3.43549243e-02 -1.18544540e+01] [ 6.47302767e-02 -5.99350352e-04 9.97902617e-01 1.71189386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.522755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:531.87, Y:-11.89, Z:171.19 [[ 8.50548073e-01 5.23028750e-01 -5.48534544e-02 5.31873092e+02] [-5.21898435e-01 8.52314823e-01 3.43724607e-02 -1.18883361e+01] [ 6.47301974e-02 -6.07498284e-04 9.97902617e-01 1.71194924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5827550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:531.92, Y:-11.92, Z:171.20 [[ 8.50930787e-01 5.22407011e-01 -5.48426058e-02 5.31924911e+02] [-5.21274290e-01 8.52695995e-01 3.43897614e-02 -1.19214180e+01] [ 6.47295227e-02 -6.75266308e-04 9.97902617e-01 1.71197010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.642755096 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:531.98, Y:-11.96, Z:171.20 [[ 8.52366918e-01 5.20061553e-01 -5.48326361e-02 5.31976906e+02] [-5.18922953e-01 8.54128339e-01 3.44056503e-02 -1.19573086e+01] [ 6.47271643e-02 -8.72324618e-04 9.97902617e-01 1.71202536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7027550959999 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:532.03, Y:-11.99, Z:171.21 [[ 8.54883569e-01 5.15915361e-01 -5.48217399e-02 5.32030212e+02] [-5.14767107e-01 8.56638712e-01 3.44230034e-02 -1.19911834e+01] [ 6.47217809e-02 -1.20723162e-03 9.97902617e-01 1.71205313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.762755096 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:532.08, Y:-12.03, Z:171.21 [[ 8.56449557e-01 5.13312684e-01 -5.48110003e-02 5.32082976e+02] [-5.12158003e-01 8.58200478e-01 3.44400954e-02 -1.20256141e+01] [ 6.47173644e-02 -1.42431206e-03 9.97902618e-01 1.71209792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.14, Y:-12.06, Z:171.21 [[ 8.58013709e-01 5.10695026e-01 -5.48002305e-02 5.32135235e+02] [-5.09533910e-01 8.59760370e-01 3.44572235e-02 -1.20595257e+01] [ 6.47121991e-02 -1.64219442e-03 9.97902618e-01 1.71213696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.882755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:532.19, Y:-12.09, Z:171.22 [[ 8.57816672e-01 5.11027117e-01 -5.47890825e-02 5.32187139e+02] [-5.09865547e-01 8.59563030e-01 3.44749405e-02 -1.20925398e+01] [ 6.47122992e-02 -1.63811317e-03 9.97902618e-01 1.71219274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9427550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:532.24, Y:-12.12, Z:171.22 [[ 8.59535756e-01 5.08131077e-01 -5.47822362e-02 5.32239811e+02] [-5.06962932e-01 8.61277722e-01 3.44858161e-02 -1.21237936e+01] [ 6.47060345e-02 -1.86922890e-03 9.97902618e-01 1.71220191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.002755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:532.29, Y:-12.16, Z:171.23 [[ 8.58683244e-01 5.09571298e-01 -5.47738831e-02 5.32292575e+02] [-5.08405229e-01 8.60426602e-01 3.44990783e-02 -1.21565453e+01] [ 6.47086462e-02 -1.77645189e-03 9.97902618e-01 1.71227230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.35, Y:-12.19, Z:171.23 [[ 8.56970694e-01 5.12447408e-01 -5.47620708e-02 5.32345466e+02] [-5.11285994e-01 8.58717155e-01 3.45178183e-02 -1.21888373e+01] [ 6.47136962e-02 -1.58167884e-03 9.97902618e-01 1.71231662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.40, Y:-12.22, Z:171.24 [[ 8.54375464e-01 5.16763845e-01 -5.47512050e-02 5.32399581e+02] [-5.15610153e-01 8.56127036e-01 3.45350447e-02 -1.22203332e+01] [ 6.47204494e-02 -1.27561766e-03 9.97902619e-01 1.71238334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.45, Y:-12.25, Z:171.24 [[ 8.52347296e-01 5.20103502e-01 -5.47396947e-02 5.32450466e+02] [-5.18955502e-01 8.54102604e-01 3.45532795e-02 -1.22536525e+01] [ 6.47245975e-02 -1.04392863e-03 9.97902619e-01 1.71244502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.51, Y:-12.28, Z:171.25 [[ 8.49939371e-01 5.24030190e-01 -5.47304806e-02 5.32506440e+02] [-5.22889361e-01 8.51699348e-01 3.45678681e-02 -1.22832480e+01] [ 6.47285211e-02 -7.62606096e-04 9.97902619e-01 1.71250642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.56, Y:-12.32, Z:171.26 [[ 8.48456841e-01 5.26428300e-01 -5.47195987e-02 5.32560640e+02] [-5.25291336e-01 8.50219316e-01 3.45850851e-02 -1.23153174e+01] [ 6.47302273e-02 -6.00220965e-04 9.97902619e-01 1.71255047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.61, Y:-12.35, Z:171.26 [[ 8.47509533e-01 5.27953185e-01 -5.47085532e-02 5.32614029e+02] [-5.26818264e-01 8.49273325e-01 3.46025487e-02 -1.23460585e+01] [ 6.47310407e-02 -5.04524820e-04 9.97902619e-01 1.71258395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.67, Y:-12.38, Z:171.26 [[ 8.48422551e-01 5.26485768e-01 -5.46983619e-02 5.32667007e+02] [-5.25346759e-01 8.50183705e-01 3.46186512e-02 -1.23793157e+01] [ 6.47298832e-02 -6.35637214e-04 9.97902620e-01 1.71258562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.72, Y:-12.41, Z:171.26 [[ 8.50239198e-01 5.23548145e-01 -5.46868020e-02 5.32720145e+02] [-5.22401878e-01 8.51995636e-01 3.46369027e-02 -1.24117739e+01] [ 6.47270028e-02 -8.81164298e-04 9.97902620e-01 1.71262278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.77, Y:-12.44, Z:171.26 [[ 8.53380458e-01 5.18413276e-01 -5.46760395e-02 5.32773111e+02] [-5.17255353e-01 8.55129235e-01 3.46538835e-02 -1.24431478e+01] [ 6.47201131e-02 -1.29147282e-03 9.97902620e-01 1.71263651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.83, Y:-12.48, Z:171.27 [[ 8.54365774e-01 5.16788765e-01 -5.46671463e-02 5.32826211e+02] [-5.15626621e-01 8.56111747e-01 3.46679071e-02 -1.24755059e+01] [ 6.47171710e-02 -1.43123739e-03 9.97902620e-01 1.71269317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.88, Y:-12.51, Z:171.27 [[ 8.57479451e-01 5.11606188e-01 -5.46635114e-02 5.32880165e+02] [-5.10433129e-01 8.59218109e-01 3.46736376e-02 -1.25078595e+01] [ 6.47071265e-02 -1.82986457e-03 9.97902620e-01 1.71271131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.93, Y:-12.54, Z:171.28 [[ 8.60173093e-01 5.07065526e-01 -5.46516465e-02 5.32934565e+02] [-5.05882105e-01 8.61904716e-01 3.46923287e-02 -1.25389014e+01] [ 6.46957957e-02 -2.19411770e-03 9.97902620e-01 1.71276480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.99, Y:-12.57, Z:171.28 [[ 8.59961757e-01 5.07425045e-01 -5.46406565e-02 5.32989355e+02] [-5.06241250e-01 8.61693123e-01 3.47096293e-02 -1.25708879e+01] [ 6.46960132e-02 -2.18759952e-03 9.97902621e-01 1.71276779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.04, Y:-12.60, Z:171.28 [[ 8.60275413e-01 5.06894305e-01 -5.46294614e-02 5.33043531e+02] [-5.05708325e-01 8.62005283e-01 3.47272404e-02 -1.26008263e+01] [ 6.46939247e-02 -2.24841762e-03 9.97902621e-01 1.71277336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.10, Y:-12.63, Z:171.28 [[ 8.59346569e-01 5.08468511e-01 -5.46191122e-02 5.33096758e+02] [-5.07284668e-01 8.61077902e-01 3.47435101e-02 -1.26342928e+01] [ 6.46972914e-02 -2.14927799e-03 9.97902621e-01 1.71281433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.15, Y:-12.67, Z:171.29 [[ 8.55277880e-01 5.15284118e-01 -5.46079311e-02 5.33145391e+02] [-5.14112956e-01 8.57017815e-01 3.47610751e-02 -1.26701671e+01] [ 6.47117997e-02 -1.65573373e-03 9.97902621e-01 1.71291237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.20, Y:-12.70, Z:171.29 [[ 8.53925684e-01 5.17522822e-01 -5.45990371e-02 5.33199906e+02] [-5.16355329e-01 8.55668084e-01 3.47750393e-02 -1.27000254e+01] [ 6.47155299e-02 -1.50279542e-03 9.97902621e-01 1.71290450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.25, Y:-12.73, Z:171.30 [[ 8.53565147e-01 5.18118323e-01 -5.45888576e-02 5.33252641e+02] [-5.16951025e-01 8.55307678e-01 3.47910114e-02 -1.27310996e+01] [ 6.47161295e-02 -1.47662890e-03 9.97902622e-01 1.71297468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.30, Y:-12.77, Z:171.31 [[ 8.52560141e-01 5.19771175e-01 -5.45814193e-02 5.33302801e+02] [-5.18606509e-01 8.54304432e-01 3.48026770e-02 -1.27655061e+01] [ 6.47185767e-02 -1.36509586e-03 9.97902622e-01 1.71306687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.36, Y:-12.80, Z:171.31 [[ 8.51597604e-01 5.21347702e-01 -5.45719239e-02 5.33355630e+02] [-5.20185312e-01 8.53343412e-01 3.48175598e-02 -1.27980435e+01] [ 6.47206465e-02 -1.26303721e-03 9.97902622e-01 1.71308727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.41, Y:-12.83, Z:171.32 [[ 8.50617259e-01 5.22946741e-01 -5.45617562e-02 5.33407982e+02] [-5.21786612e-01 8.52364570e-01 3.48334860e-02 -1.28328735e+01] [ 6.47225659e-02 -1.16037049e-03 9.97902622e-01 1.71315206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.46, Y:-12.87, Z:171.31 [[ 8.51209157e-01 5.21983903e-01 -5.45506790e-02 5.33461220e+02] [-5.20820687e-01 8.52954414e-01 3.48508249e-02 -1.28661739e+01] [ 6.47208120e-02 -1.25421913e-03 9.97902622e-01 1.71309831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.51, Y:-12.90, Z:171.32 [[ 8.51258480e-01 5.21904602e-01 -5.45397639e-02 5.33511507e+02] [-5.20740130e-01 8.53002899e-01 3.48678980e-02 -1.28998703e+01] [ 6.47202932e-02 -1.28055009e-03 9.97902622e-01 1.71320366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:533.56, Y:-12.94, Z:171.31 [[ 8.51333556e-01 5.21783179e-01 -5.45297113e-02 5.33563126e+02] [-5.20617453e-01 8.53077137e-01 3.48836122e-02 -1.29360344e+01] [ 6.47197321e-02 -1.30847021e-03 9.97902623e-01 1.71313770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.502755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:533.61, Y:-12.97, Z:171.33 [[ 8.53296862e-01 5.18567399e-01 -5.45189692e-02 5.33613558e+02] [-5.17394031e-01 8.55035309e-01 3.49003927e-02 -1.29689536e+01] [ 6.47138496e-02 -1.57260637e-03 9.97902623e-01 1.71329123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.67, Y:-13.00, Z:171.33 [[ 8.54118010e-01 5.17214832e-01 -5.45091048e-02 5.33665238e+02] [-5.16037729e-01 8.55853930e-01 3.49157927e-02 -1.30040706e+01] [ 6.47107974e-02 -1.69345268e-03 9.97902623e-01 1.71325465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.72, Y:-13.04, Z:171.34 [[ 8.53277704e-01 5.18600984e-01 -5.44993432e-02 5.33715711e+02] [-5.17425730e-01 8.55014876e-01 3.49310228e-02 -1.30371242e+01] [ 6.47130120e-02 -1.60650059e-03 9.97902623e-01 1.71336686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.77, Y:-13.07, Z:171.33 [[ 8.51410463e-01 5.21661407e-01 -5.44940448e-02 5.33768347e+02] [-5.20491868e-01 8.53151488e-01 3.49392866e-02 -1.30711527e+01] [ 6.47181528e-02 -1.38396701e-03 9.97902623e-01 1.71333727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.742755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:533.82, Y:-13.11, Z:171.34 [[ 8.48229753e-01 5.26818490e-01 -5.44845418e-02 5.33820150e+02] [-5.25658587e-01 8.49977212e-01 3.49540993e-02 -1.31054333e+01] [ 6.47250848e-02 -1.00883973e-03 9.97902623e-01 1.71337914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.87, Y:-13.14, Z:171.35 [[ 8.45868572e-01 5.30602384e-01 -5.44744706e-02 5.33871105e+02] [-5.29449289e-01 8.47620531e-01 3.49697879e-02 -1.31401509e+01] [ 6.47287325e-02 -7.38374870e-04 9.97902624e-01 1.71345884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.92, Y:-13.18, Z:171.34 [[ 8.44776436e-01 5.32340414e-01 -5.44651930e-02 5.33920326e+02] [-5.31189992e-01 8.46530151e-01 3.49842318e-02 -1.31763460e+01] [ 6.47299484e-02 -6.22489195e-04 9.97902624e-01 1.71343111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.922755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:533.97, Y:-13.21, Z:171.35 [[ 8.42838877e-01 5.35403275e-01 -5.44606350e-02 5.33970097e+02] [-5.34258768e-01 8.44596458e-01 3.49913257e-02 -1.32128551e+01] [ 6.47317298e-02 -3.95977913e-04 9.97902624e-01 1.71349681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.02, Y:-13.25, Z:171.36 [[ 8.43829370e-01 5.33841860e-01 -5.44505609e-02 5.34019959e+02] [-5.32693089e-01 8.45584167e-01 3.50069953e-02 -1.32479748e+01] [ 6.47307316e-02 -5.34493338e-04 9.97902624e-01 1.71356443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.042755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:534.07, Y:-13.29, Z:171.36 [[ 8.45030540e-01 5.31939397e-01 -5.44413956e-02 5.34070504e+02] [-5.30785758e-01 8.46782140e-01 3.50212431e-02 -1.32851813e+01] [ 6.47291803e-02 -6.97302521e-04 9.97902624e-01 1.71359988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.12, Y:-13.32, Z:171.36 [[ 8.45413227e-01 5.31332112e-01 -5.44303484e-02 5.34122539e+02] [-5.30176110e-01 8.47163268e-01 3.50384042e-02 -1.33210222e+01] [ 6.47284212e-02 -7.64259906e-04 9.97902624e-01 1.71363073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.162755096 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:534.17, Y:-13.36, Z:171.37 [[ 8.46467364e-01 5.29652277e-01 -5.44193650e-02 5.34173567e+02] [-5.28491706e-01 8.48214379e-01 3.50554547e-02 -1.33583370e+01] [ 6.47264893e-02 -9.13115320e-04 9.97902624e-01 1.71366015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2227550959999 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:534.22, Y:-13.40, Z:171.37 [[ 8.47297827e-01 5.28323870e-01 -5.44084679e-02 5.34223466e+02] [-5.27159474e-01 8.49042295e-01 3.50723596e-02 -1.33955501e+01] [ 6.47246552e-02 -1.03479475e-03 9.97902625e-01 1.71372637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.282755096 meters Centerline goodness : 0.998648 with order 1 Centerline is valid? [True, True] Translation: X:534.27, Y:-13.43, Z:171.37 [[ 8.48734505e-01 5.26013789e-01 -5.43988456e-02 5.34274798e+02] [-5.24843690e-01 8.50475152e-01 3.50872778e-02 -1.34307779e+01] [ 6.47212585e-02 -1.22889248e-03 9.97902625e-01 1.71371819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3427550959999 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:534.33, Y:-13.47, Z:171.38 [[ 8.49286881e-01 5.25122468e-01 -5.43892313e-02 5.34326727e+02] [-5.23949589e-01 8.51025655e-01 3.51021749e-02 -1.34663490e+01] [ 6.47195719e-02 -1.31460121e-03 9.97902625e-01 1.71376248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.402755096 meters Centerline goodness : 0.998489 with order 1 Centerline is valid? [True, True] Translation: X:534.38, Y:-13.50, Z:171.38 [[ 8.48661478e-01 5.26133727e-01 -5.43782680e-02 5.34379214e+02] [-5.24961833e-01 8.50400917e-01 3.51191504e-02 -1.35012254e+01] [ 6.47206984e-02 -1.25775485e-03 9.97902625e-01 1.71379119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4627550959999 meters Centerline goodness : 0.998799 with order 1 Centerline is valid? [True, True] Translation: X:534.43, Y:-13.54, Z:171.38 [[ 8.46514889e-01 5.29581649e-01 -5.43674473e-02 5.34431509e+02] [-5.28415765e-01 8.48258362e-01 3.51358938e-02 -1.35359907e+01] [ 6.47249663e-02 -1.01444104e-03 9.97902625e-01 1.71382514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.522755096 meters Centerline goodness : 0.998490 with order 1 Centerline is valid? [True, True] Translation: X:534.48, Y:-13.57, Z:171.39 [[ 8.43826914e-01 5.33855305e-01 -5.43567216e-02 5.34484012e+02] [-5.32697183e-01 8.45575552e-01 3.51524790e-02 -1.35701125e+01] [ 6.47290523e-02 -7.06935391e-04 9.97902626e-01 1.71389106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5827550959999 meters Centerline goodness : 0.998357 with order 1 Centerline is valid? [True, True] Translation: X:534.54, Y:-13.60, Z:171.40 [[ 8.42776136e-01 5.35513699e-01 -5.43457679e-02 5.34539220e+02] [-5.34357928e-01 8.44526328e-01 3.51694054e-02 -1.36001927e+01] [ 6.47301302e-02 -5.99843683e-04 9.97902626e-01 1.71396305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.642755096 meters Centerline goodness : 0.998404 with order 1 Centerline is valid? [True, True] Translation: X:534.59, Y:-13.63, Z:171.40 [[ 8.39012484e-01 5.41392464e-01 -5.43346208e-02 5.34590939e+02] [-5.40247842e-01 8.40769987e-01 3.51866187e-02 -1.36338824e+01] [ 6.47326886e-02 -1.67850743e-04 9.97902626e-01 1.71398916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7027550959999 meters Centerline goodness : 0.998562 with order 1 Centerline is valid? [True, True] Translation: X:534.64, Y:-13.67, Z:171.41 [[ 8.35479885e-01 5.46829241e-01 -5.43244228e-02 5.34639939e+02] [-5.45695032e-01 8.37244126e-01 3.52023562e-02 -1.36728677e+01] [ 6.47324816e-02 2.33707053e-04 9.97902626e-01 1.71405409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.762755096 meters Centerline goodness : 0.998340 with order 1 Centerline is valid? [True, True] Translation: X:534.69, Y:-13.71, Z:171.41 [[ 8.32602453e-01 5.51200858e-01 -5.43209863e-02 5.34692311e+02] [-5.50075565e-01 8.34372395e-01 3.52076583e-02 -1.37063522e+01] [ 6.47304229e-02 5.66664535e-04 9.97902626e-01 1.71409621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8227550959999 meters Centerline goodness : 0.998031 with order 1 Centerline is valid? [True, True] Translation: X:534.75, Y:-13.74, Z:171.41 [[ 8.34252370e-01 5.48701440e-01 -5.43112615e-02 5.34747651e+02] [-5.47569868e-01 8.36018304e-01 3.52226534e-02 -1.37367544e+01] [ 6.47319293e-02 3.54628263e-04 9.97902626e-01 1.71412104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.882755096 meters Centerline goodness : 0.998320 with order 1 Centerline is valid? [True, True] Translation: X:534.80, Y:-13.77, Z:171.42 [[ 8.34431059e-01 5.48430797e-01 -5.42998066e-02 5.34797269e+02] [-5.47297503e-01 8.36195888e-01 3.52403037e-02 -1.37735321e+01] [ 6.47321428e-02 3.12544662e-04 9.97902627e-01 1.71415291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9427550959999 meters Centerline goodness : 0.998278 with order 1 Centerline is valid? [True, True] Translation: X:534.85, Y:-13.81, Z:171.42 [[ 8.36557051e-01 5.45183357e-01 -5.42900262e-02 5.34848911e+02] [-5.44042236e-01 8.38316829e-01 3.52553645e-02 -1.38076287e+01] [ 6.47328806e-02 4.29434553e-05 9.97902627e-01 1.71419237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.002755096 meters Centerline goodness : 0.998568 with order 1 Centerline is valid? [True, True] Translation: X:534.90, Y:-13.84, Z:171.42 [[ 8.38251539e-01 5.42575374e-01 -5.42800251e-02 5.34901160e+02] [-5.41427781e-01 8.40007102e-01 3.52707558e-02 -1.38428757e+01] [ 6.47326501e-02 -1.77051824e-04 9.97902627e-01 1.71423449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0627550959999 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:534.95, Y:-13.88, Z:171.43 [[ 8.41141190e-01 5.38085928e-01 -5.42681531e-02 5.34952038e+02] [-5.36927787e-01 8.42889813e-01 3.52890128e-02 -1.38768492e+01] [ 6.47305947e-02 -5.44962838e-04 9.97902627e-01 1.71427924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.122755096 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:535.01, Y:-13.90, Z:171.43 [[ 8.48215930e-01 5.26864053e-01 -5.42586962e-02 5.35008447e+02] [-5.25681855e-01 8.49948379e-01 3.53035473e-02 -1.39016527e+01] [ 6.47172609e-02 -1.42221912e-03 9.97902627e-01 1.71429524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1827550959999 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:535.06, Y:-13.94, Z:171.44 [[ 8.46836429e-01 5.29079045e-01 -5.42533557e-02 5.35055201e+02] [-5.27900853e-01 8.48571606e-01 3.53117525e-02 -1.39413893e+01] [ 6.47205655e-02 -1.26288569e-03 9.97902627e-01 1.71435955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.242755096 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:535.11, Y:-13.97, Z:171.44 [[ 8.46434060e-01 5.29722668e-01 -5.42519728e-02 5.35105946e+02] [-5.28545660e-01 8.48170040e-01 3.53138771e-02 -1.39749924e+01] [ 6.47214591e-02 -1.21622362e-03 9.97902627e-01 1.71441833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3027550959999 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:535.16, Y:-14.01, Z:171.44 [[ 8.49761234e-01 5.24369647e-01 -5.42431433e-02 5.35160004e+02] [-5.23180841e-01 8.51489155e-01 3.53274343e-02 -1.40055818e+01] [ 6.47120825e-02 -1.64091086e-03 9.97902627e-01 1.71443483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3627550959999 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:535.21, Y:-14.04, Z:171.45 [[ 8.51102790e-01 5.22190333e-01 -5.42337186e-02 5.35214505e+02] [-5.20996182e-01 8.52827022e-01 3.53418969e-02 -1.40360593e+01] [ 6.47071776e-02 -1.82402671e-03 9.97902628e-01 1.71449123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.422755096 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:535.27, Y:-14.06, Z:171.45 [[ 8.53118437e-01 5.18891843e-01 -5.42235009e-02 5.35270715e+02] [-5.17690032e-01 8.54837338e-01 3.53575665e-02 -1.40608752e+01] [ 6.46990260e-02 -2.09322599e-03 9.97902628e-01 1.71451083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4827550959999 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:535.32, Y:-14.10, Z:171.46 [[ 8.47425475e-01 5.28138634e-01 -5.42185121e-02 5.35318502e+02] [-5.26955097e-01 8.49157010e-01 3.53652149e-02 -1.40999500e+01] [ 6.47177659e-02 -1.39866273e-03 9.97902628e-01 1.71459727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.542755096 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:535.38, Y:-14.12, Z:171.46 [[ 8.49267272e-01 5.25172153e-01 -5.42154020e-02 5.35375860e+02] [-5.23982265e-01 8.50994448e-01 3.53699821e-02 -1.41239205e+01] [ 6.47123357e-02 -1.63065907e-03 9.97902628e-01 1.71457623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6027550959999 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:535.43, Y:-14.16, Z:171.46 [[ 8.46127072e-01 5.30217118e-01 -5.42105687e-02 5.35426292e+02] [-5.29037056e-01 8.47860976e-01 3.53773884e-02 -1.41594169e+01] [ 6.47207226e-02 -1.25436645e-03 9.97902628e-01 1.71461564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.662755096 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:535.48, Y:-14.19, Z:171.47 [[ 8.45206698e-01 5.31684059e-01 -5.42005510e-02 5.35478488e+02] [-5.30506022e-01 8.46941979e-01 3.53927296e-02 -1.41934292e+01] [ 6.47224720e-02 -1.16045341e-03 9.97902628e-01 1.71465460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7227550959999 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:535.53, Y:-14.23, Z:171.47 [[ 8.43835201e-01 5.33859238e-01 -5.41891817e-02 5.35530809e+02] [-5.32684558e-01 8.45572755e-01 3.54101283e-02 -1.42272125e+01] [ 6.47249198e-02 -1.01457247e-03 9.97902628e-01 1.71470577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.782755096 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:535.58, Y:-14.26, Z:171.47 [[ 8.45263160e-01 5.31596593e-01 -5.41779752e-02 5.35584876e+02] [-5.30416164e-01 8.46996813e-01 3.54272661e-02 -1.42563206e+01] [ 6.47215864e-02 -1.20848907e-03 9.97902628e-01 1.71470224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8427550959999 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:535.64, Y:-14.29, Z:171.47 [[ 8.43981478e-01 5.33630006e-01 -5.41690184e-02 5.35637172e+02] [-5.32452875e-01 8.45717373e-01 3.54409560e-02 -1.42904028e+01] [ 6.47240375e-02 -1.06906082e-03 9.97902629e-01 1.71473865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.902755096 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:535.69, Y:-14.33, Z:171.48 [[ 8.43458247e-01 5.34457769e-01 -5.41579028e-02 5.35688302e+02] [-5.33281252e-01 8.45194558e-01 3.54579339e-02 -1.43250280e+01] [ 6.47247329e-02 -1.02589258e-03 9.97902629e-01 1.71479424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9627550959999 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:535.74, Y:-14.36, Z:171.48 [[ 8.46512584e-01 5.29607851e-01 -5.41476714e-02 5.35739653e+02] [-5.28420390e-01 8.48241427e-01 3.54735513e-02 -1.43591305e+01] [ 6.47173694e-02 -1.41607390e-03 9.97902629e-01 1.71483054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.022755096 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:535.79, Y:-14.39, Z:171.49 [[ 8.47956830e-01 5.27293374e-01 -5.41379076e-02 5.35793606e+02] [-5.26100244e-01 8.49681766e-01 3.54884461e-02 -1.43875646e+01] [ 6.47128154e-02 -1.61070388e-03 9.97902629e-01 1.71488313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0827550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:535.84, Y:-14.42, Z:171.49 [[ 8.46461723e-01 5.29691045e-01 -5.41289993e-02 5.35843938e+02] [-5.28501934e-01 8.48189432e-01 3.55020284e-02 -1.44240279e+01] [ 6.47167517e-02 -1.44382728e-03 9.97902629e-01 1.71489948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.142755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:535.90, Y:-14.46, Z:171.50 [[ 8.45925407e-01 5.30548136e-01 -5.41191339e-02 5.35895752e+02] [-5.29359814e-01 8.47653659e-01 3.55170608e-02 -1.44568513e+01] [ 6.47177923e-02 -1.39628944e-03 9.97902629e-01 1.71495013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2027550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:535.95, Y:-14.49, Z:171.50 [[ 8.44850779e-01 5.32258767e-01 -5.41088429e-02 5.35946939e+02] [-5.31072941e-01 8.46580744e-01 3.55327319e-02 -1.44929582e+01] [ 6.47201125e-02 -1.28411383e-03 9.97902630e-01 1.71500268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.262755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:536.00, Y:-14.53, Z:171.51 [[ 8.43266285e-01 5.34766763e-01 -5.40969625e-02 5.35998068e+02] [-5.33584923e-01 8.44998976e-01 3.55508100e-02 -1.45285347e+01] [ 6.47232695e-02 -1.11347586e-03 9.97902630e-01 1.71508775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3227550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:536.05, Y:-14.56, Z:171.51 [[ 8.44266403e-01 5.33187634e-01 -5.40850086e-02 5.36051821e+02] [-5.32001390e-01 8.45996080e-01 3.55689868e-02 -1.45604829e+01] [ 6.47206492e-02 -1.25640080e-03 9.97902630e-01 1.71507542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.10, Y:-14.59, Z:171.51 [[ 8.43797033e-01 5.33931250e-01 -5.40739186e-02 5.36103608e+02] [-5.32745450e-01 8.45527015e-01 3.55858385e-02 -1.45949541e+01] [ 6.47213502e-02 -1.21959080e-03 9.97902630e-01 1.71514852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.16, Y:-14.63, Z:171.52 [[ 8.43675970e-01 5.34123675e-01 -5.40625364e-02 5.36156962e+02] [-5.32937163e-01 8.45405464e-01 3.56031221e-02 -1.46286682e+01] [ 6.47212340e-02 -1.22556377e-03 9.97902630e-01 1.71516183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.21, Y:-14.66, Z:171.52 [[ 8.42868029e-01 5.35398867e-01 -5.40512720e-02 5.36210889e+02] [-5.34213876e-01 8.44598564e-01 3.56202150e-02 -1.46618834e+01] [ 6.47226495e-02 -1.14820091e-03 9.97902631e-01 1.71518455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.26, Y:-14.70, Z:171.52 [[ 8.41641663e-01 5.37325805e-01 -5.40397091e-02 5.36263879e+02] [-5.36143651e-01 8.43374138e-01 3.56377487e-02 -1.46961304e+01] [ 6.47247750e-02 -1.02116713e-03 9.97902631e-01 1.71523494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.32, Y:-14.73, Z:171.53 [[ 8.39979192e-01 5.39922137e-01 -5.40281616e-02 5.36318661e+02] [-5.38744213e-01 8.41714545e-01 3.56552465e-02 -1.47279648e+01] [ 6.47273464e-02 -8.42305783e-04 9.97902631e-01 1.71526913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.37, Y:-14.76, Z:171.53 [[ 8.41230712e-01 5.37971342e-01 -5.40159647e-02 5.36369800e+02] [-5.36788208e-01 8.42962517e-01 3.56737147e-02 -1.47609942e+01] [ 6.47248697e-02 -1.01469150e-03 9.97902631e-01 1.71527651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.42, Y:-14.79, Z:171.54 [[ 8.39540391e-01 5.40606379e-01 -5.40062521e-02 5.36421365e+02] [-5.39427736e-01 8.41275255e-01 3.56884125e-02 -1.47947187e+01] [ 6.47275070e-02 -8.29393414e-04 9.97902632e-01 1.71535366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.47, Y:-14.83, Z:171.54 [[ 8.40973205e-01 5.38375853e-01 -5.39954702e-02 5.36474802e+02] [-5.37191562e-01 8.42704218e-01 3.57047177e-02 -1.48269668e+01] [ 6.47247684e-02 -1.02079986e-03 9.97902632e-01 1.71539346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.53, Y:-14.86, Z:171.54 [[ 8.42829066e-01 5.35467070e-01 -5.39831652e-02 5.36527584e+02] [-5.34275615e-01 8.44555157e-01 3.57233124e-02 -1.48590385e+01] [ 6.47204180e-02 -1.26675725e-03 9.97902632e-01 1.71541913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.922755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:536.58, Y:-14.89, Z:171.55 [[ 8.40820049e-01 5.38617381e-01 -5.39718692e-02 5.36579280e+02] [-5.37431299e-01 8.42549835e-01 3.57403707e-02 -1.48944152e+01] [ 6.47243743e-02 -1.04504850e-03 9.97902632e-01 1.71549116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.63, Y:-14.93, Z:171.55 [[ 8.41281674e-01 5.37897227e-01 -5.39603418e-02 5.36631330e+02] [-5.36708549e-01 8.43009677e-01 3.57577661e-02 -1.49272591e+01] [ 6.47230936e-02 -1.12137653e-03 9.97902632e-01 1.71554687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.68, Y:-14.96, Z:171.56 [[ 8.39028137e-01 5.41406697e-01 -5.39497339e-02 5.36683228e+02] [-5.40224219e-01 8.40760388e-01 3.57737637e-02 -1.49607409e+01] [ 6.47269545e-02 -8.70241455e-04 9.97902633e-01 1.71559007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.74, Y:-15.00, Z:171.56 [[ 8.37289257e-01 5.44093042e-01 -5.39394292e-02 5.36736292e+02] [-5.42915122e-01 8.39024610e-01 3.57892943e-02 -1.49950937e+01] [ 6.47292146e-02 -6.81459839e-04 9.97902633e-01 1.71561088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.79, Y:-15.03, Z:171.57 [[ 8.36735172e-01 5.44945949e-01 -5.39274022e-02 5.36788559e+02] [-5.43768630e-01 8.38470934e-01 3.58074076e-02 -1.50282461e+01] [ 6.47296609e-02 -6.37287715e-04 9.97902633e-01 1.71565395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.84, Y:-15.06, Z:171.57 [[ 8.37036828e-01 5.44483590e-01 -5.39163226e-02 5.36841513e+02] [-5.43304238e-01 8.38771209e-01 3.58240827e-02 -1.50632232e+01] [ 6.47290842e-02 -6.93109938e-04 9.97902633e-01 1.71566236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.89, Y:-15.10, Z:171.57 [[ 8.38421697e-01 5.42349917e-01 -5.39038612e-02 5.36892723e+02] [-5.41164947e-01 8.40152244e-01 3.58428234e-02 -1.50981454e+01] [ 6.47268022e-02 -8.80520598e-04 9.97902633e-01 1.71571360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.94, Y:-15.14, Z:171.57 [[ 8.38857260e-01 5.41677122e-01 -5.38924105e-02 5.36943690e+02] [-5.40489659e-01 8.40586097e-01 3.58600321e-02 -1.51350760e+01] [ 6.47257700e-02 -9.53157679e-04 9.97902634e-01 1.71574323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.00, Y:-15.17, Z:171.58 [[ 8.38646495e-01 5.42004551e-01 -5.38806323e-02 5.36995326e+02] [-5.40816626e-01 8.40375015e-01 3.58777205e-02 -1.51716312e+01] [ 6.47258249e-02 -9.49182825e-04 9.97902634e-01 1.71577967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.04, Y:-15.21, Z:171.58 [[ 8.38063989e-01 5.42905995e-01 -5.38686453e-02 5.37044365e+02] [-5.41718774e-01 8.39792991e-01 3.58957094e-02 -1.52100082e+01] [ 6.47265066e-02 -9.01244975e-04 9.97902634e-01 1.71583893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.522755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:537.09, Y:-15.25, Z:171.59 [[ 8.37973293e-01 5.43046705e-01 -5.38612714e-02 5.37093907e+02] [-5.41859064e-01 8.39702006e-01 3.59067705e-02 -1.52495288e+01] [ 6.47264710e-02 -9.03696638e-04 9.97902634e-01 1.71585840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.14, Y:-15.29, Z:171.59 [[ 8.37972653e-01 5.43048815e-01 -5.38499420e-02 5.37142538e+02] [-5.41860087e-01 8.39700620e-01 3.59237533e-02 -1.52888759e+01] [ 6.47261814e-02 -9.23988629e-04 9.97902634e-01 1.71589823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.642755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:537.19, Y:-15.33, Z:171.59 [[ 8.37098519e-01 5.44396352e-01 -5.38394125e-02 5.37190145e+02] [-5.43209390e-01 8.38827699e-01 3.59395272e-02 -1.53287913e+01] [ 6.47273380e-02 -8.38850497e-04 9.97902635e-01 1.71594723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.24, Y:-15.37, Z:171.60 [[ 8.37533011e-01 5.43728764e-01 -5.38283065e-02 5.37239301e+02] [-5.42539356e-01 8.39260509e-01 3.59561535e-02 -1.53674934e+01] [ 6.47263668e-02 -9.10490759e-04 9.97902635e-01 1.71598786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.762755096 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:537.29, Y:-15.41, Z:171.60 [[ 8.37632065e-01 5.43577366e-01 -5.38160828e-02 5.37288340e+02] [-5.42386472e-01 8.39358538e-01 3.59744395e-02 -1.54061454e+01] [ 6.47258797e-02 -9.44228802e-04 9.97902635e-01 1.71603887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8227550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:537.34, Y:-15.45, Z:171.61 [[ 8.37884045e-01 5.43189920e-01 -5.38055580e-02 5.37337255e+02] [-5.41997217e-01 8.39609269e-01 3.59901742e-02 -1.54462229e+01] [ 6.47251451e-02 -9.93130016e-04 9.97902635e-01 1.71606181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.38, Y:-15.49, Z:171.61 [[ 8.36823719e-01 5.44823194e-01 -5.37935906e-02 5.37384989e+02] [-5.43632708e-01 8.38550475e-01 3.60080527e-02 -1.54854118e+01] [ 6.47266632e-02 -8.88437221e-04 9.97902635e-01 1.71609723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.43, Y:-15.52, Z:171.61 [[ 8.34749284e-01 5.47997326e-01 -5.37825532e-02 5.37434867e+02] [-5.46812346e-01 8.36479821e-01 3.60245310e-02 -1.55216634e+01] [ 6.47293671e-02 -6.62487383e-04 9.97902636e-01 1.71614601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.002755096 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:537.49, Y:-15.55, Z:171.62 [[ 8.32856459e-01 5.50870807e-01 -5.37724200e-02 5.37488001e+02] [-5.49690821e-01 8.34590406e-01 3.60396500e-02 -1.55512980e+01] [ 6.47311369e-02 -4.57649624e-04 9.97902636e-01 1.71616992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.54, Y:-15.59, Z:171.62 [[ 8.31560784e-01 5.52825638e-01 -5.37631530e-02 5.37537879e+02] [-5.51648835e-01 8.33296892e-01 3.60534690e-02 -1.55885637e+01] [ 6.47319503e-02 -3.22270211e-04 9.97902636e-01 1.71619598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.59, Y:-15.62, Z:171.62 [[ 8.31763856e-01 5.52521074e-01 -5.37526858e-02 5.37590390e+02] [-5.51342627e-01 8.33498848e-01 3.60690681e-02 -1.56233280e+01] [ 6.47317219e-02 -3.64800223e-04 9.97902636e-01 1.71623226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.64, Y:-15.66, Z:171.63 [[ 8.32665524e-01 5.51162469e-01 -5.37406645e-02 5.37643290e+02] [-5.49980036e-01 8.34397801e-01 3.60869702e-02 -1.56565433e+01] [ 6.47308759e-02 -4.92083314e-04 9.97902636e-01 1.71626306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.242755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:537.70, Y:-15.69, Z:171.63 [[ 8.33890581e-01 5.49308418e-01 -5.37285849e-02 5.37695079e+02] [-5.48120975e-01 8.35619429e-01 3.61049461e-02 -1.56920768e+01] [ 6.47294003e-02 -6.57810176e-04 9.97902637e-01 1.71630755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.75, Y:-15.73, Z:171.63 [[ 8.35301734e-01 5.47161355e-01 -5.37165291e-02 5.37746354e+02] [-5.45968316e-01 8.37026724e-01 3.61228738e-02 -1.57273472e+01] [ 6.47272109e-02 -8.45976184e-04 9.97902637e-01 1.71634597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.80, Y:-15.76, Z:171.64 [[ 8.38366184e-01 5.42455405e-01 -5.37054422e-02 5.37797639e+02] [-5.41251630e-01 8.40083699e-01 3.61393496e-02 -1.57640034e+01] [ 6.47210521e-02 -1.22985054e-03 9.97902637e-01 1.71638792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.422755096 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:537.85, Y:-15.80, Z:171.64 [[ 8.43033702e-01 5.35173827e-01 -5.36949974e-02 5.37850265e+02] [-5.33954234e-01 8.44740021e-01 3.61548617e-02 -1.57983886e+01] [ 6.47074489e-02 -1.80909568e-03 9.97902637e-01 1.71641184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4827550959999 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:537.90, Y:-15.83, Z:171.65 [[ 8.43183835e-01 5.34938478e-01 -5.36828209e-02 5.37900032e+02] [-5.33717260e-01 8.44888990e-01 3.61729323e-02 -1.58332634e+01] [ 6.47063177e-02 -1.84898367e-03 9.97902637e-01 1.71646921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.542755096 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:537.95, Y:-15.87, Z:171.65 [[ 8.42335911e-01 5.36273633e-01 -5.36731144e-02 5.37952097e+02] [-5.35054201e-01 8.44042345e-01 3.61873290e-02 -1.58677397e+01] [ 6.47086917e-02 -1.76386145e-03 9.97902638e-01 1.71650898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6027550959999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:538.00, Y:-15.90, Z:171.66 [[ 8.41452860e-01 5.37659340e-01 -5.36611453e-02 5.38003781e+02] [-5.36441588e-01 8.43160492e-01 3.62050689e-02 -1.59031385e+01] [ 6.47109512e-02 -1.67878881e-03 9.97902638e-01 1.71655675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.662755096 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:538.06, Y:-15.94, Z:171.66 [[ 8.40138409e-01 5.39712172e-01 -5.36491031e-02 5.38055720e+02] [-5.38497454e-01 8.41848201e-01 3.62229046e-02 -1.59378235e+01] [ 6.47143434e-02 -1.54234799e-03 9.97902638e-01 1.71659289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.11, Y:-15.97, Z:171.67 [[ 8.37397199e-01 5.43956781e-01 -5.36372277e-02 5.38106741e+02] [-5.42749606e-01 8.39112324e-01 3.62404806e-02 -1.59715099e+01] [ 6.47209140e-02 -1.23609278e-03 9.97902638e-01 1.71669186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.16, Y:-16.01, Z:171.67 [[ 8.34134514e-01 5.48947935e-01 -5.36262726e-02 5.38158055e+02] [-5.47749982e-01 8.35856094e-01 3.62566839e-02 -1.60068673e+01] [ 6.47268785e-02 -8.69161574e-04 9.97902638e-01 1.71672754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.21, Y:-16.04, Z:171.68 [[ 8.30972467e-01 5.53723960e-01 -5.36146969e-02 5.38210335e+02] [-5.52534799e-01 8.32700130e-01 3.62737935e-02 -1.60415733e+01] [ 6.47306337e-02 -5.18537897e-04 9.97902639e-01 1.71675712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.902755096 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:538.26, Y:-16.08, Z:171.68 [[ 8.29105337e-01 5.56516869e-01 -5.36033063e-02 5.38262068e+02] [-5.55332441e-01 8.30836248e-01 3.62906181e-02 -1.60771867e+01] [ 6.47319111e-02 -3.21090197e-04 9.97902639e-01 1.71680032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.31, Y:-16.11, Z:171.68 [[ 8.28797000e-01 5.56977083e-01 -5.35916244e-02 5.38312998e+02] [-5.55792501e-01 8.30527805e-01 3.63078610e-02 -1.61132544e+01] [ 6.47319807e-02 -3.06023339e-04 9.97902639e-01 1.71684864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.36, Y:-16.15, Z:171.69 [[ 8.29421564e-01 5.56047700e-01 -5.35800739e-02 5.38363895e+02] [-5.54860077e-01 8.31150285e-01 3.63248983e-02 -1.61498851e+01] [ 6.47314699e-02 -3.99209985e-04 9.97902639e-01 1.71690100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.42, Y:-16.19, Z:171.69 [[ 8.30362535e-01 5.54642676e-01 -5.35682939e-02 5.38415032e+02] [-5.53451009e-01 8.32088470e-01 3.63422619e-02 -1.61870339e+01] [ 6.47305291e-02 -5.29826436e-04 9.97902640e-01 1.71691017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.47, Y:-16.22, Z:171.70 [[ 8.31727149e-01 5.52595438e-01 -5.35558714e-02 5.38465825e+02] [-5.51398344e-01 8.33449324e-01 3.63605593e-02 -1.62220488e+01] [ 6.47287840e-02 -7.11445530e-04 9.97902640e-01 1.71698140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2027550959999 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:538.52, Y:-16.26, Z:171.70 [[ 8.32831995e-01 5.50929998e-01 -5.35444227e-02 5.38517397e+02] [-5.49728377e-01 8.34551014e-01 3.63774108e-02 -1.62588104e+01] [ 6.47269591e-02 -8.61383012e-04 9.97902640e-01 1.71700032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.57, Y:-16.30, Z:171.71 [[ 8.31744228e-01 5.52572009e-01 -5.35323614e-02 5.38567319e+02] [-5.51372640e-01 8.33464819e-01 3.63951514e-02 -1.62953348e+01] [ 6.47282818e-02 -7.55177681e-04 9.97902640e-01 1.71706784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3227550959999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:538.62, Y:-16.33, Z:171.71 [[ 8.32651237e-01 5.51205343e-01 -5.35218476e-02 5.38619889e+02] [-5.50002157e-01 8.34369160e-01 3.64106062e-02 -1.63273844e+01] [ 6.47266997e-02 -8.80204661e-04 9.97902640e-01 1.71708701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.67, Y:-16.36, Z:171.71 [[ 8.32687456e-01 5.51151562e-01 -5.35122091e-02 5.38674409e+02] [-5.49947355e-01 8.34404664e-01 3.64247662e-02 -1.63578263e+01] [ 6.47264037e-02 -9.01548058e-04 9.97902641e-01 1.71707077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4427550959999 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:538.73, Y:-16.39, Z:171.71 [[ 8.32766783e-01 5.51032679e-01 -5.35020799e-02 5.38725866e+02] [-5.49827272e-01 8.34483148e-01 3.64396384e-02 -1.63912790e+01] [ 6.47260156e-02 -9.28817819e-04 9.97902641e-01 1.71712029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.78, Y:-16.43, Z:171.72 [[ 8.31673130e-01 5.52682978e-01 -5.34914117e-02 5.38777277e+02] [-5.51479970e-01 8.33391177e-01 3.64552920e-02 -1.64271590e+01] [ 6.47274899e-02 -8.19444645e-04 9.97902641e-01 1.71718050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.83, Y:-16.46, Z:171.73 [[ 8.27737581e-01 5.58560957e-01 -5.34804087e-02 5.38827069e+02] [-5.57369108e-01 8.29463388e-01 3.64714264e-02 -1.64637587e+01] [ 6.47315559e-02 -3.80442600e-04 9.97902641e-01 1.71727095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.88, Y:-16.50, Z:171.73 [[ 8.28819756e-01 5.56954819e-01 -5.34709426e-02 5.38880699e+02] [-5.55758731e-01 8.30542627e-01 3.64852995e-02 -1.64952839e+01] [ 6.47305605e-02 -5.22793781e-04 9.97902641e-01 1.71728678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.93, Y:-16.53, Z:171.74 [[ 8.28475459e-01 5.57467814e-01 -5.34607269e-02 5.38931230e+02] [-5.56271827e-01 8.30198401e-01 3.65002621e-02 -1.65310397e+01] [ 6.47307313e-02 -5.00875218e-04 9.97902641e-01 1.71738550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.98, Y:-16.57, Z:171.74 [[ 8.27212706e-01 5.59340843e-01 -5.34505354e-02 5.38983636e+02] [-5.58147794e-01 8.28937683e-01 3.65151803e-02 -1.65650970e+01] [ 6.47315947e-02 -3.72522653e-04 9.97902642e-01 1.71740360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.03, Y:-16.60, Z:171.74 [[ 8.26941156e-01 5.59743197e-01 -5.34404270e-02 5.39031325e+02] [-5.58550030e-01 8.28666052e-01 3.65299681e-02 -1.66029835e+01] [ 6.47316688e-02 -3.58981963e-04 9.97902642e-01 1.71744174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.09, Y:-16.63, Z:171.75 [[ 8.31153223e-01 5.53470006e-01 -5.34347439e-02 5.39085696e+02] [-5.52263288e-01 8.32868666e-01 3.65382792e-02 -1.66324973e+01] [ 6.47269655e-02 -8.58861125e-04 9.97902642e-01 1.71750913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.13, Y:-16.67, Z:171.76 [[ 8.27629126e-01 5.58726999e-01 -5.34244401e-02 5.39131745e+02] [-5.57530206e-01 8.29351507e-01 3.65533387e-02 -1.66734877e+01] [ 6.47309772e-02 -4.66868677e-04 9.97902642e-01 1.71756121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.19, Y:-16.70, Z:171.76 [[ 8.32881477e-01 5.50867737e-01 -5.34151829e-02 5.39187790e+02] [-5.49653827e-01 8.34591838e-01 3.65668613e-02 -1.67014093e+01] [ 6.47233798e-02 -1.09600176e-03 9.97902642e-01 1.71760345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.042755096 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:539.24, Y:-16.74, Z:171.76 [[ 8.29448616e-01 5.56024203e-01 -5.34048630e-02 5.39235195e+02] [-5.54819957e-01 8.31165795e-01 3.65819269e-02 -1.67414540e+01] [ 6.47287322e-02 -7.12744867e-04 9.97902642e-01 1.71763866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1027550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:539.29, Y:-16.78, Z:171.77 [[ 8.27625625e-01 5.58735106e-01 -5.33938807e-02 5.39286727e+02] [-5.57535451e-01 8.29346014e-01 3.65979495e-02 -1.67760486e+01] [ 6.47305613e-02 -5.20419468e-04 9.97902642e-01 1.71768145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.34, Y:-16.81, Z:171.77 [[ 8.26455350e-01 5.60465784e-01 -5.33822046e-02 5.39339717e+02] [-5.59268633e-01 8.28177481e-01 3.66149725e-02 -1.68104937e+01] [ 6.47313790e-02 -4.05647319e-04 9.97902643e-01 1.71773414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2227550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:539.39, Y:-16.84, Z:171.78 [[ 8.29244024e-01 5.56332632e-01 -5.33699484e-02 5.39394324e+02] [-5.55125748e-01 8.30959349e-01 3.66328285e-02 -1.68392039e+01] [ 6.47282954e-02 -7.50521540e-04 9.97902643e-01 1.71779201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.44, Y:-16.88, Z:171.78 [[ 8.25616792e-01 5.61702557e-01 -5.33586875e-02 5.39444139e+02] [-5.60505771e-01 8.27339178e-01 3.66492235e-02 -1.68776875e+01] [ 6.47316952e-02 -3.50362038e-04 9.97902643e-01 1.71782093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3427550959999 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:539.50, Y:-16.91, Z:171.78 [[ 8.24731740e-01 5.63002427e-01 -5.33462760e-02 5.39496368e+02] [-5.61807188e-01 8.26455198e-01 3.66672808e-02 -1.69117629e+01] [ 6.47320751e-02 -2.70348976e-04 9.97902643e-01 1.71783770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.402755096 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:539.55, Y:-16.95, Z:171.79 [[ 8.21677942e-01 5.67451110e-01 -5.33347740e-02 5.39545131e+02] [-5.66264117e-01 8.23407089e-01 3.66840034e-02 -1.69478287e+01] [ 6.47326095e-02 5.91323079e-05 9.97902643e-01 1.71786945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4627550959999 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:539.60, Y:-16.98, Z:171.79 [[ 8.23828478e-01 5.64325286e-01 -5.33255250e-02 5.39600637e+02] [-5.63130861e-01 8.25552500e-01 3.66974434e-02 -1.69774077e+01] [ 6.47323157e-02 -2.03150110e-04 9.97902644e-01 1.71792651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.522755096 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:539.65, Y:-17.02, Z:171.80 [[ 8.22098826e-01 5.66843111e-01 -5.33142379e-02 5.39648458e+02] [-5.65652904e-01 8.23825763e-01 3.67138340e-02 -1.70174013e+01] [ 6.47326266e-02 -2.50463695e-05 9.97902644e-01 1.71796454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5827550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:539.70, Y:-17.05, Z:171.80 [[ 8.22740069e-01 5.65912904e-01 -5.33044436e-02 5.39699583e+02] [-5.64719823e-01 8.24465021e-01 3.67280488e-02 -1.70516045e+01] [ 6.47325260e-02 -1.15561404e-04 9.97902644e-01 1.71803083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.642755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.75, Y:-17.08, Z:171.80 [[ 8.26132132e-01 5.60950431e-01 -5.32945906e-02 5.39752936e+02] [-5.59746067e-01 8.27849226e-01 3.67423405e-02 -1.70838841e+01] [ 6.47305173e-02 -5.22590562e-04 9.97902644e-01 1.71804038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.81, Y:-17.12, Z:171.81 [[ 8.28695375e-01 5.57157754e-01 -5.32842616e-02 5.39806385e+02] [-5.55944570e-01 8.30406247e-01 3.67573137e-02 -1.71173688e+01] [ 6.47272060e-02 -8.37520021e-04 9.97902644e-01 1.71807310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.86, Y:-17.15, Z:171.81 [[ 8.30684972e-01 5.54188145e-01 -5.32726782e-02 5.39858270e+02] [-5.52967769e-01 8.32390721e-01 3.67740939e-02 -1.71512149e+01] [ 6.47234499e-02 -1.08961311e-03 9.97902644e-01 1.71810223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.91, Y:-17.19, Z:171.81 [[ 8.30939353e-01 5.53807644e-01 -5.32624104e-02 5.39910154e+02] [-5.52585534e-01 8.32643861e-01 3.67889595e-02 -1.71859225e+01] [ 6.47226260e-02 -1.13735669e-03 9.97902645e-01 1.71814997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.882755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:539.96, Y:-17.22, Z:171.82 [[ 8.30412582e-01 5.54598331e-01 -5.32506859e-02 5.39963428e+02] [-5.53376757e-01 8.32117473e-01 3.68059224e-02 -1.72197558e+01] [ 6.47233294e-02 -1.09640915e-03 9.97902645e-01 1.71818210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:540.02, Y:-17.26, Z:171.82 [[ 8.29079055e-01 5.56590980e-01 -5.32391079e-02 5.40015413e+02] [-5.55372429e-01 8.30786108e-01 3.68226623e-02 -1.72550843e+01] [ 6.47254729e-02 -9.61365377e-04 9.97902645e-01 1.71823861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.07, Y:-17.29, Z:171.83 [[ 8.27847465e-01 5.58422250e-01 -5.32274898e-02 5.40068001e+02] [-5.57206396e-01 8.29556440e-01 3.68394488e-02 -1.72878648e+01] [ 6.47271748e-02 -8.38746511e-04 9.97902645e-01 1.71828197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.12, Y:-17.32, Z:171.83 [[ 8.27408345e-01 5.59073671e-01 -5.32171116e-02 5.40120959e+02] [-5.57858199e-01 8.29117592e-01 3.68544346e-02 -1.73220124e+01] [ 6.47275875e-02 -8.06064723e-04 9.97902645e-01 1.71832948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.17, Y:-17.36, Z:171.84 [[ 8.27634435e-01 5.58740149e-01 -5.32042065e-02 5.40171171e+02] [-5.57522791e-01 8.29342339e-01 3.68730555e-02 -1.73561826e+01] [ 6.47269576e-02 -8.54852740e-04 9.97902646e-01 1.71841546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.22, Y:-17.39, Z:171.84 [[ 8.28336963e-01 5.57699095e-01 -5.31939329e-02 5.40221306e+02] [-5.56478640e-01 8.30042655e-01 3.68878705e-02 -1.73921744e+01] [ 6.47255653e-02 -9.54299249e-04 9.97902646e-01 1.71842722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.27, Y:-17.43, Z:171.85 [[ 8.30354752e-01 5.54691311e-01 -5.31839719e-02 5.40272713e+02] [-5.53463759e-01 8.32055343e-01 3.69022264e-02 -1.74270171e+01] [ 6.47213523e-02 -1.20653806e-03 9.97902646e-01 1.71846978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3027550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:540.32, Y:-17.46, Z:171.85 [[ 8.31973807e-01 5.52260679e-01 -5.31763675e-02 5.40323509e+02] [-5.51027459e-01 8.33670293e-01 3.69131811e-02 -1.74616928e+01] [ 6.47172563e-02 -1.40916117e-03 9.97902646e-01 1.71848776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.37, Y:-17.50, Z:171.85 [[ 8.32391185e-01 5.51632319e-01 -5.31667206e-02 5.40374236e+02] [-5.50396932e-01 8.34086092e-01 3.69270706e-02 -1.74966944e+01] [ 6.47157878e-02 -1.47496819e-03 9.97902646e-01 1.71853251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.43, Y:-17.53, Z:171.86 [[ 8.31404925e-01 5.53118709e-01 -5.31558479e-02 5.40426119e+02] [-5.51885352e-01 8.33101311e-01 3.69427150e-02 -1.75323968e+01] [ 6.47179134e-02 -1.37842135e-03 9.97902646e-01 1.71859132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.48, Y:-17.56, Z:171.87 [[ 8.32402915e-01 5.51616853e-01 -5.31435250e-02 5.40476381e+02] [-5.50379306e-01 8.34096245e-01 3.69604336e-02 -1.75647227e+01] [ 6.47148127e-02 -1.51687625e-03 9.97902647e-01 1.71866359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.542755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:540.53, Y:-17.60, Z:171.87 [[ 8.31184350e-01 5.53451374e-01 -5.31427688e-02 5.40526850e+02] [-5.52217494e-01 8.32880355e-01 3.69615207e-02 -1.76013293e+01] [ 6.47179726e-02 -1.37547095e-03 9.97902647e-01 1.71868840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.58, Y:-17.64, Z:171.87 [[ 8.30129357e-01 5.55032813e-01 -5.31396961e-02 5.40575189e+02] [-5.53801882e-01 8.31827503e-01 3.69659378e-02 -1.76384935e+01] [ 6.47203692e-02 -1.25764641e-03 9.97902647e-01 1.71873663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.63, Y:-17.67, Z:171.88 [[ 8.28849433e-01 5.56943297e-01 -5.31298472e-02 5.40626165e+02] [-5.55715374e-01 8.30549755e-01 3.69800879e-02 -1.76731758e+01] [ 6.47227937e-02 -1.12585194e-03 9.97902647e-01 1.71882649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7227550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:540.68, Y:-17.71, Z:171.88 [[ 8.29118360e-01 5.56543922e-01 -5.31188026e-02 5.40678669e+02] [-5.55314164e-01 8.30817356e-01 3.69959458e-02 -1.77057437e+01] [ 6.47218919e-02 -1.17639447e-03 9.97902647e-01 1.71881233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.782755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:540.73, Y:-17.74, Z:171.89 [[ 8.24554908e-01 5.63283972e-01 -5.31071605e-02 5.40730847e+02] [-5.62067029e-01 8.26263105e-01 3.70126503e-02 -1.77413425e+01] [ 6.47291201e-02 -6.69178565e-04 9.97902647e-01 1.71886800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.78, Y:-17.78, Z:171.89 [[ 8.20979704e-01 5.68483345e-01 -5.30943746e-02 5.40781804e+02] [-5.67276034e-01 8.22694723e-01 3.70309826e-02 -1.77779912e+01] [ 6.47319586e-02 -2.82518808e-04 9.97902647e-01 1.71891819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.83, Y:-17.81, Z:171.90 [[ 8.20272910e-01 5.69503888e-01 -5.30817729e-02 5.40832819e+02] [-5.68297543e-01 8.21988608e-01 3.70490377e-02 -1.78148393e+01] [ 6.47321836e-02 -2.24080874e-04 9.97902648e-01 1.71895697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9627550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:540.88, Y:-17.85, Z:171.90 [[ 8.18043246e-01 5.72703173e-01 -5.30690505e-02 5.40880662e+02] [-5.71502356e-01 8.19762817e-01 3.70672523e-02 -1.78531049e+01] [ 6.47325673e-02 6.47202987e-06 9.97902648e-01 1.71903136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.022755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:540.93, Y:-17.89, Z:171.91 [[ 8.20214045e-01 5.69590942e-01 -5.30573232e-02 5.40929714e+02] [-5.68382515e-01 8.21928276e-01 3.70840309e-02 -1.78890659e+01] [ 6.47320423e-02 -2.59988231e-04 9.97902648e-01 1.71911327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.98, Y:-17.93, Z:171.91 [[ 8.20096474e-01 5.69761085e-01 -5.30478874e-02 5.40977249e+02] [-5.68552141e-01 8.21810341e-01 3.70975237e-02 -1.79298246e+01] [ 6.47320278e-02 -2.63058399e-04 9.97902648e-01 1.71911537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.142755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:541.03, Y:-17.97, Z:171.92 [[ 8.21257531e-01 5.68087264e-01 -5.30370544e-02 5.41025594e+02] [-5.66873827e-01 8.22968219e-01 3.71130049e-02 -1.79669811e+01] [ 6.47312356e-02 -4.14016765e-04 9.97902648e-01 1.71918398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.07, Y:-18.01, Z:171.92 [[ 8.20592070e-01 5.69048658e-01 -5.30309240e-02 5.41072491e+02] [-5.67836659e-01 8.22303778e-01 3.71217626e-02 -1.80076315e+01] [ 6.47316183e-02 -3.48921299e-04 9.97902649e-01 1.71918852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.262755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:541.12, Y:-18.05, Z:171.92 [[ 8.21145653e-01 5.68250548e-01 -5.30200954e-02 5.41120356e+02] [-5.67035887e-01 8.22855473e-01 3.71372224e-02 -1.80489652e+01] [ 6.47311226e-02 -4.30771902e-04 9.97902649e-01 1.71923252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3227550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:541.17, Y:-18.09, Z:171.93 [[ 8.22787955e-01 5.65871184e-01 -5.30074050e-02 5.41167878e+02] [-5.64650412e-01 8.24493416e-01 3.71553270e-02 -1.80887605e+01] [ 6.47293853e-02 -6.40302392e-04 9.97902649e-01 1.71927853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.382755096 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:541.22, Y:-18.13, Z:171.93 [[ 8.23156216e-01 5.65336446e-01 -5.29957217e-02 5.41216079e+02] [-5.64113494e-01 8.24860115e-01 3.71719838e-02 -1.81297331e+01] [ 6.47287343e-02 -7.02747736e-04 9.97902649e-01 1.71934574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4427550959999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:541.27, Y:-18.17, Z:171.94 [[ 8.22883110e-01 5.65735021e-01 -5.29837146e-02 5.41266013e+02] [-5.64511793e-01 8.24586810e-01 3.71890906e-02 -1.81670366e+01] [ 6.47288431e-02 -6.92342779e-04 9.97902649e-01 1.71937196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.502755096 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:541.31, Y:-18.21, Z:171.94 [[ 8.23419730e-01 5.64954384e-01 -5.29763407e-02 5.41313970e+02] [-5.63728865e-01 8.25121783e-01 3.71995918e-02 -1.82075604e+01] [ 6.47280051e-02 -7.66585369e-04 9.97902649e-01 1.71942592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5627550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:541.36, Y:-18.25, Z:171.95 [[ 8.21528225e-01 5.67702527e-01 -5.29642875e-02 5.41360894e+02] [-5.66481597e-01 8.23233572e-01 3.72167451e-02 -1.82491353e+01] [ 6.47300198e-02 -5.71312402e-04 9.97902650e-01 1.71947827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.41, Y:-18.29, Z:171.95 [[ 8.19372542e-01 5.70810554e-01 -5.29523260e-02 5.41408613e+02] [-5.69594993e-01 8.21081720e-01 3.72337563e-02 -1.82896639e+01] [ 6.47316080e-02 -3.46937734e-04 9.97902650e-01 1.71954044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6827550959999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:541.46, Y:-18.33, Z:171.95 [[ 8.16666787e-01 5.74675394e-01 -5.29485722e-02 5.41458573e+02] [-5.73467576e-01 8.18381445e-01 3.72390936e-02 -1.83273496e+01] [ 6.47325198e-02 -4.76416307e-05 9.97902650e-01 1.71951135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.742755096 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:541.51, Y:-18.37, Z:171.96 [[ 8.13452582e-01 5.79217112e-01 -5.29380249e-02 5.41507345e+02] [-5.78017891e-01 8.15173264e-01 3.72540813e-02 -1.83659089e+01] [ 6.47318640e-02 2.94696924e-04 9.97902650e-01 1.71958147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8027550959999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:541.56, Y:-18.40, Z:171.97 [[ 8.13017448e-01 5.79828877e-01 -5.29254547e-02 5.41556423e+02] [-5.78629789e-01 8.14738222e-01 3.72719308e-02 -1.84024766e+01] [ 6.47317326e-02 3.21514613e-04 9.97902650e-01 1.71966031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8627550959999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:541.61, Y:-18.44, Z:171.97 [[ 8.13798067e-01 5.78733742e-01 -5.29146708e-02 5.41607581e+02] [-5.77531343e-01 8.15516529e-01 3.72872344e-02 -1.84391520e+01] [ 6.47321694e-02 2.15601667e-04 9.97902650e-01 1.71970532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.922755096 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:541.66, Y:-18.47, Z:171.97 [[ 8.14370717e-01 5.77928726e-01 -5.29029558e-02 5.41658696e+02] [-5.76723550e-01 8.16087232e-01 3.73038482e-02 -1.84746036e+01] [ 6.47323922e-02 1.31218866e-04 9.97902651e-01 1.71974513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9827550959999 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:541.71, Y:-18.51, Z:171.98 [[ 8.14203084e-01 5.78165865e-01 -5.28920700e-02 5.41710518e+02] [-5.76960186e-01 8.15919246e-01 3.73192765e-02 -1.85106597e+01] [ 6.47323896e-02 1.31148596e-04 9.97902651e-01 1.71977891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.76, Y:-18.54, Z:171.98 [[ 8.15698049e-01 5.76055849e-01 -5.28805411e-02 5.41763863e+02] [-5.74844672e-01 8.17410335e-01 3.73356055e-02 -1.85432672e+01] [ 6.47324948e-02 -5.64832822e-05 9.97902651e-01 1.71980165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1027550959999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:541.82, Y:-18.58, Z:171.98 [[ 8.15397152e-01 5.76482639e-01 -5.28701430e-02 5.41815800e+02] [-5.75271404e-01 8.17109396e-01 3.73503243e-02 -1.85777166e+01] [ 6.47325041e-02 -4.06667145e-05 9.97902651e-01 1.71984372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.162755096 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:542.24, Y:-17.91, Z:173.01 [[ 8.53750765e-01 5.17991104e-01 -5.28663269e-02 5.42243533e+02] [-5.16662651e-01 8.55373751e-01 3.73557249e-02 -1.79100221e+01] [ 6.45704015e-02 -4.57842213e-03 9.97902651e-01 1.73013477e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 718.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.30, Y:-17.94, Z:173.02 [[ 8.54120260e-01 5.17157106e-01 -5.50191756e-02 5.42296576e+02] [-5.16047824e-01 8.55890326e-01 3.38584348e-02 -1.79414626e+01] [ 6.46005103e-02 -5.26649328e-04 9.97911067e-01 1.73023267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.35, Y:-17.97, Z:173.02 [[ 8.57470581e-01 5.11584110e-01 -5.50081981e-02 5.42349744e+02] [-5.10462181e-01 8.59232658e-01 3.38762601e-02 -1.79736036e+01] [ 6.45953967e-02 -9.68291584e-04 9.97911067e-01 1.73024668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.40, Y:-18.01, Z:173.03 [[ 8.55513019e-01 5.14851376e-01 -5.50048667e-02 5.42399763e+02] [-5.13735830e-01 8.57279144e-01 3.38816685e-02 -1.80100381e+01] [ 6.45985487e-02 -7.28237648e-04 9.97911067e-01 1.73032918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.45, Y:-18.04, Z:173.03 [[ 8.58574720e-01 5.09730277e-01 -5.49954061e-02 5.42454611e+02] [-5.08603214e-01 8.60333519e-01 3.38970176e-02 -1.80388703e+01] [ 6.45927274e-02 -1.13228216e-03 9.97911067e-01 1.73033676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4627550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:542.51, Y:-18.07, Z:173.04 [[ 8.57538012e-01 5.11473475e-01 -5.49858379e-02 5.42508394e+02] [-5.10348994e-01 8.59298461e-01 3.39125315e-02 -1.80721281e+01] [ 6.45946062e-02 -1.01931783e-03 9.97911067e-01 1.73037650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.56, Y:-18.11, Z:173.04 [[ 8.55638196e-01 5.14646509e-01 -5.49749711e-02 5.42560322e+02] [-5.13527425e-01 8.57402081e-01 3.39301384e-02 -1.81075163e+01] [ 6.45976819e-02 -8.00767088e-04 9.97911067e-01 1.73037610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5827550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:542.61, Y:-18.14, Z:173.04 [[ 8.54960931e-01 5.15772051e-01 -5.49636049e-02 5.42613630e+02] [-5.14654106e-01 8.56725538e-01 3.39485407e-02 -1.81393146e+01] [ 6.45984324e-02 -7.37430992e-04 9.97911068e-01 1.73044820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.642755096 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:542.67, Y:-18.17, Z:173.05 [[ 8.53180402e-01 5.18713250e-01 -5.49523935e-02 5.42665013e+02] [-5.17600220e-01 8.54948114e-01 3.39666787e-02 -1.81749981e+01] [ 6.46004115e-02 -5.36333626e-04 9.97911068e-01 1.73048196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.72, Y:-18.21, Z:173.05 [[ 8.52269029e-01 5.20210521e-01 -5.49410184e-02 5.42718681e+02] [-5.19099412e-01 8.54037948e-01 3.39850680e-02 -1.82069111e+01] [ 6.46011046e-02 -4.44570603e-04 9.97911068e-01 1.73054766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.77, Y:-18.24, Z:173.06 [[ 8.51676087e-01 5.21181923e-01 -5.49294713e-02 5.42772935e+02] [-5.20071628e-01 8.53445516e-01 3.40037212e-02 -1.82381763e+01] [ 6.46014358e-02 -3.92896662e-04 9.97911068e-01 1.73057254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.83, Y:-18.27, Z:173.06 [[ 8.49916822e-01 5.24047140e-01 -5.49180373e-02 5.42826717e+02] [-5.22941618e-01 8.51689237e-01 3.40221779e-02 -1.82691993e+01] [ 6.46023263e-02 -1.97094026e-04 9.97911069e-01 1.73063465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.882755096 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:542.88, Y:-18.30, Z:173.07 [[ 8.48654627e-01 5.26089813e-01 -5.49074962e-02 5.42879993e+02] [-5.24987457e-01 8.50429012e-01 3.40391814e-02 -1.83018997e+01] [ 6.46025943e-02 -6.17620360e-05 9.97911069e-01 1.73066080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.93, Y:-18.33, Z:173.07 [[ 8.47187531e-01 5.28450245e-01 -5.48965080e-02 5.42933957e+02] [-5.27351684e-01 8.48964268e-01 3.40568934e-02 -1.83335112e+01] [ 6.46025474e-02 9.71905343e-05 9.97911069e-01 1.73068197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.99, Y:-18.37, Z:173.07 [[ 8.46166711e-01 5.30084408e-01 -5.48854940e-02 5.42986453e+02] [-5.28988127e-01 8.47944857e-01 3.40746341e-02 -1.83676570e+01] [ 6.46023046e-02 2.00953656e-04 9.97911069e-01 1.73069438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.04, Y:-18.40, Z:173.08 [[ 8.45128074e-01 5.31739952e-01 -5.48740545e-02 5.43037656e+02] [-5.30645959e-01 8.46907628e-01 3.40930464e-02 -1.84014226e+01] [ 6.46018902e-02 3.05704612e-04 9.97911069e-01 1.73075376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.09, Y:-18.43, Z:173.08 [[ 8.45950784e-01 5.30431208e-01 -5.48635080e-02 5.43091323e+02] [-5.29333362e-01 8.47727963e-01 3.41100097e-02 -1.84339206e+01] [ 6.46023435e-02 1.85695763e-04 9.97911070e-01 1.73079579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.15, Y:-18.47, Z:173.08 [[ 8.49698359e-01 5.24408135e-01 -5.48525841e-02 5.43146140e+02] [-5.23296558e-01 8.51466982e-01 3.41275676e-02 -1.84651168e+01] [ 6.46019383e-02 -2.93969688e-04 9.97911070e-01 1.73078580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.242755096 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:543.20, Y:-18.50, Z:173.08 [[ 8.52906970e-01 5.19174432e-01 -5.48416742e-02 5.43199370e+02] [-5.18050876e-01 8.54668007e-01 3.41450903e-02 -1.84960583e+01] [ 6.45986823e-02 -7.11808184e-04 9.97911070e-01 1.73080258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.25, Y:-18.53, Z:173.08 [[ 8.53595642e-01 5.18042443e-01 -5.48316274e-02 5.43252320e+02] [-5.16915516e-01 8.55354523e-01 3.41612163e-02 -1.85291848e+01] [ 6.45974405e-02 -8.16546353e-04 9.97911070e-01 1.73083871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.31, Y:-18.56, Z:173.08 [[ 8.57091999e-01 5.12238199e-01 -5.48209101e-02 5.43305790e+02] [-5.11098264e-01 8.58842478e-01 3.41784066e-02 -1.85604373e+01] [ 6.45900117e-02 -1.27516685e-03 9.97911070e-01 1.73084844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.36, Y:-18.59, Z:173.09 [[ 8.61473317e-01 5.04836088e-01 -5.48110239e-02 5.43358923e+02] [-5.03680109e-01 8.63213242e-01 3.41942535e-02 -1.85916038e+01] [ 6.45760948e-02 -1.85021450e-03 9.97911071e-01 1.73090482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.41, Y:-18.62, Z:173.09 [[ 8.63002208e-01 5.02219171e-01 -5.48004851e-02 5.43413777e+02] [-5.01056846e-01 8.64737900e-01 3.42111348e-02 -1.86188229e+01] [ 6.45695442e-02 -2.06612658e-03 9.97911071e-01 1.73093580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.46, Y:-18.65, Z:173.11 [[ 8.62006469e-01 5.03927377e-01 -5.47909240e-02 5.43462019e+02] [-5.02767520e-01 8.63743811e-01 3.42264406e-02 -1.86541465e+01] [ 6.45729620e-02 -1.95631625e-03 9.97911071e-01 1.73109825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.52, Y:-18.68, Z:173.11 [[ 8.62793079e-01 5.02580258e-01 -5.47830924e-02 5.43516433e+02] [-5.01416894e-01 8.64528075e-01 3.42389713e-02 -1.86847174e+01] [ 6.45693524e-02 -2.07197946e-03 9.97911071e-01 1.73114645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.57, Y:-18.71, Z:173.12 [[ 8.62440630e-01 5.03185851e-01 -5.47737174e-02 5.43573124e+02] [-5.02022754e-01 8.64175804e-01 3.42539624e-02 -1.87130444e+01] [ 6.45702305e-02 -2.04435644e-03 9.97911071e-01 1.73115778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.63, Y:-18.74, Z:173.12 [[ 8.61898211e-01 5.04115582e-01 -5.47627031e-02 5.43627502e+02] [-5.02953240e-01 8.63633891e-01 3.42715622e-02 -1.87437046e+01] [ 6.45717549e-02 -1.99551920e-03 9.97911071e-01 1.73119162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.68, Y:-18.77, Z:173.12 [[ 8.60942826e-01 5.05746662e-01 -5.47518375e-02 5.43681252e+02] [-5.04586507e-01 8.62679968e-01 3.42889123e-02 -1.87744856e+01] [ 6.45748164e-02 -1.89375466e-03 9.97911072e-01 1.73123039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.73, Y:-18.80, Z:173.13 [[ 8.60021454e-01 5.07312884e-01 -5.47424628e-02 5.43734526e+02] [-5.06154941e-01 8.61760071e-01 3.43038725e-02 -1.88047708e+01] [ 6.45776651e-02 -1.79389831e-03 9.97911072e-01 1.73126362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.79, Y:-18.83, Z:173.13 [[ 8.59167785e-01 5.08758211e-01 -5.47339022e-02 5.43788384e+02] [-5.07602324e-01 8.60907770e-01 3.43175261e-02 -1.88348737e+01] [ 6.45801648e-02 -1.70145691e-03 9.97911072e-01 1.73130255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9627550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:543.84, Y:-18.87, Z:173.13 [[ 8.58697101e-01 5.09553218e-01 -5.47248303e-02 5.43841343e+02] [-5.08398021e-01 8.60437544e-01 3.43319866e-02 -1.88673894e+01] [ 6.45812728e-02 -1.65878185e-03 9.97911072e-01 1.73134596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.89, Y:-18.90, Z:173.14 [[ 8.56974097e-01 5.12446719e-01 -5.47152382e-02 5.43891013e+02] [-5.11296425e-01 8.58717783e-01 3.43472669e-02 -1.89041231e+01] [ 6.45860923e-02 -1.45901231e-03 9.97911072e-01 1.73138587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.95, Y:-18.93, Z:173.15 [[ 8.58964712e-01 5.09104017e-01 -5.47057936e-02 5.43945051e+02] [-5.07945981e-01 8.60703266e-01 3.43623029e-02 -1.89316104e+01] [ 6.45794417e-02 -1.72841760e-03 9.97911072e-01 1.73146070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.00, Y:-18.97, Z:173.15 [[ 8.59984953e-01 5.07379291e-01 -5.47004173e-02 5.43997133e+02] [-5.06217225e-01 8.61720817e-01 3.43708592e-02 -1.89650813e+01] [ 6.45755504e-02 -1.86812831e-03 9.97911072e-01 1.73145193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.05, Y:-19.00, Z:173.15 [[ 8.61439447e-01 5.04906915e-01 -5.46908226e-02 5.44048603e+02] [-5.03738900e-01 8.63171313e-01 3.43861195e-02 -1.89985208e+01] [ 6.45693387e-02 -2.07166493e-03 9.97911073e-01 1.73148537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.10, Y:-19.04, Z:173.15 [[ 8.60147958e-01 5.07105029e-01 -5.46807022e-02 5.44097084e+02] [-5.05940419e-01 8.61882115e-01 3.44022055e-02 -1.90372968e+01] [ 6.45738507e-02 -1.92580945e-03 9.97911073e-01 1.73153264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.15, Y:-19.07, Z:173.15 [[ 8.62504686e-01 5.03087202e-01 -5.46711364e-02 5.44149160e+02] [-5.01913554e-01 8.64232739e-01 3.44174005e-02 -1.90696410e+01] [ 6.45635397e-02 -2.24498488e-03 9.97911073e-01 1.73154789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.20, Y:-19.10, Z:173.15 [[ 8.61317904e-01 5.05116946e-01 -5.46657098e-02 5.44201916e+02] [-5.03946824e-01 8.63048346e-01 3.44260175e-02 -1.91022963e+01] [ 6.45683153e-02 -2.10313431e-03 9.97911073e-01 1.73154148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.26, Y:-19.13, Z:173.16 [[ 8.60228170e-01 5.06971586e-01 -5.46562625e-02 5.44256089e+02] [-5.05804244e-01 8.61960488e-01 3.44410099e-02 -1.91333323e+01] [ 6.45721522e-02 -1.98175729e-03 9.97911073e-01 1.73157870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.502755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:544.31, Y:-19.17, Z:173.16 [[ 8.59699797e-01 5.07868066e-01 -5.46469228e-02 5.44308375e+02] [-5.06701590e-01 8.61432699e-01 3.44558227e-02 -1.91663868e+01] [ 6.45736582e-02 -1.93198106e-03 9.97911073e-01 1.73162887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.36, Y:-19.20, Z:173.16 [[ 8.60452770e-01 5.06592367e-01 -5.46370236e-02 5.44361618e+02] [-5.05422327e-01 8.62183267e-01 3.44715129e-02 -1.91971347e+01] [ 6.45701328e-02 -2.04633719e-03 9.97911073e-01 1.73164289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.41, Y:-19.23, Z:173.17 [[ 8.58455407e-01 5.09970305e-01 -5.46315223e-02 5.44414534e+02] [-5.08806521e-01 8.60190117e-01 3.44802292e-02 -1.92294700e+01] [ 6.45773886e-02 -1.80286438e-03 9.97911073e-01 1.73172166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.47, Y:-19.26, Z:173.18 [[ 8.57511603e-01 5.11556752e-01 -5.46217911e-02 5.44466306e+02] [-5.10395197e-01 8.59247807e-01 3.44956381e-02 -1.92622271e+01] [ 6.45801308e-02 -1.70171003e-03 9.97911074e-01 1.73176851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.52, Y:-19.29, Z:173.18 [[ 8.57141978e-01 5.12176786e-01 -5.46129118e-02 5.44519243e+02] [-5.11015593e-01 8.58878423e-01 3.45096900e-02 -1.92945827e+01] [ 6.45809136e-02 -1.67165441e-03 9.97911074e-01 1.73179003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.57, Y:-19.33, Z:173.18 [[ 8.57337950e-01 5.11849695e-01 -5.46033894e-02 5.44573518e+02] [-5.10686880e-01 8.59073310e-01 3.45247504e-02 -1.93262713e+01] [ 6.45797974e-02 -1.71414413e-03 9.97911074e-01 1.73181094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8627550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:544.63, Y:-19.36, Z:173.18 [[ 8.57796977e-01 5.11081275e-01 -5.45919057e-02 5.44627362e+02] [-5.09915752e-01 8.59530519e-01 3.45428993e-02 -1.93567488e+01] [ 6.45776381e-02 -1.79352196e-03 9.97911074e-01 1.73183141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.68, Y:-19.39, Z:173.19 [[ 8.59781091e-01 5.07737485e-01 -5.45813394e-02 5.44682115e+02] [-5.06564163e-01 8.61509364e-01 3.45595871e-02 -1.93870320e+01] [ 6.45695328e-02 -2.06472901e-03 9.97911074e-01 1.73186003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.74, Y:-19.42, Z:173.19 [[ 8.60029093e-01 5.07318393e-01 -5.45711226e-02 5.44736293e+02] [-5.06143208e-01 8.61756098e-01 3.45757124e-02 -1.94163542e+01] [ 6.45678926e-02 -2.11531550e-03 9.97911075e-01 1.73188913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.042755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:544.79, Y:-19.45, Z:173.19 [[ 8.60471391e-01 5.06568420e-01 -5.45657455e-02 5.44791443e+02] [-5.05391192e-01 8.62197005e-01 3.45841962e-02 -1.94474325e+01] [ 6.45656840e-02 -2.18166426e-03 9.97911075e-01 1.73192434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.85, Y:-19.48, Z:173.20 [[ 8.61470504e-01 5.04868715e-01 -5.45541080e-02 5.44845970e+02] [-5.03686923e-01 8.63192995e-01 3.46025438e-02 -1.94767802e+01] [ 6.45604657e-02 -2.33088004e-03 9.97911075e-01 1.73196220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.90, Y:-19.50, Z:173.20 [[ 8.62809261e-01 5.02578549e-01 -5.45433872e-02 5.44900557e+02] [-5.01391120e-01 8.64527871e-01 3.46194346e-02 -1.95048853e+01] [ 6.45532636e-02 -2.52239882e-03 9.97911075e-01 1.73204565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.96, Y:-19.54, Z:173.21 [[ 8.62063920e-01 5.03856959e-01 -5.45340611e-02 5.44955150e+02] [-5.02671151e-01 8.63783649e-01 3.46341193e-02 -1.95350623e+01] [ 6.45562723e-02 -2.44412541e-03 9.97911075e-01 1.73208406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.01, Y:-19.56, Z:173.21 [[ 8.61203169e-01 5.05327784e-01 -5.45246038e-02 5.45011859e+02] [-5.04143973e-01 8.62924273e-01 3.46490016e-02 -1.95638631e+01] [ 6.45597073e-02 -2.35157954e-03 9.97911075e-01 1.73211631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.07, Y:-19.60, Z:173.22 [[ 8.60509257e-01 5.06509669e-01 -5.45139748e-02 5.45066788e+02] [-5.05327166e-01 8.62231259e-01 3.46657164e-02 -1.95952037e+01] [ 6.45621736e-02 -2.28277752e-03 9.97911076e-01 1.73215244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.402755096 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:545.12, Y:-19.62, Z:173.22 [[ 8.59720420e-01 5.07848603e-01 -5.45031756e-02 5.45121937e+02] [-5.06667707e-01 8.61443524e-01 3.46826871e-02 -1.96240890e+01] [ 6.45649619e-02 -2.20241525e-03 9.97911076e-01 1.73219086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.18, Y:-19.66, Z:173.22 [[ 8.57660528e-01 5.11320748e-01 -5.44932169e-02 5.45176234e+02] [-5.10145837e-01 8.59387719e-01 3.46983272e-02 -1.96559076e+01] [ 6.45727759e-02 -1.95989790e-03 9.97911076e-01 1.73221329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.23, Y:-19.68, Z:173.23 [[ 8.57884014e-01 5.10946914e-01 -5.44818331e-02 5.45231999e+02] [-5.09770117e-01 8.59609920e-01 3.47161924e-02 -1.96808106e+01] [ 6.45712555e-02 -2.00925607e-03 9.97911076e-01 1.73228216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.28, Y:-19.71, Z:173.23 [[ 8.54495912e-01 5.16594093e-01 -5.44727321e-02 5.45283641e+02] [-5.15427796e-01 8.56228931e-01 3.47304667e-02 -1.97106458e+01] [ 6.45826831e-02 -1.60028155e-03 9.97911076e-01 1.73229161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.642755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:545.34, Y:-19.74, Z:173.23 [[ 8.52144964e-01 5.20462809e-01 -5.44740789e-02 5.45338926e+02] [-5.19304515e-01 8.53883342e-01 3.47283542e-02 -1.97413131e+01] [ 6.45893253e-02 -1.30495703e-03 9.97911076e-01 1.73232962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.39, Y:-19.77, Z:173.23 [[ 8.52369218e-01 5.20096699e-01 -5.44622845e-02 5.45394878e+02] [-5.18936478e-01 8.54106310e-01 3.47468407e-02 -1.97696182e+01] [ 6.45882980e-02 -1.35467136e-03 9.97911077e-01 1.73234342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.45, Y:-19.80, Z:173.24 [[ 8.53302791e-01 5.18564749e-01 -5.44513407e-02 5.45449688e+02] [-5.17400317e-01 8.55037062e-01 3.47639823e-02 -1.98005316e+01] [ 6.45852901e-02 -1.49106218e-03 9.97911077e-01 1.73237478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8227550959999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:545.50, Y:-19.83, Z:173.24 [[ 8.56356596e-01 5.13507247e-01 -5.44397659e-02 5.45503872e+02] [-5.12331424e-01 8.58083165e-01 3.47820988e-02 -1.98270131e+01] [ 6.45747064e-02 -1.89467694e-03 9.97911077e-01 1.73239190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.56, Y:-19.86, Z:173.24 [[ 8.56852917e-01 5.12678719e-01 -5.44390520e-02 5.45557663e+02] [-5.11501156e-01 8.58578299e-01 3.47832160e-02 -1.98586978e+01] [ 6.45728033e-02 -1.95846204e-03 9.97911077e-01 1.73239230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.61, Y:-19.89, Z:173.24 [[ 8.57509378e-01 5.11581037e-01 -5.44289321e-02 5.45608815e+02] [-5.10400262e-01 8.59232564e-01 3.47990445e-02 -1.98882703e+01] [ 6.45696422e-02 -2.05996582e-03 9.97911077e-01 1.73243813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.66, Y:-19.92, Z:173.25 [[ 8.55316670e-01 5.15238519e-01 -5.44303531e-02 5.45656870e+02] [-5.14065255e-01 8.57044978e-01 3.47968218e-02 -1.99209817e+01] [ 6.45779237e-02 -1.78154840e-03 9.97911077e-01 1.73247861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.71, Y:-19.95, Z:173.26 [[ 8.52242869e-01 5.20306663e-01 -5.44340809e-02 5.45705341e+02] [-5.19144051e-01 8.53978361e-01 3.47909893e-02 -1.99526051e+01] [ 6.45875107e-02 -1.39124328e-03 9.97911077e-01 1.73256488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.76, Y:-19.98, Z:173.26 [[ 8.52071144e-01 5.20586676e-01 -5.44451811e-02 5.45755321e+02] [-5.19425745e-01 8.53807761e-01 3.47736097e-02 -1.99817122e+01] [ 6.45883960e-02 -1.34936064e-03 9.97911077e-01 1.73256910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.80, Y:-20.01, Z:173.26 [[ 8.51005718e-01 5.22325269e-01 -5.44571625e-02 5.45802987e+02] [-5.21169086e-01 8.52745499e-01 3.47548361e-02 -2.00135483e+01] [ 6.45914293e-02 -1.19517465e-03 9.97911078e-01 1.73264726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.85, Y:-20.04, Z:173.27 [[ 8.50646625e-01 5.22908755e-01 -5.44679087e-02 5.45851347e+02] [-5.21754844e-01 8.52387913e-01 3.47379864e-02 -2.00445996e+01] [ 6.45925843e-02 -1.13085564e-03 9.97911078e-01 1.73266448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.90, Y:-20.08, Z:173.27 [[ 8.49960677e-01 5.24022619e-01 -5.44714842e-02 5.45899910e+02] [-5.22871349e-01 8.51703713e-01 3.47323789e-02 -2.00768752e+01] [ 6.45941175e-02 -1.03957788e-03 9.97911078e-01 1.73271497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.95, Y:-20.11, Z:173.27 [[ 8.49615463e-01 5.24581820e-01 -5.44745684e-02 5.45946990e+02] [-5.23432008e-01 8.51359461e-01 3.47275409e-02 -2.01091314e+01] [ 6.45948758e-02 -9.91323022e-04 9.97911078e-01 1.73272008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.00, Y:-20.14, Z:173.28 [[ 8.50898384e-01 5.22497726e-01 -5.44799653e-02 5.45995193e+02] [-5.21344184e-01 8.52639917e-01 3.47190723e-02 -2.01416370e+01] [ 6.45924294e-02 -1.13958944e-03 9.97911078e-01 1.73277575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4827550959999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:546.04, Y:-20.17, Z:173.28 [[ 8.53604586e-01 5.18064329e-01 -5.44845082e-02 5.46043594e+02] [-5.16902198e-01 8.55340399e-01 3.47119417e-02 -2.01740995e+01] [ 6.45858198e-02 -1.46711054e-03 9.97911078e-01 1.73279410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.542755096 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:546.33, Y:-19.66, Z:174.36 [[ 8.68238143e-01 4.93145661e-01 -5.44966423e-02 5.46326693e+02] [-4.91934977e-01 8.69940448e-01 3.46928811e-02 -1.96646015e+01] [ 6.45174772e-02 -3.31287814e-03 9.97911078e-01 1.74359749e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 722.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.38, Y:-19.70, Z:174.36 [[ 8.69521754e-01 4.90788528e-01 -5.53040668e-02 5.46379609e+02] [-4.89657603e-01 8.71276607e-01 3.33542587e-02 -1.96976060e+01] [ 6.45550272e-02 -1.92219674e-03 9.97912298e-01 1.74363664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.43, Y:-19.73, Z:174.37 [[ 8.68639769e-01 4.92348905e-01 -5.52947249e-02 5.46429281e+02] [-4.91220148e-01 8.70396017e-01 3.33697384e-02 -1.97309031e+01] [ 6.45578625e-02 -1.82439892e-03 9.97912298e-01 1.74369165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.48, Y:-19.77, Z:174.38 [[ 8.66737113e-01 4.95690553e-01 -5.52960423e-02 5.46481285e+02] [-4.94568707e-01 8.68497784e-01 3.33675553e-02 -1.97655458e+01] [ 6.45644721e-02 -1.57320646e-03 9.97912298e-01 1.74375675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.782755096 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:546.53, Y:-19.79, Z:174.38 [[ 8.68002403e-01 4.93472769e-01 -5.52852102e-02 5.46531659e+02] [-4.92345283e-01 8.69759468e-01 3.33854929e-02 -1.97928442e+01] [ 6.45596666e-02 -1.75927563e-03 9.97912298e-01 1.74381106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.58, Y:-19.83, Z:174.39 [[ 8.62614466e-01 5.02831495e-01 -5.52880684e-02 5.46577750e+02] [-5.01723381e-01 8.64383812e-01 3.33807589e-02 -1.98289712e+01] [ 6.45750082e-02 -1.05540893e-03 9.97912298e-01 1.74386486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.63, Y:-19.86, Z:174.39 [[ 8.60021486e-01 5.07253198e-01 -5.52922759e-02 5.46629850e+02] [-5.06154630e-01 8.61796774e-01 3.33737882e-02 -1.98626976e+01] [ 6.45796658e-02 -7.15733460e-04 9.97912298e-01 1.74390873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.68, Y:-19.90, Z:174.40 [[ 8.57738760e-01 5.11104804e-01 -5.52820002e-02 5.46680686e+02] [-5.10013112e-01 8.59518284e-01 3.33908006e-02 -1.98995262e+01] [ 6.45820886e-02 -4.46038899e-04 9.97912298e-01 1.74400787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.74, Y:-19.93, Z:174.40 [[ 8.59498697e-01 5.08140805e-01 -5.52712633e-02 5.46736302e+02] [-5.07041834e-01 8.61273735e-01 3.34085638e-02 -1.99299361e+01] [ 6.45799419e-02 -6.89774320e-04 9.97912298e-01 1.74403829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.78, Y:-19.97, Z:174.41 [[ 8.55930263e-01 5.14130022e-01 -5.52603473e-02 5.46783984e+02] [-5.13042307e-01 8.57712220e-01 3.34266100e-02 -1.99698834e+01] [ 6.45830989e-02 -2.59951023e-04 9.97912299e-01 1.74409226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.84, Y:-20.00, Z:174.41 [[ 8.56117122e-01 5.13819829e-01 -5.52508500e-02 5.46836136e+02] [-5.12730456e-01 8.57898066e-01 3.34423007e-02 -2.00042763e+01] [ 6.45829146e-02 -3.01732700e-04 9.97912299e-01 1.74413989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.89, Y:-20.04, Z:174.42 [[ 8.57261845e-01 5.11908939e-01 -5.52391851e-02 5.46885909e+02] [-5.10814355e-01 8.59039591e-01 3.34615576e-02 -2.00399942e+01] [ 6.45819174e-02 -4.68347929e-04 9.97912299e-01 1.74417527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.94, Y:-20.07, Z:174.42 [[ 8.57976663e-01 5.10710979e-01 -5.52298965e-02 5.46938154e+02] [-5.09612927e-01 8.59752269e-01 3.34768817e-02 -2.00740262e+01] [ 6.45810399e-02 -5.76514052e-04 9.97912299e-01 1.74419302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.99, Y:-20.11, Z:174.42 [[ 8.58409625e-01 5.09984054e-01 -5.52193890e-02 5.46991019e+02] [-5.08883383e-01 8.60183609e-01 3.34942047e-02 -2.01081141e+01] [ 6.45803236e-02 -6.51518238e-04 9.97912299e-01 1.74420825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.04, Y:-20.14, Z:174.42 [[ 8.58839717e-01 5.09260592e-01 -5.52086098e-02 5.47043351e+02] [-5.08157285e-01 8.60612062e-01 3.35119628e-02 -2.01419986e+01] [ 6.45795175e-02 -7.26747349e-04 9.97912300e-01 1.74424862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.09, Y:-20.18, Z:174.43 [[ 8.58315479e-01 5.10144859e-01 -5.51974817e-02 5.47093880e+02] [-5.09042201e-01 8.60088227e-01 3.35302819e-02 -2.01767926e+01] [ 6.45800051e-02 -6.81712406e-04 9.97912300e-01 1.74431897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.502755096 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:547.14, Y:-20.21, Z:174.43 [[ 8.58002133e-01 5.10672278e-01 -5.51920708e-02 5.47144976e+02] [-5.09570137e-01 8.59775202e-01 3.35391860e-02 -2.02148660e+01] [ 6.45803064e-02 -6.52461994e-04 9.97912300e-01 1.74431971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5627550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:547.19, Y:-20.26, Z:174.45 [[ 8.56723779e-01 5.12815193e-01 -5.51810057e-02 5.47192677e+02] [-5.11716315e-01 8.58498873e-01 3.35573813e-02 -2.02556590e+01] [ 6.45815662e-02 -5.12385684e-04 9.97912300e-01 1.74446049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.24, Y:-20.29, Z:174.45 [[ 8.56591616e-01 5.13036314e-01 -5.51773912e-02 5.47240674e+02] [-5.11937511e-01 8.58366756e-01 3.35633234e-02 -2.02938729e+01] [ 6.45816420e-02 -5.02685104e-04 9.97912300e-01 1.74450860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.29, Y:-20.32, Z:174.45 [[ 8.59100877e-01 5.08823906e-01 -5.51716893e-02 5.47294341e+02] [-5.07715798e-01 8.60870224e-01 3.35726937e-02 -2.03237243e+01] [ 6.45782536e-02 -8.30792358e-04 9.97912300e-01 1.74452935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.742755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:547.34, Y:-20.36, Z:174.45 [[ 8.59191009e-01 5.08671851e-01 -5.51702611e-02 5.47343798e+02] [-5.07563280e-01 8.60960065e-01 3.35750404e-02 -2.03609275e+01] [ 6.45780696e-02 -8.44974171e-04 9.97912300e-01 1.74454806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.39, Y:-20.40, Z:174.46 [[ 8.57159013e-01 5.12089585e-01 -5.51605259e-02 5.47390490e+02] [-5.10987039e-01 8.58931830e-01 3.35910268e-02 -2.04034636e+01] [ 6.45807465e-02 -6.06537583e-04 9.97912300e-01 1.74462292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.44, Y:-20.43, Z:174.46 [[ 8.59800130e-01 5.07643680e-01 -5.51509820e-02 5.47442785e+02] [-5.06530963e-01 8.61566581e-01 3.36066891e-02 -2.04340345e+01] [ 6.45764663e-02 -9.59355683e-04 9.97912301e-01 1.74464952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.922755096 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:547.49, Y:-20.47, Z:174.47 [[ 8.57956960e-01 5.10752754e-01 -5.51496143e-02 5.47490636e+02] [-5.09646295e-01 8.59727337e-01 3.36089334e-02 -2.04746827e+01] [ 6.45794863e-02 -7.28221778e-04 9.97912301e-01 1.74472403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.54, Y:-20.51, Z:174.48 [[ 8.57334515e-01 5.11797896e-01 -5.51402131e-02 5.47541320e+02] [-5.10692604e-01 8.59105621e-01 3.36243503e-02 -2.05110421e+01] [ 6.45801388e-02 -6.67617040e-04 9.97912301e-01 1.74477656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.042755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:547.59, Y:-20.55, Z:174.48 [[ 8.54263285e-01 5.16908963e-01 -5.51304353e-02 5.47592577e+02] [-5.15813233e-01 8.56040323e-01 3.36403744e-02 -2.05464233e+01] [ 6.45828866e-02 -3.00728672e-04 9.97912301e-01 1.74481301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.65, Y:-20.58, Z:174.48 [[ 8.53723389e-01 5.17801208e-01 -5.51206243e-02 5.47646017e+02] [-5.16706298e-01 8.55500932e-01 3.36564423e-02 -2.05779428e+01] [ 6.45830920e-02 -2.52118236e-04 9.97912301e-01 1.74484877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.162755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:547.70, Y:-20.61, Z:174.49 [[ 8.52989206e-01 5.19010861e-01 -5.51102560e-02 5.47700981e+02] [-5.17917376e-01 8.54767625e-01 3.36734111e-02 -2.06066656e+01] [ 6.45833288e-02 -1.80497032e-04 9.97912301e-01 1.74487088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2227550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:547.76, Y:-20.63, Z:174.49 [[ 8.53336410e-01 5.18440851e-01 -5.51004120e-02 5.47755964e+02] [-5.17345138e-01 8.55113457e-01 3.36895114e-02 -2.06339167e+01] [ 6.45831228e-02 -2.42556426e-04 9.97912301e-01 1.74489398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.81, Y:-20.67, Z:174.49 [[ 8.51288901e-01 5.21796668e-01 -5.50948594e-02 5.47808424e+02] [-5.20707373e-01 8.53069890e-01 3.36985895e-02 -2.06672474e+01] [ 6.45835774e-02 1.06428493e-06 9.97912302e-01 1.74492523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3427550959999 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:547.86, Y:-20.70, Z:174.50 [[ 8.51251821e-01 5.21858160e-01 -5.50853730e-02 5.47862017e+02] [-5.20767990e-01 8.53032274e-01 3.37140893e-02 -2.06995390e+01] [ 6.45835737e-02 -1.24809617e-05 9.97912302e-01 1.74495757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.92, Y:-20.73, Z:174.51 [[ 8.54836996e-01 5.15965606e-01 -5.50745261e-02 5.47916735e+02] [-5.14862022e-01 8.56609166e-01 3.37317993e-02 -2.07278811e+01] [ 6.45817922e-02 -4.79408066e-04 9.97912302e-01 1.74507668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.97, Y:-20.76, Z:174.51 [[ 8.57253071e-01 5.11942434e-01 -5.50646572e-02 5.47969269e+02] [-5.10829500e-01 8.59019383e-01 3.37479020e-02 -2.07598538e+01] [ 6.45785909e-02 -8.01841343e-04 9.97912302e-01 1.74510725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.02, Y:-20.79, Z:174.52 [[ 8.59344631e-01 5.08424843e-01 -5.50543790e-02 5.48022539e+02] [-5.07303606e-01 8.61105684e-01 3.37646609e-02 -2.07905748e+01] [ 6.45744311e-02 -1.08619503e-03 9.97912302e-01 1.74516878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5827550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:548.07, Y:-20.83, Z:174.52 [[ 8.57865482e-01 5.10917671e-01 -5.50449606e-02 5.48072533e+02] [-5.09800567e-01 8.59629160e-01 3.37800082e-02 -2.08286215e+01] [ 6.45770564e-02 -9.16750899e-04 9.97912302e-01 1.74516479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.642755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:548.13, Y:-20.86, Z:174.52 [[ 8.58316358e-01 5.10160871e-01 -5.50355784e-02 5.48126709e+02] [-5.09041233e-01 8.60078428e-01 3.37952873e-02 -2.08606032e+01] [ 6.45759469e-02 -9.91669225e-04 9.97912303e-01 1.74520508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.18, Y:-20.89, Z:174.53 [[ 8.58590919e-01 5.09699826e-01 -5.50247356e-02 5.48179157e+02] [-5.08578110e-01 8.60351667e-01 3.38129321e-02 -2.08940067e+01] [ 6.45750686e-02 -1.04710036e-03 9.97912303e-01 1.74525916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.23, Y:-20.93, Z:174.53 [[ 8.58939068e-01 5.09113922e-01 -5.50153819e-02 5.48233494e+02] [-5.07990032e-01 8.60698428e-01 3.38281442e-02 -2.09254546e+01] [ 6.45740319e-02 -1.10904909e-03 9.97912303e-01 1.74529449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8227550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:548.29, Y:-20.96, Z:174.53 [[ 8.58583708e-01 5.09714142e-01 -5.50046302e-02 5.48287021e+02] [-5.08590363e-01 8.60343139e-01 3.38456175e-02 -2.09592818e+01] [ 6.45744461e-02 -1.08447096e-03 9.97912303e-01 1.74528339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.882755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.34, Y:-20.99, Z:174.53 [[ 8.62398948e-01 5.03233267e-01 -5.49939407e-02 5.48342409e+02] [-5.02095162e-01 8.64149146e-01 3.38629775e-02 -2.09894955e+01] [ 6.45639436e-02 -1.59120461e-03 9.97912303e-01 1.74531866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9427550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:548.39, Y:-21.02, Z:174.54 [[ 8.59888180e-01 5.07512716e-01 -5.49832777e-02 5.48394461e+02] [-5.06382216e-01 8.61643301e-01 3.38802820e-02 -2.10242698e+01] [ 6.45706468e-02 -1.29070000e-03 9.97912304e-01 1.74538521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.002755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:548.45, Y:-21.06, Z:174.54 [[ 8.59085400e-01 5.08871570e-01 -5.49727231e-02 5.48446712e+02] [-5.07742752e-01 8.60841602e-01 3.38973988e-02 -2.10579845e+01] [ 6.45722296e-02 -1.20875868e-03 9.97912304e-01 1.74537771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0627550959999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:548.50, Y:-21.09, Z:174.54 [[ 8.61946497e-01 5.04011178e-01 -5.49633390e-02 5.48501945e+02] [-5.02871489e-01 8.63695664e-01 3.39126080e-02 -2.10873789e+01] [ 6.45639311e-02 -1.59135750e-03 9.97912304e-01 1.74542471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.122755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.55, Y:-21.12, Z:174.55 [[ 8.58381885e-01 5.10059543e-01 -5.49527313e-02 5.48551889e+02] [-5.08931082e-01 8.60138316e-01 3.39297882e-02 -2.11249960e+01] [ 6.45731621e-02 -1.15756255e-03 9.97912304e-01 1.74554813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.61, Y:-21.15, Z:174.56 [[ 8.59855886e-01 5.07571922e-01 -5.49417877e-02 5.48609418e+02] [-5.06437249e-01 8.61608310e-01 3.39474998e-02 -2.11514584e+01] [ 6.45690986e-02 -1.36538968e-03 9.97912304e-01 1.74555245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.66, Y:-21.18, Z:174.56 [[ 8.58523395e-01 5.09823668e-01 -5.49309428e-02 5.48663258e+02] [-5.08692470e-01 8.60278064e-01 3.39650391e-02 -2.11845470e+01] [ 6.45720659e-02 -1.21682366e-03 9.97912305e-01 1.74557884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.71, Y:-21.22, Z:174.57 [[ 8.56598288e-01 5.13052777e-01 -5.49201417e-02 5.48714976e+02] [-5.11927075e-01 8.58356488e-01 3.39824952e-02 -2.12202457e+01] [ 6.45758734e-02 -9.94239713e-04 9.97912305e-01 1.74565783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.77, Y:-21.25, Z:174.57 [[ 8.56859705e-01 5.12617224e-01 -5.49092751e-02 5.48766794e+02] [-5.11489504e-01 8.58616611e-01 3.40000444e-02 -2.12537473e+01] [ 6.45750241e-02 -1.04775011e-03 9.97912305e-01 1.74570083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.422755096 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:548.82, Y:-21.29, Z:174.58 [[ 8.57985511e-01 5.10731763e-01 -5.48992612e-02 5.48819528e+02] [-5.09599149e-01 8.59739266e-01 3.40162060e-02 -2.12871879e+01] [ 6.45722074e-02 -1.20879504e-03 9.97912305e-01 1.74575741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4827550959999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:548.87, Y:-21.32, Z:174.58 [[ 8.59567805e-01 5.08065387e-01 -5.48885311e-02 5.48871997e+02] [-5.06926229e-01 8.61317316e-01 3.40335114e-02 -2.13204301e+01] [ 6.45676914e-02 -1.42967464e-03 9.97912305e-01 1.74578957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.542755096 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:548.93, Y:-21.35, Z:174.58 [[ 8.59596628e-01 5.08017688e-01 -5.48786552e-02 5.48926213e+02] [-5.06877417e-01 8.61345413e-01 3.40494287e-02 -2.13518664e+01] [ 6.45671900e-02 -1.45202309e-03 9.97912306e-01 1.74581083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6027550959999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:548.98, Y:-21.39, Z:174.59 [[ 8.59241081e-01 5.08619969e-01 -5.48679526e-02 5.48978697e+02] [-5.07479824e-01 8.60989948e-01 3.40666664e-02 -2.13858394e+01] [ 6.45677425e-02 -1.42710029e-03 9.97912306e-01 1.74588466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.662755096 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:549.03, Y:-21.42, Z:174.59 [[ 8.60043990e-01 5.07262292e-01 -5.48571087e-02 5.49033635e+02] [-5.06118274e-01 8.61790326e-01 3.40841192e-02 -2.14173460e+01] [ 6.45649140e-02 -1.54965669e-03 9.97912306e-01 1.74587385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.09, Y:-21.45, Z:174.59 [[ 8.57243301e-01 5.11982231e-01 -5.48463218e-02 5.49085969e+02] [-5.10846720e-01 8.58995180e-01 3.41014682e-02 -2.14515070e+01] [ 6.45720718e-02 -1.21519158e-03 9.97912306e-01 1.74593465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.14, Y:-21.48, Z:174.60 [[ 8.56295858e-01 5.13566411e-01 -5.48356232e-02 5.49139779e+02] [-5.12433040e-01 8.58049122e-01 3.41186631e-02 -2.14847605e+01] [ 6.45738577e-02 -1.11608479e-03 9.97912306e-01 1.74595521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8427550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:549.19, Y:-21.52, Z:174.60 [[ 8.55463327e-01 5.14953115e-01 -5.48250386e-02 5.49193794e+02] [-5.13821498e-01 8.57217723e-01 3.41356629e-02 -2.15156885e+01] [ 6.45752607e-02 -1.03152430e-03 9.97912307e-01 1.74596695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.902755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:549.25, Y:-21.55, Z:174.60 [[ 8.54234869e-01 5.16989411e-01 -5.48154902e-02 5.49246665e+02] [-5.15860992e-01 8.55991324e-01 3.41509890e-02 -2.15488751e+01] [ 6.45772837e-02 -8.95792430e-04 9.97912307e-01 1.74598921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9627550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:549.30, Y:-21.59, Z:174.61 [[ 8.52392444e-01 5.20022661e-01 -5.48046918e-02 5.49297608e+02] [-5.18899379e-01 8.54152188e-01 3.41683092e-02 -2.15856679e+01] [ 6.45798425e-02 -6.86688030e-04 9.97912307e-01 1.74605986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.022755096 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:549.35, Y:-21.62, Z:174.61 [[ 8.50486472e-01 5.23135213e-01 -5.47933446e-02 5.49346686e+02] [-5.22017200e-01 8.52249568e-01 3.41864963e-02 -2.16222504e+01] [ 6.45817643e-02 -4.72084228e-04 9.97912307e-01 1.74614802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0827550959999 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:549.40, Y:-21.65, Z:174.62 [[ 8.51885428e-01 5.20855138e-01 -5.47826965e-02 5.49402032e+02] [-5.19731309e-01 8.53644823e-01 3.42035511e-02 -2.16532800e+01] [ 6.45800605e-02 -6.65224165e-04 9.97912307e-01 1.74615203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.45, Y:-21.69, Z:174.63 [[ 8.48748363e-01 5.25952692e-01 -5.47721013e-02 5.49450608e+02] [-5.24838336e-01 8.50513773e-01 3.42205094e-02 -2.16899642e+01] [ 6.45827955e-02 -2.98102816e-04 9.97912308e-01 1.74628290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.50, Y:-21.73, Z:174.63 [[ 8.49103380e-01 5.25380236e-01 -5.47636584e-02 5.49502779e+02] [-5.24263819e-01 8.50867487e-01 3.42340153e-02 -2.17258341e+01] [ 6.45824914e-02 -3.57613423e-04 9.97912308e-01 1.74630317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.56, Y:-21.76, Z:174.63 [[ 8.51257609e-01 5.21883797e-01 -5.47520353e-02 5.49557144e+02] [-5.20758940e-01 8.53016346e-01 3.42525947e-02 -2.17557152e+01] [ 6.45802552e-02 -6.45170028e-04 9.97912308e-01 1.74628913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.61, Y:-21.79, Z:174.64 [[ 8.49291668e-01 5.25078200e-01 -5.47407218e-02 5.49607099e+02] [-5.23958793e-01 8.51053879e-01 3.42706658e-02 -2.17941393e+01] [ 6.45820831e-02 -4.23908403e-04 9.97912308e-01 1.74635990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.66, Y:-21.83, Z:174.64 [[ 8.48946494e-01 5.25637399e-01 -5.47282025e-02 5.49658319e+02] [-5.24517865e-01 8.50708623e-01 3.42906468e-02 -2.18285436e+01] [ 6.45822001e-02 -4.05004464e-04 9.97912308e-01 1.74639146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.71, Y:-21.86, Z:174.64 [[ 8.49965112e-01 5.23989741e-01 -5.47180077e-02 5.49712691e+02] [-5.22865744e-01 8.51724398e-01 3.43069071e-02 -2.18595368e+01] [ 6.45811295e-02 -5.49502312e-04 9.97912309e-01 1.74640706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.76, Y:-21.89, Z:174.64 [[ 8.50215163e-01 5.23585163e-01 -5.47060665e-02 5.49764942e+02] [-5.22459105e-01 8.51973130e-01 3.43259380e-02 -2.18929282e+01] [ 6.45806505e-02 -6.02750497e-04 9.97912309e-01 1.74643648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5627550959999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:549.82, Y:-21.92, Z:174.64 [[ 8.52039007e-01 5.20612705e-01 -5.46986552e-02 5.49819937e+02] [-5.19479756e-01 8.53792540e-01 3.43377440e-02 -2.19206423e+01] [ 6.45779695e-02 -8.42253175e-04 9.97912309e-01 1.74643376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.87, Y:-21.96, Z:174.65 [[ 8.49716880e-01 5.24395167e-01 -5.46894196e-02 5.49870586e+02] [-5.23269078e-01 8.51474827e-01 3.43524470e-02 -2.19562268e+01] [ 6.45809213e-02 -5.72571905e-04 9.97912309e-01 1.74649199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.92, Y:-21.99, Z:174.65 [[ 8.49239722e-01 5.25168574e-01 -5.46796469e-02 5.49924503e+02] [-5.24043085e-01 8.50998053e-01 3.43679956e-02 -2.19893018e+01] [ 6.45812643e-02 -5.32176121e-04 9.97912309e-01 1.74653280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.98, Y:-22.02, Z:174.66 [[ 8.48896829e-01 5.25723867e-01 -5.46680006e-02 5.49977686e+02] [-5.24598336e-01 8.50655132e-01 3.43865110e-02 -2.20217824e+01] [ 6.45814248e-02 -5.11857988e-04 9.97912310e-01 1.74657137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8027550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:550.03, Y:-22.05, Z:174.66 [[ 8.50344101e-01 5.23380906e-01 -5.46565399e-02 5.50032007e+02] [-5.22249360e-01 8.52098540e-01 3.44047179e-02 -2.20509923e+01] [ 6.45795302e-02 -7.11505980e-04 9.97912310e-01 1.74662786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.08, Y:-22.08, Z:174.67 [[ 8.51108920e-01 5.22137361e-01 -5.46459665e-02 5.50084677e+02] [-5.21002175e-01 8.52861005e-01 3.44215038e-02 -2.20843954e+01] [ 6.45781670e-02 -8.25781522e-04 9.97912310e-01 1.74667316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.922755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.14, Y:-22.12, Z:174.67 [[ 8.51497689e-01 5.21504194e-01 -5.46357071e-02 5.50137342e+02] [-5.20366661e-01 8.53248251e-01 3.44377803e-02 -2.21178095e+01] [ 6.45772684e-02 -8.93089883e-04 9.97912310e-01 1.74671155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.19, Y:-22.15, Z:174.67 [[ 8.52130592e-01 5.20470466e-01 -5.46255323e-02 5.50188559e+02] [-5.19329775e-01 8.53879097e-01 3.44539122e-02 -2.21540183e+01] [ 6.45758439e-02 -9.90567242e-04 9.97912310e-01 1.74671430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.042755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:550.24, Y:-22.19, Z:174.68 [[ 8.52398523e-01 5.20032737e-01 -5.46141979e-02 5.50240959e+02] [-5.18889998e-01 8.54145690e-01 3.44718694e-02 -2.21895374e+01] [ 6.45749824e-02 -1.04500955e-03 9.97912311e-01 1.74676345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1027550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:550.29, Y:-22.22, Z:174.68 [[ 8.52072647e-01 5.20567043e-01 -5.46091358e-02 5.50293722e+02] [-5.19424886e-01 8.53820195e-01 3.44798868e-02 -2.22241179e+01] [ 6.45754757e-02 -1.01402430e-03 9.97912311e-01 1.74680530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.162755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:550.35, Y:-22.26, Z:174.68 [[ 8.50205857e-01 5.23611600e-01 -5.45975452e-02 5.50347320e+02] [-5.22474524e-01 8.51956715e-01 3.44982304e-02 -2.22569791e+01] [ 6.45784188e-02 -8.04771124e-04 9.97912311e-01 1.74683174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2227550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:550.40, Y:-22.29, Z:174.69 [[ 8.47243541e-01 5.28392616e-01 -5.45859552e-02 5.50401350e+02] [-5.27264239e-01 8.49000017e-01 3.45165593e-02 -2.22897289e+01] [ 6.45817719e-02 -4.62709773e-04 9.97912311e-01 1.74686485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.282755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:550.46, Y:-22.32, Z:174.69 [[ 8.45685708e-01 5.30883530e-01 -5.45743640e-02 5.50455062e+02] [-5.29759145e-01 8.47444742e-01 3.45348764e-02 -2.23178901e+01] [ 6.45827550e-02 -2.94382976e-04 9.97912311e-01 1.74693384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3427550959999 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:550.51, Y:-22.35, Z:174.69 [[ 8.43003382e-01 5.35133576e-01 -5.45651337e-02 5.50506558e+02] [-5.34017115e-01 8.44767457e-01 3.45494542e-02 -2.23527329e+01] [ 6.45834222e-02 1.34086005e-05 9.97912312e-01 1.74693044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.402755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:550.56, Y:-22.39, Z:174.70 [[ 8.41848398e-01 5.36949713e-01 -5.45552948e-02 5.50557912e+02] [-5.35836052e-01 8.43614241e-01 3.45649834e-02 -2.23864960e+01] [ 6.45832815e-02 1.34217842e-04 9.97912312e-01 1.74699145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4627550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:550.61, Y:-22.42, Z:174.71 [[ 8.42513045e-01 5.35906942e-01 -5.45483145e-02 5.50610225e+02] [-5.34790382e-01 8.44277056e-01 3.45759958e-02 -2.24191498e+01] [ 6.45834065e-02 4.11864659e-05 9.97912312e-01 1.74705592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.66, Y:-22.46, Z:174.71 [[ 8.44130034e-01 5.33357304e-01 -5.45387282e-02 5.50657643e+02] [-5.32234439e-01 8.45890038e-01 3.45911102e-02 -2.24571755e+01] [ 6.45831882e-02 -1.72005658e-04 9.97912312e-01 1.74712671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5827550959999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:550.71, Y:-22.49, Z:174.72 [[ 8.45240220e-01 5.31596732e-01 -5.45333481e-02 5.50708936e+02] [-5.30469654e-01 8.46997529e-01 3.45995899e-02 -2.24921622e+01] [ 6.45826400e-02 -3.16678585e-04 9.97912312e-01 1.74719416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.642755096 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:550.77, Y:-22.52, Z:174.72 [[ 8.49957651e-01 5.24022099e-01 -5.45236823e-02 5.50765499e+02] [-5.22878385e-01 8.51704179e-01 3.46148150e-02 -2.25190566e+01] [ 6.45769761e-02 -9.11871864e-04 9.97912312e-01 1.74717188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7027550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:550.82, Y:-22.56, Z:174.73 [[ 8.48203285e-01 5.26857339e-01 -5.45209353e-02 5.50816184e+02] [-5.25719186e-01 8.49953441e-01 3.46191412e-02 -2.25550809e+01] [ 6.45796052e-02 -7.01367546e-04 9.97912312e-01 1.74729092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.762755096 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:550.87, Y:-22.59, Z:174.73 [[ 8.47956250e-01 5.27255195e-01 -5.45174943e-02 5.50871128e+02] [-5.26117515e-01 8.49706715e-01 3.46245592e-02 -2.25855803e+01] [ 6.45798597e-02 -6.77502789e-04 9.97912312e-01 1.74725719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.92, Y:-22.62, Z:174.73 [[ 8.44825019e-01 5.32258263e-01 -5.45144877e-02 5.50923839e+02] [-5.31130644e-01 8.46581981e-01 3.46292924e-02 -2.26154047e+01] [ 6.45827100e-02 -3.01377614e-04 9.97912312e-01 1.74729540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.882755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:550.98, Y:-22.65, Z:174.73 [[ 8.41928373e-01 5.36829439e-01 -5.45047459e-02 5.50976234e+02] [-5.35710368e-01 8.43690792e-01 3.46446187e-02 -2.26483876e+01] [ 6.45834034e-02 3.04700098e-05 9.97912312e-01 1.74734875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.03, Y:-22.68, Z:174.74 [[ 8.40248347e-01 5.39456306e-01 -5.44941131e-02 5.51028947e+02] [-5.38341660e-01 8.42013568e-01 3.46613354e-02 -2.26829397e+01] [ 6.45830586e-02 2.12321578e-04 9.97912313e-01 1.74740421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.002755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.08, Y:-22.72, Z:174.75 [[ 8.37702496e-01 5.43402360e-01 -5.44830572e-02 5.51081331e+02] [-5.42294899e-01 8.39472233e-01 3.46787052e-02 -2.27172911e+01] [ 6.45815039e-02 4.95446111e-04 9.97912313e-01 1.74745527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.13, Y:-22.75, Z:174.75 [[ 8.36279578e-01 5.45590754e-01 -5.44719820e-02 5.51132006e+02] [-5.44486792e-01 8.38051499e-01 3.46960930e-02 -2.27521369e+01] [ 6.45801937e-02 6.43640670e-04 9.97912313e-01 1.74748483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.122755096 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:551.18, Y:-22.79, Z:174.75 [[ 8.36619381e-01 5.45070582e-01 -5.44616652e-02 5.51182431e+02] [-5.43964464e-01 8.38389957e-01 3.47122795e-02 -2.27876844e+01] [ 6.45807555e-02 5.84244701e-04 9.97912313e-01 1.74752062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.23, Y:-22.82, Z:174.76 [[ 8.37532563e-01 5.43667413e-01 -5.44513518e-02 5.51233904e+02] [-5.42557278e-01 8.39300623e-01 3.47284502e-02 -2.28230048e+01] [ 6.45817801e-02 4.56769309e-04 9.97912313e-01 1.74756905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.242755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:551.28, Y:-22.86, Z:174.76 [[ 8.39244771e-01 5.41021730e-01 -5.44398978e-02 5.51284795e+02] [-5.39904857e-01 8.41008581e-01 3.47463960e-02 -2.28584008e+01] [ 6.45829765e-02 2.31634092e-04 9.97912314e-01 1.74759705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.34, Y:-22.89, Z:174.77 [[ 8.40179729e-01 5.39569676e-01 -5.44296615e-02 5.51336267e+02] [-5.38448715e-01 8.41940945e-01 3.47624235e-02 -2.28928080e+01] [ 6.45833103e-02 1.00897744e-04 9.97912314e-01 1.74765012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.39, Y:-22.93, Z:174.77 [[ 8.40405149e-01 5.39219545e-01 -5.44193744e-02 5.51388593e+02] [-5.38096808e-01 8.42165233e-01 3.47785203e-02 -2.29264372e+01] [ 6.45833630e-02 5.48441719e-05 9.97912314e-01 1.74770662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.44, Y:-22.96, Z:174.77 [[ 8.44407175e-01 5.32931539e-01 -5.44104589e-02 5.51443756e+02] [-5.31794798e-01 8.46158246e-01 3.47924629e-02 -2.29558891e+01] [ 6.45818593e-02 -4.43806329e-04 9.97912314e-01 1.74773281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.50, Y:-22.99, Z:174.78 [[ 8.46994301e-01 5.28811104e-01 -5.44010146e-02 5.51497632e+02] [-5.27664897e-01 8.48739191e-01 3.48072236e-02 -2.29884535e+01] [ 6.45787195e-02 -7.76014298e-04 9.97912314e-01 1.74780509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.55, Y:-23.02, Z:174.79 [[ 8.45682013e-01 5.30908427e-01 -5.43891042e-02 5.51547374e+02] [-5.29765351e-01 8.47428956e-01 3.48258247e-02 -2.30226728e+01] [ 6.45802256e-02 -6.38110658e-04 9.97912314e-01 1.74788806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6027550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:551.60, Y:-23.05, Z:174.79 [[ 8.48988629e-01 5.25605521e-01 -5.43796329e-02 5.51604295e+02] [-5.24450587e-01 8.50727755e-01 3.48406077e-02 -2.30500088e+01] [ 6.45746787e-02 -1.05984934e-03 9.97912315e-01 1.74787748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.66, Y:-23.08, Z:174.79 [[ 8.48135514e-01 5.26982209e-01 -5.43682116e-02 5.51657963e+02] [-5.25828957e-01 8.49875755e-01 3.48584212e-02 -2.30816791e+01] [ 6.45759927e-02 -9.76284983e-04 9.97912315e-01 1.74792944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7227550959999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:551.71, Y:-23.11, Z:174.80 [[ 8.49388160e-01 5.24961974e-01 -5.43569765e-02 5.51712050e+02] [-5.23803463e-01 8.51124904e-01 3.48759322e-02 -2.31124567e+01] [ 6.45731145e-02 -1.15083134e-03 9.97912315e-01 1.74799647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.782755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.77, Y:-23.14, Z:174.80 [[ 8.49256703e-01 5.25175819e-01 -5.43452971e-02 5.51765462e+02] [-5.24016582e-01 8.50992962e-01 3.48941221e-02 -2.31427036e+01] [ 6.45730145e-02 -1.15623023e-03 9.97912315e-01 1.74804231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.82, Y:-23.18, Z:174.81 [[ 8.46870289e-01 5.29016514e-01 -5.43345229e-02 5.51816324e+02] [-5.27864076e-01 8.48611069e-01 3.49108908e-02 -2.31791430e+01] [ 6.45773153e-02 -8.83753400e-04 9.97912315e-01 1.74810562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.902755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.87, Y:-23.20, Z:174.81 [[ 8.49429978e-01 5.24897848e-01 -5.43227498e-02 5.51872080e+02] [-5.23735800e-01 8.51164357e-01 3.49292006e-02 -2.32049075e+01] [ 6.45718507e-02 -1.21914128e-03 9.97912316e-01 1.74810826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.93, Y:-23.24, Z:174.81 [[ 8.51401379e-01 5.21695084e-01 -5.43132655e-02 5.51926103e+02] [-5.20525573e-01 8.53130734e-01 3.49439420e-02 -2.32353833e+01] [ 6.45663989e-02 -1.47987679e-03 9.97912316e-01 1.74813330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.022755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.98, Y:-23.27, Z:174.82 [[ 8.56265434e-01 5.13673672e-01 -5.43034588e-02 5.51980641e+02] [-5.12487001e-01 8.57983059e-01 3.49591752e-02 -2.32657809e+01] [ 6.45490556e-02 -2.10451650e-03 9.97912316e-01 1.74815476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.03, Y:-23.30, Z:174.82 [[ 8.56512895e-01 5.13262030e-01 -5.42931846e-02 5.52031849e+02] [-5.12073524e-01 8.58229251e-01 3.49751243e-02 -2.32982042e+01] [ 6.45474024e-02 -2.15454258e-03 9.97912316e-01 1.74820001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.142755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.09, Y:-23.33, Z:174.82 [[ 8.58064157e-01 5.10665416e-01 -5.42838367e-02 5.52087790e+02] [-5.09470801e-01 8.59776267e-01 3.49896268e-02 -2.33272806e+01] [ 6.45399468e-02 -2.36731490e-03 9.97912316e-01 1.74822572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.14, Y:-23.36, Z:174.82 [[ 8.56900286e-01 5.12617146e-01 -5.42730330e-02 5.52140735e+02] [-5.11425372e-01 8.58614374e-01 3.50063767e-02 -2.33621298e+01] [ 6.45444751e-02 -2.24036811e-03 9.97912317e-01 1.74823246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.262755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.20, Y:-23.39, Z:174.82 [[ 8.56643511e-01 5.13047382e-01 -5.42612157e-02 5.52196083e+02] [-5.11855311e-01 8.58357392e-01 3.50246844e-02 -2.33914451e+01] [ 6.45448382e-02 -2.22977723e-03 9.97912317e-01 1.74823846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.25, Y:-23.42, Z:174.82 [[ 8.53458465e-01 5.18329586e-01 -5.42502432e-02 5.52249745e+02] [-5.17147047e-01 8.55178936e-01 3.50416716e-02 -2.34234918e+01] [ 6.45568004e-02 -1.85125816e-03 9.97912317e-01 1.74823782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.30, Y:-23.46, Z:174.83 [[ 8.50709070e-01 5.22830867e-01 -5.42398633e-02 5.52302936e+02] [-5.21656410e-01 8.52435068e-01 3.50577309e-02 -2.34564170e+01] [ 6.45652255e-02 -1.52935731e-03 9.97912317e-01 1.74826236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4427550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:552.36, Y:-23.49, Z:174.83 [[ 8.45791153e-01 5.30750964e-01 -5.42285781e-02 5.52355514e+02] [-5.29591555e-01 8.47527295e-01 3.50751786e-02 -2.34914136e+01] [ 6.45763851e-02 -9.47278760e-04 9.97912317e-01 1.74826599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.41, Y:-23.53, Z:174.83 [[ 8.41883629e-01 5.36928785e-01 -5.42165601e-02 5.52407436e+02] [-5.35780921e-01 8.43627426e-01 3.50937454e-02 -2.35253866e+01] [ 6.45814191e-02 -4.96651254e-04 9.97912318e-01 1.74830380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.46, Y:-23.56, Z:174.84 [[ 8.38962152e-01 5.41483405e-01 -5.42054421e-02 5.52458056e+02] [-5.40343900e-01 8.40711421e-01 3.51109098e-02 -2.35613906e+01] [ 6.45831093e-02 -1.67144434e-04 9.97912318e-01 1.74837860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.51, Y:-23.60, Z:174.84 [[ 8.35858348e-01 5.46263523e-01 -5.41939637e-02 5.52506663e+02] [-5.45132873e-01 8.37613354e-01 3.51286178e-02 -2.36008362e+01] [ 6.45830703e-02 1.80362699e-04 9.97912318e-01 1.74844367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.56, Y:-23.64, Z:174.85 [[ 8.35613475e-01 5.46639197e-01 -5.41821776e-02 5.52557189e+02] [-5.45508158e-01 8.37368230e-01 3.51467874e-02 -2.36361159e+01] [ 6.45830458e-02 1.87690728e-04 9.97912318e-01 1.74849596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.60, Y:-23.68, Z:174.86 [[ 8.34562622e-01 5.48243294e-01 -5.41712162e-02 5.52604295e+02] [-5.47114531e-01 8.36318842e-01 3.51636739e-02 -2.36767917e+01] [ 6.45826572e-02 2.91571657e-04 9.97912319e-01 1.74856862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.65, Y:-23.72, Z:174.86 [[ 8.34767531e-01 5.47932230e-01 -5.41612386e-02 5.52648946e+02] [-5.46801817e-01 8.36522689e-01 3.51790353e-02 -2.37208253e+01] [ 6.45828322e-02 2.49147210e-04 9.97912319e-01 1.74864641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8627550959999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:552.70, Y:-23.75, Z:174.87 [[ 8.40252643e-01 5.39484147e-01 -5.41511841e-02 5.52703070e+02] [-5.38335090e-01 8.41995652e-01 3.51945054e-02 -2.37486256e+01] [ 6.45819393e-02 -4.20793621e-04 9.97912319e-01 1.74871294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.922755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:552.75, Y:-23.79, Z:174.88 [[ 8.39950416e-01 5.39955488e-01 -5.41421250e-02 5.52751488e+02] [-5.38806511e-01 8.41693477e-01 3.52084362e-02 -2.37866476e+01] [ 6.45820618e-02 -4.01211105e-04 9.97912319e-01 1.74878380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9827550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:552.81, Y:-23.82, Z:174.88 [[ 8.45996299e-01 5.30433708e-01 -5.41326474e-02 5.52806300e+02] [-5.29264184e-01 8.47725642e-01 3.52230019e-02 -2.38151857e+01] [ 6.45731008e-02 -1.14805777e-03 9.97912319e-01 1.74881984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.042755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:552.86, Y:-23.85, Z:174.89 [[ 8.47252019e-01 5.28426692e-01 -5.41225279e-02 5.52855069e+02] [-5.27252080e-01 8.48977909e-01 3.52385444e-02 -2.38544141e+01] [ 6.45698180e-02 -1.31971245e-03 9.97912319e-01 1.74889400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1027550959999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:552.91, Y:-23.89, Z:174.90 [[ 8.47931544e-01 5.27336162e-01 -5.41171799e-02 5.52906843e+02] [-5.26158806e-01 8.49655564e-01 3.52467556e-02 -2.38875865e+01] [ 6.45678518e-02 -1.41260518e-03 9.97912319e-01 1.74896099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.162755096 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:552.96, Y:-23.92, Z:174.90 [[ 8.49367206e-01 5.25021657e-01 -5.41073878e-02 5.52958727e+02] [-5.23838647e-01 8.51087351e-01 3.52617811e-02 -2.39198857e+01] [ 6.45633121e-02 -1.60665969e-03 9.97912320e-01 1.74899459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.01, Y:-23.96, Z:174.90 [[ 8.49318446e-01 5.25101456e-01 -5.40984176e-02 5.53009401e+02] [-5.23917732e-01 8.51038099e-01 3.52755378e-02 -2.39553440e+01] [ 6.45630507e-02 -1.61704462e-03 9.97912320e-01 1.74902891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.282755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.06, Y:-23.98, Z:174.90 [[ 8.51343972e-01 5.21812056e-01 -5.40890050e-02 5.53064707e+02] [-5.20620773e-01 8.53058397e-01 3.52899645e-02 -2.39849904e+01] [ 6.45558088e-02 -1.88403896e-03 9.97912320e-01 1.74901689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.12, Y:-24.02, Z:174.91 [[ 8.52194309e-01 5.20423188e-01 -5.40792552e-02 5.53117234e+02] [-5.19228165e-01 8.53906129e-01 3.53048991e-02 -2.40179716e+01] [ 6.45520956e-02 -2.00716164e-03 9.97912320e-01 1.74906086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.402755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.17, Y:-24.05, Z:174.90 [[ 8.51726259e-01 5.21189970e-01 -5.40684280e-02 5.53169183e+02] [-5.19995437e-01 8.53438421e-01 3.53214729e-02 -2.40521720e+01] [ 6.45532712e-02 -1.96889009e-03 9.97912320e-01 1.74904552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.23, Y:-24.08, Z:174.90 [[ 8.53865932e-01 5.17678088e-01 -5.40589338e-02 5.53225644e+02] [-5.16475596e-01 8.55572513e-01 3.53359976e-02 -2.40804776e+01] [ 6.45440095e-02 -2.25208451e-03 9.97912320e-01 1.74896532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.522755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.28, Y:-24.11, Z:174.90 [[ 8.53931535e-01 5.17570848e-01 -5.40495183e-02 5.53280070e+02] [-5.16367233e-01 8.55637324e-01 3.53503935e-02 -2.41130301e+01] [ 6.45431184e-02 -2.27741558e-03 9.97912320e-01 1.74895811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.34, Y:-24.14, Z:174.89 [[ 8.53248577e-01 5.18697123e-01 -5.40385164e-02 5.53335343e+02] [-5.17494697e-01 8.54955204e-01 3.53672036e-02 -2.41435126e+01] [ 6.45453776e-02 -2.21237050e-03 9.97912321e-01 1.74892972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.642755096 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:553.39, Y:-24.17, Z:174.89 [[ 8.52119161e-01 5.20550806e-01 -5.40351195e-02 5.53390657e+02] [-5.19351763e-01 8.53828168e-01 3.53723928e-02 -2.41725714e+01] [ 6.45498346e-02 -2.07825911e-03 9.97912321e-01 1.74890641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.44, Y:-24.21, Z:174.89 [[ 8.48295183e-01 5.26760449e-01 -5.40251136e-02 5.53441282e+02] [-5.25572948e-01 8.50012229e-01 3.53876685e-02 -2.42083634e+01] [ 6.45628314e-02 -1.62505043e-03 9.97912321e-01 1.74890609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.762755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.50, Y:-24.24, Z:174.88 [[ 8.47068495e-01 5.28731018e-01 -5.40229164e-02 5.53496099e+02] [-5.27547299e-01 8.48788150e-01 3.53910225e-02 -2.42370762e+01] [ 6.45663426e-02 -1.47897654e-03 9.97912321e-01 1.74882377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8227550959999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:553.55, Y:-24.27, Z:174.88 [[ 8.43845390e-01 5.33860128e-01 -5.40214892e-02 5.53551201e+02] [-5.32686723e-01 8.45572100e-01 3.53932008e-02 -2.42662706e+01] [ 6.45740828e-02 -1.08985923e-03 9.97912321e-01 1.74884381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.882755096 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:553.61, Y:-24.29, Z:174.88 [[ 8.40941919e-01 5.38423138e-01 -5.40112426e-02 5.53608679e+02] [-5.37258100e-01 8.42674284e-01 3.54088305e-02 -2.42923714e+01] [ 6.45788189e-02 -7.58792294e-04 9.97912321e-01 1.74880348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.67, Y:-24.32, Z:174.88 [[ 8.38869851e-01 5.41646007e-01 -5.40090441e-02 5.53665047e+02] [-5.40487409e-01 8.40606530e-01 3.54121837e-02 -2.43188289e+01] [ 6.45812230e-02 -5.15005006e-04 9.97912321e-01 1.74881282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.002755096 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:553.72, Y:-24.34, Z:174.88 [[ 8.38203977e-01 5.42676031e-01 -5.40075774e-02 5.53719824e+02] [-5.41519423e-01 8.39941982e-01 3.54144204e-02 -2.43441853e+01] [ 6.45817887e-02 -4.38355891e-04 9.97912321e-01 1.74877988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0627550959999 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:553.77, Y:-24.37, Z:174.89 [[ 8.38106884e-01 5.42825897e-01 -5.40082990e-02 5.53773054e+02] [-5.41669671e-01 8.39845143e-01 3.54133199e-02 -2.43739974e+01] [ 6.45818747e-02 -4.25489666e-04 9.97912321e-01 1.74885309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.122755096 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:553.82, Y:-24.40, Z:174.89 [[ 8.34624615e-01 5.48165137e-01 -5.40067950e-02 5.53824442e+02] [-5.47019883e-01 8.36370123e-01 3.54156134e-02 -2.44036816e+01] [ 6.45832743e-02 -1.59520454e-05 9.97912321e-01 1.74893064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1827550959999 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:553.87, Y:-24.44, Z:174.90 [[ 8.30592301e-01 5.54255884e-01 -5.40078209e-02 5.53871951e+02] [-5.53123530e-01 8.32346205e-01 3.54140488e-02 -2.44378534e+01] [ 6.45816497e-02 4.58360304e-04 9.97912321e-01 1.74898486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.242755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.93, Y:-24.46, Z:174.91 [[ 8.31918869e-01 5.52262489e-01 -5.40105460e-02 5.53925661e+02] [-5.51126203e-01 8.33670227e-01 3.54098923e-02 -2.44618551e+01] [ 6.45825394e-02 3.08469651e-04 9.97912321e-01 1.74906223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.97, Y:-24.50, Z:174.92 [[ 8.28521100e-01 5.57346607e-01 -5.40143153e-02 5.53971705e+02] [-5.56221442e-01 8.30279624e-01 3.54041417e-02 -2.44975269e+01] [ 6.45793636e-02 7.10841905e-04 9.97912321e-01 1.74917528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.02, Y:-24.53, Z:174.93 [[ 8.28600106e-01 5.57228065e-01 -5.40254447e-02 5.54022415e+02] [-5.56103755e-01 8.30359177e-01 3.53871504e-02 -2.45262969e+01] [ 6.45792372e-02 7.21956079e-04 9.97912321e-01 1.74926640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.422755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.07, Y:-24.56, Z:174.94 [[ 8.24582516e-01 5.63155922e-01 -5.40285189e-02 5.54070255e+02] [-5.62044564e-01 8.26349798e-01 3.53824563e-02 -2.45609914e+01] [ 6.45722955e-02 1.19068052e-03 9.97912321e-01 1.74935651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.12, Y:-24.59, Z:174.94 [[ 8.23933805e-01 5.64104158e-01 -5.40331720e-02 5.54121764e+02] [-5.62995299e-01 8.25702657e-01 3.53753490e-02 -2.45897949e+01] [ 6.45707151e-02 1.27347590e-03 9.97912321e-01 1.74939807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.542755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.17, Y:-24.62, Z:174.95 [[ 8.22328954e-01 5.66440891e-01 -5.40352584e-02 5.54169321e+02] [-5.65337268e-01 8.24101076e-01 3.53721617e-02 -2.46243392e+01] [ 6.45667534e-02 1.46059264e-03 9.97912321e-01 1.74948274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.22, Y:-24.66, Z:174.96 [[ 8.20897645e-01 5.68512930e-01 -5.40379907e-02 5.54218519e+02] [-5.67414055e-01 8.22672715e-01 3.53679870e-02 -2.46558651e+01] [ 6.45627385e-02 1.62841818e-03 9.97912321e-01 1.74956897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.662755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.27, Y:-24.69, Z:174.96 [[ 8.20452292e-01 5.69154554e-01 -5.40474883e-02 5.54267036e+02] [-5.68058022e-01 8.22228810e-01 3.53534674e-02 -2.46865624e+01] [ 6.45609890e-02 1.69627595e-03 9.97912321e-01 1.74959879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7227550959999 meters Centerline goodness : 0.998233 with order 1 Centerline is valid? [True, True] Translation: X:554.32, Y:-24.72, Z:174.96 [[ 8.20557041e-01 5.69003146e-01 -5.40514889e-02 5.54315682e+02] [-5.67906688e-01 8.22333605e-01 3.53473499e-02 -2.47192792e+01] [ 6.45611090e-02 1.69168522e-03 9.97912322e-01 1.74961389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.782755096 meters Centerline goodness : 0.993413 with order 1 Centerline is valid? [True, True] Translation: X:554.36, Y:-24.76, Z:174.97 [[ 8.21706983e-01 5.67340351e-01 -5.40607112e-02 5.54362975e+02] [-5.66241226e-01 8.23481898e-01 3.53332396e-02 -2.47556385e+01] [ 6.45639896e-02 1.57783373e-03 9.97912322e-01 1.74966688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8427550959999 meters Centerline goodness : 0.987561 with order 1 Centerline is valid? [True, True] Translation: X:554.41, Y:-24.79, Z:174.97 [[ 8.26212423e-01 5.60758711e-01 -5.40620146e-02 5.54410701e+02] [-5.59645573e-01 8.27978584e-01 3.53312451e-02 -2.47896097e+01] [ 6.45744938e-02 1.06445352e-03 9.97912322e-01 1.74974237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.902755096 meters Centerline goodness : 0.987680 with order 1 Centerline is valid? [True, True] Translation: X:554.46, Y:-24.82, Z:174.98 [[ 8.31932912e-01 5.52236026e-01 -5.40647846e-02 5.54456311e+02] [-5.51105068e-01 8.33687715e-01 3.53270060e-02 -2.48244065e+01] [ 6.45819921e-02 4.05677808e-04 9.97912322e-01 1.74981671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9627550959999 meters Centerline goodness : 0.988164 with order 1 Centerline is valid? [True, True] Translation: X:554.51, Y:-24.86, Z:174.99 [[ 8.35287209e-01 5.47148893e-01 -5.40681793e-02 5.54505841e+02] [-5.46007584e-01 8.37035297e-01 3.53218096e-02 -2.48590289e+01] [ 6.45832635e-02 1.77801630e-05 9.97912322e-01 1.74988992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.022755096 meters Centerline goodness : 0.989129 with order 1 Centerline is valid? [True, True] Translation: X:554.56, Y:-24.89, Z:175.00 [[ 8.38803429e-01 5.41742965e-01 -5.40681793e-02 5.54555450e+02] [-5.40590390e-01 8.40544110e-01 3.53218096e-02 -2.48933455e+01] [ 6.45820315e-02 -3.99316901e-04 9.97912322e-01 1.74995265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0827550959999 meters Centerline goodness : 0.989044 with order 1 Centerline is valid? [True, True] Translation: X:554.61, Y:-24.93, Z:175.00 [[ 8.40358617e-01 5.39327384e-01 -5.40681793e-02 5.54605759e+02] [-5.38169805e-01 8.42095975e-01 3.53218096e-02 -2.49306303e+01] [ 6.45806153e-02 -5.85125556e-04 9.97912322e-01 1.75003279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.142755096 meters Centerline goodness : 0.989109 with order 1 Centerline is valid? [True, True] Translation: X:554.66, Y:-24.97, Z:175.00 [[ 8.40388021e-01 5.39282782e-01 -5.40560371e-02 5.54655471e+02] [-5.38123916e-01 8.42124521e-01 3.53403820e-02 -2.49681621e+01] [ 6.45803739e-02 -6.10787334e-04 9.97912322e-01 1.75003814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2027550959999 meters Centerline goodness : 0.989306 with order 1 Centerline is valid? [True, True] Translation: X:554.71, Y:-25.00, Z:175.01 [[ 8.40537955e-01 5.39050191e-01 -5.40447835e-02 5.54708277e+02] [-5.37889739e-01 8.42273394e-01 3.53575834e-02 -2.50014268e+01] [ 6.45799954e-02 -6.49256350e-04 9.97912322e-01 1.75009737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.262755096 meters Centerline goodness : 0.988924 with order 1 Centerline is valid? [True, True] Translation: X:554.76, Y:-25.04, Z:175.01 [[ 8.38267456e-01 5.42575445e-01 -5.40329395e-02 5.54756659e+02] [-5.41421125e-01 8.40006980e-01 3.53756740e-02 -2.50386428e+01] [ 6.45820184e-02 -3.99701362e-04 9.97912322e-01 1.75014401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3227550959999 meters Centerline goodness : 0.989094 with order 1 Centerline is valid? [True, True] Translation: X:554.81, Y:-25.07, Z:175.02 [[ 8.36842124e-01 5.44772178e-01 -5.40234572e-02 5.54805471e+02] [-5.43621490e-01 8.38584053e-01 3.53901489e-02 -2.50736232e+01] [ 6.45827782e-02 -2.47655066e-04 9.97912323e-01 1.75020221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.382755096 meters Centerline goodness : 0.989292 with order 1 Centerline is valid? [True, True] Translation: X:554.86, Y:-25.11, Z:175.02 [[ 8.35505279e-01 5.46820258e-01 -5.40234572e-02 5.54857110e+02] [-5.45673840e-01 8.37250021e-01 3.53901489e-02 -2.51070263e+01] [ 6.45831910e-02 -8.94688783e-05 9.97912323e-01 1.75024294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4427550959999 meters Centerline goodness : 0.989040 with order 1 Centerline is valid? [True, True] Translation: X:554.91, Y:-25.14, Z:175.03 [[ 8.34480938e-01 5.48382333e-01 -5.40220385e-02 5.54908435e+02] [-5.47239041e-01 8.36227730e-01 3.53923144e-02 -2.51427552e+01] [ 6.45832466e-02 2.87568367e-05 9.97912323e-01 1.75030183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.502755096 meters Centerline goodness : 0.989232 with order 1 Centerline is valid? [True, True] Translation: X:554.96, Y:-25.18, Z:175.03 [[ 8.33005040e-01 5.50622847e-01 -5.40100383e-02 5.54960053e+02] [-5.49483066e-01 8.34754124e-01 3.54106178e-02 -2.51793022e+01] [ 6.45829974e-02 1.80378357e-04 9.97912323e-01 1.75033630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5627550959999 meters Centerline goodness : 0.989745 with order 1 Centerline is valid? [True, True] Translation: X:555.01, Y:-25.21, Z:175.03 [[ 8.32215947e-01 5.51815927e-01 -5.39981575e-02 5.55008511e+02] [-5.50677479e-01 8.33965899e-01 3.54287257e-02 -2.52128508e+01] [ 6.45827570e-02 2.51218767e-04 9.97912323e-01 1.75034837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.622755096 meters Centerline goodness : 0.990397 with order 1 Centerline is valid? [True, True] Translation: X:555.05, Y:-25.25, Z:175.04 [[ 8.30868258e-01 5.53842831e-01 -5.40005128e-02 5.55054054e+02] [-5.52708886e-01 8.32621131e-01 3.54251354e-02 -2.52477708e+01] [ 6.45819253e-02 4.12942714e-04 9.97912323e-01 1.75041350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6827550959999 meters Centerline goodness : 0.990703 with order 1 Centerline is valid? [True, True] Translation: X:555.11, Y:-25.28, Z:175.05 [[ 8.31102794e-01 5.53490439e-01 -5.40044407e-02 5.55105543e+02] [-5.52356139e-01 8.32855438e-01 3.54191465e-02 -2.52832787e+01] [ 6.45820510e-02 3.92732704e-04 9.97912323e-01 1.75047285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.742755096 meters Centerline goodness : 0.990848 with order 1 Centerline is valid? [True, True] Translation: X:555.16, Y:-25.31, Z:175.05 [[ 8.32164698e-01 5.51893754e-01 -5.39925915e-02 5.55155580e+02] [-5.50754920e-01 8.33914398e-01 3.54372001e-02 -2.53135350e+01] [ 6.45827688e-02 2.47098500e-04 9.97912323e-01 1.75045202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8027550959999 meters Centerline goodness : 0.991711 with order 1 Centerline is valid? [True, True] Translation: X:555.20, Y:-25.35, Z:175.06 [[ 8.31303011e-01 5.53190644e-01 -5.39945852e-02 5.55203350e+02] [-5.52054736e-01 8.33054613e-01 3.54341620e-02 -2.53525931e+01] [ 6.45822852e-02 3.51440965e-04 9.97912323e-01 1.75056283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8627550959999 meters Centerline goodness : 0.992401 with order 1 Centerline is valid? [True, True] Translation: X:555.25, Y:-25.39, Z:175.06 [[ 8.32004246e-01 5.52136542e-01 -5.39830755e-02 5.55253841e+02] [-5.50997279e-01 8.33753667e-01 3.54516881e-02 -2.53885234e+01] [ 6.45827597e-02 2.48572659e-04 9.97912324e-01 1.75060693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.922755096 meters Centerline goodness : 0.992505 with order 1 Centerline is valid? [True, True] Translation: X:555.31, Y:-25.42, Z:175.06 [[ 8.33578558e-01 5.49757971e-01 -5.39718474e-02 5.55306795e+02] [-5.48612609e-01 8.35323992e-01 3.54687737e-02 -2.54198631e+01] [ 6.45832201e-02 4.36267626e-05 9.97912324e-01 1.75060186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9827550959999 meters Centerline goodness : 0.992958 with order 1 Centerline is valid? [True, True] Translation: X:555.36, Y:-25.46, Z:175.07 [[ 8.30270678e-01 5.54741976e-01 -5.39624018e-02 5.55355008e+02] [-5.53606157e-01 8.32022337e-01 3.54831384e-02 -2.54581475e+01] [ 6.45819100e-02 4.13308514e-04 9.97912324e-01 1.75068174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.042755096 meters Centerline goodness : 0.993391 with order 1 Centerline is valid? [True, True] Translation: X:555.41, Y:-25.49, Z:175.06 [[ 8.30242039e-01 5.54785057e-01 -5.39601427e-02 5.55406132e+02] [-5.53649106e-01 8.31993612e-01 3.54865736e-02 -2.54890938e+01] [ 6.45819148e-02 4.12539485e-04 9.97912324e-01 1.75063357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1027550959999 meters Centerline goodness : 0.993842 with order 1 Centerline is valid? [True, True] Translation: X:555.45, Y:-25.52, Z:175.07 [[ 8.32743027e-01 5.51023914e-01 -5.39601427e-02 5.55453259e+02] [-5.49880051e-01 8.34489444e-01 3.54865736e-02 -2.55215432e+01] [ 6.45831201e-02 1.20409280e-04 9.97912324e-01 1.75069879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.162755096 meters Centerline goodness : 0.994562 with order 1 Centerline is valid? [True, True] Translation: X:555.50, Y:-25.55, Z:175.08 [[ 8.33566512e-01 5.49777033e-01 -5.39637226e-02 5.55502028e+02] [-5.48630911e-01 8.35311447e-01 3.54811289e-02 -2.55546865e+01] [ 6.45832250e-02 3.02854059e-05 9.97912324e-01 1.75075120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2227550959999 meters Centerline goodness : 0.994841 with order 1 Centerline is valid? [True, True] Translation: X:555.55, Y:-25.59, Z:175.08 [[ 8.34467307e-01 5.48408559e-01 -5.39663437e-02 5.55550319e+02] [-5.47259833e-01 8.36210528e-01 3.54771418e-02 -2.55870890e+01] [ 6.45831930e-02 -7.09027142e-05 9.97912324e-01 1.75078842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.282755096 meters Centerline goodness : 0.995362 with order 1 Centerline is valid? [True, True] Translation: X:555.60, Y:-25.62, Z:175.08 [[ 8.34129685e-01 5.48921561e-01 -5.39702622e-02 5.55598286e+02] [-5.47774293e-01 8.35873866e-01 3.54711798e-02 -2.56204731e+01] [ 6.45832270e-02 -2.40417647e-05 9.97912324e-01 1.75083915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3427550959999 meters Centerline goodness : 0.995343 with order 1 Centerline is valid? [True, True] Translation: X:555.65, Y:-25.65, Z:175.09 [[ 8.35885988e-01 5.46243122e-01 -5.39728251e-02 5.55649333e+02] [-5.45090517e-01 8.37626647e-01 3.54672796e-02 -2.56546419e+01] [ 6.45828341e-02 -2.26526913e-04 9.97912324e-01 1.75089446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.402755096 meters Centerline goodness : 0.995464 with order 1 Centerline is valid? [True, True] Translation: X:555.70, Y:-25.69, Z:175.09 [[ 8.35650672e-01 5.46604039e-01 -5.39627536e-02 5.55699955e+02] [-5.45451197e-01 8.37391173e-01 3.54825966e-02 -2.56901962e+01] [ 6.45828642e-02 -2.17007182e-04 9.97912324e-01 1.75094302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4627550959999 meters Centerline goodness : 0.996027 with order 1 Centerline is valid? [True, True] Translation: X:555.75, Y:-25.73, Z:175.10 [[ 8.37476816e-01 5.43802960e-01 -5.39529751e-02 5.55751042e+02] [-5.42643339e-01 8.39212808e-01 3.54974590e-02 -2.57250130e+01] [ 6.45816510e-02 -4.51076400e-04 9.97912324e-01 1.75099030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.522755096 meters Centerline goodness : 0.996210 with order 1 Centerline is valid? [True, True] Translation: X:555.80, Y:-25.76, Z:175.10 [[ 8.37424563e-01 5.43884466e-01 -5.39424706e-02 5.55803355e+02] [-5.42723986e-01 8.39159981e-01 3.55134147e-02 -2.57584961e+01] [ 6.45815571e-02 -4.63933124e-04 9.97912324e-01 1.75100326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5827550959999 meters Centerline goodness : 0.996796 with order 1 Centerline is valid? [True, True] Translation: X:555.86, Y:-25.79, Z:175.11 [[ 8.37720868e-01 5.43428924e-01 -5.39328473e-02 5.55856019e+02] [-5.42266560e-01 8.39455024e-01 3.55280232e-02 -2.57917198e+01] [ 6.45811551e-02 -5.16586884e-04 9.97912325e-01 1.75106094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.642755096 meters Centerline goodness : 0.996735 with order 1 Centerline is valid? [True, True] Translation: X:555.91, Y:-25.82, Z:175.11 [[ 8.36556163e-01 5.45221187e-01 -5.39225705e-02 5.55907852e+02] [-5.44061533e-01 8.38292133e-01 3.55436140e-02 -2.58240019e+01] [ 6.45819980e-02 -3.97032989e-04 9.97912325e-01 1.75107313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7027550959999 meters Centerline goodness : 0.996959 with order 1 Centerline is valid? [True, True] Translation: X:555.96, Y:-25.86, Z:175.11 [[ 8.36679777e-01 5.45032395e-01 -5.39132483e-02 5.55957344e+02] [-5.43871439e-01 8.38414876e-01 3.55577484e-02 -2.58562022e+01] [ 6.45817942e-02 -4.28573078e-04 9.97912325e-01 1.75112082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.762755096 meters Centerline goodness : 0.997261 with order 1 Centerline is valid? [True, True] Translation: X:556.01, Y:-25.89, Z:175.12 [[ 8.38423958e-01 5.42345195e-01 -5.39161935e-02 5.56005565e+02] [-5.41178964e-01 8.40155517e-01 3.55532822e-02 -2.58867569e+01] [ 6.45801391e-02 -6.30413832e-04 9.97912325e-01 1.75118229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8227550959999 meters Centerline goodness : 0.997306 with order 1 Centerline is valid? [True, True] Translation: X:556.06, Y:-25.92, Z:175.12 [[ 8.37073850e-01 5.44426150e-01 -5.39215888e-02 5.56057728e+02] [-5.43264752e-01 8.38808653e-01 3.55450975e-02 -2.59223207e+01] [ 6.45815758e-02 -4.60173096e-04 9.97912325e-01 1.75122260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.882755096 meters Centerline goodness : 0.997510 with order 1 Centerline is valid? [True, True] Translation: X:556.11, Y:-25.96, Z:175.13 [[ 8.35568403e-01 5.46735010e-01 -5.39098657e-02 5.56110958e+02] [-5.45577259e-01 8.37305642e-01 3.55628686e-02 -2.59561718e+01] [ 6.45825000e-02 -3.03212608e-04 9.97912325e-01 1.75126637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9427550959999 meters Centerline goodness : 0.997595 with order 1 Centerline is valid? [True, True] Translation: X:556.16, Y:-25.99, Z:175.13 [[ 8.32734566e-01 5.51042762e-01 -5.38982133e-02 5.56162228e+02] [-5.49892855e-01 8.34477007e-01 3.55805199e-02 -2.59902370e+01] [ 6.45832077e-02 9.11359738e-06 9.97912325e-01 1.75133340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.002755096 meters Centerline goodness : 0.997895 with order 1 Centerline is valid? [True, True] Translation: X:556.21, Y:-26.02, Z:175.14 [[ 8.30048982e-01 5.55080921e-01 -5.38874607e-02 5.56210323e+02] [-5.53938434e-01 8.31796297e-01 3.55967976e-02 -2.60234010e+01] [ 6.45824934e-02 3.03249934e-04 9.97912326e-01 1.75137321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0627550959999 meters Centerline goodness : 0.998147 with order 1 Centerline is valid? [True, True] Translation: X:556.26, Y:-26.06, Z:175.14 [[ 8.28726153e-01 5.57053755e-01 -5.38894904e-02 5.56261118e+02] [-5.55915628e-01 8.30476310e-01 3.55937245e-02 -2.60569928e+01] [ 6.45815631e-02 4.60559515e-04 9.97912326e-01 1.75140386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.122755096 meters Centerline goodness : 0.998062 with order 1 Centerline is valid? [True, True] Translation: X:556.31, Y:-26.09, Z:175.14 [[ 8.27904938e-01 5.58273533e-01 -5.38894904e-02 5.56310507e+02] [-5.57137984e-01 8.29656769e-01 3.55937245e-02 -2.60916676e+01] [ 6.45808148e-02 5.55661760e-04 9.97912326e-01 1.75143362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1827550959999 meters Centerline goodness : 0.998248 with order 1 Centerline is valid? [True, True] Translation: X:556.36, Y:-26.13, Z:175.14 [[ 8.27537709e-01 5.58817738e-01 -5.38894904e-02 5.56361033e+02] [-5.57683341e-01 8.29290286e-01 3.55937245e-02 -2.61288010e+01] [ 6.45804355e-02 5.98121819e-04 9.97912326e-01 1.75143920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.242755096 meters Centerline goodness : 0.998499 with order 1 Centerline is valid? [True, True] Translation: X:556.41, Y:-26.17, Z:175.15 [[ 8.27510768e-01 5.58858730e-01 -5.38781027e-02 5.56411776e+02] [-5.57723298e-01 8.29262675e-01 3.56109538e-02 -2.61660595e+01] [ 6.45805919e-02 5.80625377e-04 9.97912326e-01 1.75148597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3027550959999 meters Centerline goodness : 0.998451 with order 1 Centerline is valid? [True, True] Translation: X:556.46, Y:-26.20, Z:175.15 [[ 8.28040275e-01 5.58074967e-01 -5.38668252e-02 5.56462216e+02] [-5.56936768e-01 8.29790385e-01 3.56280046e-02 -2.62035878e+01] [ 6.45812710e-02 4.98992802e-04 9.97912326e-01 1.75151818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3627550959999 meters Centerline goodness : 0.998489 with order 1 Centerline is valid? [True, True] Translation: X:556.51, Y:-26.24, Z:175.16 [[ 8.30489185e-01 5.54425174e-01 -5.38557309e-02 5.56510332e+02] [-5.53278196e-01 8.32233554e-01 3.56447669e-02 -2.62437208e+01] [ 6.45829025e-02 1.94608143e-04 9.97912326e-01 1.75155015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.422755096 meters Centerline goodness : 0.998702 with order 1 Centerline is valid? [True, True] Translation: X:556.56, Y:-26.29, Z:175.16 [[ 8.33599739e-01 5.49738245e-01 -5.38454961e-02 5.56558118e+02] [-5.48580460e-01 8.35336954e-01 3.56602211e-02 -2.62856976e+01] [ 6.45829201e-02 -1.87764013e-04 9.97912326e-01 1.75159721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4827550959999 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:556.61, Y:-26.33, Z:175.16 [[ 8.36470824e-01 5.45360806e-01 -5.38344825e-02 5.56605172e+02] [-5.44192861e-01 8.38201225e-01 3.56768401e-02 -2.63269332e+01] [ 6.45808794e-02 -5.46294840e-04 9.97912327e-01 1.75162309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.542755096 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:556.65, Y:-26.36, Z:175.17 [[ 8.37383856e-01 5.43958839e-01 -5.38243395e-02 5.56654903e+02] [-5.42787014e-01 8.39111631e-01 3.56921360e-02 -2.63635401e+01] [ 6.45796821e-02 -6.72865954e-04 9.97912327e-01 1.75165028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6027550959999 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:556.71, Y:-26.40, Z:175.17 [[ 8.36945348e-01 5.44634277e-01 -5.38143817e-02 5.56705405e+02] [-5.43462882e-01 8.38673414e-01 3.57071434e-02 -2.64005200e+01] [ 6.45800255e-02 -6.38808574e-04 9.97912327e-01 1.75167962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.662755096 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:556.76, Y:-26.44, Z:175.17 [[ 8.35873726e-01 5.46278554e-01 -5.38038671e-02 5.56756082e+02] [-5.45109539e-01 8.37603402e-01 3.57229799e-02 -2.64362616e+01] [ 6.45809999e-02 -5.30899154e-04 9.97912327e-01 1.75173347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7227550959999 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:556.81, Y:-26.47, Z:175.18 [[ 8.36019884e-01 5.46055807e-01 -5.37941329e-02 5.56806618e+02] [-5.44885388e-01 8.37748611e-01 3.57376322e-02 -2.64733346e+01] [ 6.45807018e-02 -5.65734133e-04 9.97912327e-01 1.75177538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.782755096 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:556.86, Y:-26.51, Z:175.18 [[ 8.35637171e-01 5.46642303e-01 -5.37839307e-02 5.56856512e+02] [-5.45472109e-01 8.37366051e-01 3.57529797e-02 -2.65061428e+01] [ 6.45809288e-02 -5.38884647e-04 9.97912327e-01 1.75181632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8427550959999 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:556.90, Y:-26.54, Z:175.19 [[ 8.34897870e-01 5.47770850e-01 -5.37833042e-02 5.56904882e+02] [-5.46602932e-01 8.36628287e-01 3.57539221e-02 -2.65375876e+01] [ 6.45815900e-02 -4.52761574e-04 9.97912327e-01 1.75187556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.902755096 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:556.95, Y:-26.57, Z:175.19 [[ 8.34323859e-01 5.48644441e-01 -5.37863848e-02 5.56952257e+02] [-5.47478634e-01 8.36055700e-01 3.57492873e-02 -2.65722816e+01] [ 6.45820613e-02 -3.79586852e-04 9.97912327e-01 1.75194486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9627550959999 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:557.00, Y:-26.61, Z:175.20 [[ 8.33503546e-01 5.49889628e-01 -5.37888117e-02 5.57001106e+02] [-5.48726644e-01 8.35237283e-01 3.57456353e-02 -2.66055851e+01] [ 6.45825751e-02 -2.78759589e-04 9.97912327e-01 1.75199282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.022755096 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:557.05, Y:-26.64, Z:175.20 [[ 8.32478366e-01 5.51440182e-01 -5.37912216e-02 5.57049891e+02] [-5.50280662e-01 8.34214422e-01 3.57420084e-02 -2.66380419e+01] [ 6.45829925e-02 -1.54179688e-04 9.97912327e-01 1.75201045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0827550959999 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:557.10, Y:-26.67, Z:175.20 [[ 8.33105658e-01 5.50491792e-01 -5.37935949e-02 5.57098800e+02] [-5.49330526e-01 8.34840546e-01 3.57384361e-02 -2.66708198e+01] [ 6.45827899e-02 -2.23429492e-04 9.97912328e-01 1.75200874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.142755096 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:557.15, Y:-26.71, Z:175.20 [[ 8.36623631e-01 5.45130165e-01 -5.37959433e-02 5.57146294e+02] [-5.43958009e-01 8.38351180e-01 3.57349008e-02 -2.67059178e+01] [ 6.45800649e-02 -6.33928215e-04 9.97912328e-01 1.75204171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2027550959999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:557.20, Y:-26.74, Z:175.21 [[ 8.40243950e-01 5.39532995e-01 -5.37982517e-02 5.57195162e+02] [-5.38349555e-01 8.41963789e-01 3.57314253e-02 -2.67388534e+01] [ 6.45744627e-02 -1.06084909e-03 9.97912328e-01 1.75208218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.262755096 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:557.24, Y:-26.77, Z:175.21 [[ 8.45058935e-01 5.31959491e-01 -5.38005281e-02 5.57244205e+02] [-5.30760860e-01 8.46768221e-01 3.57279974e-02 -2.67696335e+01] [ 6.45624247e-02 -1.63704886e-03 9.97912328e-01 1.75213016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3227550959999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:557.30, Y:-26.80, Z:175.22 [[ 8.49854676e-01 5.24263513e-01 -5.38033316e-02 5.57297427e+02] [-5.23049676e-01 8.51553198e-01 3.57237751e-02 -2.67989382e+01] [ 6.45450709e-02 -2.21820213e-03 9.97912328e-01 1.75222108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.382755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.35, Y:-26.83, Z:175.23 [[ 8.52174630e-01 5.20484133e-01 -5.38021218e-02 5.57351664e+02] [-5.19262650e-01 8.53867661e-01 3.57255970e-02 -2.68294551e+01] [ 6.45344982e-02 -2.50701509e-03 9.97912328e-01 1.75230360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4427550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.40, Y:-26.86, Z:175.24 [[ 8.53614394e-01 5.18120502e-01 -5.37923059e-02 5.57404494e+02] [-5.16893403e-01 8.55303359e-01 3.57403708e-02 -2.68608114e+01] [ 6.45265588e-02 -2.70360691e-03 9.97912328e-01 1.75238778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.502755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.46, Y:-26.89, Z:175.24 [[ 8.56281325e-01 5.13701200e-01 -5.37900497e-02 5.57460919e+02] [-5.12465174e-01 8.57963769e-01 3.57437660e-02 -2.68856301e+01] [ 6.45115293e-02 -3.04119218e-03 9.97912328e-01 1.75239638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5627550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.51, Y:-26.92, Z:175.25 [[ 8.53453653e-01 5.18386002e-01 -5.37848888e-02 5.57513713e+02] [-5.17158727e-01 8.55142491e-01 3.57515301e-02 -2.69176917e+01] [ 6.45268366e-02 -2.69694936e-03 9.97912328e-01 1.75247310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.622755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.57, Y:-26.94, Z:175.25 [[ 8.54047178e-01 5.17408643e-01 -5.37746496e-02 5.57571150e+02] [-5.16178469e-01 8.55733905e-01 3.57669246e-02 -2.69423236e+01] [ 6.45229068e-02 -2.78932471e-03 9.97912328e-01 1.75250156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.63, Y:-26.97, Z:175.26 [[ 8.50345368e-01 5.23470738e-01 -5.37693341e-02 5.57627187e+02] [-5.22252089e-01 8.52040440e-01 3.57749137e-02 -2.69705759e+01] [ 6.45407676e-02 -2.33988513e-03 9.97912328e-01 1.75256337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.742755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.68, Y:-27.00, Z:175.27 [[ 8.48486796e-01 5.26479127e-01 -5.37576570e-02 5.57683662e+02] [-5.25265379e-01 8.50185381e-01 3.57924519e-02 -2.69961257e+01] [ 6.45479529e-02 -2.13238675e-03 9.97912328e-01 1.75268203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.74, Y:-27.02, Z:175.27 [[ 8.48608458e-01 5.26284059e-01 -5.37473173e-02 5.57742913e+02] [-5.25068940e-01 8.50306061e-01 3.58079716e-02 -2.70210134e+01] [ 6.45468344e-02 -2.16590067e-03 9.97912328e-01 1.75273253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8627550959999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:558.06, Y:-26.49, Z:176.30 [[ 8.53172906e-01 5.18853058e-01 -5.37354294e-02 5.58057609e+02] [-5.17622039e-01 8.54859016e-01 3.58258024e-02 -2.64895173e+01] [ 6.45245434e-02 -2.75096140e-03 9.97912329e-01 1.76299954e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 735.922755096 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:558.11, Y:-26.51, Z:176.31 [[ 8.55362009e-01 5.15210847e-01 -5.39779295e-02 5.58113298e+02] [-5.13995836e-01 8.57059571e-01 3.54566403e-02 -2.65102246e+01] [ 6.45299468e-02 -2.58383211e-03 9.97912426e-01 1.76306525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9827550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.17, Y:-26.53, Z:176.31 [[ 8.57016966e-01 5.12452788e-01 -5.39820344e-02 5.58169404e+02] [-5.11232708e-01 8.58710887e-01 3.54503897e-02 -2.65302010e+01] [ 6.45216117e-02 -2.78420375e-03 9.97912426e-01 1.76307281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.042755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.23, Y:-26.55, Z:176.31 [[ 8.58286489e-01 5.10322353e-01 -5.39944285e-02 5.58227119e+02] [-5.09099253e-01 8.59978232e-01 3.54315021e-02 -2.65467464e+01] [ 6.45155207e-02 -2.92185631e-03 9.97912426e-01 1.76311394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1027550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.28, Y:-26.57, Z:176.32 [[ 8.58229622e-01 5.10417592e-01 -5.39981299e-02 5.58281147e+02] [-5.09195034e-01 8.59921755e-01 3.54258603e-02 -2.65704922e+01] [ 6.45161490e-02 -2.90794308e-03 9.97912426e-01 1.76318693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.162755096 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.34, Y:-26.59, Z:176.33 [[ 8.56470606e-01 5.13362522e-01 -5.40094667e-02 5.58337607e+02] [-5.12146871e-01 8.58167708e-01 3.54085681e-02 -2.65900936e+01] [ 6.45266121e-02 -2.66561843e-03 9.97912426e-01 1.76326321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2227550959999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.40, Y:-26.61, Z:176.33 [[ 8.54607527e-01 5.16456986e-01 -5.40199602e-02 5.58395976e+02] [-5.15248492e-01 8.56309733e-01 3.53925517e-02 -2.66072691e+01] [ 6.45365483e-02 -2.41303804e-03 9.97912427e-01 1.76334126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.282755096 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:558.45, Y:-26.63, Z:176.34 [[ 8.54897996e-01 5.15974869e-01 -5.40310166e-02 5.58452848e+02] [-5.14766480e-01 8.56600276e-01 3.53756648e-02 -2.66271550e+01] [ 6.45359378e-02 -2.42922873e-03 9.97912427e-01 1.76342786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3427550959999 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:558.51, Y:-26.65, Z:176.35 [[ 8.54792226e-01 5.16148912e-01 -5.40421149e-02 5.58508273e+02] [-5.14941940e-01 8.56495511e-01 3.53587022e-02 -2.66465643e+01] [ 6.45371845e-02 -2.39579228e-03 9.97912427e-01 1.76348087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.402755096 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:558.56, Y:-26.67, Z:176.35 [[ 8.53993250e-01 5.17469288e-01 -5.40468835e-02 5.58563700e+02] [-5.16265410e-01 8.55698723e-01 3.53514118e-02 -2.66689784e+01] [ 6.45411191e-02 -2.28733059e-03 9.97912427e-01 1.76350549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4627550959999 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:558.62, Y:-26.69, Z:176.35 [[ 8.55066454e-01 5.15692997e-01 -5.40563720e-02 5.58619757e+02] [-5.14486493e-01 8.56770070e-01 3.53368968e-02 -2.66911144e+01] [ 6.45368719e-02 -2.40412183e-03 9.97912427e-01 1.76348960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.522755096 meters Centerline goodness : 0.997847 with order 1 Centerline is valid? [True, True] Translation: X:558.67, Y:-26.72, Z:176.36 [[ 8.53616371e-01 5.18088706e-01 -5.40664808e-02 5.58671871e+02] [-5.16887962e-01 8.55324051e-01 3.53214233e-02 -2.67161652e+01] [ 6.45439919e-02 -2.20463208e-03 9.97912427e-01 1.76363221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7705.39 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%| | 0/24552 [00:00