+ python -m lidar_slam --result /working/result.json --no-model /working/910217d2-2dd4-4806-a3b7-a019c7e66750 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/910217d2-2dd4-4806-a3b7-a019c7e66750 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 0.028040942 Adjusted end_distance from 9.223372036854776e+18 to 199.178040942 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028040942 meters Centerline goodness : 0.994346 with order 1 Centerline is valid? [0, True] SLAMing on 0.088040942 meters Centerline goodness : 0.991701 with order 1 Centerline is valid? [True, True] Translation: X:0.06, Y:0.03, Z:-0.02 [[ 0.99997423 -0.00717875 0. 0.06105451] [ 0.00717875 0.99997423 0. 0.02612937] [ 0. 0. 1. -0.02010152] [ 0. 0. 0. 1. ]] SLAMing on 0.148040942 meters Centerline goodness : 0.990518 with order 1 Centerline is valid? [True, True] Translation: X:0.12, Y:0.01, Z:0.01 [[ 0.99996131 0.00879631 0. 0.12064974] [-0.00879631 0.99996131 0. 0.01449139] [ 0. 0. 1. 0.01434468] [ 0. 0. 0. 1. ]] SLAMing on 0.208040942 meters Centerline goodness : 0.180530 with order 1 Centerline is valid? [True, False] Translation: X:0.19, Y:0.03, Z:0.02 [[ 0.99992404 0.01068475 -0.00614358 0.19047191] [-0.010759 0.99986791 -0.01218214 0.02920612] [ 0.00601261 0.01224732 0.99990692 0.0166532 ] [ 0. 0. 0. 1. ]] SLAMing on 0.268040942 meters Centerline goodness : 0.977814 with order 1 Centerline is valid? [False, True] Translation: X:0.24, Y:0.04, Z:0.02 [[ 0.99986727 0.01290898 -0.00993996 0.23863724] [-0.01309257 0.99974069 -0.01863186 0.03847746] [ 0.00969687 0.01875953 0.999777 0.0181257 ] [ 0. 0. 0. 1. ]] SLAMing on 0.328040942 meters Centerline goodness : 0.298648 with order 1 Centerline is valid? [True, False] Translation: X:0.31, Y:0.05, Z:0.02 [[ 0.99973432 0.01513011 -0.01738878 0.31177688] [-0.01559766 0.99951172 -0.02707451 0.04789808] [ 0.01697065 0.02733854 0.99948217 0.02166789] [ 0. 0. 0. 1. ]] SLAMing on 0.388040942 meters Centerline goodness : 0.242904 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:0.03 [[ 0.99934321 0.01972287 -0.03039983 0.39651458] [-0.02058322 0.99938887 -0.02825282 0.04943981] [ 0.02982403 0.02885999 0.99913844 0.02921794] [ 0. 0. 0. 1. ]] SLAMing on 0.448040942 meters Centerline goodness : 0.238552 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.03 [[ 0.99948162 0.01646184 -0.02766766 0.4219856 ] [-0.01685559 0.99975909 -0.01405872 0.05558934] [ 0.02742957 0.01451779 0.99951831 0.02854988] [ 0. 0. 0. 1. ]] SLAMing on 0.5080409419999999 meters Centerline goodness : 0.258559 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.03 [[ 0.99962459 0.01209313 -0.02458511 0.44760691] [-0.01213413 0.99992522 -0.00151931 0.06193213] [ 0.0245649 0.00181706 0.99969659 0.02793119] [ 0. 0. 0. 1. ]] SLAMing on 0.568040942 meters Centerline goodness : 0.254106 with order 1 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.03 [[ 0.9997122 0.01014775 -0.02173799 0.47120197] [-0.00987007 0.99986881 0.012843 0.06454415] [ 0.02186547 -0.01262475 0.99968121 0.02660039] [ 0. 0. 0. 1. ]] SLAMing on 0.6280409419999999 meters Centerline goodness : 0.251688 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.03 [[ 0.99978968 0.00603699 -0.01959975 0.4966263 ] [-0.0058922 0.99995499 0.00743665 0.07997303] [ 0.01964376 -0.0073196 0.99978025 0.02521527] [ 0. 0. 0. 1. ]] SLAMing on 0.6880409419999999 meters Centerline goodness : 0.255388 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:0.09, Z:0.03 [[ 0.99984213 -0.00395732 -0.01732226 0.53561595] [ 0.00413746 0.99993761 0.01037605 0.09162605] [ 0.01728012 -0.01044608 0.99979612 0.026276 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7480409419999999 meters Centerline goodness : 0.257356 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:0.10, Z:0.03 [[ 0.99973972 -0.01023193 -0.02039094 0.54435134] [ 0.01040613 0.99991011 0.00845539 0.10168605] [ 0.02030259 -0.00866538 0.99975633 0.02803719] [ 0. 0. 0. 1. ]] SLAMing on 0.808040942 meters Centerline goodness : 0.252040 with order 1 Centerline is valid? [False, False] Translation: X:0.58, Y:0.11, Z:0.03 [[ 0.99967211 -0.01849588 -0.01770788 0.57975982] [ 0.01872585 0.9997413 0.01291041 0.11234667] [ 0.01746451 -0.01323777 0.99975985 0.02720275] [ 0. 0. 0. 1. ]] SLAMing on 0.8680409419999999 meters Centerline goodness : 0.253749 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:0.13, Z:0.03 [[ 0.99965757 -0.021261 -0.01525498 0.62680351] [ 0.0214877 0.99965876 0.0148539 0.12615892] [ 0.01493397 -0.0151766 0.9997733 0.02791403] [ 0. 0. 0. 1. ]] SLAMing on 0.9280409419999999 meters Centerline goodness : 0.136081 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:0.14, Z:0.03 [[ 0.99969336 -0.02169498 -0.01193802 0.67272052] [ 0.02189748 0.99961394 0.01710189 0.14078708] [ 0.01156239 -0.01735806 0.99978248 0.02782107] [ 0. 0. 0. 1. ]] SLAMing on 0.9880409419999999 meters Centerline goodness : 0.137634 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:0.15, Z:0.03 [[ 0.99968226 -0.02399398 -0.00772471 0.69495941] [ 0.02409261 0.99962599 0.01293938 0.15272828] [ 0.00741135 -0.01312138 0.99988644 0.02535121] [ 0. 0. 0. 1. ]] SLAMing on 1.048040942 meters SLAMing on 1.1080409420000001 meters SLAMing on 1.168040942 meters SLAMing on 1.228040942 meters Centerline goodness : 0.122779 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:0.18, Z:0.01 [[ 0.99996667 -0.00119986 -0.00807576 0.79816783] [ 0.00206467 0.99415452 0.10794683 0.17728729] [ 0.00789903 -0.10795991 0.99412387 0.00751093] [ 0. 0. 0. 1. ]] SLAMing on 1.288040942 meters Centerline goodness : 0.132849 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:0.19, Z:0.01 [[ 0.99997919 -0.00208159 -0.00610624 0.83431518] [ 0.00266174 0.99532017 0.09659547 0.18811867] [ 0.00587659 -0.09660971 0.99530499 0.00550966] [ 0. 0. 0. 1. ]] SLAMing on 1.348040942 meters Centerline goodness : 0.259588 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:0.20, Z:0.00 [[ 0.99996923 -0.00537989 -0.00570891 0.88201195] [ 0.00589252 0.99555982 0.09394642 0.19652815] [ 0.00517814 -0.09397717 0.99556089 0.00252811] [ 0. 0. 0. 1. ]] SLAMing on 1.408040942 meters Centerline goodness : 0.173889 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:0.19, Z:-0.00 [[ 0.99995808 -0.00765561 -0.00502321 0.92896057] [ 0.00811171 0.99513982 0.09813734 0.19476004] [ 0.00424749 -0.09817397 0.9951602 -0.00272438] [ 0. 0. 0. 1. ]] SLAMing on 1.468040942 meters Centerline goodness : 0.145559 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:0.20, Z:-0.00 [[ 0.99996245 -0.00761474 -0.00413727 0.98514215] [ 0.00797026 0.99553241 0.09408347 0.19807851] [ 0.00340236 -0.09411291 0.99555572 -0.00477408] [ 0. 0. 0. 1. ]] SLAMing on 1.528040942 meters Centerline goodness : 0.165055 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:0.20, Z:-0.01 [[ 0.99997202 -0.00723184 -0.00191094 1.02122253] [ 0.00737116 0.99614849 0.08737191 0.2003265 ] [ 0.00127172 -0.08738355 0.99617393 -0.00811601] [ 0. 0. 0. 1. ]] SLAMing on 1.5880409420000001 meters Centerline goodness : 0.169681 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.19, Z:-0.01 [[ 0.99994263 -0.00990765 -0.00407048 1.06436629] [ 0.01029279 0.99397289 0.10914187 0.18623035] [ 0.00296461 -0.1091775 0.99401785 -0.01243513] [ 0. 0. 0. 1. ]] SLAMing on 1.648040942 meters Centerline goodness : 0.164723 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:0.18, Z:-0.02 [[ 0.99985254 -0.01526284 -0.00787026 1.10156131] [ 0.01616232 0.99125875 0.13093844 0.17617584] [ 0.00580297 -0.13104634 0.99135926 -0.01723614] [ 0. 0. 0. 1. ]] SLAMing on 1.708040942 meters Centerline goodness : 0.829975 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:0.18, Z:-0.02 [[ 0.99971157 -0.01983395 -0.01354237 1.15427109] [ 0.02113705 0.9943471 0.1040532 0.18222732] [ 0.01140203 -0.10430943 0.99447953 -0.01610414] [ 0. 0. 0. 1. ]] SLAMing on 1.768040942 meters Centerline goodness : 0.181210 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:0.19, Z:-0.01 [[ 0.99957334 -0.02314249 -0.01782016 1.19669806] [ 0.02446883 0.99663645 0.07821171 0.18950807] [ 0.01595021 -0.07861438 0.99677749 -0.0124421 ] [ 0. 0. 0. 1. ]] SLAMing on 1.828040942 meters Centerline goodness : 0.169251 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:0.19, Z:-0.01 [[ 0.99948843 -0.02413253 -0.02098823 1.24789023] [ 0.02537658 0.99780414 0.06117953 0.19020842] [ 0.01946573 -0.06168084 0.99790609 -0.0117735 ] [ 0. 0. 0. 1. ]] SLAMing on 1.888040942 meters Centerline goodness : 0.139989 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:0.19, Z:-0.01 [[ 0.99946424 -0.02324783 -0.02303856 1.29955593] [ 0.02428768 0.99864921 0.04593322 0.18894317] [ 0.02193959 -0.04646816 0.99867881 -0.01266053] [ 0. 0. 0. 1. ]] SLAMing on 1.948040942 meters Centerline goodness : 0.915841 with order 2 Centerline is valid? [False, False] Translation: X:1.35, Y:0.19, Z:-0.01 [[ 0.99944704 -0.02119589 -0.0256194 1.34999524] [ 0.02198014 0.99928608 0.03072793 0.18690582] [ 0.02494981 -0.03127406 0.9991994 -0.01226461] [ 0. 0. 0. 1. ]] SLAMing on 2.008040942 meters Centerline goodness : 0.916592 with order 2 Centerline is valid? [False, False] Translation: X:1.38, Y:0.19, Z:-0.01 [[ 0.99943833 -0.02193976 -0.02533119 1.38313244] [ 0.02248255 0.99951934 0.0213454 0.18552457] [ 0.0248507 -0.02190293 0.9994512 -0.01133713] [ 0. 0. 0. 1. ]] SLAMing on 2.068040942 meters Centerline goodness : 0.951813 with order 2 Centerline is valid? [False, True] Translation: X:1.43, Y:0.19, Z:-0.01 [[ 0.99947406 -0.02043565 -0.02517893 1.43006343] [ 0.02058616 0.99977164 0.00573319 0.1850027 ] [ 0.02505602 -0.00624851 0.99966652 -0.00953674] [ 0. 0. 0. 1. ]] SLAMing on 2.128040942 meters Centerline goodness : 0.954764 with order 2 Centerline is valid? [True, True] Translation: X:1.50, Y:0.18, Z:-0.01 [[ 0.99954662 -0.01677969 -0.02500003 1.49503902] [ 0.01673252 0.99985781 -0.00209456 0.18237973] [ 0.02503162 0.0016753 0.99968526 -0.00843793] [ 0. 0. 0. 1. ]] SLAMing on 2.188040942 meters Centerline goodness : 0.952100 with order 2 Centerline is valid? [True, True] Translation: X:1.56, Y:0.18, Z:-0.01 [[ 0.99962224 -0.01144104 -0.02498949 1.56262011] [ 0.01137778 0.9999317 -0.00267222 0.1793231 ] [ 0.02501836 0.00238688 0.99968414 -0.00866451] [ 0. 0. 0. 1. ]] SLAMing on 2.248040942 meters Centerline goodness : 0.956280 with order 2 Centerline is valid? [True, True] Translation: X:1.63, Y:0.17, Z:-0.01 [[ 0.99957678 -0.0148775 -0.02499854 1.63243426] [ 0.01482938 0.99988781 -0.00210909 0.172943 ] [ 0.02502712 0.00173748 0.99968526 -0.00541787] [ 0. 0. 0. 1. ]] SLAMing on 2.308040942 meters Centerline goodness : 0.969834 with order 2 Centerline is valid? [True, True] Translation: X:1.67, Y:0.16, Z:0.00 [[ 9.99686064e-01 -1.51954235e-03 -2.50092683e-02 1.66695884e+00] [ 1.48586734e-03 9.99997964e-01 -1.36502931e-03 1.64148118e-01] [ 2.50112916e-02 1.32744032e-03 9.99686287e-01 1.17262091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.368040942 meters Centerline goodness : 0.950519 with order 1 Centerline is valid? [True, True] Translation: X:1.75, Y:0.19, Z:-0.01 [[ 0.99921568 -0.03074395 -0.02495658 1.75168563] [ 0.03068107 0.99952502 -0.00289854 0.1919757 ] [ 0.02503384 0.00213057 0.99968433 -0.00727558] [ 0. 0. 0. 1. ]] SLAMing on 2.428040942 meters Centerline goodness : 0.955910 with order 2 Centerline is valid? [True, True] Translation: X:1.76, Y:0.14, Z:-0.01 [[ 9.99185604e-01 3.16543579e-02 -2.50226069e-02 1.76078058e+00] [-3.16837450e-02 9.99497641e-01 -7.78731782e-04 1.35215282e-01] [ 2.49853863e-02 1.57090748e-03 9.99686582e-01 -5.51082207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.488040942 meters Centerline goodness : 0.971403 with order 2 Centerline is valid? [True, True] Translation: X:1.87, Y:0.14, Z:0.01 [[ 0.99935369 0.02577073 -0.02506154 1.86624919] [-0.02587618 0.99965758 -0.0038923 0.14226109] [ 0.02495265 0.00453828 0.99967833 0.00714275] [ 0. 0. 0. 1. ]] SLAMing on 2.548040942 meters Centerline goodness : 0.978645 with order 2 Centerline is valid? [True, True] Translation: X:1.91, Y:0.14, Z:0.00 [[ 9.99255506e-01 2.93678529e-02 -2.50192416e-02 1.90683676e+00] [-2.94143046e-02 9.99566194e-01 -1.49056512e-03 1.41197912e-01] [ 2.49646135e-02 2.22537900e-03 9.99685859e-01 4.65867964e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.608040942 meters Centerline goodness : 0.954258 with order 1 Centerline is valid? [True, True] Translation: X:2.02, Y:0.13, Z:-0.01 [[ 0.99883946 0.04114665 -0.02503387 2.01539442] [-0.04122807 0.99914599 -0.00274497 0.13450518] [ 0.02489955 0.00377389 0.99968283 -0.00625144] [ 0. 0. 0. 1. ]] SLAMing on 2.6680409419999997 meters Centerline goodness : 0.965881 with order 1 Centerline is valid? [True, True] Translation: X:2.08, Y:0.15, Z:0.01 [[ 9.99396252e-01 2.41463509e-02 -2.49817173e-02 2.07521334e+00] [-2.41435566e-02 9.99708416e-01 4.13513014e-04 1.46875541e-01] [ 2.49844179e-02 1.89884150e-04 9.99687823e-01 9.03345111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.728040942 meters Centerline goodness : 0.983721 with order 1 Centerline is valid? [True, True] Translation: X:2.13, Y:0.15, Z:0.03 [[ 9.99561603e-01 1.58906975e-02 -2.49817243e-02 2.13349103e+00] [-1.58853353e-02 9.99873735e-01 4.13091726e-04 1.53382247e-01] [ 2.49851343e-02 -1.60675611e-05 9.99687823e-01 2.87281078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.788040942 meters Centerline goodness : 0.974825 with order 1 Centerline is valid? [True, True] Translation: X:2.19, Y:0.15, Z:0.02 [[ 9.99445861e-01 2.19973330e-02 -2.49817530e-02 2.19237184e+00] [-2.19939216e-02 9.99758020e-01 4.11348267e-04 1.53367235e-01] [ 2.49847564e-02 1.38326393e-04 9.99687823e-01 1.57346399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.848040942 meters Centerline goodness : 0.978272 with order 1 Centerline is valid? [True, True] Translation: X:2.25, Y:0.16, Z:0.01 [[ 9.99642971e-01 9.47842962e-03 -2.49817740e-02 2.25112462e+00] [-9.47114096e-03 9.99955064e-01 4.10067276e-04 1.59609250e-01] [ 2.49845382e-02 -1.73314968e-04 9.99687823e-01 1.45074590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.908040942 meters Centerline goodness : 0.990372 with order 1 Centerline is valid? [True, True] Translation: X:2.31, Y:0.17, Z:0.04 [[ 9.99686953e-01 -1.38047986e-03 -2.49818007e-02 2.30973378e+00] [ 1.39111736e-03 9.99998949e-01 4.08436017e-04 1.66797367e-01] [ 2.49812106e-02 -4.43060774e-04 9.99687823e-01 3.86487664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.968040942 meters Centerline goodness : 0.986408 with order 1 Centerline is valid? [True, True] Translation: X:2.37, Y:0.18, Z:0.02 [[ 9.99672690e-01 -5.51558732e-03 -2.49818278e-02 2.36797134e+00] [ 5.52747360e-03 9.99984641e-01 4.06767464e-04 1.75665411e-01] [ 2.49792006e-02 -5.44720718e-04 9.99687823e-01 1.62203205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.028040942 meters Centerline goodness : 0.989085 with order 1 Centerline is valid? [True, True] Translation: X:2.43, Y:0.19, Z:0.02 [[ 9.99583246e-01 -1.44651447e-02 -2.49818611e-02 2.42781161e+00] [ 1.44797721e-02 9.99895081e-01 4.04715448e-04 1.86574853e-01] [ 2.49733857e-02 -7.66278437e-04 9.99687823e-01 1.66189673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.088040942 meters Centerline goodness : 0.989567 with order 1 Centerline is valid? [True, True] Translation: X:2.49, Y:0.19, Z:0.01 [[ 9.99433004e-01 -2.25738018e-02 -2.49818738e-02 2.48725084e+00] [ 2.25909388e-02 9.99744711e-01 4.03927652e-04 1.91264771e-01] [ 2.49663780e-02 -9.68062609e-04 9.99687823e-01 9.43877903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.148040942 meters Centerline goodness : 0.994030 with order 1 Centerline is valid? [True, True] Translation: X:2.55, Y:0.19, Z:0.04 [[ 9.99650582e-01 -8.63803438e-03 -2.49819620e-02 2.54631984e+00] [ 8.65068594e-03 9.99962503e-01 3.98397349e-04 1.91649065e-01] [ 2.49775839e-02 -6.14369250e-04 9.99687823e-01 3.98498999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.208040942 meters Centerline goodness : 0.996190 with order 1 Centerline is valid? [True, True] Translation: X:2.61, Y:0.20, Z:0.03 [[ 9.99528042e-01 -1.78772038e-02 -2.49819745e-02 2.60657521e+00] [ 1.78927182e-02 9.99839833e-01 3.97611513e-04 1.99200170e-01] [ 2.49708651e-02 -8.44419288e-04 9.99687823e-01 2.66071657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.268040942 meters Centerline goodness : 0.987735 with order 1 Centerline is valid? [True, True] Translation: X:2.67, Y:0.20, Z:0.01 [[ 9.99682609e-01 3.25304327e-03 -2.49819807e-02 2.66634780e+00] [-3.24413221e-03 9.99994659e-01 3.97219773e-04 2.03332975e-01] [ 2.49831395e-02 -3.16048851e-04 9.99687823e-01 6.26160102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.328040942 meters Centerline goodness : 0.997441 with order 1 Centerline is valid? [True, True] Translation: X:2.73, Y:0.22, Z:0.02 [[ 9.99487971e-01 -1.99924179e-02 -2.49819851e-02 2.72636512e+00] [ 2.00085756e-02 9.99799730e-01 3.96948734e-04 2.17370758e-01] [ 2.49690459e-02 -8.96599421e-04 9.99687823e-01 1.96800531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.388040942 meters Centerline goodness : 0.996427 with order 1 Centerline is valid? [True, True] Translation: X:2.79, Y:0.20, Z:0.04 [[ 9.99678062e-01 4.43540580e-03 -2.49819908e-02 2.78504603e+00] [-4.42687962e-03 9.99990123e-01 3.96587638e-04 2.00216955e-01] [ 2.49835031e-02 -2.85867695e-04 9.99687823e-01 4.18949604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.448040942 meters Centerline goodness : 0.996675 with order 1 Centerline is valid? [True, True] Translation: X:2.84, Y:0.20, Z:0.04 [[ 9.99686741e-01 1.52324204e-03 -2.49820040e-02 2.84422427e+00] [-1.51382774e-03 9.99998776e-01 3.95750846e-04 1.97083390e-01] [ 2.49825763e-02 -3.57808422e-04 9.99687823e-01 3.78030310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.508040942 meters Centerline goodness : 0.996956 with order 1 Centerline is valid? [True, True] Translation: X:2.90, Y:0.20, Z:0.04 [[ 9.99680536e-01 -3.83708465e-03 -2.49820308e-02 2.90227545e+00] [ 3.84812949e-03 9.99992518e-01 3.94051783e-04 1.98127869e-01] [ 2.49803319e-02 -4.90059987e-04 9.99687823e-01 4.25994284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.568040942 meters Centerline goodness : 0.997277 with order 1 Centerline is valid? [True, True] Translation: X:2.96, Y:0.20, Z:0.04 [[ 9.99687898e-01 4.10652893e-05 -2.49820801e-02 2.96153456e+00] [-3.13094667e-05 9.99999923e-01 3.90903846e-04 1.96669017e-01] [ 2.49820942e-02 -3.89999669e-04 9.99687823e-01 4.00075586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6280409419999997 meters Centerline goodness : 0.997126 with order 1 Centerline is valid? [True, True] Translation: X:3.02, Y:0.20, Z:0.05 [[ 9.99678147e-01 -4.41551064e-03 -2.49821231e-02 3.01957649e+00] [ 4.42658827e-03 9.99990127e-01 3.88138055e-04 2.02147940e-01] [ 2.49801626e-02 -4.98598704e-04 9.99687823e-01 5.41944734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6880409419999998 meters Centerline goodness : 0.998497 with order 1 Centerline is valid? [True, True] Translation: X:3.08, Y:0.20, Z:0.04 [[ 9.99632220e-01 -1.05506749e-02 -2.49821489e-02 3.07892534e+00] [ 1.05636253e-02 9.99944129e-01 3.86467218e-04 2.02431064e-01] [ 2.49766756e-02 -6.50227143e-04 9.99687823e-01 4.44148320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.748040942 meters Centerline goodness : 0.998698 with order 1 Centerline is valid? [True, True] Translation: X:3.14, Y:0.20, Z:0.05 [[ 9.99687143e-01 -1.22798788e-03 -2.49821743e-02 3.13663779e+00] [ 1.23798774e-03 9.99999160e-01 3.84817576e-04 1.95768113e-01] [ 2.49816808e-02 -4.15624808e-04 9.99687823e-01 5.13562873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.808040942 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:3.19, Y:0.20, Z:0.06 [[ 9.99686716e-01 1.53620821e-03 -2.49822054e-02 3.19434806e+00] [-1.52712179e-03 9.99998761e-01 3.82790185e-04 1.95372418e-01] [ 2.49827625e-02 -3.44519392e-04 9.99687823e-01 5.55180402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.868040942 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:3.25, Y:0.19, Z:0.06 [[ 9.99675754e-01 4.92657633e-03 -2.49822999e-02 3.25205928e+00] [-4.91870499e-03 9.99987832e-01 3.76517254e-04 1.92365705e-01] [ 2.49838509e-02 -2.53514606e-04 9.99687823e-01 5.73783496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.928040942 meters Centerline goodness : 0.998260 with order 1 Centerline is valid? [True, True] Translation: X:3.31, Y:0.19, Z:0.06 [[ 9.99686935e-01 1.38405570e-03 -2.49823288e-02 3.31051659e+00] [-1.37512664e-03 9.99998984e-01 3.74591053e-04 1.91078458e-01] [ 2.49828219e-02 -3.40119916e-04 9.99687823e-01 6.38018029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.988040942 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:3.37, Y:0.18, Z:0.06 [[ 9.99634546e-01 1.03272834e-02 -2.49824146e-02 3.36947638e+00] [-1.03212915e-02 9.99946666e-01 3.68780313e-04 1.81597708e-01] [ 2.49848907e-02 -1.10794758e-04 9.99687823e-01 5.59319486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.048040941999999 meters Centerline goodness : 0.995796 with order 1 Centerline is valid? [True, True] Translation: X:3.43, Y:0.18, Z:0.06 [[ 9.99664458e-01 6.84439336e-03 -2.49825068e-02 3.42675176e+00] [-6.83747290e-03 9.99976559e-01 3.62424809e-04 1.82992161e-01] [ 2.49844017e-02 -1.91485987e-04 9.99687823e-01 5.94996859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108040942 meters Centerline goodness : 0.991643 with order 1 Centerline is valid? [True, True] Translation: X:3.49, Y:0.18, Z:0.06 [[ 9.99680295e-01 3.89620407e-03 -2.49825391e-02 3.48557015e+00] [-3.88841914e-03 9.99992375e-01 3.60186072e-04 1.77043951e-01] [ 2.49837519e-02 -2.62928335e-04 9.99687823e-01 5.87995153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.168040941999999 meters Centerline goodness : 0.991253 with order 1 Centerline is valid? [True, True] Translation: X:3.54, Y:0.17, Z:0.06 [[ 9.99687497e-01 8.83653626e-04 -2.49825604e-02 3.54358046e+00] [-8.74965361e-04 9.99999553e-01 3.58702199e-04 1.72544132e-01] [ 2.49828662e-02 -3.36731229e-04 9.99687823e-01 6.29773490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.228040942 meters Centerline goodness : 0.991088 with order 1 Centerline is valid? [True, True] Translation: X:3.60, Y:0.17, Z:0.07 [[ 9.99683864e-01 -2.83587212e-03 -2.49825864e-02 3.60139991e+00] [ 2.84567584e-03 9.99995887e-01 3.56879046e-04 1.70524484e-01] [ 2.49814716e-02 -4.27858567e-04 9.99687823e-01 6.51828097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.288040941999999 meters Centerline goodness : 0.990144 with order 1 Centerline is valid? [True, True] Translation: X:3.66, Y:0.17, Z:0.06 [[ 9.99664071e-01 -6.90034949e-03 -2.49826175e-02 3.65944483e+00] [ 6.91136710e-03 9.99976053e-01 3.54691321e-04 1.68070699e-01] [ 2.49795717e-02 -5.27236210e-04 9.99687823e-01 6.47538448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.348040942 meters Centerline goodness : 0.990848 with order 1 Centerline is valid? [True, True] Translation: X:3.72, Y:0.17, Z:0.06 [[ 9.99608666e-01 -1.25848870e-02 -2.49826980e-02 3.71766780e+00] [ 1.25975346e-02 9.99920587e-01 3.48928191e-04 1.65148581e-01] [ 2.49763228e-02 -6.63512045e-04 9.99687823e-01 6.13177900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4080409419999995 meters Centerline goodness : 0.990419 with order 1 Centerline is valid? [True, True] Translation: X:3.78, Y:0.16, Z:0.06 [[ 9.99607810e-01 -1.26525156e-02 -2.49827761e-02 3.77568166e+00] [ 1.26650422e-02 9.99919736e-01 3.43240204e-04 1.64471914e-01] [ 2.49764281e-02 -6.59513504e-04 9.99687823e-01 6.44423829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.468040941999999 meters Centerline goodness : 0.990476 with order 1 Centerline is valid? [True, True] Translation: X:3.83, Y:0.17, Z:0.07 [[ 9.99645182e-01 -9.23962587e-03 -2.49828003e-02 3.83327046e+00] [ 9.25104335e-03 9.99957150e-01 3.41473398e-04 1.65877496e-01] [ 2.49785747e-02 -5.72469205e-04 9.99687823e-01 6.91278396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.528040942 meters Centerline goodness : 0.992250 with order 1 Centerline is valid? [True, True] Translation: X:3.89, Y:0.17, Z:0.07 [[ 9.99674243e-01 -5.22152450e-03 -2.49828759e-02 3.89110061e+00] [ 5.23154738e-03 9.99986259e-01 3.35846542e-04 1.65877438e-01] [ 2.49807790e-02 -4.66436236e-04 9.99687823e-01 7.18439547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.588040941999999 meters Centerline goodness : 0.992406 with order 1 Centerline is valid? [True, True] Translation: X:3.95, Y:0.16, Z:0.07 [[ 9.99672543e-01 -5.53703840e-03 -2.49829492e-02 3.94881250e+00] [ 5.54702121e-03 9.99984561e-01 3.30300952e-04 1.63548771e-01] [ 2.49807346e-02 -4.68773742e-04 9.99687823e-01 7.09825319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.648040942 meters Centerline goodness : 0.992932 with order 1 Centerline is valid? [True, True] Translation: X:4.01, Y:0.16, Z:0.07 [[ 9.99682514e-01 -3.27386628e-03 -2.49830393e-02 4.00555280e+00] [ 3.28296880e-03 9.99994559e-01 3.23340689e-04 1.63895027e-01] [ 2.49818448e-02 -4.05256571e-04 9.99687823e-01 7.12077564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.708040941999999 meters Centerline goodness : 0.992145 with order 1 Centerline is valid? [True, True] Translation: X:4.06, Y:0.16, Z:0.07 [[ 9.99687862e-01 -1.56973679e-04 -2.49830777e-02 4.06369314e+00] [ 1.65028483e-04 9.99999935e-01 3.20348936e-04 1.64907237e-01] [ 2.49830258e-02 -3.24371862e-04 9.99687823e-01 7.20864503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.768040942 meters Centerline goodness : 0.992200 with order 1 Centerline is valid? [True, True] Translation: X:4.12, Y:0.16, Z:0.07 [[ 9.99686947e-01 1.36014260e-03 -2.49831690e-02 4.12060000e+00] [-1.35274347e-03 9.99999036e-01 3.13062734e-04 1.63327419e-01] [ 2.49835707e-02 -2.79168910e-04 9.99687823e-01 7.39506983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8280409419999994 meters Centerline goodness : 0.992536 with order 1 Centerline is valid? [True, True] Translation: X:4.18, Y:0.16, Z:0.08 [[ 9.99685279e-01 2.27630880e-03 -2.49832078e-02 4.17868005e+00] [-2.26927382e-03 9.99997377e-01 3.09936155e-04 1.60314412e-01] [ 2.49838478e-02 -2.53144873e-04 9.99687823e-01 7.72989213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.888040941999999 meters Centerline goodness : 0.992746 with order 1 Centerline is valid? [True, True] Translation: X:4.24, Y:0.16, Z:0.08 [[ 9.99679760e-01 4.02652272e-03 -2.49832927e-02 4.23686742e+00] [-4.02020926e-03 9.99991873e-01 3.02929229e-04 1.57095568e-01] [ 2.49843094e-02 -2.02394154e-04 9.99687823e-01 7.86946689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9480409419999996 meters Centerline goodness : 0.993008 with order 1 Centerline is valid? [True, True] Translation: X:4.30, Y:0.15, Z:0.08 [[ 9.99683215e-01 3.04969213e-03 -2.49833774e-02 4.29518431e+00] [-3.04325233e-03 9.99995326e-01 2.95780473e-04 1.54666718e-01] [ 2.49841626e-02 -2.19656053e-04 9.99687823e-01 8.20985584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.008040941999999 meters Centerline goodness : 0.993087 with order 1 Centerline is valid? [True, True] Translation: X:4.35, Y:0.15, Z:0.08 [[ 9.99682510e-01 3.27205195e-03 -2.49834590e-02 4.35171940e+00] [-3.26585802e-03 9.99994625e-01 2.88720253e-04 1.52654903e-01] [ 2.49842694e-02 -2.07036157e-04 9.99687823e-01 8.07363678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.068040942 meters Centerline goodness : 0.993423 with order 1 Centerline is valid? [True, True] Translation: X:4.41, Y:0.15, Z:0.09 [[ 9.99687803e-01 3.48807906e-04 -2.49834937e-02 4.40961739e+00] [-3.41777199e-04 9.99999901e-01 2.85683581e-04 1.45150053e-01] [ 2.49835908e-02 -2.77055603e-04 9.99687823e-01 8.62936911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.128040941999999 meters Centerline goodness : 0.993828 with order 1 Centerline is valid? [True, True] Translation: X:4.47, Y:0.14, Z:0.09 [[ 9.99687851e-01 -1.44741797e-04 -2.49835725e-02 4.46766135e+00] [ 1.51750033e-04 9.99999950e-01 2.78618087e-04 1.38780571e-01] [ 2.49835309e-02 -2.82322375e-04 9.99687823e-01 8.72348964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188040942 meters Centerline goodness : 0.994214 with order 1 Centerline is valid? [True, True] Translation: X:4.52, Y:0.13, Z:0.09 [[ 9.99687779e-01 -4.01569530e-04 -2.49836490e-02 4.52414416e+00] [ 4.08481998e-04 9.99999880e-01 2.71576810e-04 1.33684641e-01] [ 2.49835370e-02 -2.81697389e-04 9.99687823e-01 8.85584998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248040941999999 meters Centerline goodness : 0.993573 with order 1 Centerline is valid? [True, True] Translation: X:4.58, Y:0.13, Z:0.09 [[ 9.99684285e-01 -2.67324864e-03 -2.49836816e-02 4.58331028e+00] [ 2.68079465e-03 9.99996371e-01 2.68549384e-04 1.27674114e-01] [ 2.49828730e-02 -3.35440719e-04 9.99687823e-01 8.59586629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.308040941999999 meters Centerline goodness : 0.993879 with order 1 Centerline is valid? [True, True] Translation: X:4.64, Y:0.12, Z:0.09 [[ 9.99671722e-01 -5.67996699e-03 -2.49837282e-02 4.64150222e+00] [ 5.68834130e-03 9.99983786e-01 2.64133449e-04 1.20195101e-01] [ 2.49818229e-02 -4.06162712e-04 9.99687823e-01 8.68977095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3680409419999995 meters Centerline goodness : 0.994165 with order 1 Centerline is valid? [True, True] Translation: X:4.70, Y:0.12, Z:0.09 [[ 9.99662146e-01 -7.16961574e-03 -2.49838234e-02 4.69988741e+00] [ 7.17822201e-03 9.99974204e-01 2.54805998e-04 1.16145523e-01] [ 2.49813520e-02 -4.34059342e-04 9.99687823e-01 8.70665078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.428040941999999 meters Centerline goodness : 0.995364 with order 1 Centerline is valid? [True, True] Translation: X:4.76, Y:0.11, Z:0.09 [[ 9.99657879e-01 -7.74135378e-03 -2.49839178e-02 4.75700223e+00] [ 7.74989820e-03 9.99969939e-01 2.45187100e-04 1.11174821e-01] [ 2.49812687e-02 -4.38726036e-04 9.99687823e-01 9.41626819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488040942 meters Centerline goodness : 0.995824 with order 1 Centerline is valid? [True, True] Translation: X:4.81, Y:0.10, Z:0.10 [[ 9.99648422e-01 -8.87889899e-03 -2.49839632e-02 4.81389184e+00] [ 8.88768070e-03 9.99960475e-01 2.40471505e-04 1.03514297e-01] [ 2.49808405e-02 -4.62436448e-04 9.99687823e-01 9.53618334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.548040941999999 meters Centerline goodness : 0.996103 with order 1 Centerline is valid? [True, True] Translation: X:4.87, Y:0.10, Z:0.10 [[ 9.99657097e-01 -7.84151164e-03 -2.49839923e-02 4.87225439e+00] [ 7.84989303e-03 9.99969161e-01 2.37410112e-04 9.86456357e-02] [ 2.49813601e-02 -4.33450370e-04 9.99687823e-01 9.84919910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608040942 meters Centerline goodness : 0.996316 with order 1 Centerline is valid? [True, True] Translation: X:4.93, Y:0.10, Z:0.10 [[ 9.99666965e-01 -6.46186053e-03 -2.49840562e-02 4.93008953e+00] [ 6.46963795e-03 9.99979045e-01 2.30475542e-04 9.54318253e-02] [ 2.49820434e-02 -3.92036583e-04 9.99687823e-01 1.01200139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668040941999999 meters Centerline goodness : 0.996375 with order 1 Centerline is valid? [True, True] Translation: X:4.99, Y:0.09, Z:0.10 [[ 9.99683570e-01 -2.92454338e-03 -2.49841184e-02 4.98745529e+00] [ 2.93104277e-03 9.99995680e-01 2.23524222e-04 8.86361505e-02] [ 2.49833568e-02 -2.96683012e-04 9.99687823e-01 1.02541615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728040942 meters Centerline goodness : 0.995796 with order 1 Centerline is valid? [True, True] Translation: X:5.05, Y:0.08, Z:0.10 [[ 9.99686675e-01 1.53132598e-03 -2.49841446e-02 5.04530468e+00] [-1.52629193e-03 9.99998811e-01 2.20558272e-04 8.41534414e-02] [ 2.49844526e-02 -1.82356067e-04 9.99687823e-01 1.03046171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788040941999999 meters Centerline goodness : 0.995796 with order 1 Centerline is valid? [True, True] Translation: X:5.10, Y:0.08, Z:0.10 [[ 9.99644953e-01 9.26055365e-03 -2.49842153e-02 5.10310838e+00] [-9.25814122e-03 9.99957120e-01 2.12230467e-04 8.03361949e-02] [ 2.49851094e-02 1.91522792e-05 9.99687823e-01 1.04670797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.848040941999999 meters Centerline goodness : 0.996863 with order 1 Centerline is valid? [True, True] Translation: X:5.16, Y:0.07, Z:0.11 [[ 9.99616750e-01 1.19222192e-02 -2.49842850e-02 5.15960877e+00] [-1.19208515e-02 9.99928923e-01 2.03685093e-04 7.29478124e-02] [ 2.49849376e-02 9.42269217e-05 9.99687823e-01 1.07984220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9080409419999995 meters Centerline goodness : 0.996079 with order 1 Centerline is valid? [True, True] Translation: X:5.22, Y:0.06, Z:0.11 [[ 9.99639542e-01 9.82696002e-03 -2.49843140e-02 5.21770567e+00] [-9.82502847e-03 9.99951713e-01 2.00067448e-04 6.24096427e-02] [ 2.49850736e-02 4.54762641e-05 9.99687823e-01 1.09680913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.968040941999999 meters Centerline goodness : 0.996012 with order 1 Centerline is valid? [True, True] Translation: X:5.28, Y:0.06, Z:0.11 [[ 9.99663859e-01 6.92480037e-03 -2.49843302e-02 5.27552969e+00] [-6.92201364e-03 9.99976023e-01 1.98023103e-04 5.90186737e-02] [ 2.49851024e-02 -2.50146652e-05 9.99687823e-01 1.10958847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028040942 meters Centerline goodness : 0.997399 with order 1 Centerline is valid? [True, True] Translation: X:5.33, Y:0.05, Z:0.11 [[ 9.99684204e-01 2.69717561e-03 -2.49843544e-02 5.33477060e+00] [-2.69314641e-03 9.99996354e-01 1.94916098e-04 5.34594474e-02] [ 2.49847891e-02 -1.27568020e-04 9.99687823e-01 1.10666069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.088040941999999 meters Centerline goodness : 0.997505 with order 1 Centerline is valid? [True, True] Translation: X:5.39, Y:0.04, Z:0.11 [[ 9.99684413e-01 -2.61826063e-03 -2.49843698e-02 5.39405432e+00] [ 2.62389976e-03 9.99996539e-01 1.92925579e-04 4.49430639e-02] [ 2.49837782e-02 -2.58421176e-04 9.99687823e-01 1.09293042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.148040942 meters Centerline goodness : 0.997787 with order 1 Centerline is valid? [True, True] Translation: X:5.45, Y:0.04, Z:0.11 [[ 9.99671415e-01 -5.73066287e-03 -2.49844100e-02 5.45222527e+00] [ 5.73713992e-03 9.99983525e-01 1.87570350e-04 4.13059153e-02] [ 2.49829235e-02 -3.30847773e-04 9.99687823e-01 1.10537965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.208040941999999 meters Centerline goodness : 0.997864 with order 1 Centerline is valid? [True, True] Translation: X:5.51, Y:0.04, Z:0.11 [[ 9.99660506e-01 -7.39259340e-03 -2.49844570e-02 5.50971944e+00] [ 7.39942712e-03 9.99972607e-01 1.81079023e-04 3.81619422e-02] [ 2.49824340e-02 -3.65888217e-04 9.99687823e-01 1.14570529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.268040942 meters Centerline goodness : 0.997928 with order 1 Centerline is valid? [True, True] Translation: X:5.57, Y:0.03, Z:0.12 [[ 9.99652809e-01 -8.36889821e-03 -2.49844713e-02 5.56854195e+00] [ 8.37598694e-03 9.99964905e-01 1.79086037e-04 3.31277639e-02] [ 2.49820957e-02 -3.88293465e-04 9.99687823e-01 1.20113843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3280409419999994 meters Centerline goodness : 0.998169 with order 1 Centerline is valid? [True, True] Translation: X:5.63, Y:0.03, Z:0.12 [[ 9.99651042e-01 -8.57724267e-03 -2.49845119e-02 5.62620201e+00] [ 8.58425040e-03 9.99963140e-01 1.73241073e-04 3.08991817e-02] [ 2.49821050e-02 -3.87653925e-04 9.99687823e-01 1.22020529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.388040941999999 meters Centerline goodness : 0.998534 with order 1 Centerline is valid? [True, True] Translation: X:5.68, Y:0.03, Z:0.12 [[ 9.99665685e-01 -6.65514352e-03 -2.49845569e-02 5.68464765e+00] [ 6.66138237e-03 9.99977799e-01 1.66486976e-04 3.04460560e-02] [ 2.49828942e-02 -3.32863004e-04 9.99687823e-01 1.23248923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4480409419999996 meters Centerline goodness : 0.998494 with order 1 Centerline is valid? [True, True] Translation: X:5.74, Y:0.03, Z:0.12 [[ 9.99686359e-01 -1.71880132e-03 -2.49845995e-02 5.74304396e+00] [ 1.72333243e-03 9.99998502e-01 1.59825844e-04 3.04626503e-02] [ 2.49842873e-02 -2.02832487e-04 9.99687823e-01 1.23815814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.508040941999999 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:5.80, Y:0.03, Z:0.13 [[ 9.99687240e-01 1.09056718e-03 -2.49846400e-02 5.80055300e+00] [-1.08707849e-03 9.99999397e-01 1.53215180e-04 2.96723170e-02] [ 2.49847921e-02 -1.26006996e-04 9.99687823e-01 1.26990410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568040942 meters Centerline goodness : 0.998693 with order 1 Centerline is valid? [True, True] Translation: X:5.86, Y:0.02, Z:0.13 [[ 9.99663917e-01 6.91527686e-03 -2.49846524e-02 5.85880535e+00] [-6.91365821e-03 9.99976089e-01 1.51167281e-04 2.46599883e-02] [ 2.49851004e-02 2.16188707e-05 9.99687823e-01 1.29684842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628040941999999 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:5.92, Y:0.02, Z:0.13 [[ 9.99650999e-01 8.58171404e-03 -2.49846946e-02 5.91555350e+00] [-8.58079881e-03 9.99963174e-01 1.43844446e-04 2.37674022e-02] [ 2.49850089e-02 7.05943928e-05 9.99687823e-01 1.29767652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688040942 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:5.97, Y:0.02, Z:0.13 [[ 9.99654819e-01 8.12451417e-03 -2.49847123e-02 5.97367713e+00] [-8.12353489e-03 9.99966994e-01 1.40694849e-04 2.17775024e-02] [ 2.49850307e-02 6.23178985e-05 9.99687823e-01 1.32254675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.748040941999999 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:6.03, Y:0.02, Z:0.13 [[ 9.99677647e-01 4.51287519e-03 -2.49847270e-02 6.03276127e+00] [-4.51083439e-03 9.99989817e-01 1.38041435e-04 1.60265581e-02] [ 2.49850955e-02 -2.52949713e-05 9.99687823e-01 1.32711873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.808040941999999 meters Centerline goodness : 0.997964 with order 1 Centerline is valid? [True, True] Translation: X:6.09, Y:0.01, Z:0.13 [[ 9.99685623e-01 -2.10170611e-03 -2.49847365e-02 6.09151472e+00] [ 2.10576876e-03 9.99997774e-01 1.36296160e-04 1.25495399e-02] [ 2.49843944e-02 -1.88865389e-04 9.99687823e-01 1.31093547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8680409419999995 meters Centerline goodness : 0.998254 with order 1 Centerline is valid? [True, True] Translation: X:6.15, Y:0.01, Z:0.13 [[ 9.99680092e-01 -3.93406144e-03 -2.49847476e-02 6.14928948e+00] [ 3.93864441e-03 9.99992235e-01 1.34222624e-04 1.00415605e-02] [ 2.49840256e-02 -2.32585722e-04 9.99687823e-01 1.32171804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.928040941999999 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:6.21, Y:0.02, Z:0.12 [[ 9.99637448e-01 -1.00366083e-02 -2.49847897e-02 6.20833228e+00] [ 1.00428882e-02 9.99949561e-01 1.25876483e-04 1.61319837e-02] [ 2.49822661e-02 -3.76750294e-04 9.99687823e-01 1.24782060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.988040942 meters Centerline goodness : 0.998027 with order 1 Centerline is valid? [True, True] Translation: X:6.27, Y:0.01, Z:0.13 [[ 9.99652590e-01 -8.39396045e-03 -2.49848240e-02 6.26663397e+00] [ 8.39954690e-03 9.99964716e-01 1.18653213e-04 5.55967072e-03] [ 2.49829464e-02 -3.28473193e-04 9.99687824e-01 1.32855983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.048040941999999 meters Centerline goodness : 0.998043 with order 1 Centerline is valid? [True, True] Translation: X:6.32, Y:0.00, Z:0.14 [[ 9.99653968e-01 -8.22807118e-03 -2.49848552e-02 6.32411335e+00] [ 8.23343138e-03 9.99966098e-01 1.11672165e-04 1.91300943e-03] [ 2.49830893e-02 -3.17344614e-04 9.99687824e-01 1.35116094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.108040942 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.00, Z:0.14 [[ 9.99604303e-01 -1.29226007e-02 -2.49848884e-02 6.38235527e+00] [ 1.29292266e-02 9.99916409e-01 1.03662731e-04 -1.59294321e-03] [ 2.49814603e-02 -4.26656995e-04 9.99687824e-01 1.43149747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.168040941999999 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.00, Z:0.15 [[ 9.99603726e-01 -1.29670755e-02 -2.49849150e-02 6.44042196e+00] [ 1.29735438e-02 9.99915835e-01 9.68019652e-05 -3.71469516e-03] [ 2.49815569e-02 -4.20906494e-04 9.99687824e-01 1.45293695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.228040941999999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.00, Z:0.15 [[ 9.99589084e-01 -1.40504757e-02 -2.49849383e-02 6.49814070e+00] [ 1.40571213e-02 9.99901190e-01 9.03620294e-05 -4.24138976e-03] [ 2.49811999e-02 -4.41541207e-04 9.99687824e-01 1.48367557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.288040941999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.01, Z:0.15 [[ 9.99573497e-01 -1.51187586e-02 -2.49849453e-02 6.55606313e+00] [ 1.51256884e-02 9.99885596e-01 8.83827309e-05 -6.69403988e-03] [ 2.49807507e-02 -4.66259532e-04 9.99687824e-01 1.48692470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.348040941999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.01, Z:0.15 [[ 9.99560468e-01 -1.59568824e-02 -2.49849660e-02 6.61405002e+00] [ 1.59639162e-02 9.99872565e-01 8.20727012e-05 -9.66238250e-03] [ 2.49804724e-02 -4.80894530e-04 9.99687824e-01 1.51717664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4080409419999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.01, Z:0.15 [[ 9.99561549e-01 -1.58889685e-02 -2.49849860e-02 6.67182457e+00] [ 1.58958156e-02 9.99873651e-01 7.54498163e-05 -9.49102452e-03] [ 2.49806304e-02 -4.72573466e-04 9.99687824e-01 1.53637847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.468040941999999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.01, Z:0.14 [[ 9.99605546e-01 -1.28258842e-02 -2.49849920e-02 6.72992538e+00] [ 1.28317240e-02 9.99917667e-01 7.34146305e-05 -1.06085789e-02] [ 2.49819933e-02 -3.93986193e-04 9.99687824e-01 1.44760704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.528040942 meters Centerline goodness : 0.998127 with order 1 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.01, Z:0.15 [[ 9.99579636e-01 -1.47071991e-02 -2.49850065e-02 6.78763241e+00] [ 1.47134932e-02 9.99891748e-01 6.80863690e-05 -1.32048439e-02] [ 2.49813005e-02 -4.35674472e-04 9.99687824e-01 1.54024176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.588040941999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.01, Z:0.16 [[ 9.99585017e-01 -1.43367328e-02 -2.49850265e-02 6.84415573e+00] [ 1.43427021e-02 9.99897136e-01 5.97183501e-05 -1.29379346e-02] [ 2.49816003e-02 -4.18046360e-04 9.99687824e-01 1.60755776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.01, Z:0.16 [[ 9.99611445e-01 -1.23574582e-02 -2.49850389e-02 6.90104691e+00] [ 1.23626664e-02 9.99923578e-01 5.39912998e-05 -1.39748879e-02] [ 2.49824623e-02 -3.62852021e-04 9.99687824e-01 1.61899625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.708040941999999 meters Centerline goodness : 0.997842 with order 1 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.02, Z:0.16 [[ 9.99637451e-01 -1.00356897e-02 -2.49850445e-02 6.95901133e+00] [ 1.00401045e-02 9.99949596e-01 5.12585937e-05 -1.58469094e-02] [ 2.49832707e-02 -3.02092469e-04 9.99687824e-01 1.62626057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.768040941999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.02, Z:0.16 [[ 9.99604921e-01 -1.28743563e-02 -2.49850575e-02 7.01810415e+00] [ 1.28794726e-02 9.99917055e-01 4.38566012e-05 -1.52567398e-02] [ 2.49824205e-02 -3.65633638e-04 9.99687824e-01 1.56797553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8280409419999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.02, Z:0.17 [[ 9.99632532e-01 -1.05141039e-02 -2.49850687e-02 7.07622975e+00] [ 1.05182903e-02 9.99944681e-01 3.61382676e-05 -1.73784004e-02] [ 2.49833065e-02 -2.98925194e-04 9.99687824e-01 1.66687177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.888040941999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.02, Z:0.16 [[ 9.99639571e-01 -9.82216555e-03 -2.49850716e-02 7.13457916e+00] [ 9.82608148e-03 9.99951722e-01 3.39604972e-05 -1.95901476e-02] [ 2.49835318e-02 -2.79453606e-04 9.99687824e-01 1.57878874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9480409419999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.02, Z:0.16 [[ 9.99668596e-01 -6.20030501e-03 -2.49850794e-02 7.19279512e+00] [ 6.20290896e-03 9.99980761e-01 2.67186047e-05 -2.18309302e-02] [ 2.49844330e-02 -1.81689923e-04 9.99687824e-01 1.61447835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.008040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.03, Z:0.17 [[ 9.99687783e-01 2.86462943e-04 -2.49850850e-02 7.25185491e+00] [-2.86066234e-04 9.99999959e-01 1.94520767e-05 -2.54935434e-02] [ 2.49850896e-02 -1.22986143e-05 9.99687824e-01 1.68140149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.02, Z:0.17 [[ 9.99687248e-01 -1.07304155e-03 -2.49850883e-02 7.30832185e+00] [ 1.07370441e-03 9.99999423e-01 1.31149623e-05 -2.37464814e-02] [ 2.49850599e-02 -3.99374602e-05 9.99687824e-01 1.74673907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.03, Z:0.18 [[ 9.99682091e-01 -3.38557138e-03 -2.49850896e-02 7.36614889e+00] [ 3.38687852e-03 9.99994264e-01 9.99928312e-06 -2.61109204e-02] [ 2.49849124e-02 -9.46175675e-05 9.99687824e-01 1.77253853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.03, Z:0.18 [[ 9.99673744e-01 -5.30576979e-03 -2.49850904e-02 7.42405612e+00] [ 5.30749705e-03 9.99985915e-01 2.81701085e-06 -2.78660538e-02] [ 2.49847235e-02 -1.35424385e-04 9.99687824e-01 1.78095445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.03, Z:0.18 [[ 9.99660188e-01 -7.43332768e-03 -2.49850892e-02 7.48142509e+00] [ 7.43554237e-03 9.99972356e-01 -4.26277128e-06 -2.80230366e-02] [ 2.49844302e-02 -1.81516367e-04 9.99687824e-01 1.78177155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.02, Z:0.17 [[ 9.99595248e-01 -1.36046438e-02 -2.49850883e-02 7.53916731e+00] [ 1.36087096e-02 9.99907397e-01 -7.30242413e-06 -2.34261793e-02] [ 2.49828740e-02 -3.32715344e-04 9.99687824e-01 1.72692904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.03, Z:0.18 [[ 9.99622610e-01 -1.14185072e-02 -2.49850845e-02 7.59650815e+00] [ 1.14217209e-02 9.99934770e-01 -1.40845228e-05 -2.70171259e-02] [ 2.49836155e-02 -2.71293455e-04 9.99687824e-01 1.80913015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.03, Z:0.18 [[ 9.99629454e-01 -1.08027844e-02 -2.49850830e-02 7.65497384e+00] [ 1.08057495e-02 9.99941616e-01 -1.63406164e-05 -2.72100957e-02] [ 2.49838008e-02 -2.53647986e-04 9.99687824e-01 1.81513849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.03, Z:0.18 [[ 9.99639898e-01 -9.78882504e-03 -2.49850762e-02 7.71245604e+00] [ 9.79129350e-03 9.99952064e-01 -2.35408339e-05 -2.79894504e-02] [ 2.49841090e-02 -2.21103858e-04 9.99687824e-01 1.82660747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.03, Z:0.18 [[ 9.99644357e-01 -9.32233879e-03 -2.49850729e-02 7.77067136e+00] [ 9.32458428e-03 9.99956525e-01 -2.66338589e-05 -2.61450347e-02] [ 2.49842350e-02 -2.06351032e-04 9.99687824e-01 1.82610305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.608040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.03, Z:0.18 [[ 9.99636542e-01 -1.01257108e-02 -2.49850635e-02 7.82824156e+00] [ 1.01280326e-02 9.99948710e-01 -3.36174416e-05 -2.55489450e-02] [ 2.49841224e-02 -2.19444316e-04 9.99687824e-01 1.84612609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.668040942000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.02, Z:0.19 [[ 9.99629769e-01 -1.07736691e-02 -2.49850524e-02 7.88642759e+00] [ 1.07760215e-02 9.99941936e-01 -4.04909703e-05 -2.46648192e-02] [ 2.49840379e-02 -2.28763481e-04 9.99687824e-01 1.87331510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.728040942 meters Centerline goodness : 0.997756 with order 1 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.02, Z:0.19 [[ 9.99631977e-01 -1.05668329e-02 -2.49850386e-02 7.94297821e+00] [ 1.05689401e-02 9.99944146e-01 -4.77155275e-05 -2.30945097e-02] [ 2.49841473e-02 -2.16367410e-04 9.99687824e-01 1.88448354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.788040942 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.02, Z:0.19 [[ 9.99633261e-01 -1.04447558e-02 -2.49850189e-02 8.00035336e+00] [ 1.04466065e-02 9.99945431e-01 -5.64544722e-05 -2.27688556e-02] [ 2.49842451e-02 -2.04574891e-04 9.99687824e-01 1.89595716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.848040942 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.02, Z:0.19 [[ 9.99637226e-01 -1.00580724e-02 -2.49850097e-02 8.05791325e+00] [ 1.00597073e-02 9.99949398e-01 -6.02561071e-05 -2.23697186e-02] [ 2.49843515e-02 -1.91107637e-04 9.99687824e-01 1.89236633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.908040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.02, Z:0.19 [[ 9.99640779e-01 -9.69857921e-03 -2.49849908e-02 8.11547820e+00] [ 9.69992680e-03 9.99952952e-01 -6.72617904e-05 -2.13672942e-02] [ 2.49844677e-02 -1.75114954e-04 9.99687824e-01 1.88238179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.02, Z:0.19 [[ 9.99605149e-01 -1.28567781e-02 -2.49849703e-02 8.17320659e+00] [ 1.28589394e-02 9.99917318e-01 -7.41658196e-05 -2.33555807e-02] [ 2.49838581e-02 -2.47143685e-04 9.99687824e-01 1.92531558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.02, Z:0.19 [[ 9.99605517e-01 -1.28281698e-02 -2.49849474e-02 8.23061023e+00] [ 1.28301459e-02 9.99917687e-01 -8.12169492e-05 -2.40782800e-02] [ 2.49839327e-02 -2.39375610e-04 9.99687824e-01 1.93434035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.088040942000001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.02, Z:0.19 [[ 9.99628550e-01 -1.08864704e-02 -2.49849373e-02 8.28855236e+00] [ 1.08877653e-02 9.99940723e-01 -8.42143398e-05 -2.39936502e-02] [ 2.49843731e-02 -1.87847075e-04 9.99687824e-01 1.92872462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.148040942 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.03, Z:0.19 [[ 9.99649821e-01 -8.71714911e-03 -2.49849114e-02 8.34603159e+00] [ 8.71758920e-03 9.99961997e-01 -9.13089443e-05 -2.53274807e-02] [ 2.49847578e-02 -1.26531224e-04 9.99687824e-01 1.93966227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.02, Z:0.19 [[ 9.99657244e-01 -7.81977675e-03 -2.49848999e-02 8.40496218e+00] [ 7.81986040e-03 9.99969420e-01 -9.43579177e-05 -2.23228126e-02] [ 2.49848737e-02 -1.01052853e-04 9.99687824e-01 1.89479940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.03, Z:0.20 [[ 9.99684032e-01 -2.75540158e-03 -2.49848745e-02 8.46383202e+00] [ 2.75374660e-03 9.99996203e-01 -1.00645659e-04 -2.62928454e-02] [ 2.49850570e-02 3.18118446e-05 9.99687824e-01 1.95016703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.03, Z:0.19 [[ 9.99687366e-01 9.63555733e-04 -2.49848478e-02 8.52150843e+00] [-9.66528269e-04 9.99999527e-01 -1.06897637e-04 -2.78709542e-02] [ 2.49847330e-02 1.31012779e-04 9.99687824e-01 1.94817923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.388040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.03, Z:0.20 [[ 9.99680978e-01 3.70164632e-03 -2.49848153e-02 8.57964879e+00] [-3.70565173e-03 9.99993128e-01 -1.14015854e-04 -3.19599155e-02] [ 2.49842216e-02 2.06564505e-04 9.99687824e-01 1.95534139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.04, Z:0.20 [[ 9.99684185e-01 2.70013768e-03 -2.49847813e-02 8.63681698e+00] [-2.70400576e-03 9.99996337e-01 -1.21034065e-04 -3.70574334e-02] [ 2.49843630e-02 1.88554833e-04 9.99687824e-01 1.98907208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.508040942000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.04, Z:0.20 [[ 9.99687574e-01 -7.17948583e-04 -2.49847650e-02 8.69534911e+00] [ 7.15066100e-04 9.99999737e-01 -1.24303705e-04 -4.28000101e-02] [ 2.49848477e-02 1.06399111e-04 9.99687824e-01 1.99362213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.568040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.05, Z:0.20 [[ 9.99678511e-01 -4.31693546e-03 -2.49847523e-02 8.75332042e+00] [ 4.31511403e-03 9.99990682e-01 -1.26815788e-04 -4.75778764e-02] [ 2.49850669e-02 1.89629625e-05 9.99687824e-01 1.99731718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.05, Z:0.20 [[ 9.99637185e-01 -1.00629422e-02 -2.49847140e-02 8.81096015e+00] [ 1.00627367e-02 9.99949360e-01 -1.33955174e-04 -5.38988856e-02] [ 2.49847968e-02 -1.17508024e-04 9.99687824e-01 2.01012256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.688040942 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.05, Z:0.20 [[ 9.99463669e-01 -2.11692755e-02 -2.49846993e-02 8.87026637e+00] [ 2.11724712e-02 9.99775829e-01 -1.36654904e-04 -5.44849483e-02] [ 2.49819913e-02 -3.92406212e-04 9.99687824e-01 1.96183629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.748040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.06, Z:0.20 [[ 9.99417412e-01 -2.32508557e-02 -2.49846884e-02 8.92685973e+00] [ 2.32546525e-02 9.99729564e-01 -1.38612471e-04 -5.98890394e-02] [ 2.49811545e-02 -4.42478529e-04 9.99687824e-01 1.99362768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.06, Z:0.20 [[ 9.99417032e-01 -2.32672112e-02 -2.49846695e-02 8.98593549e+00] [ 2.32709300e-02 9.99729185e-01 -1.41937608e-04 -6.39786894e-02] [ 2.49812058e-02 -4.39561633e-04 9.99687824e-01 2.00925100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.07, Z:0.21 [[ 9.99554420e-01 -1.63318282e-02 -2.49846339e-02 9.04306500e+00] [ 1.63332306e-02 9.99866593e-01 -1.47954413e-04 -7.20682306e-02] [ 2.49837171e-02 -2.60191298e-04 9.99687824e-01 2.06199334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.928040942 meters Centerline goodness : 0.996784 with order 1 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.08, Z:0.20 [[ 9.99621554e-01 -1.15116674e-02 -2.49846143e-02 9.10144768e+00] [ 1.15114835e-02 9.99933729e-01 -1.51191677e-04 -7.62109067e-02] [ 2.49846990e-02 -1.36475517e-04 9.99687824e-01 2.04521818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.08, Z:0.21 [[ 9.99681981e-01 -3.42191703e-03 -2.49845553e-02 9.15933383e+00] [ 3.41897739e-03 9.99994142e-01 -1.60375104e-04 -8.18421383e-02] [ 2.49849578e-02 7.49024723e-05 9.99687824e-01 2.10569869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.08, Z:0.21 [[ 9.99677272e-01 -4.59623723e-03 -2.49845366e-02 9.21865674e+00] [ 4.59359274e-03 9.99989436e-01 -1.63237694e-04 -8.33283992e-02] [ 2.49850230e-02 4.84162262e-05 9.99687824e-01 2.11576738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.09, Z:0.22 [[ 9.99687829e-01 -1.42528980e-04 -2.49844929e-02 9.27792998e+00] [ 1.38333014e-04 9.99999976e-01 -1.69671103e-04 -9.39786395e-02] [ 2.49845165e-02 1.66161956e-04 9.99687824e-01 2.15956650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.10, Z:0.22 [[ 9.99687414e-01 -9.21961872e-04 -2.49844666e-02 9.33587604e+00] [ 9.17914525e-04 9.99999564e-01 -1.73462651e-04 -9.69348101e-02] [ 2.49846156e-02 1.50474825e-04 9.99687824e-01 2.16792699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.228040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.10, Z:0.22 [[ 9.99686989e-01 1.30486444e-03 -2.49844404e-02 9.39432156e+00] [-1.30969944e-03 9.99999127e-01 -1.77157748e-04 -1.03170287e-01] [ 2.49841874e-02 2.09824403e-04 9.99687824e-01 2.17154937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.11, Z:0.22 [[ 9.99687770e-01 3.79249037e-04 -2.49843829e-02 9.45178079e+00] [-3.83989290e-04 9.99999909e-01 -1.84931292e-04 -1.07324535e-01] [ 2.49843105e-02 1.94467286e-04 9.99687824e-01 2.19405477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.12, Z:0.22 [[ 9.99684584e-01 -2.55249572e-03 -2.49843428e-02 9.50980180e+00] [ 2.54853919e-03 9.99996734e-01 -1.90200743e-04 -1.16238852e-01] [ 2.49847467e-02 1.26467173e-04 9.99687824e-01 2.20959314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.408040942 meters Centerline goodness : 0.997030 with order 1 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.12, Z:0.22 [[ 9.99658099e-01 -7.71169172e-03 -2.49842853e-02 9.56819528e+00] [ 7.70916456e-03 9.99970264e-01 -1.97468887e-04 -1.22183973e-01] [ 2.49850652e-02 4.79340548e-06 9.99687825e-01 2.20804336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.13, Z:0.22 [[ 9.99605884e-01 -1.28010142e-02 -2.49842128e-02 9.62579618e+00] [ 1.27998568e-02 9.99918057e-01 -2.06254240e-04 -1.26741722e-01] [ 2.49848058e-02 -1.13621394e-04 9.99687825e-01 2.23612815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.13, Z:0.23 [[ 9.99513249e-01 -1.86830914e-02 -2.49841339e-02 9.68266880e+00] [ 1.86835422e-02 9.99825424e-01 -2.15408331e-04 -1.34839533e-01] [ 2.49837967e-02 -2.51488639e-04 9.99687825e-01 2.26722943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.14, Z:0.22 [[ 9.99370117e-01 -2.52024688e-02 -2.49841061e-02 9.74091795e+00] [ 2.52048765e-02 9.99682283e-01 -2.18584060e-04 -1.38071230e-01] [ 2.49816771e-02 -4.11274932e-04 9.99687825e-01 2.24989506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.14, Z:0.23 [[ 9.99357450e-01 -2.56999083e-02 -2.49840360e-02 9.79806054e+00] [ 2.57022780e-02 9.99669616e-01 -2.26325112e-04 -1.40619081e-01] [ 2.49815982e-02 -4.15966951e-04 9.99687825e-01 2.28285386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.14, Z:0.23 [[ 9.99343436e-01 -2.62392232e-02 -2.49840050e-02 9.85616314e+00] [ 2.62416771e-02 9.99655602e-01 -2.29692661e-04 -1.44073258e-01] [ 2.49814275e-02 -4.26080339e-04 9.99687825e-01 2.29192352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.15, Z:0.23 [[ 9.99338399e-01 -2.64304268e-02 -2.49839318e-02 9.91287187e+00] [ 2.64327478e-02 9.99650566e-01 -2.37401565e-04 -1.46007492e-01] [ 2.49814761e-02 -4.23149468e-04 9.99687825e-01 2.28703757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.15, Z:0.23 [[ 9.99351510e-01 -2.59300105e-02 -2.49838570e-02 9.96972128e+00] [ 2.59319846e-02 9.99663680e-01 -2.45025668e-04 -1.46389038e-01] [ 2.49818079e-02 -4.03014223e-04 9.99687825e-01 2.30384025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.15, Z:0.24 [[ 9.99452288e-01 -2.17009675e-02 -2.49838254e-02 1.00276410e+01] [ 2.17015413e-02 9.99764463e-01 -2.48201688e-04 -1.48691338e-01] [ 2.49833270e-02 -2.94121774e-04 9.99687825e-01 2.35033755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.15, Z:0.24 [[ 9.99538663e-01 -1.72705695e-02 -2.49837531e-02 1.00859356e+01] [ 1.72695826e-02 9.99850837e-01 -2.55276784e-04 -1.50136080e-01] [ 2.49844353e-02 -1.76299975e-04 9.99687825e-01 2.35829450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.008040942000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.15, Z:0.24 [[ 9.99591423e-01 -1.38853820e-02 -2.49836786e-02 1.01428725e+01] [ 1.38831605e-02 9.99903590e-01 -2.62374116e-04 -1.49833783e-01] [ 2.49849131e-02 -8.45855050e-05 9.99687825e-01 2.36777225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.068040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.15, Z:0.24 [[ 9.99604386e-01 -1.29186821e-02 -2.49835936e-02 1.02010686e+01] [ 1.29159624e-02 9.99916549e-01 -2.70231239e-04 -1.51889566e-01] [ 2.49849997e-02 -5.25628248e-05 9.99687825e-01 2.40127747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.128040942 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.15, Z:0.24 [[ 9.99596957e-01 -1.34813932e-02 -2.49835025e-02 1.02588929e+01] [ 1.34786450e-02 9.99909120e-01 -2.78404310e-04 -1.52737249e-01] [ 2.49849853e-02 -5.84516606e-05 9.99687825e-01 2.42637794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.15, Z:0.25 [[ 9.99560032e-01 -1.59865948e-02 -2.49834022e-02 1.03157997e+01] [ 1.59844107e-02 9.99872200e-01 -2.87137348e-04 -1.52212628e-01] [ 2.49847996e-02 -1.12333943e-04 9.99687825e-01 2.45179432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.15, Z:0.25 [[ 9.99503512e-01 -1.91979305e-02 -2.49833614e-02 1.03743629e+01] [ 1.91966616e-02 9.99815685e-01 -2.90645712e-04 -1.52903442e-01] [ 2.49843363e-02 -1.89095724e-04 9.99687825e-01 2.45028449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.308040942 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.15, Z:0.24 [[ 9.99413330e-01 -2.34271674e-02 -2.49832736e-02 1.04315487e+01] [ 2.34270355e-02 9.99725505e-01 -2.98007269e-04 -1.53161385e-01] [ 2.49833972e-02 -2.87451600e-04 9.99687825e-01 2.44931686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.368040942 meters Centerline goodness : 0.996052 with order 1 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.16, Z:0.25 [[ 9.99313672e-01 -2.73499980e-02 -2.49832322e-02 1.04900135e+01] [ 2.73510058e-02 9.99625846e-01 -3.01435209e-04 -1.55908099e-01] [ 2.49821289e-02 -3.82088203e-04 9.99687825e-01 2.45861796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.16, Z:0.25 [[ 9.99305031e-01 -2.76640242e-02 -2.49831127e-02 1.05467611e+01] [ 2.76648903e-02 9.99617205e-01 -3.11029710e-04 -1.57267639e-01] [ 2.49821537e-02 -3.80341519e-04 9.99687825e-01 2.47500576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.488040942 meters Centerline goodness : 0.995581 with order 1 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.16, Z:0.25 [[ 9.99337793e-01 -2.64541737e-02 -2.49830292e-02 1.06034086e+01] [ 2.64544976e-02 9.99649968e-01 -3.17602713e-04 -1.57063504e-01] [ 2.49826862e-02 -3.43521091e-04 9.99687825e-01 2.47967561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.16, Z:0.25 [[ 9.99469891e-01 -2.08756292e-02 -2.49829093e-02 1.06619770e+01] [ 2.08739815e-02 9.99782061e-01 -3.26769451e-04 -1.58758494e-01] [ 2.49842861e-02 -1.94896558e-04 9.99687825e-01 2.49526165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.608040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.17, Z:0.26 [[ 9.99669648e-01 -6.03785130e-03 -2.49827776e-02 1.07203341e+01] [ 6.03132573e-03 9.99981755e-01 -3.36546332e-04 -1.67129350e-01] [ 2.49843538e-02 1.85755884e-04 9.99687825e-01 2.58516430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.16, Z:0.25 [[ 9.99655100e-01 -8.09580772e-03 -2.49827571e-02 1.07804129e+01] [ 8.08988685e-03 9.99967219e-01 -3.38060469e-04 -1.59694665e-01] [ 2.49846750e-02 1.35836194e-04 9.99687825e-01 2.52103699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.728040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.17, Z:0.26 [[ 9.99687417e-01 -9.64390741e-04 -2.49827509e-02 1.08380384e+01] [ 9.56231984e-04 9.99999486e-01 -3.38520068e-04 -1.69138408e-01] [ 2.49830645e-02 3.14524947e-04 9.99687825e-01 2.56097301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.788040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.17, Z:0.26 [[ 9.99682840e-01 -3.17530415e-03 -2.49827203e-02 1.08969331e+01] [ 3.16777952e-03 9.99994925e-01 -3.40763990e-04 -1.71778229e-01] [ 2.49836755e-02 2.61516164e-04 9.99687825e-01 2.56230564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.17, Z:0.25 [[ 9.99656312e-01 -7.94513110e-03 -2.49826304e-02 1.09558406e+01] [ 7.93893411e-03 9.99968426e-01 -3.47227164e-04 -1.74037812e-01] [ 2.49846004e-02 1.48772370e-04 9.99687825e-01 2.52653161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.908040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.18, Z:0.25 [[ 9.99597227e-01 -1.34631885e-02 -2.49825396e-02 1.10137960e+01] [ 1.34585542e-02 9.99909367e-01 -3.53640560e-04 -1.76096759e-01] [ 2.49850365e-02 1.72692579e-05 9.99687825e-01 2.45700121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.18, Z:0.24 [[ 9.99547004e-01 -1.67827889e-02 -2.49824913e-02 1.10725539e+01] [ 1.67791067e-02 9.99859157e-01 -3.57022927e-04 -1.76986065e-01] [ 2.49849645e-02 -6.23226899e-05 9.99687825e-01 2.44892301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.19, Z:0.25 [[ 9.99536598e-01 -1.73916575e-02 -2.49823992e-02 1.11312532e+01] [ 1.73880072e-02 9.99848751e-01 -3.63357907e-04 -1.86576177e-01] [ 2.49849400e-02 -7.12046095e-05 9.99687825e-01 2.47678560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.19, Z:0.25 [[ 9.99501625e-01 -1.92973000e-02 -2.49823077e-02 1.11889762e+01] [ 1.92940903e-02 9.99813783e-01 -3.69540347e-04 -1.89256227e-01] [ 2.49847867e-02 -1.12654722e-04 9.99687825e-01 2.52943073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.148040942 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.19, Z:0.25 [[ 9.99616488e-01 -1.19483334e-02 -2.49822723e-02 1.12484059e+01] [ 1.19427693e-02 9.99928613e-01 -3.71916183e-04 -1.85590803e-01] [ 2.49849327e-02 7.34160333e-05 9.99687825e-01 2.51307402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.208040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.19, Z:0.25 [[ 9.99687817e-01 3.97642988e-04 -2.49821865e-02 1.13058988e+01] [-4.07203196e-04 9.99999846e-01 -3.77594950e-04 -1.90328886e-01] [ 2.49820325e-02 3.87649897e-04 9.99687825e-01 2.54050313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.268040942 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.18, Z:0.26 [[ 9.99687326e-01 -1.06853823e-03 -2.49821536e-02 1.13646151e+01] [ 1.05938159e-03 9.99999367e-01 -3.79759161e-04 -1.81079255e-01] [ 2.49825436e-02 3.53174787e-04 9.99687825e-01 2.55352603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.18, Z:0.25 [[ 9.99687402e-01 9.97105011e-04 -2.49820646e-02 1.14236676e+01] [-1.00705055e-03 9.99999419e-01 -3.85529177e-04 -1.80266535e-01] [ 2.49816656e-02 4.10566863e-04 9.99687825e-01 2.54358610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.388040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.18, Z:0.26 [[ 9.99687890e-01 -1.55415699e-04 -2.49819693e-02 1.14822073e+01] [ 1.45678026e-04 9.99999913e-01 -3.91607537e-04 -1.79158987e-01] [ 2.49820280e-02 3.87845988e-04 9.99687825e-01 2.59121982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.448040942 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.18, Z:0.26 [[ 9.99685606e-01 -2.14365598e-03 -2.49818681e-02 1.15402477e+01] [ 2.13438018e-03 9.99997643e-01 -3.97959958e-04 -1.79323673e-01] [ 2.49826623e-02 3.44514038e-04 9.99687825e-01 2.58891377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.508040942000001 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.18, Z:0.26 [[ 9.99656010e-01 -7.98554421e-03 -2.49818324e-02 1.15987606e+01] [ 7.97803639e-03 9.99968095e-01 -4.00186937e-04 -1.80372216e-01] [ 2.49842311e-02 2.00743309e-04 9.99687825e-01 2.60866411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.568040942 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.18, Z:0.26 [[ 9.99576749e-01 -1.49074514e-02 -2.49818042e-02 1.16573652e+01] [ 1.49020610e-02 9.99888877e-01 -4.01941368e-04 -1.83642640e-01] [ 2.49850201e-02 2.94908765e-05 9.99687825e-01 2.62422668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.628040942 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.20, Z:0.27 [[ 9.99638988e-01 -9.88981629e-03 -2.49817031e-02 1.17166173e+01] [ 9.88270444e-03 9.99951082e-01 -4.08132003e-04 -1.95396606e-01] [ 2.49845173e-02 1.61097875e-04 9.99687825e-01 2.71990229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.19, Z:0.27 [[ 9.99471359e-01 -2.08067700e-02 -2.49815957e-02 1.17751636e+01] [ 2.08029054e-02 9.99783510e-01 -4.14603015e-04 -1.93507600e-01] [ 2.49848140e-02 -1.05305932e-04 9.99687825e-01 2.65907803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.20, Z:0.28 [[ 9.99454635e-01 -2.15952484e-02 -2.49815571e-02 1.18331932e+01] [ 2.15915723e-02 9.99766788e-01 -4.16911461e-04 -1.99642835e-01] [ 2.49847344e-02 -1.22707006e-04 9.99687825e-01 2.75379256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.20, Z:0.28 [[ 9.99449285e-01 -2.18414649e-02 -2.49815213e-02 1.18910929e+01] [ 2.18378123e-02 9.99761439e-01 -4.19048214e-04 -2.02061358e-01] [ 2.49847143e-02 -1.26724335e-04 9.99687825e-01 2.80573694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.20, Z:0.29 [[ 9.99542168e-01 -1.70698524e-02 -2.49814684e-02 1.19501583e+01] [ 1.70646313e-02 9.99854299e-01 -4.22179999e-04 -2.00262585e-01] [ 2.49850351e-02 -4.31283579e-06 9.99687825e-01 2.86227926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.928040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.20, Z:0.28 [[ 9.99582574e-01 -1.45123811e-02 -2.49813632e-02 1.20078462e+01] [ 1.45062081e-02 9.99894688e-01 -4.28315239e-04 -1.97061665e-01] [ 2.49849482e-02 6.57515955e-05 9.99687825e-01 2.83472670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.988040942 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.19, Z:0.29 [[ 9.99613836e-01 -1.21701445e-02 -2.49813261e-02 1.20669027e+01] [ 1.21631864e-02 9.99925933e-01 -4.30469945e-04 -1.94743009e-01] [ 2.49847146e-02 1.26451188e-04 9.99687825e-01 2.88309362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.048040942 meters Centerline goodness : 0.998158 with order 1 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.19, Z:0.29 [[ 9.99612609e-01 -1.22706852e-02 -2.49812254e-02 1.21248944e+01] [ 1.22636145e-02 9.99924704e-01 -4.36233156e-04 -1.89520702e-01] [ 2.49846973e-02 1.29704046e-04 9.99687825e-01 2.88773720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.108040942 meters Centerline goodness : 0.997895 with order 1 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.19, Z:0.29 [[ 9.99616462e-01 -1.19528016e-02 -2.49811943e-02 1.21840708e+01] [ 1.19455872e-02 9.99928553e-01 -4.38005796e-04 -1.85616302e-01] [ 2.49846449e-02 1.39422767e-04 9.99687825e-01 2.91724312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.168040942 meters Centerline goodness : 0.998027 with order 1 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.18, Z:0.29 [[ 9.99647816e-01 -8.95489446e-03 -2.49810797e-02 1.22419290e+01] [ 8.94658326e-03 9.99959880e-01 -4.44447375e-04 -1.82252756e-01] [ 2.49840575e-02 2.20795538e-04 9.99687825e-01 2.92631345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.228040942 meters Centerline goodness : 0.998274 with order 1 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.18, Z:0.30 [[ 9.99663531e-01 -6.98377123e-03 -2.49810393e-02 1.23002161e+01] [ 6.97478821e-03 9.99975576e-01 -4.46709111e-04 -1.83712967e-01] [ 2.49835489e-02 2.72321349e-04 9.99687825e-01 2.97338686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.288040942 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.18, Z:0.30 [[ 9.99678840e-01 -4.26262973e-03 -2.49809289e-02 1.23594029e+01] [ 4.25264518e-03 9.99990855e-01 -4.52799391e-04 -1.84322823e-01] [ 2.49826306e-02 3.46418943e-04 9.99687825e-01 3.04004801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.348040942 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.17, Z:0.30 [[ 9.99656638e-01 -7.90980408e-03 -2.49808270e-02 1.24196521e+01] [ 7.90081918e-03 9.99968683e-01 -4.58352913e-04 -1.72250292e-01] [ 2.49836702e-02 2.60826535e-04 9.99687825e-01 3.04709035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.408040942 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.17, Z:0.30 [[ 9.99659635e-01 -7.52152329e-03 -2.49808270e-02 1.24787066e+01] [ 7.51241718e-03 9.99971676e-01 -4.58352913e-04 -1.71061262e-01] [ 2.49835670e-02 2.70530512e-04 9.99687825e-01 2.98778501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.468040942 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.17, Z:0.31 [[ 9.99632621e-01 -1.05160024e-02 -2.49807105e-02 1.25376303e+01] [ 1.05076746e-02 9.99944685e-01 -4.64615498e-04 -1.66745553e-01] [ 2.49842146e-02 2.01955631e-04 9.99687825e-01 3.05336639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.528040942 meters Centerline goodness : 0.998718 with order 1 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.16, Z:0.31 [[ 9.99593239e-01 -1.37595939e-02 -2.49805815e-02 1.25963518e+01] [ 1.37521078e-02 9.99905324e-01 -4.71452892e-04 -1.62659529e-01] [ 2.49847034e-02 1.27725474e-04 9.99687825e-01 3.07962305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.588040942 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.16, Z:0.31 [[ 9.99498372e-01 -1.94674527e-02 -2.49804523e-02 1.26531087e+01] [ 1.94615803e-02 9.99810491e-01 -4.78199584e-04 -1.61568548e-01] [ 2.49850276e-02 -8.19937185e-06 9.99687825e-01 3.09929650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.648040942 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.16, Z:0.31 [[ 9.99411780e-01 -2.34962726e-02 -2.49803931e-02 1.27118205e+01] [ 2.34915816e-02 9.99723919e-01 -4.81272863e-04 -1.57970382e-01] [ 2.49848046e-02 -1.05839174e-04 9.99687825e-01 3.11580229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.708040942 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.15, Z:0.31 [[ 9.99297884e-01 -2.79235365e-02 -2.49802751e-02 1.27702336e+01] [ 2.79200771e-02 9.99610040e-01 -4.87321426e-04 -1.52322598e-01] [ 2.49841416e-02 -2.10471938e-04 9.99687825e-01 3.10366299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.768040942 meters Centerline goodness : 0.998785 with order 1 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.15, Z:0.32 [[ 9.99215493e-01 -3.07309424e-02 -2.49801553e-02 1.28276335e+01] [ 3.07282083e-02 9.99527655e-01 -4.93389997e-04 -1.47730161e-01] [ 2.49835184e-02 -2.74592486e-04 9.99687825e-01 3.16389172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.828040942 meters Centerline goodness : 0.998764 with order 1 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.14, Z:0.32 [[ 9.99210544e-01 -3.08914634e-02 -2.49801090e-02 1.28855416e+01] [ 3.08887211e-02 9.99522707e-01 -4.95722621e-04 -1.41278396e-01] [ 2.49834997e-02 -2.76272350e-04 9.99687825e-01 3.19138424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.888040942 meters Centerline goodness : 0.998748 with order 1 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.13, Z:0.32 [[ 9.99268578e-01 -2.89535752e-02 -2.49799687e-02 1.29423728e+01] [ 2.89500533e-02 9.99580733e-01 -5.02695477e-04 -1.31812237e-01] [ 2.49840502e-02 -2.20843630e-04 9.99687826e-01 3.19643157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.948040942 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.13, Z:0.33 [[ 9.99389689e-01 -2.44182896e-02 -2.49799080e-02 1.30008323e+01] [ 2.44132761e-02 9.99701824e-01 -5.05693475e-04 -1.29770741e-01] [ 2.49848077e-02 -1.04456546e-04 9.99687826e-01 3.25105958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.008040942 meters Centerline goodness : 0.998545 with order 1 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.12, Z:0.32 [[ 9.99238268e-01 -2.99815661e-02 -2.49797761e-02 1.30584110e+01] [ 2.99781296e-02 9.99550424e-01 -5.12125670e-04 -1.18099179e-01] [ 2.49839001e-02 -2.37111398e-04 9.99687826e-01 3.22620724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.068040942 meters Centerline goodness : 0.998748 with order 1 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.11, Z:0.32 [[ 9.99222941e-01 -3.04881527e-02 -2.49797297e-02 1.31158767e+01] [ 3.04848182e-02 9.99535098e-01 -5.14378173e-04 -1.09525668e-01] [ 2.49837990e-02 -2.47524047e-04 9.99687826e-01 3.18872517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.128040942 meters Centerline goodness : 0.995258 with order 1 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.10, Z:0.32 [[ 9.99253314e-01 -2.94759774e-02 -2.49796066e-02 1.31737173e+01] [ 2.94721790e-02 9.99565466e-01 -5.20288629e-04 -1.02364500e-01] [ 2.49840881e-02 -2.16303299e-04 9.99687826e-01 3.23509774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.188040942 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.10, Z:0.33 [[ 9.99387790e-01 -2.44963646e-02 -2.49794391e-02 1.32332224e+01] [ 2.44908127e-02 9.99699916e-01 -5.28209686e-04 -9.91366636e-02] [ 2.49848824e-02 -8.38804548e-05 9.99687826e-01 3.33371468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.248040942 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.09, Z:0.33 [[ 9.99353064e-01 -2.58743478e-02 -2.49794168e-02 1.32920881e+01] [ 2.58692000e-02 9.99665196e-01 -5.29263393e-04 -9.11916495e-02] [ 2.49847479e-02 -1.17276535e-04 9.99687826e-01 3.28863188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.308040942 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.09, Z:0.33 [[ 9.99417348e-01 -2.32592647e-02 -2.49794135e-02 1.33499470e+01] [ 2.32532962e-02 9.99729465e-01 -5.29417983e-04 -8.56851170e-02] [ 2.49849696e-02 -5.17441862e-05 9.99687826e-01 3.33608966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.368040942 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.08, Z:0.34 [[ 9.99483801e-01 -2.02031888e-02 -2.49792592e-02 1.34087362e+01] [ 2.01960865e-02 9.99795894e-01 -5.36601209e-04 -8.23432194e-02] [ 2.49850018e-02 3.18409358e-05 9.99687826e-01 3.40685154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.428040941999999 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.08, Z:0.34 [[ 9.99513800e-01 -1.86603245e-02 -2.49791229e-02 1.34663409e+01] [ 1.86525838e-02 9.99825878e-01 -5.42873186e-04 -7.82284780e-02] [ 2.49849037e-02 7.66840596e-05 9.99687826e-01 3.40584591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.488040942 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.07, Z:0.34 [[ 9.99500712e-01 -1.93488671e-02 -2.49789664e-02 1.35254709e+01] [ 1.93411637e-02 9.99812791e-01 -5.49980072e-04 -7.23128138e-02] [ 2.49849316e-02 6.65831947e-05 9.99687826e-01 3.36646580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.548040942 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.07, Z:0.34 [[ 9.99507486e-01 -1.89958640e-02 -2.49788300e-02 1.35833935e+01] [ 1.89878973e-02 9.99819559e-01 -5.56106482e-04 -6.99484183e-02] [ 2.49848865e-02 8.15371339e-05 9.99687826e-01 3.37304954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.608040942 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.07, Z:0.34 [[ 9.99534858e-01 -1.74966827e-02 -2.49786695e-02 1.36417291e+01] [ 1.74880700e-02 9.99846913e-01 -5.63224722e-04 -6.69211369e-02] [ 2.49847002e-02 1.26134021e-04 9.99687826e-01 3.39370106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.668040942 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.07, Z:0.34 [[ 9.99477906e-01 -2.04936609e-02 -2.49785089e-02 1.37009790e+01] [ 2.04858082e-02 9.99789981e-01 -5.70260291e-04 -6.84861575e-02] [ 2.49849497e-02 5.82576199e-05 9.99687826e-01 3.44436481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.728040942 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.06, Z:0.34 [[ 9.99262658e-01 -2.91585795e-02 -2.49783569e-02 1.37592833e+01] [ 2.91532682e-02 9.99574787e-01 -5.76841572e-04 -6.14176319e-02] [ 2.49845557e-02 -1.51784497e-04 9.99687826e-01 3.35385320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.788040942 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.06, Z:0.34 [[ 9.99212177e-01 -3.08401617e-02 -2.49781832e-02 1.38171373e+01] [ 3.08351901e-02 9.99524312e-01 -5.84266376e-04 -5.83494841e-02] [ 2.49843203e-02 -1.86400952e-04 9.99687826e-01 3.35860995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.848040942 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.06, Z:0.34 [[ 9.99225340e-01 -3.04107296e-02 -2.49781296e-02 1.38755606e+01] [ 3.04055668e-02 9.99537472e-01 -5.86549956e-04 -5.96764292e-02] [ 2.49844139e-02 -1.73378609e-04 9.99687826e-01 3.37335400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.908040942 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.07, Z:0.35 [[ 9.99353362e-01 -2.58642065e-02 -2.49779874e-02 1.39339262e+01] [ 2.58574739e-02 9.99665464e-01 -5.92543855e-04 -6.80722100e-02] [ 2.49849571e-02 -5.37069632e-05 9.99687826e-01 3.54882572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.968040942 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.06, Z:0.35 [[ 9.99152737e-01 -3.27095560e-02 -2.49778430e-02 1.39923265e+01] [ 3.27048108e-02 9.99464875e-01 -5.98571899e-04 -6.39759362e-02] [ 2.49840557e-02 -2.18830878e-04 9.99687826e-01 3.52001532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.028040942 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.06, Z:0.36 [[ 9.99008986e-01 -3.68396056e-02 -2.49777609e-02 1.40503601e+01] [ 3.68360656e-02 9.99321141e-01 -6.01978546e-04 -6.25192082e-02] [ 2.49829811e-02 -3.18700461e-04 9.99687826e-01 3.55772877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.088040942 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.06, Z:0.36 [[ 9.98912216e-01 -3.93763854e-02 -2.49776810e-02 1.41090200e+01] [ 3.93735558e-02 9.99224378e-01 -6.05275412e-04 -5.77295764e-02] [ 2.49821413e-02 -3.78843111e-04 9.99687826e-01 3.56002114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.148040942 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.06, Z:0.36 [[ 9.98978612e-01 -3.76544114e-02 -2.49775335e-02 1.41680095e+01] [ 3.76508930e-02 9.99290767e-01 -6.11300753e-04 -5.72272769e-02] [ 2.49828368e-02 -3.29750064e-04 9.99687826e-01 3.60350331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.208040942 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.05, Z:0.35 [[ 9.98785468e-01 -4.24702231e-02 -2.49773836e-02 1.42268157e+01] [ 4.24680581e-02 9.99097634e-01 -6.17365968e-04 -4.84104238e-02] [ 2.49810645e-02 -4.44124821e-04 9.99687826e-01 3.54425573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.268040942 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.05, Z:0.36 [[ 9.98840454e-01 -4.11568410e-02 -2.49772290e-02 1.42846276e+01] [ 4.11541107e-02 9.99152616e-01 -6.23558268e-04 -4.68368514e-02] [ 2.49817274e-02 -4.05080425e-04 9.99687826e-01 3.58493838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.328040942 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.04, Z:0.36 [[ 9.98771014e-01 -4.28089933e-02 -2.49770409e-02 1.43419850e+01] [ 4.28065932e-02 9.99083178e-01 -6.31003862e-04 -4.37753262e-02] [ 2.49811541e-02 -4.38953661e-04 9.99687826e-01 3.60917956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.388040942 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.04, Z:0.36 [[ 9.98823361e-01 -4.15697774e-02 -2.49769132e-02 1.43994764e+01] [ 4.15668647e-02 9.99135522e-01 -6.36018076e-04 -3.88831260e-02] [ 2.49817604e-02 -4.02942258e-04 9.99687826e-01 3.61572095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.448040942 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.03, Z:0.36 [[ 9.98800655e-01 -4.21119306e-02 -2.49767277e-02 1.44571346e+01] [ 4.21090073e-02 9.99112815e-01 -6.43220348e-04 -3.23433260e-02] [ 2.49816560e-02 -4.09296305e-04 9.99687826e-01 3.59586696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.508040942 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.03, Z:0.36 [[ 9.98917280e-01 -3.92484442e-02 -2.49765424e-02 1.45138119e+01] [ 3.92444480e-02 9.99229428e-01 -6.50337982e-04 -2.71952477e-02] [ 2.49828209e-02 -3.30556772e-04 9.99687826e-01 3.57368691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.568040942 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.02, Z:0.36 [[ 9.98957817e-01 -3.82028674e-02 -2.49764168e-02 1.45718696e+01] [ 3.81984247e-02 9.99269959e-01 -6.55127524e-04 -2.21632974e-02] [ 2.49832107e-02 -2.99615015e-04 9.99687826e-01 3.57507956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.628040942 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.02, Z:0.36 [[ 9.98859946e-01 -4.06815752e-02 -2.49763602e-02 1.46297089e+01] [ 4.06778533e-02 9.99172097e-01 -6.57278757e-04 -1.77611029e-02] [ 2.49824213e-02 -3.59455291e-04 9.99687826e-01 3.56549679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.688040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.01, Z:0.36 [[ 9.98638912e-01 -4.57876435e-02 -2.49763047e-02 1.46881681e+01] [ 4.57854650e-02 9.98951078e-01 -6.59380219e-04 -1.35397966e-02] [ 2.49802980e-02 -4.85068980e-04 9.99687826e-01 3.59580079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.748040942 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.01, Z:0.36 [[ 9.98624398e-01 -4.61031796e-02 -2.49761473e-02 1.47460572e+01] [ 4.61009520e-02 9.98936564e-01 -6.65288593e-04 -8.30276558e-03] [ 2.49802587e-02 -4.87050747e-04 9.99687826e-01 3.64121022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.808040942 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.01, Z:0.37 [[ 9.98587182e-01 -4.69024009e-02 -2.49760918e-02 1.48042046e+01] [ 4.69003713e-02 9.98899349e-01 -6.67364379e-04 -6.44226500e-03] [ 2.49799029e-02 -5.04966467e-04 9.99687826e-01 3.72950748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.868040942 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.01, Z:0.37 [[ 9.98630852e-01 -4.59632206e-02 -2.49760483e-02 1.48627267e+01] [ 4.59608567e-02 9.98943017e-01 -6.68990432e-04 -6.86716429e-03] [ 2.49803980e-02 -4.79846091e-04 9.99687826e-01 3.72332082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.928040941999999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:14.92, Y:0.00, Z:0.38 [[ 9.98513977e-01 -4.84359645e-02 -2.49758964e-02 1.49215889e+01] [ 4.84342331e-02 9.98826146e-01 -6.74612152e-04 9.95171586e-04] [ 2.49792539e-02 -5.36078728e-04 9.99687826e-01 3.78384240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.988040942 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:14.98, Y:0.01, Z:0.37 [[ 9.98671257e-01 -4.50769562e-02 -2.49757383e-02 1.49806362e+01] [ 4.50740296e-02 9.98983418e-01 -6.80416795e-04 5.75751008e-03] [ 2.49810195e-02 -4.46244471e-04 9.99687826e-01 3.71733770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.048040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:15.04, Y:0.01, Z:0.38 [[ 9.98857815e-01 -4.07343608e-02 -2.49755428e-02 1.50382241e+01] [ 4.07298994e-02 9.99169957e-01 -6.87519717e-04 7.12818502e-03] [ 2.49828177e-02 -3.30516903e-04 9.99687826e-01 3.83510422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.10, Y:0.01, Z:0.39 [[ 9.99044112e-01 -3.58760110e-02 -2.49754728e-02 1.50971125e+01] [ 3.58699683e-02 9.99356227e-01 -6.90053159e-04 1.05769118e-02] [ 2.49841506e-02 -2.06475871e-04 9.99687826e-01 3.86096863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.16, Y:0.01, Z:0.39 [[ 9.99116746e-01 -3.37929400e-02 -2.49753009e-02 1.51555508e+01] [ 3.37860924e-02 9.99428845e-01 -6.96218584e-04 1.41342071e-02] [ 2.49845634e-02 -1.48214179e-04 9.99687826e-01 3.85801518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.228040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.21, Y:0.01, Z:0.39 [[ 9.99218003e-01 -3.06533235e-02 -2.49750992e-02 1.52136059e+01] [ 3.06453162e-02 9.99530075e-01 -7.03382748e-04 1.39270176e-02] [ 2.49849237e-02 -6.25371047e-05 9.99687826e-01 3.86135795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.27, Y:0.01, Z:0.39 [[ 9.99270864e-01 -2.88789706e-02 -2.49748966e-02 1.52717560e+01] [ 2.88702312e-02 9.99582915e-01 -7.10503464e-04 1.27013468e-02] [ 2.49849985e-02 -1.10456278e-05 9.99687826e-01 3.88769538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.348040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:15.33, Y:0.02, Z:0.39 [[ 9.99267432e-01 -2.89976665e-02 -2.49746903e-02 1.53300888e+01] [ 2.89887848e-02 9.99579479e-01 -7.17680942e-04 1.52336426e-02] [ 2.49849990e-02 -6.83073118e-06 9.99687826e-01 3.88338218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.408040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.39, Y:0.02, Z:0.39 [[ 9.99233310e-01 -3.01507475e-02 -2.49744798e-02 1.53868684e+01] [ 3.01420445e-02 9.99545362e-01 -7.24934315e-04 1.67085907e-02] [ 2.49849828e-02 -2.84033665e-05 9.99687826e-01 3.87651377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.468040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:15.45, Y:0.01, Z:0.39 [[ 9.99147401e-01 -3.28747694e-02 -2.49743890e-02 1.54453594e+01] [ 3.28668394e-02 9.99459474e-01 -7.28049969e-04 1.46987310e-02] [ 2.49848241e-02 -9.33999953e-05 9.99687826e-01 3.89072623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.528040942 meters Centerline goodness : 0.998071 with order 1 Centerline is valid? [True, True] Translation: X:15.50, Y:0.01, Z:0.39 [[ 9.98902923e-01 -3.96136438e-02 -2.49741851e-02 1.55045902e+01] [ 3.96076459e-02 9.99215039e-01 -7.34976753e-04 1.19307577e-02] [ 2.49836964e-02 -2.54998252e-04 9.99687826e-01 3.86158508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.56, Y:0.01, Z:0.38 [[ 9.98707845e-01 -4.42599320e-02 -2.49739689e-02 1.55632137e+01] [ 4.42552042e-02 9.99019983e-01 -7.42250370e-04 1.13828138e-02] [ 2.49823460e-02 -3.63936827e-04 9.99687826e-01 3.81605308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.62, Y:0.01, Z:0.39 [[ 9.98588946e-01 -4.68660808e-02 -2.49737423e-02 1.56218206e+01] [ 4.68619788e-02 9.98901093e-01 -7.49797747e-04 9.80544445e-03] [ 2.49814386e-02 -4.21579242e-04 9.99687826e-01 3.92221305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.68, Y:0.01, Z:0.40 [[ 9.98567482e-01 -4.73213037e-02 -2.49735461e-02 1.56793376e+01] [ 4.73171820e-02 9.98879629e-01 -7.56278380e-04 1.02173264e-02] [ 2.49813545e-02 -4.26482829e-04 9.99687826e-01 3.95152642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.74, Y:0.01, Z:0.39 [[ 9.98738045e-01 -4.35734191e-02 -2.49734799e-02 1.57374065e+01] [ 4.35680715e-02 9.99050173e-01 -7.58458042e-04 1.18988396e-02] [ 2.49828080e-02 -3.30545454e-04 9.99687826e-01 3.94864917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.80, Y:0.01, Z:0.40 [[ 9.98879985e-01 -4.01884438e-02 -2.49732640e-02 1.57959297e+01] [ 4.01818623e-02 9.99192090e-01 -7.65499865e-04 1.06293034e-02] [ 2.49838521e-02 -2.38829763e-04 9.99687826e-01 3.96036626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.85, Y:0.01, Z:0.40 [[ 9.99002672e-01 -3.70136245e-02 -2.49730474e-02 1.58544212e+01] [ 3.70058761e-02 9.99314749e-01 -7.72503918e-04 9.91010274e-03] [ 2.49845277e-02 -1.52416018e-04 9.99687826e-01 3.98357539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.91, Y:0.01, Z:0.40 [[ 9.99048659e-01 -3.57510084e-02 -2.49728251e-02 1.59111350e+01] [ 3.57426877e-02 9.99360722e-01 -7.79622268e-04 9.93239895e-03] [ 2.49847328e-02 -1.13715309e-04 9.99687826e-01 4.00100434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.008040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.97, Y:0.01, Z:0.40 [[ 9.99030356e-01 -3.62589424e-02 -2.49727292e-02 1.59687714e+01] [ 3.62507038e-02 9.99342421e-01 -7.82682281e-04 6.35303684e-03] [ 2.49846869e-02 -1.23355654e-04 9.99687826e-01 4.03535641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.03, Y:0.01, Z:0.41 [[ 9.99014489e-01 -3.66935549e-02 -2.49726618e-02 1.60270754e+01] [ 3.66853985e-02 9.99326556e-01 -7.84829498e-04 6.39923641e-03] [ 2.49846422e-02 -1.32076007e-04 9.99687826e-01 4.05521815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.09, Y:0.01, Z:0.40 [[ 9.99069865e-01 -3.51536999e-02 -2.49724452e-02 1.60855396e+01] [ 3.51448917e-02 9.99381914e-01 -7.91659644e-04 7.84094284e-03] [ 2.49848399e-02 -8.67305902e-05 9.99687826e-01 4.04305873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.14, Y:0.01, Z:0.41 [[ 9.99137582e-01 -3.31734556e-02 -2.49722510e-02 1.61434554e+01] [ 3.31638769e-02 9.99449609e-01 -7.97741059e-04 7.07766590e-03] [ 2.49849703e-02 -3.11235847e-05 9.99687826e-01 4.06330489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.248040942 meters Centerline goodness : 0.997107 with order 1 Centerline is valid? [True, True] Translation: X:16.20, Y:0.01, Z:0.41 [[ 9.99133299e-01 -3.33023972e-02 -2.49720227e-02 1.62010983e+01] [ 3.32926818e-02 9.99445321e-01 -8.04822405e-04 8.58185042e-03] [ 2.49849738e-02 -2.72607426e-05 9.99687826e-01 4.08873172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.26, Y:0.00, Z:0.41 [[ 9.99331973e-01 -2.66836878e-02 -2.49717560e-02 1.62589075e+01] [ 2.66717012e-02 9.99643916e-01 -8.13016546e-04 8.18282781e-04] [ 2.49845582e-02 1.46434216e-04 9.99687826e-01 4.14424976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.32, Y:0.01, Z:0.41 [[ 9.99128758e-01 -3.34386202e-02 -2.49716669e-02 1.63176797e+01] [ 3.34286745e-02 9.99440773e-01 -8.15741198e-04 7.91728104e-03] [ 2.49849794e-02 -1.97392363e-05 9.99687826e-01 4.08915144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.37, Y:0.01, Z:0.41 [[ 9.99095757e-01 -3.44106768e-02 -2.49714598e-02 1.63744765e+01] [ 3.44008774e-02 9.99407777e-01 -8.22032770e-04 1.00287385e-02] [ 2.49849579e-02 -3.77506770e-05 9.99687827e-01 4.11472837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.43, Y:0.00, Z:0.42 [[ 9.99270212e-01 -2.89045696e-02 -2.49713585e-02 1.64335018e+01] [ 2.88929742e-02 9.99582170e-01 -8.25100818e-04 4.67241370e-03] [ 2.49847739e-02 1.03001853e-04 9.99687827e-01 4.21956478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.49, Y:0.01, Z:0.41 [[ 9.99114620e-01 -3.38586949e-02 -2.49712993e-02 1.64908778e+01] [ 3.38486018e-02 9.99426630e-01 -8.26886556e-04 1.15385714e-02] [ 2.49849788e-02 -1.90891213e-05 9.99687827e-01 4.14379306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.608040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.55, Y:0.01, Z:0.42 [[ 9.99088280e-01 -3.46272972e-02 -2.49711702e-02 1.65487260e+01] [ 3.46173471e-02 9.99400295e-01 -8.30767026e-04 1.36096556e-02] [ 2.49849621e-02 -3.44260685e-05 9.99687827e-01 4.15307884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.61, Y:0.01, Z:0.42 [[ 9.99022088e-01 -3.64872473e-02 -2.49709395e-02 1.66070488e+01] [ 3.64777062e-02 9.99334116e-01 -8.37645341e-04 1.28403019e-02] [ 2.49848751e-02 -7.40563979e-05 9.99687827e-01 4.17483610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.728040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.67, Y:0.01, Z:0.42 [[ 9.99206752e-01 -3.10214809e-02 -2.49706819e-02 1.66661786e+01] [ 3.10100428e-02 9.99518716e-01 -8.45256368e-04 6.57513997e-03] [ 2.49848850e-02 7.02439574e-05 9.99687827e-01 4.21105033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.788040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.72, Y:0.01, Z:0.43 [[ 9.99032248e-01 -3.62083356e-02 -2.49704743e-02 1.67246298e+01] [ 3.61983650e-02 9.99344262e-01 -8.51345440e-04 7.55582186e-03] [ 2.49849260e-02 -5.33687934e-05 9.99687827e-01 4.27684022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.78, Y:0.01, Z:0.43 [[ 9.98923214e-01 -3.91011371e-02 -2.49702621e-02 1.67820678e+01] [ 3.90919156e-02 9.99235251e-01 -8.57523504e-04 6.86702963e-03] [ 2.49846963e-02 -1.19535243e-04 9.99687827e-01 4.29242139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.908040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.84, Y:0.01, Z:0.42 [[ 9.98580540e-01 -4.70467264e-02 -2.49701878e-02 1.68408603e+01] [ 4.70399336e-02 9.98892640e-01 -8.59681849e-04 1.13784729e-02] [ 2.49829820e-02 -3.16134412e-04 9.99687827e-01 4.22375175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.90, Y:0.00, Z:0.43 [[ 9.98692032e-01 -4.46174663e-02 -2.49701295e-02 1.68997477e+01] [ 4.46098721e-02 9.99004113e-01 -8.61370668e-04 3.41608505e-03] [ 2.49836943e-02 -2.53670263e-04 9.99687827e-01 4.32902777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.96, Y:0.00, Z:0.43 [[ 9.98634229e-01 -4.58930577e-02 -2.49700727e-02 1.69574673e+01] [ 4.58858210e-02 9.98946318e-01 -8.63016451e-04 1.13135824e-03] [ 2.49833686e-02 -2.83934516e-04 9.99687827e-01 4.34609399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.02, Y:0.01, Z:0.43 [[ 9.98484654e-01 -4.90398060e-02 -2.49698427e-02 1.70169173e+01] [ 4.90333877e-02 9.98796761e-01 -8.69620141e-04 8.25544208e-03] [ 2.49824440e-02 -3.56053610e-04 9.99687827e-01 4.26625004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.08, Y:0.00, Z:0.44 [[ 9.98786557e-01 -4.24490382e-02 -2.49698280e-02 1.70757493e+01] [ 4.24405496e-02 9.99098615e-01 -8.70042173e-04 8.52139776e-04] [ 2.49842530e-02 -1.90746796e-04 9.99687827e-01 4.36741398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.13, Y:0.00, Z:0.44 [[ 9.98946156e-01 -3.85109785e-02 -2.49696071e-02 1.71338370e+01] [ 3.85011024e-02 9.99258173e-01 -8.76334711e-04 1.87294810e-03] [ 2.49848325e-02 -8.59462094e-05 9.99687827e-01 4.37473387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.19, Y:0.00, Z:0.43 [[ 9.99034830e-01 -3.61376757e-02 -2.49695334e-02 1.71917635e+01] [ 3.61270060e-02 9.99346821e-01 -8.78430415e-04 3.44475745e-03] [ 2.49849682e-02 -2.44919031e-05 9.99687827e-01 4.31915981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.25, Y:0.00, Z:0.43 [[ 9.99199085e-01 -3.12685768e-02 -2.49692724e-02 1.72492690e+01] [ 3.12562030e-02 9.99511013e-01 -8.85788019e-04 2.07762332e-03] [ 2.49847601e-02 1.04633932e-04 9.99687827e-01 4.34174303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.388040942 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:17.31, Y:0.01, Z:0.43 [[ 9.99195697e-01 -3.13767049e-02 -2.49691921e-02 1.73083814e+01] [ 3.13643084e-02 9.99507625e-01 -8.88045560e-04 6.48204247e-03] [ 2.49847618e-02 1.04189862e-04 9.99687827e-01 4.30145075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.00, Z:0.45 [[ 9.99405466e-01 -2.37753013e-02 -2.49689895e-02 1.73671700e+01] [ 2.37603911e-02 9.99717283e-01 -8.93706280e-04 -1.59723451e-03] [ 2.49831785e-02 2.99901986e-04 9.99687827e-01 4.45062420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.508040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.43, Y:0.00, Z:0.44 [[ 9.99289592e-01 -2.82289355e-02 -2.49687570e-02 1.74252664e+01] [ 2.82152539e-02 9.99601465e-01 -9.00155256e-04 4.64781385e-03] [ 2.49842165e-02 1.95015961e-04 9.99687827e-01 4.38290751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.568040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.48, Y:-0.00, Z:0.44 [[ 9.99376404e-01 -2.49673449e-02 -2.49686748e-02 1.74841900e+01] [ 2.49525886e-02 9.99688228e-01 -9.02430636e-04 -2.92666297e-03] [ 2.49834215e-02 2.78834814e-04 9.99687827e-01 4.42596940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.00, Z:0.45 [[ 9.99352429e-01 -2.59092841e-02 -2.49686173e-02 1.75419944e+01] [ 2.58947821e-02 9.99664265e-01 -9.04016177e-04 -2.97579721e-03] [ 2.49836569e-02 2.56873856e-04 9.99687827e-01 4.49690397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.60, Y:0.00, Z:0.45 [[ 9.99069971e-01 -3.51535878e-02 -2.49683373e-02 1.75999040e+01] [ 3.51417797e-02 9.99381921e-01 -9.11686378e-04 3.40505014e-03] [ 2.49849539e-02 3.34066743e-05 9.99687827e-01 4.45728397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.66, Y:0.01, Z:0.45 [[ 9.98849054e-01 -4.09530715e-02 -2.49682513e-02 1.76583658e+01] [ 4.09430159e-02 9.99161065e-01 -9.14036285e-04 5.35855799e-03] [ 2.49847371e-02 -1.09291229e-04 9.99687827e-01 4.47489903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.808040941999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.72, Y:0.00, Z:0.45 [[ 9.98783208e-01 -4.25288413e-02 -2.49679872e-02 1.77169924e+01] [ 4.25190990e-02 9.99095230e-01 -9.21192202e-04 1.56115538e-03] [ 2.49845742e-02 -1.41545018e-04 9.99687827e-01 4.50486303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.77, Y:0.00, Z:0.45 [[ 9.98287687e-01 -5.28990136e-02 -2.49677509e-02 1.77743489e+01] [ 5.28923532e-02 9.98599789e-01 -9.27554245e-04 3.82179793e-03] [ 2.49818575e-02 -3.94637117e-04 9.99687827e-01 4.49524133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.83, Y:0.00, Z:0.46 [[ 9.98191768e-01 -5.46791916e-02 -2.49676029e-02 1.78333897e+01] [ 5.46729885e-02 9.98503879e-01 -9.31520657e-04 1.01279227e-04] [ 2.49811831e-02 -4.35217216e-04 9.99687827e-01 4.55694596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.89, Y:0.00, Z:0.46 [[ 9.98103682e-01 -5.62642883e-02 -2.49673641e-02 1.78921016e+01] [ 5.62584220e-02 9.98415800e-01 -9.37878210e-04 2.08059274e-04] [ 2.49805798e-02 -4.68524810e-04 9.99687827e-01 4.58599610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.95, Y:0.00, Z:0.46 [[ 9.98094250e-01 -5.64314754e-02 -2.49671240e-02 1.79505154e+01] [ 5.64255026e-02 9.98406366e-01 -9.44225423e-04 2.77377751e-03] [ 2.49806196e-02 -4.66356558e-04 9.99687827e-01 4.59663237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.01, Y:0.01, Z:0.46 [[ 9.98068611e-01 -5.68832386e-02 -2.49668836e-02 1.80083476e+01] [ 5.68772492e-02 9.98380726e-01 -9.50540444e-04 1.11298506e-02] [ 2.49805252e-02 -4.71343080e-04 9.99687827e-01 4.57246953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.07, Y:0.01, Z:0.46 [[ 9.98272775e-01 -5.31801488e-02 -2.49667568e-02 1.80666230e+01] [ 5.31729185e-02 9.98584864e-01 -9.53859674e-04 1.15026006e-02] [ 2.49821519e-02 -3.75343181e-04 9.99687827e-01 4.59688663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.228040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.12, Y:0.01, Z:0.46 [[ 9.98497303e-01 -4.87833077e-02 -2.49664868e-02 1.81245310e+01] [ 4.87745276e-02 9.98809352e-01 -9.60875508e-04 1.47609327e-02] [ 2.49836352e-02 -2.58296997e-04 9.99687827e-01 4.62719393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.18, Y:0.02, Z:0.46 [[ 9.98657202e-01 -4.53924257e-02 -2.49664036e-02 1.81838048e+01] [ 4.53825321e-02 9.98969218e-01 -9.63033525e-04 1.50908182e-02] [ 2.49843831e-02 -1.71298247e-04 9.99687827e-01 4.63695871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.348040942 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:18.24, Y:0.02, Z:0.46 [[ 9.98559943e-01 -4.74840047e-02 -2.49661506e-02 1.82412290e+01] [ 4.74746018e-02 9.98871975e-01 -9.69547598e-04 1.90481460e-02] [ 2.49840261e-02 -2.17106663e-04 9.99687827e-01 4.62465681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.408040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.30, Y:0.02, Z:0.47 [[ 9.98420708e-01 -5.03267787e-02 -2.49660620e-02 1.82977694e+01] [ 5.03182073e-02 9.98732764e-01 -9.71822740e-04 1.98295822e-02] [ 2.49833328e-02 -2.85959535e-04 9.99687827e-01 4.65309926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.36, Y:0.03, Z:0.47 [[ 9.98099936e-01 -5.63313416e-02 -2.49659406e-02 1.83553826e+01] [ 5.63245696e-02 9.98412035e-01 -9.74931488e-04 2.74477733e-02] [ 2.49812148e-02 -4.33116805e-04 9.99687827e-01 4.65470645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.41, Y:0.03, Z:0.46 [[ 9.97884530e-01 -6.00265043e-02 -2.49656649e-02 1.84132517e+01] [ 6.00207127e-02 9.98196649e-01 -9.81941135e-04 3.00844648e-02] [ 2.49795856e-02 -5.18593135e-04 9.99687827e-01 4.63320889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.47, Y:0.03, Z:0.47 [[ 9.97665118e-01 -6.35691943e-02 -2.49653904e-02 1.84707223e+01] [ 6.35643375e-02 9.97977253e-01 -9.88872975e-04 3.29583938e-02] [ 2.49777535e-02 -6.00344426e-04 9.99687827e-01 4.69568383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.53, Y:0.04, Z:0.47 [[ 9.97552673e-01 -6.53100078e-02 -2.49653058e-02 1.85273910e+01] [ 6.53056425e-02 9.97864816e-01 -9.91002777e-04 3.99940568e-02] [ 2.49767227e-02 -6.41797867e-04 9.99687827e-01 4.70227691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.59, Y:0.05, Z:0.47 [[ 9.97602250e-01 -6.45483612e-02 -2.49651893e-02 1.85855434e+01] [ 6.45436843e-02 9.97914388e-01 -9.93928856e-04 4.62402954e-02] [ 2.49772781e-02 -6.19799635e-04 9.99687827e-01 4.70182928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.64, Y:0.05, Z:0.47 [[ 9.97611185e-01 -6.44101483e-02 -2.49651073e-02 1.86435278e+01] [ 6.44053768e-02 9.97923321e-01 -9.95984654e-04 5.26471538e-02] [ 2.49774143e-02 -6.14281712e-04 9.99687827e-01 4.71215683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.70, Y:0.05, Z:0.47 [[ 9.97927686e-01 -5.93050592e-02 -2.49648455e-02 1.87020060e+01] [ 5.92985276e-02 9.98239791e-01 -1.00250471e-03 5.30992132e-02] [ 2.49803557e-02 -4.79951372e-04 9.99687827e-01 4.73634728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.76, Y:0.06, Z:0.48 [[ 9.97819986e-01 -6.10904154e-02 -2.49647046e-02 1.87590743e+01] [ 6.10843548e-02 9.98132100e-01 -1.00600017e-03 6.31257221e-02] [ 2.49795300e-02 -5.21145801e-04 9.99687827e-01 4.76031743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.82, Y:0.07, Z:0.48 [[ 9.97992455e-01 -5.82050652e-02 -2.49645653e-02 1.88172939e+01] [ 5.81980161e-02 9.98304549e-01 -1.00944663e-03 6.91758010e-02] [ 2.49809940e-02 -4.45468053e-04 9.99687827e-01 4.75749719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.008040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.88, Y:0.07, Z:0.48 [[ 9.98076061e-01 -5.67535028e-02 -2.49643107e-02 1.88753184e+01] [ 5.67458433e-02 9.98388140e-01 -1.01570279e-03 7.38751020e-02] [ 2.49817164e-02 -4.02872222e-04 9.99687827e-01 4.78911529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.93, Y:0.08, Z:0.48 [[ 9.98012279e-01 -5.78643955e-02 -2.49640240e-02 1.89327273e+01] [ 5.78569084e-02 9.98324362e-01 -1.02270088e-03 7.60998486e-02] [ 2.49813713e-02 -4.23673214e-04 9.99687827e-01 4.80259451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.99, Y:0.08, Z:0.48 [[ 9.97894107e-01 -5.98678047e-02 -2.49639006e-02 1.89904057e+01] [ 5.98608690e-02 9.98206203e-01 -1.02570604e-03 7.76696359e-02] [ 2.49805272e-02 -4.70814764e-04 9.99687827e-01 4.82287076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.05, Y:0.08, Z:0.49 [[ 9.98137911e-01 -5.56554440e-02 -2.49636197e-02 1.90483223e+01] [ 5.56470212e-02 9.98449970e-01 -1.03249669e-03 7.64752346e-02] [ 2.49823894e-02 -3.58576989e-04 9.99687827e-01 4.85072274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.11, Y:0.08, Z:0.49 [[ 9.98023106e-01 -5.76775668e-02 -2.49635333e-02 1.91068544e+01] [ 5.76697242e-02 9.98335180e-01 -1.03458202e-03 8.46786911e-02] [ 2.49816457e-02 -4.07103318e-04 9.99687827e-01 4.85692246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.308040941999998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:19.17, Y:0.08, Z:0.49 [[ 9.98407369e-01 -5.05920929e-02 -2.49632924e-02 1.91653774e+01] [ 5.05818909e-02 9.98719375e-01 -1.04036178e-03 8.10112450e-02] [ 2.49839579e-02 -2.23985659e-04 9.99687827e-01 4.89189094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.368040942 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:19.22, Y:0.09, Z:0.49 [[ 9.98213723e-01 -5.42790034e-02 -2.49630177e-02 1.92229987e+01] [ 5.42697899e-02 9.98525760e-01 -1.04691254e-03 8.56329732e-02] [ 2.49830416e-02 -3.09695264e-04 9.99687827e-01 4.88645717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.28, Y:0.09, Z:0.48 [[ 9.98065484e-01 -5.69399097e-02 -2.49626919e-02 1.92809004e+01] [ 5.69313353e-02 9.98377539e-01 -1.05462416e-03 9.12347612e-02] [ 2.49822411e-02 -3.68575404e-04 9.99687827e-01 4.83794808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.488040942 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:19.34, Y:0.10, Z:0.48 [[ 9.98105012e-01 -5.62428199e-02 -2.49625918e-02 1.93389176e+01] [ 5.62339684e-02 9.98417059e-01 -1.05698783e-03 9.65380874e-02] [ 2.49825255e-02 -3.48760751e-04 9.99687827e-01 4.83151842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.40, Y:0.10, Z:0.49 [[ 9.98148812e-01 -5.54602032e-02 -2.49622696e-02 1.93967063e+01] [ 5.54509181e-02 9.98460847e-01 -1.06454181e-03 1.00970605e-01] [ 2.49828886e-02 -3.21609630e-04 9.99687827e-01 4.90921655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.608040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.45, Y:0.10, Z:0.49 [[ 9.98026441e-01 -5.76204260e-02 -2.49621622e-02 1.94544888e+01] [ 5.76117535e-02 9.98338493e-01 -1.06705563e-03 1.02586615e-01] [ 2.49821716e-02 -3.73164206e-04 9.99687827e-01 4.91883562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.51, Y:0.11, Z:0.49 [[ 9.97845893e-01 -6.06669559e-02 -2.49618547e-02 1.95125492e+01] [ 6.06590574e-02 9.98157966e-01 -1.07420180e-03 1.05514546e-01] [ 2.49810426e-02 -4.42274718e-04 9.99687827e-01 4.93473656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.728040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.57, Y:0.11, Z:0.50 [[ 9.97636570e-01 -6.40171556e-02 -2.49615489e-02 1.95707668e+01] [ 6.40101284e-02 9.97948663e-01 -1.08126107e-03 1.09003891e-01] [ 2.49795636e-02 -5.19086367e-04 9.99687827e-01 4.95024159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.788040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.63, Y:0.11, Z:0.50 [[ 9.97515722e-01 -6.58735139e-02 -2.49612460e-02 1.96281035e+01] [ 6.58668938e-02 9.97827825e-01 -1.08820771e-03 1.10352012e-01] [ 2.49787099e-02 -5.58615437e-04 9.99687827e-01 4.98621071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.69, Y:0.11, Z:0.50 [[ 9.97449791e-01 -6.68644920e-02 -2.49610409e-02 1.96858180e+01] [ 6.68580648e-02 9.97761898e-01 -1.09289225e-03 1.13302211e-01] [ 2.49782512e-02 -5.78741740e-04 9.99687827e-01 4.99698245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.908040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.74, Y:0.12, Z:0.50 [[ 9.97513767e-01 -6.59033086e-02 -2.49607431e-02 1.97442647e+01] [ 6.58964115e-02 9.97825863e-01 -1.09965256e-03 1.15863379e-01] [ 2.49789458e-02 -5.47904828e-04 9.99687827e-01 5.00149640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.80, Y:0.12, Z:0.50 [[ 9.97708944e-01 -6.28795624e-02 -2.49604310e-02 1.98025339e+01] [ 6.28715433e-02 9.98021014e-01 -1.10669250e-03 1.18046602e-01] [ 2.49806230e-02 -4.65143805e-04 9.99687827e-01 5.01221634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.86, Y:0.12, Z:0.50 [[ 9.97907331e-01 -5.96485665e-02 -2.49601206e-02 1.98605180e+01] [ 5.96393630e-02 9.98219368e-01 -1.11364808e-03 1.19165428e-01] [ 2.49821033e-02 -3.77288112e-04 9.99687827e-01 5.01794043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.92, Y:0.11, Z:0.51 [[ 9.98671316e-01 -4.50844771e-02 -2.49598084e-02 1.99195567e+01] [ 4.50705487e-02 9.98983178e-01 -1.12060187e-03 1.05236967e-01] [ 2.49849505e-02 -5.83931727e-06 9.99687827e-01 5.11115710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.148040941999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.98, Y:0.12, Z:0.50 [[ 9.98281819e-01 -5.30134921e-02 -2.49595407e-02 1.99766342e+01] [ 5.30018923e-02 9.98593776e-01 -1.12653449e-03 1.19956030e-01] [ 2.49841635e-02 -1.98303983e-04 9.99687827e-01 5.03740330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.04, Y:0.11, Z:0.51 [[ 9.98881608e-01 -4.01566955e-02 -2.49594376e-02 2.00362625e+01] [ 4.01410235e-02 9.99193387e-01 -1.12881342e-03 1.08463496e-01] [ 2.49846344e-02 1.25653591e-04 9.99687827e-01 5.06995097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.09, Y:0.10, Z:0.52 [[ 9.99165313e-01 -3.23375431e-02 -2.49591603e-02 2.00949400e+01] [ 3.23192790e-02 9.99476951e-01 -1.13491053e-03 1.03718792e-01] [ 2.49828057e-02 3.27301167e-04 9.99687827e-01 5.15233668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.15, Y:0.10, Z:0.51 [[ 9.99268981e-01 -2.89578757e-02 -2.49588650e-02 2.01531089e+01] [ 2.89383964e-02 9.99580545e-01 -1.14136906e-03 1.04155200e-01] [ 2.49814475e-02 4.18265173e-04 9.99687827e-01 5.12369942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.388040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.21, Y:0.11, Z:0.52 [[ 9.99203223e-01 -3.11444844e-02 -2.49587602e-02 2.02112936e+01] [ 3.11256298e-02 9.99514826e-01 -1.14365727e-03 1.05987018e-01] [ 2.49822694e-02 3.65888898e-04 9.99687827e-01 5.15131322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.27, Y:0.11, Z:0.51 [[ 9.99124345e-01 -3.35798966e-02 -2.49586573e-02 2.02694917e+01] [ 3.35617456e-02 9.99435989e-01 -1.14589648e-03 1.09519413e-01] [ 2.49830595e-02 3.07236964e-04 9.99687827e-01 5.06486486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.508040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.33, Y:0.11, Z:0.51 [[ 9.99181096e-01 -3.18468067e-02 -2.49583237e-02 2.03286789e+01] [ 3.18279349e-02 9.99492698e-01 -1.15311697e-03 1.05434562e-01] [ 2.49823854e-02 3.57800774e-04 9.99687827e-01 5.10965769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.568040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.39, Y:0.11, Z:0.51 [[ 9.99086354e-01 -3.46922641e-02 -2.49580328e-02 2.03866192e+01] [ 3.46741234e-02 9.99397999e-01 -1.15938076e-03 1.07898084e-01] [ 2.49832296e-02 2.92923585e-04 9.99687827e-01 5.10880780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.45, Y:0.11, Z:0.51 [[ 9.99028615e-01 -3.63170569e-02 -2.49579306e-02 2.04451483e+01] [ 3.62993681e-02 9.99340286e-01 -1.16157572e-03 1.09975271e-01] [ 2.49836505e-02 2.54490267e-04 9.99687827e-01 5.11841162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.50, Y:0.11, Z:0.51 [[ 9.98799229e-01 -4.21570673e-02 -2.49576199e-02 2.05040296e+01] [ 4.21410351e-02 9.99110989e-01 -1.16821433e-03 1.11106271e-01] [ 2.49846808e-02 1.15071641e-04 9.99687828e-01 5.08659396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.56, Y:0.11, Z:0.51 [[ 9.98737723e-01 -4.35900473e-02 -2.49573207e-02 2.05618891e+01] [ 4.35743035e-02 9.99049499e-01 -1.17457079e-03 1.09886119e-01] [ 2.49847983e-02 8.55902888e-05 9.99687828e-01 5.10701052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.808040941999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.62, Y:0.12, Z:0.50 [[ 9.98500476e-01 -4.87230939e-02 -2.49571628e-02 2.06196593e+01] [ 4.87088694e-02 9.98812324e-01 -1.17791591e-03 1.17381532e-01] [ 2.49849135e-02 -3.94855859e-05 9.99687828e-01 5.01799816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.68, Y:0.12, Z:0.51 [[ 9.98553460e-01 -4.76249266e-02 -2.49570604e-02 2.06777059e+01] [ 4.76103049e-02 9.98865289e-01 -1.18008259e-03 1.16677239e-01] [ 2.49849427e-02 -9.83770592e-06 9.99687828e-01 5.07446823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.73, Y:0.11, Z:0.51 [[ 9.98452871e-01 -4.96893089e-02 -2.49566917e-02 2.07348191e+01] [ 4.96751383e-02 9.98764722e-01 -1.18782872e-03 1.13557311e-01] [ 2.49848856e-02 -5.37361149e-05 9.99687828e-01 5.13279944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.79, Y:0.11, Z:0.51 [[ 9.98627096e-01 -4.60553518e-02 -2.49565333e-02 2.07932879e+01] [ 4.60399635e-02 9.98938888e-01 -1.19114863e-03 1.14909854e-01] [ 2.49849104e-02 4.05154123e-05 9.99687828e-01 5.13008359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.85, Y:0.11, Z:0.52 [[ 9.98361362e-01 -5.14954518e-02 -2.49561533e-02 2.08513687e+01] [ 5.14815648e-02 9.98673225e-01 -1.19905647e-03 1.14271692e-01] [ 2.49847881e-02 -8.76901675e-05 9.99687828e-01 5.21900215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.91, Y:0.12, Z:0.52 [[ 9.98301479e-01 -5.26436693e-02 -2.49559786e-02 2.09098008e+01] [ 5.26300503e-02 9.98613354e-01 -1.20268185e-03 1.15910401e-01] [ 2.49846871e-02 -1.12795338e-04 9.99687828e-01 5.23596647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.97, Y:0.12, Z:0.52 [[ 9.98477281e-01 -4.91968861e-02 -2.49556572e-02 2.09678010e+01] [ 4.91820247e-02 9.98789100e-01 -1.20931435e-03 1.18038468e-01] [ 2.49849329e-02 -1.98968423e-05 9.99687828e-01 5.17597244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.228040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.03, Y:0.12, Z:0.52 [[ 9.98141133e-01 -5.56013736e-02 -2.49552832e-02 2.10256380e+01] [ 5.55883212e-02 9.98453032e-01 -1.21698260e-03 1.21189746e-01] [ 2.49843441e-02 -1.72501908e-04 9.99687828e-01 5.23528077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.08, Y:0.12, Z:0.52 [[ 9.98128061e-01 -5.58357102e-02 -2.49549011e-02 2.10837368e+01] [ 5.58225364e-02 9.98439955e-01 -1.22476798e-03 1.22994871e-01] [ 2.49843562e-02 -1.70570587e-04 9.99687828e-01 5.21476612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.14, Y:0.13, Z:0.52 [[ 9.98179919e-01 -5.49010248e-02 -2.49545065e-02 2.11410211e+01] [ 5.48873593e-02 9.98491792e-01 -1.23275769e-03 1.25586673e-01] [ 2.49845495e-02 -1.39172991e-04 9.99687828e-01 5.24714366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.408040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.20, Y:0.13, Z:0.52 [[ 9.97902939e-01 -5.97244192e-02 -2.49543369e-02 2.11988894e+01] [ 5.97121754e-02 9.98214871e-01 -1.23617970e-03 1.27933074e-01] [ 2.49836203e-02 -2.56490384e-04 9.99687828e-01 5.22583520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.468040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:21.26, Y:0.12, Z:0.53 [[ 9.98165923e-01 -5.51551547e-02 -2.49539549e-02 2.12564283e+01] [ 5.51412914e-02 9.98477787e-01 -1.24384343e-03 1.24315555e-01] [ 2.49845741e-02 -1.34431177e-04 9.99687828e-01 5.32458208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.31, Y:0.12, Z:0.53 [[ 9.98335062e-01 -5.20039740e-02 -2.49537903e-02 2.13149266e+01] [ 5.19890440e-02 9.98646877e-01 -1.24713723e-03 1.24418226e-01] [ 2.49848808e-02 -5.22628753e-05 9.99687828e-01 5.33427788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.37, Y:0.13, Z:0.54 [[ 9.98203512e-01 -5.44708343e-02 -2.49534784e-02 2.13727436e+01] [ 5.44565196e-02 9.98515356e-01 -1.25334745e-03 1.29540063e-01] [ 2.49847022e-02 -1.07783758e-04 9.99687828e-01 5.35430055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.648040941999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.43, Y:0.13, Z:0.53 [[ 9.98166767e-01 -5.51402501e-02 -2.49531231e-02 2.14310437e+01] [ 5.51259687e-02 9.98478612e-01 -1.26038186e-03 1.30972951e-01] [ 2.49846575e-02 -1.17493796e-04 9.99687828e-01 5.30643658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.49, Y:0.13, Z:0.54 [[ 9.98250125e-01 -5.36100233e-02 -2.49530141e-02 2.14885544e+01] [ 5.35952099e-02 9.98561946e-01 -1.26253675e-03 1.30481108e-01] [ 2.49848149e-02 -7.70345552e-05 9.99687828e-01 5.37796988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.55, Y:0.13, Z:0.54 [[ 9.98272831e-01 -5.31855906e-02 -2.49529079e-02 2.15469212e+01] [ 5.31705923e-02 9.98584643e-01 -1.26463086e-03 1.29331377e-01] [ 2.49848508e-02 -6.43142631e-05 9.99687828e-01 5.39183235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.61, Y:0.14, Z:0.54 [[ 9.98417032e-01 -5.04063404e-02 -2.49525704e-02 2.16057840e+01] [ 5.03903087e-02 9.98728792e-01 -1.27125507e-03 1.36749890e-01] [ 2.49849299e-02 1.18749915e-05 9.99687828e-01 5.38557063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.66, Y:0.14, Z:0.54 [[ 9.98584890e-01 -4.69638464e-02 -2.49522361e-02 2.16630647e+01] [ 4.69465768e-02 9.98896584e-01 -1.27778410e-03 1.38740474e-01] [ 2.49847131e-02 1.04553831e-04 9.99687828e-01 5.39146345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.72, Y:0.14, Z:0.54 [[ 9.98872806e-01 -4.03795871e-02 -2.49520710e-02 2.17215885e+01] [ 4.03601827e-02 9.99184375e-01 -1.28100037e-03 1.39460489e-01] [ 2.49834457e-02 2.72486288e-04 9.99687828e-01 5.43525678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.008040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.78, Y:0.14, Z:0.54 [[ 9.98961483e-01 -3.81230838e-02 -2.49516850e-02 2.17799982e+01] [ 3.81027889e-02 9.99272994e-01 -1.28847510e-03 1.44108368e-01] [ 2.49826656e-02 3.36408209e-04 9.99687828e-01 5.44829872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.84, Y:0.15, Z:0.54 [[ 9.98915363e-01 -3.93132074e-02 -2.49513216e-02 2.18374971e+01] [ 3.92931088e-02 9.99226888e-01 -1.29547390e-03 1.48722071e-01] [ 2.49829607e-02 3.13653787e-04 9.99687828e-01 5.41800168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.128040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:21.90, Y:0.15, Z:0.54 [[ 9.98911856e-01 -3.94022947e-02 -2.49512026e-02 2.18959357e+01] [ 3.93821668e-02 9.99223379e-01 -1.29776141e-03 1.50744772e-01] [ 2.49829598e-02 3.13716834e-04 9.99687828e-01 5.44033545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.95, Y:0.15, Z:0.55 [[ 9.98669250e-01 -4.51351760e-02 -2.49508472e-02 2.19537050e+01] [ 4.51166666e-02 9.98980873e-01 -1.30455902e-03 1.54989840e-01] [ 2.49843006e-02 1.77123924e-04 9.99687828e-01 5.49697204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.01, Y:0.16, Z:0.55 [[ 9.98376170e-01 -5.12103095e-02 -2.49504861e-02 2.20122018e+01] [ 5.11935248e-02 9.98687891e-01 -1.31142966e-03 1.61776433e-01] [ 2.49849070e-02 3.19967910e-05 9.99687828e-01 5.52342669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.308040941999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.07, Y:0.17, Z:0.55 [[ 9.98122019e-01 -5.59457376e-02 -2.49501611e-02 2.20702063e+01] [ 5.59302779e-02 9.98433808e-01 -1.31758476e-03 1.65812471e-01] [ 2.49847975e-02 -8.03590835e-05 9.99687828e-01 5.53456649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.13, Y:0.18, Z:0.55 [[ 9.97944649e-01 -5.90252990e-02 -2.49497669e-02 2.21280784e+01] [ 5.90106158e-02 9.98256476e-01 -1.32500585e-03 1.75131132e-01] [ 2.49844753e-02 -1.50018609e-04 9.99687828e-01 5.51059604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.19, Y:0.18, Z:0.56 [[ 9.97717538e-01 -6.27473501e-02 -2.49496461e-02 2.21850581e+01] [ 6.27337735e-02 9.98029414e-01 -1.32727731e-03 1.83009913e-01] [ 2.49837638e-02 -2.40937593e-04 9.99687828e-01 5.56335444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.24, Y:0.19, Z:0.56 [[ 9.97359100e-01 -6.82081267e-02 -2.49494857e-02 2.22426287e+01] [ 6.81961823e-02 9.97671044e-01 -1.33028621e-03 1.87892221e-01] [ 2.49821157e-02 -3.74686620e-04 9.99687828e-01 5.59299326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.30, Y:0.19, Z:0.56 [[ 9.97098123e-01 -7.19226982e-02 -2.49491175e-02 2.23003996e+01] [ 7.19117440e-02 9.97410103e-01 -1.33715481e-03 1.94872691e-01] [ 2.49806737e-02 -4.60860004e-04 9.99687828e-01 5.62453971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.608040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.36, Y:0.20, Z:0.57 [[ 9.97129650e-01 -7.14844064e-02 -2.49487534e-02 2.23581195e+01] [ 7.14731460e-02 9.97441619e-01 -1.34391507e-03 2.02268236e-01] [ 2.49809939e-02 -4.43108325e-04 9.99687828e-01 5.65209221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.42, Y:0.21, Z:0.56 [[ 9.97338926e-01 -6.85028850e-02 -2.49483742e-02 2.24161868e+01] [ 6.84905168e-02 9.97650853e-01 -1.35091815e-03 2.06667033e-01] [ 2.49823086e-02 -3.61403788e-04 9.99687828e-01 5.64995045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.728040942 meters Centerline goodness : 0.995530 with order 1 Centerline is valid? [True, True] Translation: X:22.47, Y:0.22, Z:0.56 [[ 9.97627980e-01 -6.41560502e-02 -2.49482575e-02 2.24741817e+01] [ 6.41422690e-02 9.97939847e-01 -1.35306892e-03 2.20695201e-01] [ 2.49836679e-02 -2.50378438e-04 9.99687828e-01 5.60664401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.788040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.53, Y:0.23, Z:0.57 [[ 9.97747075e-01 -6.22766317e-02 -2.49478700e-02 2.25321963e+01] [ 6.22620853e-02 9.98058907e-01 -1.36017664e-03 2.30019771e-01] [ 2.49841511e-02 -1.96194150e-04 9.99687828e-01 5.67071899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.848040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:22.59, Y:0.24, Z:0.57 [[ 9.97793774e-01 -6.15240320e-02 -2.49475067e-02 2.25903565e+01] [ 6.15090846e-02 9.98105588e-01 -1.36680856e-03 2.38691356e-01] [ 2.49843374e-02 -1.70705222e-04 9.99687828e-01 5.73056103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.908040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.65, Y:0.25, Z:0.58 [[ 9.97742694e-01 -6.23470497e-02 -2.49471754e-02 2.26478362e+01] [ 6.23322089e-02 9.98054513e-01 -1.37282921e-03 2.46965348e-01] [ 2.49842328e-02 -1.85282235e-04 9.99687828e-01 5.75576729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.71, Y:0.25, Z:0.58 [[ 9.97636926e-01 -6.40173501e-02 -2.49467998e-02 2.27056933e+01] [ 6.40028616e-02 9.97948761e-01 -1.37962086e-03 2.54768042e-01] [ 2.49839476e-02 -2.20305858e-04 9.99687828e-01 5.78018768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.76, Y:0.26, Z:0.58 [[ 9.97560637e-01 -6.51954863e-02 -2.49464144e-02 2.27633917e+01] [ 6.51811927e-02 9.97872482e-01 -1.38655417e-03 2.62004825e-01] [ 2.49837375e-02 -2.42865183e-04 9.99687828e-01 5.78295088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.82, Y:0.26, Z:0.59 [[ 9.97842487e-01 -6.07294492e-02 -2.49460330e-02 2.28232107e+01] [ 6.07135891e-02 9.98154256e-01 -1.39338274e-03 2.64989155e-01] [ 2.49846084e-02 -1.24186699e-04 9.99687828e-01 5.85750132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.148040941999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.88, Y:0.28, Z:0.59 [[ 9.97750968e-01 -6.22149708e-02 -2.49460077e-02 2.28817251e+01] [ 6.21995636e-02 9.98062759e-01 -1.39383557e-03 2.75464513e-01] [ 2.49843987e-02 -1.60930000e-04 9.99687828e-01 5.85654271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.94, Y:0.28, Z:0.59 [[ 9.97968306e-01 -5.86257155e-02 -2.49456391e-02 2.29401714e+01] [ 5.86090227e-02 9.98280032e-01 -1.40040192e-03 2.82916291e-01] [ 2.49848329e-02 -6.44827930e-05 9.99687828e-01 5.90501859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.268040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:23.00, Y:0.29, Z:0.59 [[ 9.97959111e-01 -5.87821859e-02 -2.49452693e-02 2.29988139e+01] [ 5.87653782e-02 9.98270830e-01 -1.40695720e-03 2.94659165e-01] [ 2.49848388e-02 -6.18324299e-05 9.99687828e-01 5.88646689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.06, Y:0.30, Z:0.59 [[ 9.97890236e-01 -5.99402142e-02 -2.49448965e-02 2.30576574e+01] [ 5.99236038e-02 9.98201965e-01 -1.41353599e-03 3.01846567e-01] [ 2.49847724e-02 -8.42343360e-05 9.99687828e-01 5.89673523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.388040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.12, Y:0.31, Z:0.59 [[ 9.97759567e-01 -6.20775023e-02 -2.49445273e-02 2.31156290e+01] [ 6.20613975e-02 9.98071323e-01 -1.42002289e-03 3.11374359e-01] [ 2.49845688e-02 -1.31250792e-04 9.99687828e-01 5.91043308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.448040942 meters Centerline goodness : 0.997185 with order 1 Centerline is valid? [True, True] Translation: X:23.17, Y:0.32, Z:0.59 [[ 9.97609246e-01 -6.44481987e-02 -2.49443964e-02 2.31740160e+01] [ 6.44327773e-02 9.97921036e-01 -1.42231843e-03 3.21386766e-01] [ 2.49842037e-02 -1.88318719e-04 9.99687828e-01 5.88904431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.508040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:23.23, Y:0.33, Z:0.60 [[ 9.97656737e-01 -6.37089140e-02 -2.49441452e-02 2.32323678e+01] [ 6.36931518e-02 9.97968510e-01 -1.42671063e-03 3.26180259e-01] [ 2.49843656e-02 -1.65403751e-04 9.99687828e-01 5.98222150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.568040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.29, Y:0.34, Z:0.60 [[ 9.97472672e-01 -6.65287896e-02 -2.49437018e-02 2.32908212e+01] [ 6.65137159e-02 9.97784480e-01 -1.43442057e-03 3.35895458e-01] [ 2.49838688e-02 -2.28302971e-04 9.99687828e-01 5.96219898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.35, Y:0.34, Z:0.59 [[ 9.97469399e-01 -6.65779953e-02 -2.49433166e-02 2.33479991e+01] [ 6.65627703e-02 9.97781199e-01 -1.44108686e-03 3.44850650e-01] [ 2.49839171e-02 -2.22856216e-04 9.99687828e-01 5.94193727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.41, Y:0.35, Z:0.59 [[ 9.97597056e-01 -6.46370784e-02 -2.49431811e-02 2.34050454e+01] [ 6.46211882e-02 9.97908823e-01 -1.44342940e-03 3.52790777e-01] [ 2.49843195e-02 -1.71897082e-04 9.99687828e-01 5.94523388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.46, Y:0.36, Z:0.60 [[ 9.97743512e-01 -6.23356073e-02 -2.49430520e-02 2.34637269e+01] [ 6.23189422e-02 9.98055239e-01 -1.44565689e-03 3.57221107e-01] [ 2.49846596e-02 -1.12029833e-04 9.99687828e-01 5.95227300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.808040941999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.52, Y:0.36, Z:0.60 [[ 9.97805365e-01 -6.13377219e-02 -2.49426897e-02 2.35213796e+01] [ 6.13205895e-02 9.98117066e-01 -1.45188132e-03 3.59854709e-01] [ 2.49847793e-02 -8.08054607e-05 9.99687828e-01 5.96784084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.58, Y:0.36, Z:0.60 [[ 9.97948290e-01 -5.89667636e-02 -2.49425617e-02 2.35791073e+01] [ 5.89488358e-02 9.98259946e-01 -1.45407584e-03 3.63969739e-01] [ 2.49849025e-02 -1.92424757e-05 9.99687828e-01 5.99210720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.64, Y:0.37, Z:0.60 [[ 9.98105177e-01 -5.62489553e-02 -2.49421408e-02 2.36367404e+01] [ 5.62299993e-02 9.98416773e-01 -1.46126006e-03 3.65911215e-01] [ 2.49848461e-02 5.59946730e-05 9.99687828e-01 6.01606778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.69, Y:0.37, Z:0.61 [[ 9.98352324e-01 -5.16771990e-02 -2.49420114e-02 2.36949294e+01] [ 5.16567610e-02 9.98663826e-01 -1.46346548e-03 3.68715588e-01] [ 2.49843124e-02 1.72630634e-04 9.99687828e-01 6.06185207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.75, Y:0.37, Z:0.61 [[ 9.98529375e-01 -4.81351166e-02 -2.49418777e-02 2.37531056e+01] [ 4.81135169e-02 9.98840799e-01 -1.46574060e-03 3.70195153e-01] [ 2.49835187e-02 2.63543593e-04 9.99687828e-01 6.06424780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.81, Y:0.37, Z:0.61 [[ 9.98543729e-01 -4.78364994e-02 -2.49417459e-02 2.38108868e+01] [ 4.78147507e-02 9.98855142e-01 -1.46798137e-03 3.69235333e-01] [ 2.49834142e-02 2.73260237e-04 9.99687828e-01 6.07405202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.87, Y:0.37, Z:0.61 [[ 9.98525528e-01 -4.82151437e-02 -2.49413279e-02 2.38690516e+01] [ 4.81933365e-02 9.98836937e-01 -1.47504876e-03 3.68647345e-01] [ 2.49834392e-02 2.70868030e-04 9.99687828e-01 6.09505832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.228040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.93, Y:0.37, Z:0.61 [[ 9.98540610e-01 -4.79019975e-02 -2.49408912e-02 2.39270705e+01] [ 4.78799092e-02 9.98851999e-01 -1.48239610e-03 3.68591802e-01] [ 2.49832688e-02 2.86065105e-04 9.99687828e-01 6.09321157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.288040942 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:23.99, Y:0.37, Z:0.61 [[ 9.98549682e-01 -4.77125924e-02 -2.49407570e-02 2.39852474e+01] [ 4.76903887e-02 9.98861063e-01 -1.48465011e-03 3.68527655e-01] [ 2.49831876e-02 2.93062501e-04 9.99687829e-01 6.10355389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.348040942 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:24.04, Y:0.37, Z:0.61 [[ 9.98550074e-01 -4.77046162e-02 -2.49403249e-02 2.40443664e+01] [ 4.76822295e-02 9.98861441e-01 -1.49187473e-03 3.66939935e-01] [ 2.49830981e-02 3.00501330e-04 9.99687829e-01 6.11259576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.408040942 meters Centerline goodness : 0.995827 with order 1 Centerline is valid? [True, True] Translation: X:24.10, Y:0.37, Z:0.61 [[ 9.98571515e-01 -4.72538716e-02 -2.49399477e-02 2.41034538e+01] [ 4.72311877e-02 9.98882861e-01 -1.49815408e-03 3.65828585e-01] [ 2.49828798e-02 3.18070638e-04 9.99687829e-01 6.11571957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.468040942 meters Centerline goodness : 0.998566 with order 1 Centerline is valid? [True, True] Translation: X:24.16, Y:0.36, Z:0.64 [[ 9.98803708e-01 -4.20615675e-02 -2.49394902e-02 2.41640367e+01] [ 4.20370760e-02 9.99114917e-01 -1.50573064e-03 3.55194509e-01] [ 2.49807501e-02 4.55546104e-04 9.99687829e-01 6.39727959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.528040942 meters Centerline goodness : 0.998100 with order 1 Centerline is valid? [True, True] Translation: X:24.22, Y:0.37, Z:0.62 [[ 9.98244442e-01 -5.37220289e-02 -2.49394740e-02 2.42237598e+01] [ 5.37011664e-02 9.98555916e-01 -1.50599876e-03 3.66334004e-01] [ 2.49843646e-02 1.64076043e-04 9.99687829e-01 6.16585591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.588040942 meters Centerline goodness : 0.997862 with order 1 Centerline is valid? [True, True] Translation: X:24.28, Y:0.37, Z:0.62 [[ 9.98016269e-01 -5.78061478e-02 -2.49394513e-02 2.42830447e+01] [ 5.77865506e-02 9.98327825e-01 -1.50637464e-03 3.67730308e-01] [ 2.49848259e-02 6.22215373e-05 9.99687829e-01 6.18706437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.648040941999998 meters Centerline goodness : 0.998346 with order 1 Centerline is valid? [True, True] Translation: X:24.34, Y:0.36, Z:0.63 [[ 9.98154229e-01 -5.53730746e-02 -2.49390799e-02 2.43425456e+01] [ 5.53525650e-02 9.98465726e-01 -1.51249950e-03 3.63847628e-01] [ 2.49845682e-02 1.29265733e-04 9.99687829e-01 6.28333784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.708040942 meters Centerline goodness : 0.997606 with order 1 Centerline is valid? [True, True] Translation: X:24.40, Y:0.37, Z:0.62 [[ 9.97835572e-01 -6.08459680e-02 -2.49387192e-02 2.44007033e+01] [ 6.08270188e-02 9.98147168e-01 -1.51842274e-03 3.67465343e-01] [ 2.49849019e-02 -1.81172037e-06 9.99687829e-01 6.20633401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.768040942 meters Centerline goodness : 0.997959 with order 1 Centerline is valid? [True, True] Translation: X:24.46, Y:0.36, Z:0.63 [[ 9.98173519e-01 -5.50244695e-02 -2.49385818e-02 2.44615525e+01] [ 5.50036468e-02 9.98484996e-01 -1.52067559e-03 3.61457944e-01] [ 2.49844742e-02 1.46185162e-04 9.99687829e-01 6.34613796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.828040942 meters Centerline goodness : 0.998280 with order 1 Centerline is valid? [True, True] Translation: X:24.52, Y:0.36, Z:0.63 [[ 9.97908114e-01 -5.96444782e-02 -2.49385685e-02 2.45206249e+01] [ 5.96250921e-02 9.98219683e-01 -1.52089432e-03 3.63906770e-01] [ 2.49848829e-02 3.07483346e-05 9.99687829e-01 6.30840525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.888040942 meters Centerline goodness : 0.997938 with order 1 Centerline is valid? [True, True] Translation: X:24.58, Y:0.37, Z:0.63 [[ 9.97757272e-01 -6.21168093e-02 -2.49384834e-02 2.45798023e+01] [ 6.20981604e-02 9.98068886e-01 -1.52228823e-03 3.66695954e-01] [ 2.49848841e-02 -2.97597941e-05 9.99687829e-01 6.29648777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.948040942 meters Centerline goodness : 0.998174 with order 1 Centerline is valid? [True, True] Translation: X:24.64, Y:0.36, Z:0.64 [[ 9.98143978e-01 -5.55578643e-02 -2.49383982e-02 2.46402521e+01] [ 5.55371329e-02 9.98455460e-01 -1.52368357e-03 3.62493087e-01] [ 2.49845324e-02 1.35848449e-04 9.99687829e-01 6.41897678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.008040942 meters Centerline goodness : 0.997897 with order 1 Centerline is valid? [True, True] Translation: X:24.70, Y:0.37, Z:0.63 [[ 9.97548901e-01 -6.53778854e-02 -2.49383695e-02 2.46997102e+01] [ 6.53602086e-02 9.97860571e-01 -1.52415232e-03 3.72084786e-01] [ 2.49846615e-02 -1.09560566e-04 9.99687829e-01 6.32467526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.068040942 meters Centerline goodness : 0.998289 with order 1 Centerline is valid? [True, True] Translation: X:24.76, Y:0.37, Z:0.64 [[ 9.97440993e-01 -6.70040577e-02 -2.49383413e-02 2.47589898e+01] [ 6.69868774e-02 9.97752692e-01 -1.52461414e-03 3.72535647e-01] [ 2.49844525e-02 -1.49828966e-04 9.99687829e-01 6.36246734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.128040942 meters Centerline goodness : 0.998374 with order 1 Centerline is valid? [True, True] Translation: X:24.82, Y:0.38, Z:0.64 [[ 9.97414705e-01 -6.73943970e-02 -2.49379679e-02 2.48165918e+01] [ 6.73771866e-02 9.97726401e-01 -1.53069663e-03 3.75667018e-01] [ 2.49844294e-02 -1.53510795e-04 9.99687829e-01 6.38164152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.188040942 meters Centerline goodness : 0.998668 with order 1 Centerline is valid? [True, True] Translation: X:24.87, Y:0.38, Z:0.64 [[ 9.97409038e-01 -6.74783752e-02 -2.49375362e-02 2.48737429e+01] [ 6.74610160e-02 9.97720726e-01 -1.53769838e-03 3.79204217e-01] [ 2.49844581e-02 -1.48597271e-04 9.99687829e-01 6.38590411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.248040942 meters Centerline goodness : 0.998539 with order 1 Centerline is valid? [True, True] Translation: X:24.93, Y:0.38, Z:0.64 [[ 9.97287104e-01 -6.92572045e-02 -2.49373500e-02 2.49314455e+01] [ 6.92403259e-02 9.97598819e-01 -1.54071222e-03 3.80384399e-01] [ 2.49841763e-02 -1.90137815e-04 9.99687829e-01 6.40688356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.308040941999998 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:24.99, Y:0.38, Z:0.64 [[ 9.97413159e-01 -6.74176546e-02 -2.49369084e-02 2.49908567e+01] [ 6.74000233e-02 9.97724832e-01 -1.54782646e-03 3.76661638e-01] [ 2.49845236e-02 -1.36925726e-04 9.99687829e-01 6.39268844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.368040942 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:25.05, Y:0.38, Z:0.64 [[ 9.97331550e-01 -6.86144981e-02 -2.49365278e-02 2.50485868e+01] [ 6.85970880e-02 9.97643235e-01 -1.55393404e-03 3.80133450e-01] [ 2.49843807e-02 -1.60785749e-04 9.99687829e-01 6.40654239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.428040942 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:25.11, Y:0.39, Z:0.65 [[ 9.97027355e-01 -7.29016300e-02 -2.49360484e-02 2.51067189e+01] [ 7.28853686e-02 9.97339102e-01 -1.56159021e-03 3.87724322e-01] [ 2.49835386e-02 -2.60524923e-04 9.99687829e-01 6.48584164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.488040941999998 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:25.16, Y:0.39, Z:0.65 [[ 9.97205272e-01 -7.04262757e-02 -2.49356314e-02 2.51645734e+01] [ 7.04090747e-02 9.97516969e-01 -1.56822057e-03 3.91563310e-01] [ 2.49841594e-02 -1.91856912e-04 9.99687829e-01 6.50698554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.548040942 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:25.22, Y:0.39, Z:0.65 [[ 9.97641855e-01 -6.39450247e-02 -2.49351859e-02 2.52242532e+01] [ 6.39256224e-02 9.97953422e-01 -1.57527238e-03 3.88520327e-01] [ 2.49848849e-02 -2.24396185e-05 9.99687829e-01 6.51754407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.608040942 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:25.28, Y:0.40, Z:0.65 [[ 9.97404296e-01 -6.75494282e-02 -2.49348241e-02 2.52828512e+01] [ 6.75310093e-02 9.97715923e-01 -1.58097848e-03 3.96706347e-01] [ 2.49846652e-02 -1.06999106e-04 9.99687829e-01 6.52219111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.668040942 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:25.34, Y:0.40, Z:0.65 [[ 9.97599583e-01 -6.46014397e-02 -2.49344349e-02 2.53417328e+01] [ 6.45819470e-02 9.97911145e-01 -1.58709299e-03 3.97865834e-01] [ 2.49848790e-02 -2.70310526e-05 9.99687829e-01 6.54197963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.728040942 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:25.40, Y:0.40, Z:0.66 [[ 9.97825093e-01 -6.10194978e-02 -2.49339992e-02 2.53991675e+01] [ 6.09987163e-02 9.98136572e-01 -1.59390914e-03 4.03823932e-01] [ 2.49847960e-02 6.95005931e-05 9.99687829e-01 6.56075650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.788040942 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:25.46, Y:0.41, Z:0.66 [[ 9.97738840e-01 -6.24140221e-02 -2.49338450e-02 2.54559963e+01] [ 6.23936158e-02 9.98050344e-01 -1.59631778e-03 4.09061490e-01] [ 2.49848652e-02 3.69955052e-05 9.99687829e-01 6.59821121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.848040942 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:25.51, Y:0.41, Z:0.66 [[ 9.97706529e-01 -6.29285996e-02 -2.49333817e-02 2.55145804e+01] [ 6.29081740e-02 9.98018031e-01 -1.60352110e-03 4.09519402e-01] [ 2.49848719e-02 3.13299570e-05 9.99687829e-01 6.62780774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.908040942 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:25.57, Y:0.42, Z:0.66 [[ 9.97567827e-01 -6.50905357e-02 -2.49329592e-02 2.55724542e+01] [ 6.50706216e-02 9.97879362e-01 -1.61006376e-03 4.15742050e-01] [ 2.49848854e-02 -1.62553434e-05 9.99687829e-01 6.60562756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.968040942 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:25.63, Y:0.42, Z:0.67 [[ 9.97566402e-01 -6.51125513e-02 -2.49325048e-02 2.56303146e+01] [ 6.50924690e-02 9.97877926e-01 -1.61707005e-03 4.19685505e-01] [ 2.49848877e-02 -9.78354484e-06 9.99687829e-01 6.66031388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.028040942 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:25.69, Y:0.42, Z:0.67 [[ 9.97292518e-01 -6.91810041e-02 -2.49323650e-02 2.56890116e+01] [ 6.91621388e-02 9.97604118e-01 -1.61922228e-03 4.20994454e-01] [ 2.49846494e-02 -1.09537424e-04 9.99687829e-01 6.67795480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.088040942 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:25.75, Y:0.43, Z:0.67 [[ 9.96950758e-01 -7.39431129e-02 -2.49319412e-02 2.57462512e+01] [ 7.39255734e-02 9.97262436e-01 -1.62572152e-03 4.29063780e-01] [ 2.49838994e-02 -2.22343747e-04 9.99687829e-01 6.71033527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.148040941999998 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:25.80, Y:0.43, Z:0.67 [[ 9.96813897e-01 -7.57658329e-02 -2.49317782e-02 2.58027728e+01] [ 7.57488009e-02 9.97125603e-01 -1.62821839e-03 4.32227374e-01] [ 2.49834777e-02 -2.65521583e-04 9.99687829e-01 6.72334795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.208040942 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:25.86, Y:0.44, Z:0.67 [[ 9.96776609e-01 -7.62548828e-02 -2.49315785e-02 2.58604076e+01] [ 7.62379275e-02 9.97088320e-01 -1.63126928e-03 4.37707783e-01] [ 2.49833780e-02 -2.74720815e-04 9.99687829e-01 6.72939304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.268040942 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:25.92, Y:0.44, Z:0.67 [[ 9.96895332e-01 -7.46869318e-02 -2.49311056e-02 2.59177004e+01] [ 7.46693063e-02 9.97207005e-01 -1.63846566e-03 4.44101355e-01] [ 2.49838451e-02 -2.28209594e-04 9.99687829e-01 6.72835576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.328040942 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:25.97, Y:0.45, Z:0.67 [[ 9.97095450e-01 -7.19660412e-02 -2.49309603e-02 2.59748398e+01] [ 7.19475099e-02 9.97407070e-01 -1.64067399e-03 4.50369442e-01] [ 2.49843889e-02 -1.57811936e-04 9.99687829e-01 6.73764781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.388040942 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:26.03, Y:0.46, Z:0.67 [[ 9.97128602e-01 -7.15052792e-02 -2.49308178e-02 2.60324775e+01] [ 7.14865498e-02 9.97440211e-01 -1.64283574e-03 4.55048876e-01] [ 2.49844716e-02 -1.44099649e-04 9.99687829e-01 6.74917273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.448040942 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:26.09, Y:0.46, Z:0.68 [[ 9.97024725e-01 -7.29395390e-02 -2.49303478e-02 2.60900745e+01] [ 7.29210803e-02 9.97336349e-01 -1.64993844e-03 4.60925324e-01] [ 2.49842878e-02 -1.72918476e-04 9.99687829e-01 6.76572295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.508040942 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:26.15, Y:0.47, Z:0.68 [[ 9.96800602e-01 -7.59411691e-02 -2.49298790e-02 2.61475273e+01] [ 7.59234724e-02 9.97112271e-01 -1.65699129e-03 4.65645361e-01] [ 2.49837221e-02 -2.41073068e-04 9.99687829e-01 6.78006169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.568040942 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:26.20, Y:0.47, Z:0.68 [[ 9.96613182e-01 -7.83625473e-02 -2.49294154e-02 2.62043990e+01] [ 7.83454341e-02 9.96924884e-01 -1.66393661e-03 4.69167810e-01] [ 2.49831449e-02 -2.94804712e-04 9.99687829e-01 6.77559144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.628040942 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:26.26, Y:0.48, Z:0.68 [[ 9.96622360e-01 -7.82458410e-02 -2.49291019e-02 2.62624883e+01] [ 7.82285741e-02 9.96934053e-01 -1.66862070e-03 4.75042010e-01] [ 2.49832332e-02 -2.87183390e-04 9.99687829e-01 6.79445445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.688040942 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:26.32, Y:0.48, Z:0.68 [[ 9.96727123e-01 -7.68999744e-02 -2.49286384e-02 2.63206384e+01] [ 7.68821142e-02 9.97038782e-01 -1.67551660e-03 4.81649282e-01] [ 2.49836664e-02 -2.46533589e-04 9.99687829e-01 6.81070787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.748040942 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:26.38, Y:0.48, Z:0.69 [[ 9.97460763e-01 -6.67129132e-02 -2.49281794e-02 2.63799659e+01] [ 6.66916998e-02 9.97772212e-01 -1.68231850e-03 4.75395636e-01] [ 2.49848770e-02 1.55440401e-05 9.99687829e-01 6.93128442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.808040941999998 meters Centerline goodness : 0.995698 with order 1 Centerline is valid? [True, True] Translation: X:26.44, Y:0.49, Z:0.68 [[ 9.96815146e-01 -7.57506244e-02 -2.49280543e-02 2.64370660e+01] [ 7.57321885e-02 9.97126772e-01 -1.68416938e-03 4.90072800e-01] [ 2.49840072e-02 -2.09050557e-04 9.99687829e-01 6.79889129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.868040942 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:26.49, Y:0.49, Z:0.68 [[ 9.96804829e-01 -7.58864376e-02 -2.49275204e-02 2.64947260e+01] [ 7.58678474e-02 9.97116446e-01 -1.69203569e-03 4.94026789e-01] [ 2.49840431e-02 -2.04567959e-04 9.99687829e-01 6.84611499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.928040942 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:26.55, Y:0.50, Z:0.68 [[ 9.96578264e-01 -7.88061680e-02 -2.49269247e-02 2.65517764e+01] [ 7.87882724e-02 9.96889921e-01 -1.70076623e-03 4.99058510e-01] [ 2.49834309e-02 -2.69002678e-04 9.99687829e-01 6.84817362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.988040941999998 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:26.61, Y:0.49, Z:0.70 [[ 9.96829350e-01 -7.55640126e-02 -2.49264151e-02 2.66110280e+01] [ 7.55449174e-02 9.97140937e-01 -1.70820149e-03 4.93774620e-01] [ 2.49842275e-02 -1.80278589e-04 9.99687829e-01 6.95933544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.048040942 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:26.67, Y:0.50, Z:0.70 [[ 9.96710515e-01 -7.71157931e-02 -2.49259711e-02 2.66696577e+01] [ 7.70970216e-02 9.97022121e-01 -1.71465610e-03 4.96922067e-01] [ 2.49839717e-02 -2.12702368e-04 9.99687829e-01 6.98569416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.108040942 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:26.73, Y:0.51, Z:0.69 [[ 9.96048364e-01 -8.52430278e-02 -2.49255644e-02 2.67265109e+01] [ 8.52266512e-02 9.96360104e-01 -1.72054868e-03 5.11560939e-01] [ 2.49815027e-02 -4.10572680e-04 9.99687829e-01 6.90713385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.168040942 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:26.79, Y:0.51, Z:0.69 [[ 9.96355355e-01 -8.15765530e-02 -2.49253405e-02 2.67854113e+01] [ 8.15589481e-02 9.96667029e-01 -1.72378631e-03 5.13388141e-01] [ 2.49828856e-02 -3.15380834e-04 9.99687829e-01 6.90208200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.228040942 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:26.84, Y:0.51, Z:0.70 [[ 9.97094098e-01 -7.19868605e-02 -2.49249073e-02 2.68449103e+01] [ 7.19661018e-02 9.97405578e-01 -1.73002757e-03 5.06707609e-01] [ 2.49847808e-02 -6.87481325e-05 9.99687829e-01 7.01504862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.90, Y:0.52, Z:0.70 [[ 9.96522143e-01 -7.95134432e-02 -2.49245038e-02 2.69017479e+01] [ 7.94948921e-02 9.96833762e-01 -1.73582152e-03 5.21508033e-01] [ 2.49836080e-02 -2.51586151e-04 9.99687829e-01 6.96245370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.348040942 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:26.96, Y:0.51, Z:0.71 [[ 9.97200862e-01 -7.04926701e-02 -2.49243597e-02 2.69617313e+01] [ 7.04712482e-02 9.97512297e-01 -1.73788696e-03 5.12015043e-01] [ 2.49848636e-02 -2.34283704e-05 9.99687829e-01 7.06109942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.408040942 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:27.02, Y:0.52, Z:0.71 [[ 9.97134722e-01 -7.14222656e-02 -2.49239939e-02 2.70198869e+01] [ 7.14010034e-02 9.97446168e-01 -1.74311727e-03 5.15789722e-01] [ 2.49848396e-02 -4.14754238e-05 9.99687829e-01 7.07069015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.468040942 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:27.08, Y:0.52, Z:0.71 [[ 9.96993008e-01 -7.33741113e-02 -2.49235261e-02 2.70779097e+01] [ 7.33532922e-02 9.97304483e-01 -1.74978134e-03 5.16495531e-01] [ 2.49847330e-02 -8.37029311e-05 9.99687829e-01 7.09638764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.528040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:27.14, Y:0.52, Z:0.71 [[ 9.96718150e-01 -7.70179829e-02 -2.49230612e-02 2.71368559e+01] [ 7.69981376e-02 9.97029690e-01 -1.75637793e-03 5.21416441e-01] [ 2.49843047e-02 -1.68415531e-04 9.99687829e-01 7.08460807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.588040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:27.19, Y:0.54, Z:0.71 [[ 9.96110538e-01 -8.45142409e-02 -2.49226590e-02 2.71936590e+01] [ 8.44965976e-02 9.96422210e-01 -1.76206687e-03 5.35756735e-01] [ 2.49824107e-02 -3.50666511e-04 9.99687829e-01 7.05945010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.648040941999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:27.25, Y:0.53, Z:0.71 [[ 9.96472891e-01 -8.01289581e-02 -2.49224447e-02 2.72529269e+01] [ 8.01098674e-02 9.96784477e-01 -1.76509302e-03 5.28480501e-01] [ 2.49837411e-02 -2.37666397e-04 9.99687829e-01 7.10277420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.31, Y:0.53, Z:0.71 [[ 9.96248209e-01 -8.28757966e-02 -2.49220601e-02 2.73102493e+01] [ 8.28574296e-02 9.96559838e-01 -1.77050654e-03 5.33668333e-01] [ 2.49830563e-02 -3.01113872e-04 9.99687829e-01 7.08024232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.37, Y:0.54, Z:0.71 [[ 9.96184031e-01 -8.36437867e-02 -2.49217591e-02 2.73684538e+01] [ 8.36255542e-02 9.96495668e-01 -1.77473308e-03 5.36727838e-01] [ 2.49828704e-02 -3.16135165e-04 9.99687829e-01 7.10420505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.828040941999998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:27.43, Y:0.54, Z:0.71 [[ 9.95879481e-01 -8.71951081e-02 -2.49213239e-02 2.74263767e+01] [ 8.71778345e-02 9.96191173e-01 -1.78082412e-03 5.43607081e-01] [ 2.49816820e-02 -3.99100842e-04 9.99687829e-01 7.08191032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.48, Y:0.55, Z:0.71 [[ 9.95749346e-01 -8.86689034e-02 -2.49211898e-02 2.74839989e+01] [ 8.86520442e-02 9.96061061e-01 -1.78269857e-03 5.50788477e-01] [ 2.49810967e-02 -4.34193484e-04 9.99687829e-01 7.08906956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.54, Y:0.56, Z:0.71 [[ 9.95556513e-01 -9.08085095e-02 -2.49207604e-02 2.75413852e+01] [ 9.07921705e-02 9.95868256e-01 -1.78868037e-03 5.58444155e-01] [ 2.49802216e-02 -4.81877538e-04 9.99687829e-01 7.09911616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.008040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.60, Y:0.56, Z:0.71 [[ 9.95712373e-01 -8.90833747e-02 -2.49203381e-02 2.75979945e+01] [ 8.90663488e-02 9.96024079e-01 -1.79454537e-03 5.64438913e-01] [ 2.49811209e-02 -4.32712501e-04 9.99687829e-01 7.10350393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.66, Y:0.57, Z:0.72 [[ 9.96103235e-01 -8.46010106e-02 -2.49201560e-02 2.76556366e+01] [ 8.45825188e-02 9.96414857e-01 -1.79707090e-03 5.65105741e-01] [ 2.49828477e-02 -3.17741419e-04 9.99687829e-01 7.20308033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.72, Y:0.57, Z:0.70 [[ 9.96161642e-01 -8.39105236e-02 -2.49200277e-02 2.77158041e+01] [ 8.38917714e-02 9.96473248e-01 -1.79884789e-03 5.73904071e-01] [ 2.49830832e-02 -2.98641996e-04 9.99687829e-01 6.96674599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.78, Y:0.58, Z:0.73 [[ 9.96329142e-01 -8.18976998e-02 -2.49200065e-02 2.77757123e+01] [ 8.18783107e-02 9.96640710e-01 -1.79914073e-03 5.78239154e-01] [ 2.49836385e-02 -2.47871693e-04 9.99687829e-01 7.26311001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.83, Y:0.59, Z:0.73 [[ 9.96162458e-01 -8.39008412e-02 -2.49200086e-02 2.78342933e+01] [ 8.38820793e-02 9.96474064e-01 -1.79911196e-03 5.85181611e-01] [ 2.49830893e-02 -2.98134351e-04 9.99687829e-01 7.26237984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.308040941999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.89, Y:0.59, Z:0.73 [[ 9.96033093e-01 -8.54230198e-02 -2.49195676e-02 2.78932563e+01] [ 8.54045819e-02 9.96344719e-01 -1.80519940e-03 5.91002178e-01] [ 2.49826852e-02 -3.30206916e-04 9.99687829e-01 7.28103433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.95, Y:0.60, Z:0.72 [[ 9.95863947e-01 -8.73729805e-02 -2.49190909e-02 2.79509048e+01] [ 8.73549887e-02 9.96175599e-01 -1.81175720e-03 5.97832634e-01] [ 2.49820889e-02 -3.72543225e-04 9.99687829e-01 7.23641936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.01, Y:0.60, Z:0.73 [[ 9.96120112e-01 -8.44024249e-02 -2.49189232e-02 2.80082866e+01] [ 8.43834460e-02 9.96431705e-01 -1.81406010e-03 6.03260954e-01] [ 2.49831162e-02 -2.95722860e-04 9.99687830e-01 7.29022068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.488040941999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.07, Y:0.61, Z:0.72 [[ 9.95810328e-01 -8.79821913e-02 -2.49183744e-02 2.80658193e+01] [ 8.79641447e-02 9.96121976e-01 -1.82156780e-03 6.12954678e-01] [ 2.49820059e-02 -3.77987465e-04 9.99687830e-01 7.24247887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.12, Y:0.62, Z:0.72 [[ 9.95859686e-01 -8.74217903e-02 -2.49182059e-02 2.81224693e+01] [ 8.74035107e-02 9.96171321e-01 -1.82386963e-03 6.18534848e-01] [ 2.49822480e-02 -3.61620439e-04 9.99687830e-01 7.24678929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.608040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.18, Y:0.62, Z:0.73 [[ 9.96361640e-01 -8.15020061e-02 -2.49179820e-02 2.81820369e+01] [ 8.14817985e-02 9.96673155e-01 -1.82692294e-03 6.16211462e-01] [ 2.49839817e-02 -2.10086058e-04 9.99687830e-01 7.29466656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.24, Y:0.63, Z:0.73 [[ 9.96182211e-01 -8.36667038e-02 -2.49175704e-02 2.82404033e+01] [ 8.36470331e-02 9.96493761e-01 -1.83251975e-03 6.29033946e-01] [ 2.49835244e-02 -2.58757267e-04 9.99687830e-01 7.26936461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.728040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.30, Y:0.63, Z:0.73 [[ 9.96807613e-01 -7.58531784e-02 -2.49174312e-02 2.82982238e+01] [ 7.58310182e-02 9.97118996e-01 -1.83441132e-03 6.28808494e-01] [ 2.49847899e-02 -6.09590078e-05 9.99687830e-01 7.29569840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.788040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.36, Y:0.64, Z:0.73 [[ 9.96754242e-01 -7.65513630e-02 -2.49172691e-02 2.83562509e+01] [ 7.65293660e-02 9.97065636e-01 -1.83660974e-03 6.35250137e-01] [ 2.49847478e-02 -7.62542578e-05 9.99687830e-01 7.28433055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.41, Y:0.64, Z:0.73 [[ 9.96770711e-01 -7.63367769e-02 -2.49167708e-02 2.84149165e+01] [ 7.63145445e-02 9.97082089e-01 -1.84334551e-03 6.40114889e-01] [ 2.49847810e-02 -6.41191967e-05 9.99687830e-01 7.32285384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.908040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:28.47, Y:0.64, Z:0.73 [[ 9.96779778e-01 -7.62184626e-02 -2.49162721e-02 2.84732454e+01] [ 7.61960253e-02 9.97091141e-01 -1.85006170e-03 6.43565535e-01] [ 2.49848031e-02 -5.44168140e-05 9.99687830e-01 7.34966504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.53, Y:0.65, Z:0.74 [[ 9.96653438e-01 -7.78532734e-02 -2.49157182e-02 2.85313245e+01] [ 7.78311611e-02 9.96964824e-01 -1.85749152e-03 6.49143426e-01] [ 2.49847064e-02 -8.79439743e-05 9.99687830e-01 7.36505419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.59, Y:0.65, Z:0.74 [[ 9.96336305e-01 -8.18119955e-02 -2.49151460e-02 2.85898446e+01] [ 8.17909292e-02 9.96647764e-01 -1.86513622e-03 6.51816474e-01] [ 2.49842150e-02 -1.79530009e-04 9.99687830e-01 7.36617225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.65, Y:0.66, Z:0.73 [[ 9.95668594e-01 -8.95729374e-02 -2.49146500e-02 2.86473955e+01] [ 8.95541335e-02 9.95980197e-01 -1.87173868e-03 6.59715627e-01] [ 2.49821551e-02 -3.67578470e-04 9.99687830e-01 7.32192388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.148040941999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.70, Y:0.66, Z:0.74 [[ 9.95954960e-01 -8.63306764e-02 -2.49144752e-02 2.87047267e+01] [ 8.63107999e-02 9.96266497e-01 -1.87406211e-03 6.62029933e-01] [ 2.49832460e-02 -2.83906834e-04 9.99687830e-01 7.36808059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.76, Y:0.66, Z:0.75 [[ 9.96300626e-01 -8.22456053e-02 -2.49143074e-02 2.87640319e+01] [ 8.22243957e-02 9.96612075e-01 -1.87629029e-03 6.58216440e-01] [ 2.49842162e-02 -1.79214673e-04 9.99687830e-01 7.46678068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.82, Y:0.67, Z:0.74 [[ 9.95689126e-01 -8.93446419e-02 -2.49138394e-02 2.88217102e+01] [ 8.93254977e-02 9.96000709e-01 -1.88248363e-03 6.71885098e-01] [ 2.49823915e-02 -3.51072624e-04 9.99687830e-01 7.40993020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.328040941999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.88, Y:0.68, Z:0.74 [[ 9.95973550e-01 -8.61161761e-02 -2.49136718e-02 2.88793510e+01] [ 8.60959664e-02 9.96285066e-01 -1.88469965e-03 6.77225975e-01] [ 2.49834223e-02 -2.67855642e-04 9.99687830e-01 7.43093877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.388040942 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:28.94, Y:0.68, Z:0.74 [[ 9.96545016e-01 -7.92298299e-02 -2.49131695e-02 2.89380838e+01] [ 7.92073021e-02 9.96856372e-01 -1.89131592e-03 6.78435511e-01] [ 2.49847004e-02 -8.85234884e-05 9.99687830e-01 7.39412936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.448040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:29.00, Y:0.68, Z:0.74 [[ 9.96788734e-01 -7.61024608e-02 -2.49125457e-02 2.89959473e+01] [ 7.60787517e-02 9.97100003e-01 -1.89949682e-03 6.81004550e-01] [ 2.49848558e-02 -1.91834656e-06 9.99687830e-01 7.43004928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.508040942 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:29.05, Y:0.68, Z:0.75 [[ 9.97237723e-01 -6.99735487e-02 -2.49123608e-02 2.90538729e+01] [ 6.99478661e-02 9.97548835e-01 -1.90191879e-03 6.83475544e-01] [ 2.49843805e-02 1.54098682e-04 9.99687830e-01 7.45710676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.568040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.11, Y:0.69, Z:0.75 [[ 9.97497083e-01 -6.61736585e-02 -2.49121796e-02 2.91112274e+01] [ 6.61467315e-02 9.97808090e-01 -1.90428927e-03 6.85456192e-01] [ 2.49835881e-02 2.51663738e-04 9.99687830e-01 7.49451271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.17, Y:0.69, Z:0.75 [[ 9.97519492e-01 -6.58350597e-02 -2.49120008e-02 2.91678280e+01] [ 6.58079689e-02 9.97830485e-01 -1.90662554e-03 6.87273625e-01] [ 2.49834767e-02 2.62487961e-04 9.99687830e-01 7.53022637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.23, Y:0.69, Z:0.76 [[ 9.97554877e-01 -6.52968471e-02 -2.49116438e-02 2.92263481e+01] [ 6.52694722e-02 9.97865844e-01 -1.91127876e-03 6.88493327e-01] [ 2.49832790e-02 2.80635604e-04 9.99687830e-01 7.55847366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.28, Y:0.69, Z:0.75 [[ 9.97095839e-01 -7.19675061e-02 -2.49111693e-02 2.92836646e+01] [ 7.19420577e-02 9.97406970e-01 -1.91744358e-03 6.94357996e-01] [ 2.49845675e-02 1.19714238e-04 9.99687830e-01 7.52994274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.808040941999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.34, Y:0.69, Z:0.75 [[ 9.96943422e-01 -7.40490122e-02 -2.49110018e-02 2.93416133e+01] [ 7.40241592e-02 9.97254601e-01 -1.91961690e-03 6.93886946e-01] [ 2.49847569e-02 6.97334742e-05 9.99687830e-01 7.54744238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.40, Y:0.69, Z:0.76 [[ 9.97248986e-01 -6.98135250e-02 -2.49104590e-02 2.94011871e+01] [ 6.97871751e-02 9.97560042e-01 -1.92663582e-03 6.85006885e-01] [ 2.49841837e-02 1.82905055e-04 9.99687830e-01 7.63174810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.46, Y:0.70, Z:0.76 [[ 9.96530579e-01 -7.94120979e-02 -2.49103154e-02 2.94603181e+01] [ 7.93886977e-02 9.96841871e-01 -1.92848963e-03 6.95608108e-01] [ 2.49847909e-02 -5.57986125e-05 9.99687830e-01 7.59328555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.988040941999998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:29.52, Y:0.69, Z:0.76 [[ 9.96245818e-01 -8.29080846e-02 -2.49102438e-02 2.95179718e+01] [ 8.28857537e-02 9.96557188e-01 -1.92941518e-03 6.93842215e-01] [ 2.49844466e-02 -1.42532523e-04 9.99687830e-01 7.60652851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.58, Y:0.69, Z:0.76 [[ 9.96222524e-01 -8.31876314e-02 -2.49098593e-02 2.95772760e+01] [ 8.31652641e-02 9.96533892e-01 -1.93436574e-03 6.88895455e-01] [ 2.49844344e-02 -1.44576306e-04 9.99687830e-01 7.64714534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.63, Y:0.69, Z:0.76 [[ 9.96002473e-01 -8.57822654e-02 -2.49093604e-02 2.96343844e+01] [ 8.57605491e-02 9.96313887e-01 -1.94076932e-03 6.90727594e-01] [ 2.49840253e-02 -2.03229381e-04 9.99687830e-01 7.64766854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.168040942 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:29.69, Y:0.69, Z:0.77 [[ 9.96091172e-01 -8.47462084e-02 -2.49089742e-02 2.96936194e+01] [ 8.47240445e-02 9.96402554e-01 -1.94571351e-03 6.90435346e-01] [ 2.49842574e-02 -1.72280991e-04 9.99687830e-01 7.69891115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.228040942 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:29.75, Y:0.69, Z:0.77 [[ 9.95830607e-01 -8.77551613e-02 -2.49084931e-02 2.97529080e+01] [ 8.77337847e-02 9.96142045e-01 -1.95185280e-03 6.92529828e-01] [ 2.49836824e-02 -2.41601610e-04 9.99687830e-01 7.69645089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.81, Y:0.70, Z:0.76 [[ 9.95029959e-01 -9.64104445e-02 -2.49079602e-02 2.98106747e+01] [ 9.63916070e-02 9.95341560e-01 -1.95862984e-03 7.02825829e-01] [ 2.49807604e-02 -4.52022940e-04 9.99687830e-01 7.58333174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.87, Y:0.70, Z:0.76 [[ 9.95248410e-01 -9.41286628e-02 -2.49077731e-02 2.98685748e+01] [ 9.41090514e-02 9.95559963e-01 -1.96100682e-03 7.03469206e-01] [ 2.49817686e-02 -3.92357976e-04 9.99687830e-01 7.59995196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.408040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:29.93, Y:0.70, Z:0.77 [[ 9.95780688e-01 -8.83200821e-02 -2.49075081e-02 2.99273593e+01] [ 8.82985692e-02 9.96092116e-01 -1.96436668e-03 6.98756482e-01] [ 2.49836655e-02 -2.43218918e-04 9.99687830e-01 7.70942503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.468040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:29.98, Y:0.70, Z:0.77 [[ 9.96001699e-01 -8.57919631e-02 -2.49069010e-02 2.99849268e+01] [ 8.57694680e-02 9.96313058e-01 -1.97203432e-03 7.01029154e-01] [ 2.49842554e-02 -1.72102115e-04 9.99687830e-01 7.72674158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.04, Y:0.70, Z:0.77 [[ 9.96075561e-01 -8.49301665e-02 -2.49067155e-02 3.00431889e+01] [ 8.49073435e-02 9.96386895e-01 -1.97437368e-03 7.01390269e-01] [ 2.49844089e-02 -1.48137679e-04 9.99687830e-01 7.73221032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.588040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:30.10, Y:0.70, Z:0.78 [[ 9.96200575e-01 -8.34510576e-02 -2.49065455e-02 3.01018038e+01] [ 8.34277188e-02 9.96511871e-01 -1.97651608e-03 7.02369731e-01] [ 2.49846106e-02 -1.08889817e-04 9.99687830e-01 7.77243642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.648040941999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.16, Y:0.71, Z:0.78 [[ 9.96210363e-01 -8.33342724e-02 -2.49060748e-02 3.01591650e+01] [ 8.33107493e-02 9.96521645e-01 -1.98242951e-03 7.05666570e-01] [ 2.49846470e-02 -1.00026933e-04 9.99687830e-01 7.77711457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.708040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.22, Y:0.71, Z:0.78 [[ 9.95835189e-01 -8.77038913e-02 -2.49059094e-02 3.02164954e+01] [ 8.76816821e-02 9.96146568e-01 -1.98450555e-03 7.14729143e-01] [ 2.49839851e-02 -2.07551573e-04 9.99687830e-01 7.77836103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.768040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.27, Y:0.71, Z:0.79 [[ 9.96032623e-01 -8.54325618e-02 -2.49056663e-02 3.02744019e+01] [ 8.54095662e-02 9.96343944e-01 -1.98755262e-03 7.12256288e-01] [ 2.49844115e-02 -1.47514904e-04 9.99687830e-01 7.85022561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.828040941999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.33, Y:0.72, Z:0.78 [[ 9.95708583e-01 -8.91299844e-02 -2.49050966e-02 3.03329144e+01] [ 8.91079670e-02 9.96019975e-01 -1.99466570e-03 7.16572601e-01] [ 2.49837582e-02 -2.33136767e-04 9.99687830e-01 7.84509521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.39, Y:0.72, Z:0.79 [[ 9.95801195e-01 -8.80893877e-02 -2.49046013e-02 3.03921630e+01] [ 8.80668907e-02 9.96112554e-01 -2.00083027e-03 7.16759103e-01] [ 2.49840379e-02 -2.00841622e-04 9.99687830e-01 7.88175275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.948040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.45, Y:0.73, Z:0.78 [[ 9.95146606e-01 -9.51998857e-02 -2.49041060e-02 3.04508198e+01] [ 9.51794594e-02 9.95458107e-01 -2.00697675e-03 7.28941944e-01] [ 2.49820581e-02 -3.73123240e-04 9.99687830e-01 7.84125828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.008040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.51, Y:0.72, Z:0.79 [[ 9.95788964e-01 -8.82278215e-02 -2.49036166e-02 3.05105745e+01] [ 8.82050627e-02 9.96100303e-01 -2.01303136e-03 7.24218245e-01] [ 2.49841054e-02 -1.92070646e-04 9.99687830e-01 7.93349948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.068040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.57, Y:0.73, Z:0.79 [[ 9.95099546e-01 -9.56908036e-02 -2.49031044e-02 3.05684166e+01] [ 9.56702215e-02 9.95411036e-01 -2.01934747e-03 7.31702278e-01] [ 2.49820579e-02 -3.73033761e-04 9.99687830e-01 7.91058449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.128040942 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:30.63, Y:0.74, Z:0.79 [[ 9.95009489e-01 -9.66227817e-02 -2.49029227e-02 3.06262598e+01] [ 9.66024354e-02 9.95320995e-01 -2.02158571e-03 7.44046218e-01] [ 2.49817330e-02 -3.94186023e-04 9.99687830e-01 7.89581922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.18804094199999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.68, Y:0.74, Z:0.80 [[ 9.95872460e-01 -8.72806511e-02 -2.49024208e-02 3.06848916e+01] [ 8.72572281e-02 9.96183750e-01 -2.02774976e-03 7.38655535e-01] [ 2.49843702e-02 -1.53536067e-04 9.99687830e-01 7.97623455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.248040941999996 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:30.74, Y:0.74, Z:0.80 [[ 9.95959953e-01 -8.62765999e-02 -2.49022276e-02 3.07432831e+01] [ 8.62528038e-02 9.96271214e-01 -2.03011905e-03 7.43172396e-01] [ 2.49845243e-02 -1.25969685e-04 9.99687830e-01 7.96946733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.80, Y:0.75, Z:0.80 [[ 9.96303749e-01 -8.22116101e-02 -2.49016366e-02 3.08020012e+01] [ 8.21863635e-02 9.96614896e-01 -2.03734309e-03 7.48748033e-01] [ 2.49848352e-02 -1.67624041e-05 9.99687830e-01 7.98450140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.86, Y:0.75, Z:0.79 [[ 9.96609051e-01 -7.84240679e-02 -2.49011216e-02 3.08613425e+01] [ 7.83974820e-02 9.96920086e-01 -2.04361836e-03 7.50885253e-01] [ 2.49846971e-02 8.45033260e-05 9.99687830e-01 7.92952007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.428040941999996 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:30.92, Y:0.76, Z:0.80 [[ 9.96493045e-01 -7.98847349e-02 -2.49006036e-02 3.09202026e+01] [ 7.98584478e-02 9.96804106e-01 -2.04991081e-03 7.56982683e-01] [ 2.49847805e-02 5.41983205e-05 9.99687830e-01 7.99499282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.488040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.98, Y:0.76, Z:0.80 [[ 9.96205233e-01 -8.33973557e-02 -2.49000875e-02 3.09779013e+01] [ 8.33720091e-02 9.96516372e-01 -2.05616006e-03 7.62585851e-01] [ 2.49848232e-02 -2.76129135e-05 9.99687830e-01 7.99002594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.04, Y:0.76, Z:0.80 [[ 9.95760349e-01 -8.85512403e-02 -2.48999060e-02 3.10361793e+01] [ 8.85274492e-02 9.96071611e-01 -2.05835582e-03 7.62858763e-01] [ 2.49843595e-02 -1.54696059e-04 9.99687830e-01 8.01165385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.608040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.09, Y:0.77, Z:0.80 [[ 9.95192437e-01 -9.47208372e-02 -2.48993303e-02 3.10940807e+01] [ 9.46988019e-02 9.95503828e-01 -2.06529691e-03 7.65630668e-01] [ 2.49830053e-02 -3.02568880e-04 9.99687830e-01 8.00552743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.15, Y:0.77, Z:0.80 [[ 9.95019018e-01 -9.65256788e-02 -2.48987492e-02 3.11523129e+01] [ 9.65040337e-02 9.95330436e-01 -2.07227841e-03 7.69168966e-01] [ 2.49825110e-02 -3.40873304e-04 9.99687830e-01 8.00575896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.21, Y:0.77, Z:0.80 [[ 9.94910851e-01 -9.76344230e-02 -2.48981352e-02 3.12093479e+01] [ 9.76129410e-02 9.95222281e-01 -2.07963005e-03 7.71429606e-01] [ 2.49822224e-02 -3.61333695e-04 9.99687830e-01 8.02594971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.788040941999995 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:31.27, Y:0.78, Z:0.80 [[ 9.94932450e-01 -9.74141484e-02 -2.48978711e-02 3.12676395e+01] [ 9.73925185e-02 9.95243869e-01 -2.08278639e-03 7.75319103e-01] [ 2.49823465e-02 -3.52634610e-04 9.99687830e-01 8.04105085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.33, Y:0.78, Z:0.80 [[ 9.94747983e-01 -9.92802932e-02 -2.48972621e-02 3.13255642e+01] [ 9.92590660e-02 9.95059430e-01 -2.09004114e-03 7.80598751e-01] [ 2.49817554e-02 -3.92214778e-04 9.99687830e-01 8.03255825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.38, Y:0.78, Z:0.81 [[ 9.94535310e-01 -1.01388726e-01 -2.48966581e-02 3.13825411e+01] [ 1.01367980e-01 9.94846789e-01 -2.09721226e-03 7.84368620e-01] [ 2.49809940e-02 -4.37972285e-04 9.99687830e-01 8.06619672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.968040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.44, Y:0.79, Z:0.81 [[ 9.94605079e-01 -1.00702070e-01 -2.48963979e-02 3.14391753e+01] [ 1.00681031e-01 9.94916539e-01 -2.10029559e-03 7.88733115e-01] [ 2.49813422e-02 -4.17630355e-04 9.99687830e-01 8.11884591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.50, Y:0.79, Z:0.82 [[ 9.94833641e-01 -9.84185400e-02 -2.48961449e-02 3.14973708e+01] [ 9.83967114e-02 9.95145046e-01 -2.10329138e-03 7.94114501e-01] [ 2.49822781e-02 -3.57273755e-04 9.99687830e-01 8.15121886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.088040942 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:31.56, Y:0.80, Z:0.82 [[ 9.95662076e-01 -8.96506665e-02 -2.48955654e-02 3.15555705e+01] [ 8.96259245e-02 9.95973263e-01 -2.11012728e-03 7.96425849e-01] [ 2.49844919e-02 -1.30314365e-04 9.99687830e-01 8.21326523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.148040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.61, Y:0.81, Z:0.82 [[ 9.96026914e-01 -8.55021650e-02 -2.48950922e-02 3.16137571e+01] [ 8.54759877e-02 9.96337984e-01 -2.11569585e-03 8.06389282e-01] [ 2.49848226e-02 -2.06425815e-05 9.99687830e-01 8.21827566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.67, Y:0.82, Z:0.82 [[ 9.96316042e-01 -8.20646402e-02 -2.48945782e-02 3.16716134e+01] [ 8.20372390e-02 9.96627006e-01 -2.12172642e-03 8.15934123e-01] [ 2.49847277e-02 7.16276055e-05 9.99687830e-01 8.23106641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.268040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:31.73, Y:0.82, Z:0.82 [[ 9.96328429e-01 -8.19141705e-02 -2.48943766e-02 3.17299588e+01] [ 8.18866632e-02 9.96639384e-01 -2.12408941e-03 8.23069421e-01] [ 2.49847092e-02 7.77732272e-05 9.99687830e-01 8.23979560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.328040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.79, Y:0.83, Z:0.82 [[ 9.96421939e-01 -8.07689058e-02 -2.48938451e-02 3.17878888e+01] [ 8.07408860e-02 9.96732848e-01 -2.13030025e-03 8.31992121e-01] [ 2.49845752e-02 1.12726797e-04 9.99687830e-01 8.24297073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.388040941999996 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:31.85, Y:0.84, Z:0.82 [[ 9.96284749e-01 -8.24440602e-02 -2.48933075e-02 3.18461078e+01] [ 8.24164067e-02 9.96595691e-01 -2.13656352e-03 8.35294299e-01] [ 2.49847100e-02 7.70086954e-05 9.99687830e-01 8.23314551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.90, Y:0.84, Z:0.83 [[ 9.96463971e-01 -8.02489053e-02 -2.48931188e-02 3.19044940e+01] [ 8.02205120e-02 9.96774847e-01 -2.13875981e-03 8.40617592e-01] [ 2.49844679e-02 1.34258360e-04 9.99687830e-01 8.27655816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.508040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.96, Y:0.85, Z:0.83 [[ 9.96060070e-01 -8.51157919e-02 -2.48925317e-02 3.19624020e+01] [ 8.50887473e-02 9.96371066e-01 -2.14557142e-03 8.46915764e-01] [ 2.49848204e-02 1.90436828e-05 9.99687830e-01 8.28077674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.568040941999996 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:32.02, Y:0.85, Z:0.83 [[ 9.95979150e-01 -8.60575724e-02 -2.48923259e-02 3.20199883e+01] [ 8.60307622e-02 9.96290166e-01 -2.14795710e-03 8.51677048e-01] [ 2.49848274e-02 -2.18527835e-06 9.99687830e-01 8.30401129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.628040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:32.08, Y:0.85, Z:0.83 [[ 9.96105415e-01 -8.45837099e-02 -2.48917291e-02 3.20785127e+01] [ 8.45562673e-02 9.96416376e-01 -2.15485022e-03 8.54386249e-01] [ 2.49847918e-02 4.17062688e-05 9.99687830e-01 8.33334155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.68804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.14, Y:0.86, Z:0.83 [[ 9.95859961e-01 -8.74262384e-02 -2.48915696e-02 3.21366884e+01] [ 8.73996373e-02 9.96170995e-01 -2.15669167e-03 8.59804089e-01] [ 2.49848111e-02 -2.77512753e-05 9.99687830e-01 8.33533940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.748040941999996 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:32.20, Y:0.87, Z:0.83 [[ 9.95684405e-01 -8.94036243e-02 -2.48909161e-02 3.21953657e+01] [ 8.93774530e-02 9.95995475e-01 -2.16420784e-03 8.65976904e-01] [ 2.49847278e-02 -6.98186843e-05 9.99687831e-01 8.31283495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.25, Y:0.87, Z:0.83 [[ 9.95710188e-01 -8.91161724e-02 -2.48903348e-02 3.22529779e+01] [ 8.90897448e-02 9.96021237e-01 -2.17087290e-03 8.70055780e-01] [ 2.49847619e-02 -5.59133069e-05 9.99687831e-01 8.33200491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86804094199999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:32.31, Y:0.88, Z:0.83 [[ 9.95718426e-01 -8.90241406e-02 -2.48901307e-02 3.23109142e+01] [ 8.89976258e-02 9.96029467e-01 -2.17321046e-03 8.76929407e-01] [ 2.49847718e-02 -5.12568365e-05 9.99687831e-01 8.31599132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.928040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.37, Y:0.88, Z:0.84 [[ 9.96014225e-01 -8.56513499e-02 -2.48899394e-02 3.23700075e+01] [ 8.56237271e-02 9.96325170e-01 -2.17539853e-03 8.80436887e-01] [ 2.49847990e-02 3.55585047e-05 9.99687831e-01 8.35337457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.988040942 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:32.43, Y:0.89, Z:0.83 [[ 9.95517103e-01 -9.12480986e-02 -2.48894031e-02 3.24284013e+01] [ 9.12220709e-02 9.95828185e-01 -2.18151803e-03 8.94276006e-01] [ 2.49846285e-02 -9.87243830e-05 9.99687831e-01 8.28571667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.49, Y:0.89, Z:0.84 [[ 9.96318017e-01 -8.20423932e-02 -2.48888325e-02 3.24878719e+01] [ 8.20133291e-02 9.96628831e-01 -2.18800887e-03 8.89691868e-01] [ 2.49844375e-02 1.38736651e-04 9.99687831e-01 8.39359348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.108040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.55, Y:0.90, Z:0.84 [[ 9.96041173e-01 -8.53378961e-02 -2.48882397e-02 3.25464375e+01] [ 8.53096924e-02 9.96352066e-01 -2.19473066e-03 8.97092010e-01] [ 2.49847427e-02 6.28340257e-05 9.99687831e-01 8.35184823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.61, Y:0.91, Z:0.83 [[ 9.96042295e-01 -8.53249626e-02 -2.48876948e-02 3.26052493e+01] [ 8.52966009e-02 9.96353173e-01 -2.20089243e-03 9.05802591e-01] [ 2.49847248e-02 6.93461734e-05 9.99687831e-01 8.30063857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.66, Y:0.91, Z:0.83 [[ 9.96175739e-01 -8.37527789e-02 -2.48871064e-02 3.26628877e+01] [ 8.37237608e-02 9.96486557e-01 -2.20752594e-03 9.09862921e-01] [ 2.49845534e-02 1.15441646e-04 9.99687831e-01 8.32271455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.288040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.72, Y:0.92, Z:0.83 [[ 9.95975204e-01 -8.61047888e-02 -2.48869000e-02 3.27200074e+01] [ 8.60764466e-02 9.96286084e-01 -2.20985011e-03 9.19808312e-01] [ 2.49847508e-02 5.87799932e-05 9.99687831e-01 8.32308186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.78, Y:0.92, Z:0.84 [[ 9.96161418e-01 -8.39231984e-02 -2.48862708e-02 3.27780815e+01] [ 8.38939990e-02 9.96472218e-01 -2.21691313e-03 9.17285068e-01] [ 2.49845279e-02 1.20594544e-04 9.99687831e-01 8.35842953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40804094199999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:32.84, Y:0.92, Z:0.83 [[ 9.95721023e-01 -8.89962306e-02 -2.48860612e-02 3.28359259e+01] [ 8.89685560e-02 9.96031963e-01 -2.21926379e-03 9.23562604e-01] [ 2.49848185e-02 -4.30931446e-06 9.99687831e-01 8.32647744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.468040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.89, Y:0.93, Z:0.83 [[ 9.95110691e-01 -9.55794347e-02 -2.48854429e-02 3.28935786e+01] [ 9.55536442e-02 9.95421793e-01 -2.22617512e-03 9.31635337e-01] [ 2.49842888e-02 -1.62604104e-04 9.99687831e-01 8.31927899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.528040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:32.95, Y:0.94, Z:0.84 [[ 9.94453919e-01 -1.02186827e-01 -2.48848302e-02 3.29509996e+01] [ 1.02162933e-01 9.94765173e-01 -2.23300314e-03 9.35916142e-01] [ 2.49827460e-02 -3.21688512e-04 9.99687831e-01 8.35887548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.01, Y:0.94, Z:0.83 [[ 9.94086469e-01 -1.05701804e-01 -2.48841523e-02 3.30076616e+01] [ 1.05678822e-01 9.94397791e-01 -2.24053302e-03 9.41491248e-01] [ 2.49815744e-02 -4.02444344e-04 9.99687831e-01 8.34377048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.648040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.07, Y:0.95, Z:0.84 [[ 9.93926291e-01 -1.07197582e-01 -2.48838604e-02 3.30653100e+01] [ 1.07174987e-01 9.94237641e-01 -2.24376954e-03 9.46285891e-01] [ 2.49809974e-02 -4.36785886e-04 9.99687831e-01 8.39688792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.12, Y:0.95, Z:0.84 [[ 9.93796206e-01 -1.08397089e-01 -2.48831569e-02 3.31223389e+01] [ 1.08374675e-01 9.94107570e-01 -2.25154411e-03 9.51423429e-01] [ 2.49805955e-02 -4.59128059e-04 9.99687831e-01 8.40699604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.18, Y:0.96, Z:0.84 [[ 9.93803158e-01 -1.08333448e-01 -2.48826835e-02 3.31790232e+01] [ 1.08310883e-01 9.94114510e-01 -2.25676432e-03 9.56491817e-01] [ 2.49807198e-02 -4.52285927e-04 9.99687831e-01 8.43738889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.828040941999994 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:33.24, Y:0.96, Z:0.84 [[ 9.94354807e-01 -1.03147391e-01 -2.48823905e-02 3.32377144e+01] [ 1.03123122e-01 9.94666032e-01 -2.25999008e-03 9.64335902e-01] [ 2.49827807e-02 -3.18717783e-04 9.99687831e-01 8.41824896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.888040941999996 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:33.30, Y:0.97, Z:0.84 [[ 9.94732572e-01 -9.94384552e-02 -2.48817834e-02 3.32951994e+01] [ 9.94128591e-02 9.95043690e-01 -2.26665446e-03 9.73908606e-01] [ 2.49838542e-02 -2.18854205e-04 9.99687831e-01 8.38991002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.948040942 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:33.35, Y:0.99, Z:0.83 [[ 9.94530588e-01 -1.01438736e-01 -2.48815700e-02 3.33543821e+01] [ 1.01413707e-01 9.94841752e-01 -2.26899457e-03 9.86036095e-01] [ 2.49833886e-02 -2.66747752e-04 9.99687831e-01 8.33938792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.008040941999994 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:33.41, Y:0.99, Z:0.84 [[ 9.94509828e-01 -1.01642086e-01 -2.48814914e-02 3.34130601e+01] [ 1.01617100e-01 9.94820995e-01 -2.26985597e-03 9.91296949e-01] [ 2.49833430e-02 -2.70990926e-04 9.99687831e-01 8.36568767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.068040941999996 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:33.47, Y:0.99, Z:0.84 [[ 9.94429099e-01 -1.02429031e-01 -2.48809442e-02 3.34715576e+01] [ 1.02404141e-01 9.94740274e-01 -2.27583830e-03 9.94280524e-01] [ 2.49831892e-02 -2.84751894e-04 9.99687831e-01 8.39045992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.128040942 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:33.53, Y:1.00, Z:0.84 [[ 9.94683613e-01 -9.99273675e-02 -2.48803198e-02 3.35311377e+01] [ 9.99015244e-02 9.94994711e-01 -2.28264488e-03 9.98198105e-01] [ 2.49838853e-02 -2.15072414e-04 9.99687831e-01 8.41283845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.18804094199999 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:33.59, Y:1.00, Z:0.84 [[ 9.94376515e-01 -1.02938432e-01 -2.48802311e-02 3.35878212e+01] [ 1.02913507e-01 9.94687687e-01 -2.28361041e-03 1.00312444e+00] [ 2.49831308e-02 -2.89743280e-04 9.99687831e-01 8.42120572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.248040941999996 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:33.65, Y:1.01, Z:0.84 [[ 9.93948351e-01 -1.06993759e-01 -2.48799266e-02 3.36452014e+01] [ 1.06970020e-01 9.94259616e-01 -2.28692309e-03 1.00935206e+00] [ 2.49817928e-02 -3.88322822e-04 9.99687831e-01 8.40708126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.308040942 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:33.70, Y:1.01, Z:0.84 [[ 9.93535473e-01 -1.10762297e-01 -2.48792448e-02 3.37028317e+01] [ 1.10739554e-01 9.93846813e-01 -2.29431657e-03 1.01166782e+00] [ 2.49802820e-02 -4.75631572e-04 9.99687831e-01 8.40699957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36804094199999 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:33.76, Y:1.02, Z:0.84 [[ 9.93904004e-01 -1.07405140e-01 -2.48790372e-02 3.37601184e+01] [ 1.07381289e-01 9.94215261e-01 -2.29656619e-03 1.01771059e+00] [ 2.49817814e-02 -3.88976740e-04 9.99687831e-01 8.37723692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.428040941999996 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:33.82, Y:1.03, Z:0.84 [[ 9.94391837e-01 -1.02790649e-01 -2.48788355e-02 3.38185588e+01] [ 1.02765299e-01 9.94702975e-01 -2.29874833e-03 1.02558673e+00] [ 2.49833416e-02 -2.70824395e-04 9.99687831e-01 8.37381064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.488040942 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:33.88, Y:1.03, Z:0.84 [[ 9.94515763e-01 -1.01584784e-01 -2.48782627e-02 3.38762877e+01] [ 1.01558902e-01 9.94826858e-01 -2.30493143e-03 1.03152262e+00] [ 2.49837099e-02 -2.34318402e-04 9.99687831e-01 8.39554972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54804094199999 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:33.93, Y:1.04, Z:0.84 [[ 9.94487609e-01 -1.01860089e-01 -2.48780612e-02 3.39338473e+01] [ 1.01834239e-01 9.94798706e-01 -2.30710387e-03 1.03866726e+00] [ 2.49836649e-02 -2.39052212e-04 9.99687831e-01 8.39926588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.608040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.99, Y:1.04, Z:0.84 [[ 9.94108632e-01 -1.05494759e-01 -2.48773553e-02 3.39924148e+01] [ 1.05469857e-01 9.94419806e-01 -2.31469058e-03 1.04357146e+00] [ 2.49827226e-02 -3.22757212e-04 9.99687831e-01 8.41449776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.668040942 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:34.05, Y:1.05, Z:0.84 [[ 9.93698578e-01 -1.09289903e-01 -2.48767453e-02 3.40500382e+01] [ 1.09266025e-01 9.94009833e-01 -2.32122785e-03 1.04904609e+00] [ 2.49814162e-02 -4.11582264e-04 9.99687831e-01 8.43805921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72804094199999 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:34.11, Y:1.05, Z:0.85 [[ 9.93482607e-01 -1.11236093e-01 -2.48765311e-02 3.41086354e+01] [ 1.11212767e-01 9.93793903e-01 -2.32352136e-03 1.04876027e+00] [ 2.49806044e-02 -4.58209794e-04 9.99687831e-01 8.51748244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.788040941999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:34.17, Y:1.06, Z:0.84 [[ 9.92441022e-01 -1.20174915e-01 -2.48758259e-02 3.41662520e+01] [ 1.20154204e-01 9.92752504e-01 -2.33104673e-03 1.06116612e+00] [ 2.49756718e-02 -6.75508670e-04 9.99687831e-01 8.43496279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.848040942 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:34.22, Y:1.07, Z:0.85 [[ 9.92562622e-01 -1.19166461e-01 -2.48756096e-02 3.42243501e+01] [ 1.19145376e-01 9.92874078e-01 -2.33335314e-03 1.06500370e+00] [ 2.49764054e-02 -6.47814737e-04 9.99687831e-01 8.48070013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90804094199999 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:34.28, Y:1.07, Z:0.85 [[ 9.92684312e-01 -1.18148616e-01 -2.48749278e-02 3.42819546e+01] [ 1.18127030e-01 9.92995733e-01 -2.34059954e-03 1.06929580e+00] [ 2.49772357e-02 -6.14924888e-04 9.99687831e-01 8.51469526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.968040941999995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:34.34, Y:1.08, Z:0.85 [[ 9.93115778e-01 -1.14465384e-01 -2.48742315e-02 3.43394710e+01] [ 1.14442458e-01 9.93427104e-01 -2.34797530e-03 1.07874234e+00] [ 2.49794977e-02 -5.14856884e-04 9.99687831e-01 8.47558899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.028040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:34.40, Y:1.09, Z:0.85 [[ 9.94127984e-01 -1.05313036e-01 -2.48740176e-02 3.43973893e+01] [ 1.05287187e-01 9.94439080e-01 -2.35023988e-03 1.08611867e+00] [ 2.49832060e-02 -2.82476106e-04 9.99687831e-01 8.48156516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.46, Y:1.09, Z:0.85 [[ 9.94929536e-01 -9.74501655e-02 -2.48733568e-02 3.44560617e+01] [ 9.74216834e-02 9.95240403e-01 -2.35721255e-03 1.09218093e+00] [ 2.49846804e-02 -7.79438991e-05 9.99687831e-01 8.49201887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.148040941999994 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:34.51, Y:1.10, Z:0.85 [[ 9.95548305e-01 -9.09115974e-02 -2.48727534e-02 3.45137983e+01] [ 9.08809149e-02 9.95858962e-01 -2.36356219e-03 1.09597922e+00] [ 2.49846296e-02 9.25817487e-05 9.99687831e-01 8.50087314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.208040942 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:34.57, Y:1.10, Z:0.85 [[ 9.95875053e-01 -8.72597224e-02 -2.48720719e-02 3.45717103e+01] [ 8.72277221e-02 9.96185577e-01 -2.37071197e-03 1.10106212e+00] [ 2.49840670e-02 1.91398737e-04 9.99687831e-01 8.52152282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.63, Y:1.11, Z:0.85 [[ 9.96249751e-01 -8.28724768e-02 -2.48713963e-02 3.46298307e+01] [ 8.28389327e-02 9.96560112e-01 -2.37777866e-03 1.10590152e+00] [ 2.49828939e-02 3.08541471e-04 9.99687831e-01 8.51604109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.328040941999994 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:34.69, Y:1.11, Z:0.86 [[ 9.96341662e-01 -8.17601100e-02 -2.48711884e-02 3.46889917e+01] [ 8.17261652e-02 9.96651980e-01 -2.37995139e-03 1.10729367e+00] [ 2.49825042e-02 3.38617878e-04 9.99687831e-01 8.55049703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.388040941999996 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:34.75, Y:1.11, Z:0.86 [[ 9.96317070e-01 -8.20594195e-02 -2.48706107e-02 3.47470146e+01] [ 8.20254177e-02 9.96627382e-01 -2.38597340e-03 1.10995785e+00] [ 2.49825232e-02 3.37163805e-04 9.99687831e-01 8.57007398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.448040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:34.81, Y:1.11, Z:0.86 [[ 9.96236072e-01 -8.30370469e-02 -2.48704075e-02 3.48053779e+01] [ 8.30032967e-02 9.96546411e-01 -2.38808959e-03 1.11331240e+00] [ 2.49828152e-02 3.14775188e-04 9.99687831e-01 8.60513893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.508040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.86, Y:1.12, Z:0.86 [[ 9.96174674e-01 -8.37705824e-02 -2.48698253e-02 3.48644730e+01] [ 8.37369098e-02 9.96485021e-01 -2.39413670e-03 1.11873626e+00] [ 2.49829667e-02 3.02456027e-04 9.99687831e-01 8.62176422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.568040941999996 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:34.92, Y:1.12, Z:0.86 [[ 9.96069416e-01 -8.50131629e-02 -2.48692748e-02 3.49227555e+01] [ 8.49797351e-02 9.96379790e-01 -2.39984196e-03 1.12295600e+00] [ 2.49832609e-02 2.77024795e-04 9.99687831e-01 8.60899709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.98, Y:1.13, Z:0.86 [[ 9.95797589e-01 -8.81402812e-02 -2.48686898e-02 3.49802189e+01] [ 8.81076770e-02 9.96108051e-01 -2.40588879e-03 1.12867729e+00] [ 2.49839578e-02 2.04655768e-04 9.99687831e-01 8.63584600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.68804094199999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:35.04, Y:1.14, Z:0.87 [[ 9.95330977e-01 -9.32621408e-02 -2.48680513e-02 3.50380798e+01] [ 9.32309699e-02 9.95641585e-01 -2.41247082e-03 1.13793952e+00] [ 2.49846582e-02 8.27344014e-05 9.99687831e-01 8.68255556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.748040941999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:35.10, Y:1.14, Z:0.87 [[ 9.94870576e-01 -9.80517575e-02 -2.48674473e-02 3.50956640e+01] [ 9.80219267e-02 9.95181316e-01 -2.41868073e-03 1.14454376e+00] [ 2.49847748e-02 -3.12807985e-05 9.99687831e-01 8.66470199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.808040942 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:35.15, Y:1.14, Z:0.88 [[ 9.94508513e-01 -1.01658466e-01 -2.48671287e-02 3.51543386e+01] [ 1.01629680e-01 9.94819352e-01 -2.42195127e-03 1.14358411e+00] [ 2.49845127e-02 -1.18587188e-04 9.99687831e-01 8.76406502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86804094199999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:35.21, Y:1.16, Z:0.88 [[ 9.93605810e-01 -1.10132445e-01 -2.48664221e-02 3.52107870e+01] [ 1.10106129e-01 9.93916867e-01 -2.42918513e-03 1.15848072e+00] [ 2.49826884e-02 -3.24293011e-04 9.99687831e-01 8.77745998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.928040941999996 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:35.27, Y:1.17, Z:0.88 [[ 9.93623750e-01 -1.09970521e-01 -2.48662042e-02 3.52677539e+01] [ 1.09944099e-01 9.93934798e-01 -2.43141300e-03 1.16750584e+00] [ 2.49827694e-02 -3.17982718e-04 9.99687831e-01 8.79557131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.988040942 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:35.32, Y:1.17, Z:0.88 [[ 9.93787465e-01 -1.08481244e-01 -2.48655202e-02 3.53249949e+01] [ 1.08454181e-01 9.94098458e-01 -2.43838861e-03 1.17284272e+00] [ 2.49832947e-02 -2.73529585e-04 9.99687831e-01 8.83000965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04804094199999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:35.38, Y:1.18, Z:0.89 [[ 9.94249877e-01 -1.04158043e-01 -2.48653101e-02 3.53827645e+01] [ 1.04129575e-01 9.94560745e-01 -2.44052854e-03 1.18319402e+00] [ 2.49842621e-02 -1.62718969e-04 9.99687831e-01 8.85435785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.108040941999995 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:35.44, Y:1.19, Z:0.89 [[ 9.94619395e-01 -1.00568409e-01 -2.48647180e-02 3.54402565e+01] [ 1.00538668e-01 9.94930144e-01 -2.44654644e-03 1.19027246e+00] [ 2.49847027e-02 -6.64830897e-05 9.99687831e-01 8.87235536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.168040942 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:35.50, Y:1.20, Z:0.89 [[ 9.94674452e-01 -1.00022473e-01 -2.48644056e-02 3.54990060e+01] [ 9.99924816e-02 9.94985177e-01 -2.44971754e-03 1.19637103e+00] [ 2.49847418e-02 -4.95821644e-05 9.99687831e-01 8.91390560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22804094199999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:35.56, Y:1.21, Z:0.89 [[ 9.94652087e-01 -1.00244786e-01 -2.48638176e-02 3.55570548e+01] [ 1.00214716e-01 9.94962804e-01 -2.45567104e-03 1.20588302e+00] [ 2.49847419e-02 -4.91820943e-05 9.99687831e-01 8.94756331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.288040941999995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:35.62, Y:1.21, Z:0.90 [[ 9.94657432e-01 -1.00191885e-01 -2.48632078e-02 3.56153378e+01] [ 1.00161644e-01 9.94968132e-01 -2.46182955e-03 1.21396920e+00] [ 2.49847548e-02 -4.16627104e-05 9.99687831e-01 8.95429384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.348040942 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:35.67, Y:1.22, Z:0.89 [[ 9.94560122e-01 -1.01153425e-01 -2.48626012e-02 3.56739052e+01] [ 1.01123332e-01 9.94870836e-01 -2.46794110e-03 1.22172525e+00] [ 2.49847175e-02 -5.96732682e-05 9.99687831e-01 8.88999170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40804094199999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:35.73, Y:1.23, Z:0.89 [[ 9.94510605e-01 -1.01639263e-01 -2.48619450e-02 3.57304143e+01] [ 1.01609157e-01 9.94821319e-01 -2.47453315e-03 1.22852240e+00] [ 2.49847027e-02 -6.52518205e-05 9.99687831e-01 8.89221649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.468040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.79, Y:1.24, Z:0.90 [[ 9.94530508e-01 -1.01444468e-01 -2.48613878e-02 3.57875666e+01] [ 1.01414161e-01 9.94841202e-01 -2.48011872e-03 1.23759249e+00] [ 2.49847273e-02 -5.47430675e-05 9.99687831e-01 8.99118733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.85, Y:1.25, Z:0.90 [[ 9.94598638e-01 -1.00774363e-01 -2.48611344e-02 3.58459380e+01] [ 1.00743784e-01 9.94909306e-01 -2.48265629e-03 1.24738466e+00] [ 2.49847621e-02 -3.53581919e-05 9.99687831e-01 9.01348317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.90, Y:1.26, Z:0.90 [[ 9.94511566e-01 -1.01630210e-01 -2.48605330e-02 3.59041285e+01] [ 1.01599747e-01 9.94822244e-01 -2.48866393e-03 1.25657549e+00] [ 2.49847347e-02 -5.08188091e-05 9.99687831e-01 9.03768567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.648040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.96, Y:1.26, Z:0.91 [[ 9.94436238e-01 -1.02364808e-01 -2.48599075e-02 3.59627482e+01] [ 1.02334419e-01 9.94746924e-01 -2.49489744e-03 1.26468024e+00] [ 2.49847062e-02 -6.30077665e-05 9.99687832e-01 9.05260020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.02, Y:1.28, Z:0.91 [[ 9.94381405e-01 -1.02896247e-01 -2.48592825e-02 3.60204828e+01] [ 1.02865869e-01 9.94692092e-01 -2.50110951e-03 1.27576093e+00] [ 2.49846864e-02 -7.01149100e-05 9.99687832e-01 9.06712201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.08, Y:1.29, Z:0.91 [[ 9.94006405e-01 -1.06458032e-01 -2.48586653e-02 3.60783973e+01] [ 1.06428614e-01 9.94317185e-01 -2.50722830e-03 1.28579601e+00] [ 2.49843127e-02 -1.53472317e-04 9.99687832e-01 9.08458962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.828040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.14, Y:1.30, Z:0.91 [[ 9.93578613e-01 -1.10379421e-01 -2.48580470e-02 3.61353033e+01] [ 1.10351077e-01 9.93889492e-01 -2.51334421e-03 1.29681597e+00] [ 2.49835731e-02 -2.45907196e-04 9.99687832e-01 9.08853867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.888040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.19, Y:1.31, Z:0.91 [[ 9.93082485e-01 -1.14757529e-01 -2.48573269e-02 3.61924636e+01] [ 1.14730377e-01 9.93393471e-01 -2.52044542e-03 1.30914482e+00] [ 2.49823463e-02 -3.48880294e-04 9.99687832e-01 9.08512404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.25, Y:1.32, Z:0.91 [[ 9.92484229e-01 -1.19821552e-01 -2.48566165e-02 3.62496977e+01] [ 1.19795812e-01 9.92795334e-01 -2.52743210e-03 1.31736420e+00] [ 2.49803737e-02 -4.69282071e-04 9.99687832e-01 9.10091549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.008040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.31, Y:1.33, Z:0.91 [[ 9.91568456e-01 -1.27177753e-01 -2.48559095e-02 3.63058774e+01] [ 1.27154148e-01 9.91879730e-01 -2.53436617e-03 1.32842201e+00] [ 2.49763878e-02 -6.47534437e-04 9.99687832e-01 9.12202885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.068040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.36, Y:1.34, Z:0.91 [[ 9.90826206e-01 -1.32836850e-01 -2.48556055e-02 3.63624675e+01] [ 1.32814947e-01 9.91137605e-01 -2.53734414e-03 1.34150882e+00] [ 2.49723781e-02 -7.87128865e-04 9.99687832e-01 9.12690400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.42, Y:1.35, Z:0.91 [[ 9.90558345e-01 -1.34819879e-01 -2.48548724e-02 3.64201577e+01] [ 1.34798420e-01 9.90869775e-01 -2.54450503e-03 1.34910358e+00] [ 2.49709917e-02 -8.29916841e-04 9.99687832e-01 9.14333244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.18804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.48, Y:1.36, Z:0.92 [[ 9.90493707e-01 -1.35294078e-01 -2.48541463e-02 3.64772175e+01] [ 1.35272591e-01 9.90805135e-01 -2.55157817e-03 1.36113929e+00] [ 2.49708292e-02 -8.34762632e-04 9.99687832e-01 9.15842179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.248040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.54, Y:1.37, Z:0.91 [[ 9.91029692e-01 -1.31310465e-01 -2.48538097e-02 3.65354518e+01] [ 1.31287644e-01 9.91341025e-01 -2.55485266e-03 1.37363938e+00] [ 2.49740800e-02 -7.31063263e-04 9.99687832e-01 9.14615747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.308040942 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:36.60, Y:1.37, Z:0.93 [[ 9.92730582e-01 -1.17763790e-01 -2.48531977e-02 3.65950707e+01] [ 1.17736570e-01 9.93041561e-01 -2.56079200e-03 1.37044546e+00] [ 2.49818268e-02 -3.83953722e-04 9.99687832e-01 9.27408509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36804094199999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:36.65, Y:1.39, Z:0.92 [[ 9.92193292e-01 -1.22208114e-01 -2.48525371e-02 3.66508645e+01] [ 1.22182127e-01 9.92504376e-01 -2.56718691e-03 1.39258544e+00] [ 2.49799829e-02 -4.89390221e-04 9.99687832e-01 9.16555060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.428040941999996 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:36.71, Y:1.40, Z:0.92 [[ 9.93707318e-01 -1.09215978e-01 -2.48523041e-02 3.67102539e+01] [ 1.09185867e-01 9.94018030e-01 -2.56944034e-03 1.39602680e+00] [ 2.49842623e-02 -1.60248709e-04 9.99687832e-01 9.18546364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.488040942 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:36.77, Y:1.40, Z:0.93 [[ 9.94407944e-01 -1.02641289e-01 -2.48517058e-02 3.67687389e+01] [ 1.02608979e-01 9.94718435e-01 -2.57521401e-03 1.39776547e+00] [ 2.49847732e-02 1.08050932e-05 9.99687832e-01 9.30519437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.83, Y:1.42, Z:0.92 [[ 9.93651544e-01 -1.09722426e-01 -2.48515195e-02 3.68251467e+01] [ 1.09692284e-01 9.93962254e-01 -2.57701081e-03 1.41933235e+00] [ 2.49842282e-02 -1.65369159e-04 9.99687832e-01 9.21737475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.608040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.89, Y:1.42, Z:0.94 [[ 9.94709034e-01 -9.96812285e-02 -2.48513662e-02 3.68857805e+01] [ 9.96479129e-02 9.95019419e-01 -2.57848891e-03 1.41587340e+00] [ 2.49846189e-02 8.84594408e-05 9.99687832e-01 9.39020586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.94, Y:1.42, Z:0.93 [[ 9.93796623e-01 -1.08400570e-01 -2.48513089e-02 3.69443414e+01] [ 1.08369964e-01 9.94107288e-01 -2.57904072e-03 1.42263264e+00] [ 2.49844368e-02 -1.30093490e-04 9.99687832e-01 9.33444655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.00, Y:1.43, Z:0.93 [[ 9.93588048e-01 -1.10296025e-01 -2.48510986e-02 3.70033728e+01] [ 1.10265961e-01 9.93898765e-01 -2.58106594e-03 1.42961272e+00] [ 2.49841575e-02 -1.75713994e-04 9.99687832e-01 9.32634599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.788040941999995 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:37.06, Y:1.44, Z:0.93 [[ 9.92817164e-01 -1.17032126e-01 -2.48507541e-02 3.70615609e+01] [ 1.17004087e-01 9.93128071e-01 -2.58437768e-03 1.44109217e+00] [ 2.49824367e-02 -3.41825272e-04 9.99687832e-01 9.26748739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.848040942 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:37.12, Y:1.44, Z:0.94 [[ 9.93129396e-01 -1.14352415e-01 -2.48501151e-02 3.71205363e+01] [ 1.14323384e-01 9.93440211e-01 -2.59050810e-03 1.43772146e+00] [ 2.49833344e-02 -2.68239493e-04 9.99687832e-01 9.36581139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90804094199999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:37.18, Y:1.44, Z:0.94 [[ 9.92921780e-01 -1.16141488e-01 -2.48494360e-02 3.71782817e+01] [ 1.16112854e-01 9.93232632e-01 -2.59700562e-03 1.44184836e+00] [ 2.49828908e-02 -3.06715484e-04 9.99687832e-01 9.35045026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.968040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.24, Y:1.45, Z:0.93 [[ 9.92827628e-01 -1.16943659e-01 -2.48491968e-02 3.72362549e+01] [ 1.16915219e-01 9.93138497e-01 -2.59929240e-03 1.44747941e+00] [ 2.49826648e-02 -3.24599995e-04 9.99687832e-01 9.34233324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.29, Y:1.45, Z:0.94 [[ 9.93200109e-01 -1.13736850e-01 -2.48489731e-02 3.72943194e+01] [ 1.13707353e-01 9.93510881e-01 -2.60142985e-03 1.44737140e+00] [ 2.49836035e-02 -2.41770535e-04 9.99687832e-01 9.37315346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08804094199999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:37.35, Y:1.45, Z:0.94 [[ 9.93599949e-01 -1.10189404e-01 -2.48482696e-02 3.73526727e+01] [ 1.10158630e-01 9.93910597e-01 -2.60813139e-03 1.45000318e+00] [ 2.49843470e-02 -1.45812127e-04 9.99687832e-01 9.37984349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.148040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.41, Y:1.45, Z:0.94 [[ 9.93951612e-01 -1.06971002e-01 -2.48475011e-02 3.74097803e+01] [ 1.06939039e-01 9.94262139e-01 -2.61543257e-03 1.45192274e+00] [ 2.49847051e-02 -5.75544658e-05 9.99687832e-01 9.40580507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.47, Y:1.45, Z:0.94 [[ 9.94070117e-01 -1.05864160e-01 -2.48471706e-02 3.74670693e+01] [ 1.05831773e-01 9.94380601e-01 -2.61856914e-03 1.45075037e+00] [ 2.49847570e-02 -2.65787677e-05 9.99687832e-01 9.41185873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.268040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:37.52, Y:1.46, Z:0.94 [[ 9.94029269e-01 -1.06247095e-01 -2.48468729e-02 3.75248727e+01] [ 1.06214757e-01 9.94339758e-01 -2.62139088e-03 1.45561422e+00] [ 2.49847487e-02 -3.33652995e-05 9.99687832e-01 9.42754239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.328040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.58, Y:1.46, Z:0.94 [[ 9.93613866e-01 -1.10064327e-01 -2.48461158e-02 3.75831765e+01] [ 1.10033003e-01 9.93924458e-01 -2.62854744e-03 1.45927066e+00] [ 2.49844715e-02 -1.22131535e-04 9.99687832e-01 9.38308406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.388040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.64, Y:1.46, Z:0.94 [[ 9.93128057e-01 -1.14365080e-01 -2.48453295e-02 3.76423737e+01] [ 1.14334915e-01 9.93438765e-01 -2.63595852e-03 1.45883636e+00] [ 2.49837750e-02 -2.22844277e-04 9.99687832e-01 9.40799667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.448040942 meters Centerline goodness : 0.997551 with order 1 Centerline is valid? [True, True] Translation: X:37.70, Y:1.46, Z:0.95 [[ 9.92552548e-01 -1.19256796e-01 -2.48446489e-02 3.77006103e+01] [ 1.19228003e-01 9.92863385e-01 -2.64235741e-03 1.46132003e+00] [ 2.49824613e-02 -3.39499288e-04 9.99687832e-01 9.46955046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.508040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.76, Y:1.46, Z:0.95 [[ 9.92923647e-01 -1.16126608e-01 -2.48443652e-02 3.77588839e+01] [ 1.16096768e-01 9.93234385e-01 -2.64502206e-03 1.46382794e+00] [ 2.49834353e-02 -2.58045549e-04 9.99687832e-01 9.49127266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.568040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.82, Y:1.47, Z:0.95 [[ 9.93041875e-01 -1.15111411e-01 -2.48434426e-02 3.78171547e+01] [ 1.15081037e-01 9.93352562e-01 -2.65366029e-03 1.46750183e+00] [ 2.49837639e-02 -2.23813340e-04 9.99687832e-01 9.50498722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.88, Y:1.47, Z:0.94 [[ 9.93225937e-01 -1.13512458e-01 -2.48426872e-02 3.78759701e+01] [ 1.13481408e-01 9.93536557e-01 -2.66071276e-03 1.47186749e+00] [ 2.49841420e-02 -1.76494186e-04 9.99687832e-01 9.43316451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.68804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.93, Y:1.48, Z:0.95 [[ 9.93585050e-01 -1.10325077e-01 -2.48420093e-02 3.79341895e+01] [ 1.10292872e-01 9.93895553e-01 -2.66702715e-03 1.47646411e+00] [ 2.49846025e-02 -8.99782495e-05 9.99687832e-01 9.46613825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.748040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.99, Y:1.48, Z:0.95 [[ 9.93772177e-01 -1.08626762e-01 -2.48412476e-02 3.79923566e+01] [ 1.08593850e-01 9.94082605e-01 -2.67410286e-03 1.48082067e+00] [ 2.49847313e-02 -4.01577063e-05 9.99687832e-01 9.46372286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.05, Y:1.48, Z:0.95 [[ 9.94362096e-01 -1.03087087e-01 -2.48409756e-02 3.80509806e+01] [ 1.03052383e-01 9.94672329e-01 -2.67662778e-03 1.48143088e+00] [ 2.49845568e-02 1.01615485e-04 9.99687832e-01 9.51840176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86804094199999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:38.11, Y:1.48, Z:0.96 [[ 9.94699429e-01 -9.97798136e-02 -2.48401972e-02 3.81090564e+01] [ 9.97438975e-02 9.95009524e-01 -2.68383196e-03 1.47948286e+00] [ 2.49840250e-02 1.91948033e-04 9.99687832e-01 9.57254122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.928040941999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:38.17, Y:1.49, Z:0.96 [[ 9.94255692e-01 -1.04108587e-01 -2.48399279e-02 3.81665697e+01] [ 1.04073958e-01 9.94565933e-01 -2.68632226e-03 1.48870498e+00] [ 2.49846153e-02 8.57015758e-05 9.99687832e-01 9.58119031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.988040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:38.23, Y:1.49, Z:0.96 [[ 9.94185397e-01 -1.04777800e-01 -2.48396707e-02 3.82259554e+01] [ 1.04743321e-01 9.94495655e-01 -2.68869834e-03 1.48915244e+00] [ 2.49846605e-02 7.12750188e-05 9.99687832e-01 9.56611245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04804094199999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:38.28, Y:1.49, Z:0.96 [[ 9.93975323e-01 -1.06752458e-01 -2.48388905e-02 3.82832212e+01] [ 1.06718416e-01 9.94285629e-01 -2.69588693e-03 1.49293729e+00] [ 2.49847444e-02 2.88780426e-05 9.99687832e-01 9.60859090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.108040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.34, Y:1.50, Z:0.96 [[ 9.94203188e-01 -1.04609129e-01 -2.48385101e-02 3.83410474e+01] [ 1.04574331e-01 9.94513410e-01 -2.69938733e-03 1.49509956e+00] [ 2.49846119e-02 8.62689288e-05 9.99687832e-01 9.61030284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.40, Y:1.50, Z:0.96 [[ 9.93797446e-01 -1.08396141e-01 -2.48377307e-02 3.83992915e+01] [ 1.08362346e-01 9.94107779e-01 -2.70653994e-03 1.49755158e+00] [ 2.49847597e-02 -1.72229571e-06 9.99687832e-01 9.61021171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.46, Y:1.50, Z:0.96 [[ 9.93354594e-01 -1.12382303e-01 -2.48368459e-02 3.84568175e+01] [ 1.12349551e-01 9.93665039e-01 -2.71463486e-03 1.50194788e+00] [ 2.49845823e-02 -9.38134636e-05 9.99687832e-01 9.63274675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.288040941999995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:38.51, Y:1.51, Z:0.96 [[ 9.93092609e-01 -1.14674500e-01 -2.48360274e-02 3.85137640e+01] [ 1.14642278e-01 9.93403110e-01 -2.72210217e-03 1.51047878e+00] [ 2.49843426e-02 -1.43959208e-04 9.99687832e-01 9.59004708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.57, Y:1.51, Z:0.96 [[ 9.92997216e-01 -1.15497694e-01 -2.48356796e-02 3.85720845e+01] [ 1.15465650e-01 9.93307735e-01 -2.72527255e-03 1.51161669e+00] [ 2.49842353e-02 -1.61479830e-04 9.99687832e-01 9.60947038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.63, Y:1.52, Z:0.97 [[ 9.92936980e-01 -1.16014558e-01 -2.48349850e-02 3.86310903e+01] [ 1.15982517e-01 9.93247499e-01 -2.73158774e-03 1.51535590e+00] [ 2.49841906e-02 -1.68129587e-04 9.99687832e-01 9.66869005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.468040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.69, Y:1.52, Z:0.97 [[ 9.93035017e-01 -1.15172546e-01 -2.48342530e-02 3.86898670e+01] [ 1.15140076e-01 9.93345491e-01 -2.73822648e-03 1.51632169e+00] [ 2.49843617e-02 -1.40262996e-04 9.99687832e-01 9.69397335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.528040942 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:38.75, Y:1.52, Z:0.97 [[ 9.93248702e-01 -1.13315097e-01 -2.48335528e-02 3.87472268e+01] [ 1.13281888e-01 9.93559098e-01 -2.74456168e-03 1.51898569e+00] [ 2.49846026e-02 -8.71594303e-05 9.99687832e-01 9.74022081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.81, Y:1.52, Z:0.97 [[ 9.93372734e-01 -1.12222692e-01 -2.48330084e-02 3.88053008e+01] [ 1.12189019e-01 9.93683080e-01 -2.74947847e-03 1.52399319e+00] [ 2.49846942e-02 -5.47339154e-05 9.99687832e-01 9.74830405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.648040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.86, Y:1.53, Z:0.98 [[ 9.93398174e-01 -1.11997450e-01 -2.48322267e-02 3.88636557e+01] [ 1.11963531e-01 9.93708493e-01 -2.75652081e-03 1.52622684e+00] [ 2.49847179e-02 -4.19810383e-05 9.99687832e-01 9.77336542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.92, Y:1.52, Z:0.99 [[ 9.93959299e-01 -1.06903285e-01 -2.48314172e-02 3.89232788e+01] [ 1.06867593e-01 9.94269420e-01 -2.76379397e-03 1.52135246e+00] [ 2.49845774e-02 9.34249316e-05 9.99687832e-01 9.92203681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.98, Y:1.53, Z:0.99 [[ 9.93664565e-01 -1.09609023e-01 -2.48313095e-02 3.89822951e+01] [ 1.09574152e-01 9.93974779e-01 -2.76476102e-03 1.53115881e+00] [ 2.49847381e-02 2.63753873e-05 9.99687832e-01 9.86582547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.828040941999994 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:39.04, Y:1.53, Z:0.99 [[ 9.93860870e-01 -1.07814568e-01 -2.48312151e-02 3.90412801e+01] [ 1.07779115e-01 9.94171018e-01 -2.76560869e-03 1.53026558e+00] [ 2.49846473e-02 7.23438640e-05 9.99687832e-01 9.90481326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.888040941999996 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:39.10, Y:1.53, Z:0.99 [[ 9.93355515e-01 -1.12375442e-01 -2.48310283e-02 3.90996673e+01] [ 1.12341371e-01 9.93665818e-01 -2.76728443e-03 1.53220898e+00] [ 2.49847189e-02 -4.06545264e-05 9.99687832e-01 9.87170699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.948040942 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:39.16, Y:1.54, Z:0.99 [[ 9.93300366e-01 -1.12862035e-01 -2.48302872e-02 3.91579837e+01] [ 1.12827951e-01 9.93610668e-01 -2.77391821e-03 1.53972533e+00] [ 2.49847083e-02 -4.62164521e-05 9.99687832e-01 9.92072870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.008040941999994 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:39.22, Y:1.55, Z:0.99 [[ 9.93150076e-01 -1.14177130e-01 -2.48296229e-02 3.92159804e+01] [ 1.14143308e-01 9.93460406e-01 -2.77985191e-03 1.54836957e+00] [ 2.49846428e-02 -7.33251700e-05 9.99687832e-01 9.92575478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.068040941999996 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:39.27, Y:1.56, Z:0.99 [[ 9.92485991e-01 -1.19812696e-01 -2.48289163e-02 3.92736322e+01] [ 1.19780479e-01 9.92796492e-01 -2.78614942e-03 1.55804238e+00] [ 2.49838770e-02 -2.08805215e-04 9.99687832e-01 9.92349067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.33, Y:1.56, Z:1.00 [[ 9.92272773e-01 -1.21565982e-01 -2.48285396e-02 3.93323919e+01] [ 1.21534230e-01 9.92583321e-01 -2.78950171e-03 1.56169458e+00] [ 2.49835028e-02 -2.49570843e-04 9.99687832e-01 9.96992992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.18804094199999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:39.39, Y:1.58, Z:0.99 [[ 9.91444496e-01 -1.28145870e-01 -2.48283422e-02 3.93901069e+01] [ 1.28116134e-01 9.91755245e-01 -2.79125804e-03 1.57629365e+00] [ 2.49813268e-02 -4.13533800e-04 9.99687832e-01 9.90081425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.248040941999996 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:39.45, Y:1.59, Z:0.98 [[ 9.90699930e-01 -1.33780558e-01 -2.48276302e-02 3.94472989e+01] [ 1.33752431e-01 9.91010828e-01 -2.79757675e-03 1.59241805e+00] [ 2.49787117e-02 -5.49196804e-04 9.99687832e-01 9.81860317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.308040942 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:39.50, Y:1.60, Z:0.98 [[ 9.90606929e-01 -1.34467546e-01 -2.48272188e-02 3.95046093e+01] [ 1.34439544e-01 9.90917838e-01 -2.80122297e-03 1.59874219e+00] [ 2.49784075e-02 -5.62849079e-04 9.99687832e-01 9.84840235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36804094199999 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:39.56, Y:1.60, Z:0.99 [[ 9.91224243e-01 -1.29838935e-01 -2.48264189e-02 3.95639278e+01] [ 1.29809304e-01 9.91535001e-01 -2.80829430e-03 1.60011919e+00] [ 2.49808892e-02 -4.39050767e-04 9.99687832e-01 9.94149322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.428040941999996 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:39.62, Y:1.62, Z:1.00 [[ 9.90967268e-01 -1.31786024e-01 -2.48257626e-02 3.96216782e+01] [ 1.31756858e-01 9.91278070e-01 -2.81408443e-03 1.61550205e+00] [ 2.49800910e-02 -4.82298914e-04 9.99687832e-01 9.97516945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.488040942 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:39.68, Y:1.62, Z:1.00 [[ 9.92153951e-01 -1.22532664e-01 -2.48250510e-02 3.96812381e+01] [ 1.22500442e-01 9.92464451e-01 -2.82034772e-03 1.61596460e+00] [ 2.49835653e-02 -2.42860581e-04 9.99687833e-01 9.98510483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.74, Y:1.62, Z:1.00 [[ 9.92787644e-01 -1.17287880e-01 -2.48243352e-02 3.97393973e+01] [ 1.17253861e-01 9.93097952e-01 -2.82663392e-03 1.61967723e+00] [ 2.49845264e-02 -1.04501921e-04 9.99687833e-01 1.00200367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.608040941999995 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:39.80, Y:1.63, Z:1.00 [[ 9.93040573e-01 -1.15126818e-01 -2.48240865e-02 3.97969056e+01] [ 1.15092069e-01 9.93350801e-01 -2.82881621e-03 1.62574983e+00] [ 2.49846989e-02 -4.79262187e-05 9.99687833e-01 1.00426539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.85, Y:1.64, Z:1.00 [[ 9.92898164e-01 -1.16348785e-01 -2.48232958e-02 3.98544547e+01] [ 1.16314245e-01 9.93208415e-01 -2.83573780e-03 1.63838596e+00] [ 2.49846410e-02 -7.17040556e-05 9.99687833e-01 9.98992503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.91, Y:1.64, Z:1.01 [[ 9.93209809e-01 -1.13657810e-01 -2.48229248e-02 3.99122174e+01] [ 1.13622348e-01 9.93519956e-01 -2.83898223e-03 1.63844876e+00] [ 2.49847436e-02 -7.34002311e-07 9.99687833e-01 1.00761838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.788040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.97, Y:1.65, Z:1.01 [[ 9.92412535e-01 -1.20420996e-01 -2.48222316e-02 3.99706621e+01] [ 1.20387496e-01 9.92722900e-01 -2.84502978e-03 1.64728779e+00] [ 2.49841991e-02 -1.64843103e-04 9.99687833e-01 1.00751885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.03, Y:1.66, Z:1.01 [[ 9.92507930e-01 -1.19632378e-01 -2.48214335e-02 4.00282845e+01] [ 1.19598458e-01 9.92818249e-01 -2.85197575e-03 1.65564100e+00] [ 2.49843608e-02 -1.37996629e-04 9.99687833e-01 1.00872356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.08, Y:1.67, Z:1.01 [[ 9.90753427e-01 -1.33384992e-01 -2.48211578e-02 4.00848454e+01] [ 1.33355319e-01 9.91064181e-01 -2.85437351e-03 1.67188275e+00] [ 2.49800910e-02 -4.82053080e-04 9.99687833e-01 1.01019575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.968040941999995 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:40.14, Y:1.68, Z:1.01 [[ 9.90702078e-01 -1.33766005e-01 -2.48203181e-02 4.01415821e+01] [ 1.33736269e-01 9.91012826e-01 -2.86165649e-03 1.67936446e+00] [ 2.49800460e-02 -4.84327714e-04 9.99687833e-01 1.00976180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.028040942 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:40.20, Y:1.69, Z:1.01 [[ 9.90644411e-01 -1.34192474e-01 -2.48199609e-02 4.01989426e+01] [ 1.34162794e-01 9.90955164e-01 -2.86475126e-03 1.68739028e+00] [ 2.49798965e-02 -4.91965489e-04 9.99687833e-01 1.01013655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08804094199999 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:40.26, Y:1.69, Z:1.01 [[ 9.90573892e-01 -1.34712192e-01 -2.48191544e-02 4.02556633e+01] [ 1.34682501e-01 9.90884644e-01 -2.87172148e-03 1.69416920e+00] [ 2.49797749e-02 -4.98053452e-04 9.99687833e-01 1.01077795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.148040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.31, Y:1.70, Z:1.01 [[ 9.90365139e-01 -1.36238457e-01 -2.48188077e-02 4.03134969e+01] [ 1.36209170e-01 9.90675930e-01 -2.87471462e-03 1.70151946e+00] [ 2.49790421e-02 -5.33532056e-04 9.99687833e-01 1.01332714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.37, Y:1.71, Z:1.01 [[ 9.89965569e-01 -1.39112332e-01 -2.48179776e-02 4.03706584e+01] [ 1.39083768e-01 9.90276426e-01 -2.88186307e-03 1.70901287e+00] [ 2.49775609e-02 -5.98832627e-04 9.99687833e-01 1.01449316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26804094199999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:40.43, Y:1.72, Z:1.02 [[ 9.89827187e-01 -1.40093713e-01 -2.48171544e-02 4.04282031e+01] [ 1.40065280e-01 9.90138057e-01 -2.88893529e-03 1.71503790e+00] [ 2.49771307e-02 -6.16474986e-04 9.99687833e-01 1.01664327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.328040941999994 meters Centerline goodness : 0.995849 with order 1 Centerline is valid? [True, True] Translation: X:40.49, Y:1.72, Z:1.02 [[ 9.89403945e-01 -1.43052377e-01 -2.48163415e-02 4.04862268e+01] [ 1.43024699e-01 9.89714883e-01 -2.89590130e-03 1.72257621e+00] [ 2.49753681e-02 -6.84133599e-04 9.99687833e-01 1.01763013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.388040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.54, Y:1.72, Z:1.02 [[ 9.90485607e-01 -1.35360478e-01 -2.48153975e-02 4.05444439e+01] [ 1.35330182e-01 9.90796300e-01 -2.90396798e-03 1.72150736e+00] [ 2.49800865e-02 -4.81933787e-04 9.99687833e-01 1.01932095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.60, Y:1.73, Z:1.02 [[ 9.90401824e-01 -1.35972324e-01 -2.48143828e-02 4.06027646e+01] [ 1.35942004e-01 9.90712515e-01 -2.91261308e-03 1.72661845e+00] [ 2.49799544e-02 -4.88659611e-04 9.99687833e-01 1.02205385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.508040941999994 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:40.66, Y:1.74, Z:1.01 [[ 9.90251457e-01 -1.37063258e-01 -2.48136196e-02 4.06604671e+01] [ 1.37033117e-01 9.90562165e-01 -2.91910071e-03 1.73821482e+00] [ 2.49795342e-02 -5.09643912e-04 9.99687833e-01 1.01377304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.568040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.72, Y:1.75, Z:1.02 [[ 9.89767268e-01 -1.40517176e-01 -2.48128712e-02 4.07176668e+01] [ 1.40487960e-01 9.90078065e-01 -2.92544830e-03 1.74961495e+00] [ 2.49777552e-02 -5.90396698e-04 9.99687833e-01 1.01743938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.628040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:40.78, Y:1.76, Z:1.02 [[ 9.90036202e-01 -1.38609819e-01 -2.48120316e-02 4.07753577e+01] [ 1.38579827e-01 9.90346925e-01 -2.93255158e-03 1.75780223e+00] [ 2.49789997e-02 -5.35114825e-04 9.99687833e-01 1.01863793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.68804094199999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:40.83, Y:1.77, Z:1.02 [[ 9.89891609e-01 -1.39638842e-01 -2.48112003e-02 4.08322982e+01] [ 1.39608997e-01 9.90202346e-01 -2.93956833e-03 1.76672176e+00] [ 2.49785867e-02 -5.54012774e-04 9.99687833e-01 1.01951088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.748040941999996 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:40.89, Y:1.77, Z:1.02 [[ 9.89730426e-01 -1.40776881e-01 -2.48103708e-02 4.08898682e+01] [ 1.40747218e-01 9.90041180e-01 -2.94655309e-03 1.77457997e+00] [ 2.49780953e-02 -5.75697430e-04 9.99687833e-01 1.02113022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.808040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:40.95, Y:1.78, Z:1.02 [[ 9.89598531e-01 -1.41701213e-01 -2.48095329e-02 4.09475341e+01] [ 1.41671664e-01 9.89909297e-01 -2.95359090e-03 1.78345443e+00] [ 2.49777147e-02 -5.91938603e-04 9.99687833e-01 1.02384447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.00, Y:1.79, Z:1.03 [[ 9.89633149e-01 -1.41459390e-01 -2.48086959e-02 4.10047017e+01] [ 1.41429589e-01 9.89943890e-01 -2.96060521e-03 1.79276413e+00] [ 2.49780223e-02 -5.78770610e-04 9.99687833e-01 1.02834413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.928040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.06, Y:1.80, Z:1.03 [[ 9.90102643e-01 -1.38135173e-01 -2.48078647e-02 4.10618821e+01] [ 1.38104155e-01 9.90413265e-01 -2.96755363e-03 1.80128732e+00] [ 2.49799618e-02 -4.87886498e-04 9.99687833e-01 1.03332588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.988040942 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:41.12, Y:1.81, Z:1.04 [[ 9.89875150e-01 -1.39756222e-01 -2.48069611e-02 4.11192806e+01] [ 1.39725524e-01 9.90185804e-01 -2.97508789e-03 1.81154349e+00] [ 2.49792878e-02 -5.21200061e-04 9.99687833e-01 1.03529858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.18, Y:1.82, Z:1.04 [[ 9.89713202e-01 -1.40898690e-01 -2.48060019e-02 4.11754551e+01] [ 1.40868151e-01 9.90023871e-01 -2.98306439e-03 1.82204117e+00] [ 2.49788439e-02 -5.41997401e-04 9.99687833e-01 1.03689518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.108040941999995 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:41.23, Y:1.83, Z:1.04 [[ 9.89816175e-01 -1.40173542e-01 -2.48055907e-02 4.12330929e+01] [ 1.40142690e-01 9.90126814e-01 -2.98647977e-03 1.83027603e+00] [ 2.49793059e-02 -5.20256219e-04 9.99687833e-01 1.03624905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.168040942 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:41.29, Y:1.84, Z:1.04 [[ 9.89499897e-01 -1.42389189e-01 -2.48046814e-02 4.12894743e+01] [ 1.42358844e-01 9.89810586e-01 -2.99401334e-03 1.84082862e+00] [ 2.49782513e-02 -5.68589874e-04 9.99687833e-01 1.03586389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22804094199999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:41.35, Y:1.85, Z:1.04 [[ 9.89746346e-01 -1.40666018e-01 -2.48040716e-02 4.13462185e+01] [ 1.40635005e-01 9.90056969e-01 -2.99905676e-03 1.85202480e+00] [ 2.49793093e-02 -5.20015257e-04 9.99687833e-01 1.03511951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.288040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.40, Y:1.86, Z:1.04 [[ 9.90322650e-01 -1.36549820e-01 -2.48031418e-02 4.14034069e+01] [ 1.36517324e-01 9.90633121e-01 -3.00672627e-03 1.86219066e+00] [ 2.49813817e-02 -4.08429414e-04 9.99687833e-01 1.04077038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.46, Y:1.87, Z:1.04 [[ 9.90429684e-01 -1.35771346e-01 -2.48028568e-02 4.14602625e+01] [ 1.35738547e-01 9.90740123e-01 -3.00907586e-03 1.87241085e+00] [ 2.49817317e-02 -3.86425698e-04 9.99687833e-01 1.04284579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.52, Y:1.89, Z:1.04 [[ 9.90451049e-01 -1.35615567e-01 -2.48019667e-02 4.15169513e+01] [ 1.35582536e-01 9.90761463e-01 -3.01639445e-03 1.88589903e+00] [ 2.49819029e-02 -3.75122495e-04 9.99687833e-01 1.04219269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.468040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.57, Y:1.90, Z:1.04 [[ 9.89779624e-01 -1.40432206e-01 -2.48010572e-02 4.15738581e+01] [ 1.40400498e-01 9.90090176e-01 -3.02385411e-03 1.89681442e+00] [ 2.49799296e-02 -4.89131607e-04 9.99687833e-01 1.04124252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.63, Y:1.91, Z:1.04 [[ 9.90524193e-01 -1.35080509e-01 -2.48007778e-02 4.16306302e+01] [ 1.35047067e-01 9.90834563e-01 -3.02614386e-03 1.90805052e+00] [ 2.49822409e-02 -3.51803592e-04 9.99687833e-01 1.04195395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.69, Y:1.92, Z:1.04 [[ 9.90355208e-01 -1.36314071e-01 -2.47999079e-02 4.16865335e+01] [ 1.36280837e-01 9.90665601e-01 -3.03325599e-03 1.91801038e+00] [ 2.49818912e-02 -3.75751349e-04 9.99687833e-01 1.04177655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.648040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.74, Y:1.93, Z:1.04 [[ 9.89844304e-01 -1.39975879e-01 -2.47993204e-02 4.17446702e+01] [ 1.39943673e-01 9.90154805e-01 -3.03805221e-03 1.93201458e+00] [ 2.49804203e-02 -4.63309299e-04 9.99687833e-01 1.04130998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.80, Y:1.94, Z:1.04 [[ 9.89793534e-01 -1.40334576e-01 -2.47985407e-02 4.18018447e+01] [ 1.40302323e-01 9.90104030e-01 -3.04440297e-03 1.94334530e+00] [ 2.49803701e-02 -4.65962495e-04 9.99687833e-01 1.04278931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76804094199999 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:41.86, Y:1.96, Z:1.05 [[ 9.89328935e-01 -1.43573345e-01 -2.47982456e-02 4.18583590e+01] [ 1.43542049e-01 9.89639529e-01 -3.04680451e-03 1.95695819e+00] [ 2.49787641e-02 -5.45299127e-04 9.99687833e-01 1.05097014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.828040941999994 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:41.92, Y:1.97, Z:1.05 [[ 9.89281556e-01 -1.43899589e-01 -2.47974016e-02 4.19160842e+01] [ 1.43868223e-01 9.89592143e-01 -3.05365882e-03 1.96742940e+00] [ 2.49787340e-02 -5.46629758e-04 9.99687833e-01 1.04999814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.888040941999996 meters Centerline goodness : 0.995889 with order 1 Centerline is valid? [True, True] Translation: X:41.97, Y:1.98, Z:1.05 [[ 9.89350876e-01 -1.43422376e-01 -2.47964859e-02 4.19715090e+01] [ 1.43390675e-01 9.89661429e-01 -3.06107645e-03 1.98345149e+00] [ 2.49791525e-02 -5.27106177e-04 9.99687833e-01 1.05229947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.948040942 meters Centerline goodness : 0.996948 with order 1 Centerline is valid? [True, True] Translation: X:42.03, Y:2.00, Z:1.05 [[ 9.89980963e-01 -1.39006703e-01 -2.47957684e-02 4.20284400e+01] [ 1.38973471e-01 9.90291355e-01 -3.06687761e-03 1.99677785e+00] [ 2.49813516e-02 -4.09803545e-04 9.99687833e-01 1.05499127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.008040941999994 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:42.09, Y:2.02, Z:1.05 [[ 9.89870374e-01 -1.39792222e-01 -2.47947127e-02 4.20851820e+01] [ 1.39759023e-01 9.90180770e-01 -3.07538848e-03 2.01726723e+00] [ 2.49811631e-02 -4.21048888e-04 9.99687833e-01 1.05027372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.068040941999996 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:42.14, Y:2.03, Z:1.05 [[ 9.90048199e-01 -1.38527377e-01 -2.47937333e-02 4.21421128e+01] [ 1.38493585e-01 9.90358531e-01 -3.08326457e-03 2.03166450e+00] [ 2.49818018e-02 -3.81192463e-04 9.99687833e-01 1.04515459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.128040942 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:42.20, Y:2.05, Z:1.05 [[ 9.90815056e-01 -1.32931718e-01 -2.47928224e-02 4.21988662e+01] [ 1.32895990e-01 9.91125171e-01 -3.09057206e-03 2.04632472e+00] [ 2.49836254e-02 -2.32681352e-04 9.99687833e-01 1.05033295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.18804094199999 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:42.26, Y:2.05, Z:1.06 [[ 9.92200628e-01 -1.22160757e-01 -2.47924093e-02 4.22584587e+01] [ 1.22121579e-01 9.92510326e-01 -3.09388187e-03 2.05075219e+00] [ 2.49846732e-02 4.20633516e-05 9.99687833e-01 1.05868964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.248040941999996 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:42.32, Y:2.06, Z:1.06 [[ 9.92568657e-01 -1.19133537e-01 -2.47923549e-02 4.23155873e+01] [ 1.19093405e-01 9.92878233e-01 -3.09431819e-03 2.06427415e+00] [ 2.49844266e-02 1.18717297e-04 9.99687833e-01 1.05957821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.308040942 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:42.37, Y:2.07, Z:1.06 [[ 9.92904346e-01 -1.16302811e-01 -2.47914440e-02 4.23728418e+01] [ 1.16261614e-01 9.93213782e-01 -3.10159915e-03 2.07052431e+00] [ 2.49839285e-02 1.97297994e-04 9.99687833e-01 1.05848786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36804094199999 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:42.43, Y:2.08, Z:1.06 [[ 9.93030344e-01 -1.15222104e-01 -2.47911745e-02 4.24303896e+01] [ 1.15180517e-01 9.93339728e-01 -3.10375164e-03 2.07816557e+00] [ 2.49836793e-02 2.26659272e-04 9.99687833e-01 1.06140199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.428040941999996 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:42.49, Y:2.09, Z:1.06 [[ 9.93223585e-01 -1.13544491e-01 -2.47903073e-02 4.24867560e+01] [ 1.13502209e-01 9.93532874e-01 -3.11066234e-03 2.08661590e+00] [ 2.49831839e-02 2.75828568e-04 9.99687833e-01 1.06052305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.488040942 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:42.54, Y:2.09, Z:1.06 [[ 9.93470579e-01 -1.11362772e-01 -2.47899330e-02 4.25445565e+01] [ 1.11319736e-01 9.93779765e-01 -3.11364265e-03 2.09200795e+00] [ 2.49824777e-02 3.33703579e-04 9.99687834e-01 1.06076454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54804094199999 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:42.60, Y:2.10, Z:1.06 [[ 9.93667132e-01 -1.09595320e-01 -2.47890441e-02 4.26011494e+01] [ 1.09551557e-01 9.93976216e-01 -3.12070333e-03 2.09701224e+00] [ 2.49817348e-02 3.85261935e-04 9.99687834e-01 1.06252610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.608040941999995 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:42.66, Y:2.10, Z:1.06 [[ 9.93738454e-01 -1.08946814e-01 -2.47886619e-02 4.26582237e+01] [ 1.08902774e-01 9.94047498e-01 -3.12373673e-03 2.10436976e+00] [ 2.49814285e-02 4.04623268e-04 9.99687834e-01 1.06374210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.668040942 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:42.72, Y:2.11, Z:1.06 [[ 9.93664347e-01 -1.09620847e-01 -2.47878072e-02 4.27164530e+01] [ 1.09576848e-01 9.93973397e-01 -3.13050431e-03 2.11065184e+00] [ 2.49815895e-02 3.94500735e-04 9.99687834e-01 1.06409188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72804094199999 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:42.77, Y:2.11, Z:1.07 [[ 9.93477472e-01 -1.11301929e-01 -2.47869659e-02 4.27741519e+01] [ 1.11258288e-01 9.93786573e-01 -3.13715155e-03 2.11315300e+00] [ 2.49821249e-02 3.58934007e-04 9.99687834e-01 1.06523223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.788040941999995 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:42.83, Y:2.12, Z:1.07 [[ 9.92984187e-01 -1.15620311e-01 -2.47860354e-02 4.28318691e+01] [ 1.15577830e-01 9.93293450e-01 -3.14448611e-03 2.11916320e+00] [ 2.49833731e-02 2.57708791e-04 9.99687834e-01 1.06507351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.848040942 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:42.89, Y:2.12, Z:1.07 [[ 9.92157174e-01 -1.22514650e-01 -2.47851181e-02 4.28896678e+01] [ 1.22474139e-01 9.92466701e-01 -3.15169998e-03 2.12120905e+00] [ 2.49845338e-02 9.14457540e-05 9.99687834e-01 1.06531637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90804094199999 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:42.95, Y:2.12, Z:1.07 [[ 9.91540838e-01 -1.27406866e-01 -2.47842090e-02 4.29477058e+01] [ 1.27367703e-01 9.91850538e-01 -3.15883250e-03 2.12342110e+00] [ 2.49846880e-02 -2.45963552e-05 9.99687834e-01 1.06560674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.968040941999995 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:43.00, Y:2.13, Z:1.07 [[ 9.90767379e-01 -1.33288362e-01 -2.47833100e-02 4.30043830e+01] [ 1.33250862e-01 9.91077285e-01 -3.16586986e-03 2.12804211e+00] [ 2.49841492e-02 -1.65756831e-04 9.99687834e-01 1.06933743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.028040942 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:43.06, Y:2.13, Z:1.07 [[ 9.90645299e-01 -1.34192763e-01 -2.47829238e-02 4.30622035e+01] [ 1.34155470e-01 9.90955230e-01 -3.16889046e-03 2.13382764e+00] [ 2.49840101e-02 -1.85518361e-04 9.99687834e-01 1.07214349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08804094199999 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:43.12, Y:2.14, Z:1.07 [[ 9.90828259e-01 -1.32835169e-01 -2.47826524e-02 4.31199299e+01] [ 1.32797399e-01 9.91138131e-01 -3.17101127e-03 2.13758272e+00] [ 2.49842537e-02 -1.49144207e-04 9.99687834e-01 1.07452081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.148040941999994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:43.18, Y:2.14, Z:1.08 [[ 9.91533146e-01 -1.27467192e-01 -2.47817566e-02 4.31781565e+01] [ 1.27427570e-01 9.91842787e-01 -3.17799737e-03 2.14123270e+00] [ 2.49846969e-02 -6.78928503e-06 9.99687834e-01 1.07756860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.208040942 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:43.23, Y:2.15, Z:1.08 [[ 9.92561380e-01 -1.19196545e-01 -2.47808655e-02 4.32345238e+01] [ 1.19154169e-01 9.92870656e-01 -3.18493066e-03 2.14838488e+00] [ 2.49838269e-02 2.08495732e-04 9.99687834e-01 1.07802743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26804094199999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:43.29, Y:2.15, Z:1.08 [[ 9.93400677e-01 -1.11986703e-01 -2.47804817e-02 4.32914831e+01] [ 1.11942009e-01 9.93709628e-01 -3.18791374e-03 2.14993979e+00] [ 2.49816072e-02 3.92898774e-04 9.99687834e-01 1.08117741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.328040941999994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:43.35, Y:2.16, Z:1.08 [[ 9.93684880e-01 -1.09436359e-01 -2.47798889e-02 4.33493461e+01] [ 1.09390757e-01 9.93993697e-01 -3.19251522e-03 2.15515548e+00] [ 2.49804306e-02 4.61663314e-04 9.99687834e-01 1.08123964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.388040941999996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:43.41, Y:2.16, Z:1.08 [[ 9.93683475e-01 -1.09449317e-01 -2.47789773e-02 4.34070069e+01] [ 1.09403543e-01 9.93992267e-01 -3.19957480e-03 2.15900205e+00] [ 2.49803031e-02 4.68456693e-04 9.99687834e-01 1.08109629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.47, Y:2.16, Z:1.08 [[ 9.93187685e-01 -1.13860750e-01 -2.47780635e-02 4.34653458e+01] [ 1.13816172e-01 9.93496652e-01 -3.20663587e-03 2.15818224e+00] [ 2.49820331e-02 3.64646926e-04 9.99687834e-01 1.08375182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.508040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.52, Y:2.16, Z:1.09 [[ 9.92374874e-01 -1.20740233e-01 -2.47771325e-02 4.35240828e+01] [ 1.20697617e-01 9.92684117e-01 -3.21381385e-03 2.15920745e+00] [ 2.49839025e-02 1.98767271e-04 9.99687834e-01 1.08645477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.568040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.58, Y:2.16, Z:1.09 [[ 9.92445217e-01 -1.20160852e-01 -2.47762129e-02 4.35827691e+01] [ 1.20117879e-01 9.92754411e-01 -3.22088754e-03 2.15585522e+00] [ 2.49837192e-02 2.20488304e-04 9.99687834e-01 1.09065653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.64, Y:2.16, Z:1.09 [[ 9.91115766e-01 -1.30674126e-01 -2.47752277e-02 4.36391427e+01] [ 1.30634244e-01 9.91425374e-01 -3.22844798e-03 2.16225386e+00] [ 2.49846640e-02 -3.67274511e-05 9.99687834e-01 1.08853153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68804094199999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:43.70, Y:2.17, Z:1.09 [[ 9.90750187e-01 -1.33417674e-01 -2.47748019e-02 4.36971125e+01] [ 1.33378568e-01 9.91059894e-01 -3.23171201e-03 2.16618227e+00] [ 2.49844801e-02 -1.02608316e-04 9.99687834e-01 1.08877792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.748040941999996 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:43.75, Y:2.17, Z:1.09 [[ 9.90567897e-01 -1.34764599e-01 -2.47738698e-02 4.37542881e+01] [ 1.34725736e-01 9.90877634e-01 -3.23884155e-03 2.16737963e+00] [ 2.49843547e-02 -1.29385368e-04 9.99687834e-01 1.08805843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.81, Y:2.16, Z:1.09 [[ 9.91448753e-01 -1.28123558e-01 -2.47734693e-02 4.38147640e+01] [ 1.28082543e-01 9.91758213e-01 -3.24190227e-03 2.16057844e+00] [ 2.49846557e-02 4.11310075e-05 9.99687834e-01 1.08683995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86804094199999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:43.87, Y:2.16, Z:1.09 [[ 9.91760063e-01 -1.25691241e-01 -2.47727409e-02 4.38733642e+01] [ 1.25649329e-01 9.92069403e-01 -3.24745875e-03 2.16313495e+00] [ 2.49844554e-02 1.08021635e-04 9.99687834e-01 1.08978103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.928040941999996 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:43.93, Y:2.17, Z:1.10 [[ 9.92706833e-01 -1.17980916e-01 -2.47719050e-02 4.39315330e+01] [ 1.17936442e-01 9.93015815e-01 -3.25382250e-03 2.16598446e+00] [ 2.49827824e-02 3.08581491e-04 9.99687834e-01 1.09588785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.988040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:43.99, Y:2.17, Z:1.10 [[ 9.92706456e-01 -1.17984288e-01 -2.47709345e-02 4.39889871e+01] [ 1.17939631e-01 9.93015412e-01 -3.26119425e-03 2.16981621e+00] [ 2.49826894e-02 3.15933701e-04 9.99687834e-01 1.09623891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.05, Y:2.18, Z:1.10 [[ 9.92956527e-01 -1.15860922e-01 -2.47705755e-02 4.40467172e+01] [ 1.15815537e-01 9.93265377e-01 -3.26391834e-03 2.17976837e+00] [ 2.49819156e-02 3.72111522e-04 9.99687834e-01 1.09571585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.108040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.10, Y:2.19, Z:1.10 [[ 9.93061155e-01 -1.14960869e-01 -2.47697710e-02 4.41039696e+01] [ 1.14915052e-01 9.93369940e-01 -3.27001254e-03 2.18656209e+00] [ 2.49814694e-02 4.00902914e-04 9.99687834e-01 1.10201040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.16, Y:2.21, Z:1.10 [[ 9.91593737e-01 -1.26997504e-01 -2.47688080e-02 4.41612207e+01] [ 1.26955253e-01 9.91903031e-01 -3.27729060e-03 2.20549606e+00] [ 2.49844635e-02 1.05210533e-04 9.99687834e-01 1.10299726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22804094199999 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:44.22, Y:2.20, Z:1.11 [[ 9.92057292e-01 -1.23324272e-01 -2.47679754e-02 4.42208975e+01] [ 1.23280719e-01 9.92366405e-01 -3.28357120e-03 2.20472274e+00] [ 2.49838507e-02 2.04076935e-04 9.99687834e-01 1.10639438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.288040941999995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:44.28, Y:2.22, Z:1.10 [[ 9.90654455e-01 -1.34127963e-01 -2.47677248e-02 4.42773422e+01] [ 1.34087735e-01 9.90964018e-01 -3.28546004e-03 2.21765957e+00] [ 2.49845962e-02 -6.62924971e-05 9.99687834e-01 1.10429868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.348040942 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:44.33, Y:2.23, Z:1.10 [[ 9.89529274e-01 -1.42191392e-01 -2.47674135e-02 4.43343720e+01] [ 1.42153628e-01 9.89839147e-01 -3.28780522e-03 2.22702254e+00] [ 2.49832531e-02 -2.67398165e-04 9.99687834e-01 1.10445086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.39, Y:2.24, Z:1.10 [[ 9.87784493e-01 -1.53845436e-01 -2.47664364e-02 4.43913066e+01] [ 1.53811143e-01 9.88094770e-01 -3.29514902e-03 2.23678142e+00] [ 2.49785299e-02 -5.54456774e-04 9.99687834e-01 1.10159078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.468040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.45, Y:2.25, Z:1.10 [[ 9.86652682e-01 -1.60944472e-01 -2.47661373e-02 4.44473694e+01] [ 1.60912355e-01 9.86963191e-01 -3.29739560e-03 2.24704894e+00] [ 2.49739635e-02 -7.31793262e-04 9.99687834e-01 1.10109675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.50, Y:2.26, Z:1.10 [[ 9.85603204e-01 -1.67251253e-01 -2.47657438e-02 4.45028060e+01] [ 1.67221048e-01 9.85913905e-01 -3.30034856e-03 2.26022702e+00] [ 2.49688786e-02 -8.88519517e-04 9.99687834e-01 1.09707944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.56, Y:2.26, Z:1.11 [[ 9.87121223e-01 -1.58045496e-01 -2.47651386e-02 4.45619379e+01] [ 1.58012279e-01 9.87431617e-01 -3.30488331e-03 2.26173867e+00] [ 2.49762028e-02 -6.50875541e-04 9.99687834e-01 1.11058094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.648040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.62, Y:2.27, Z:1.11 [[ 9.89098129e-01 -1.45160664e-01 -2.47643314e-02 4.46207002e+01] [ 1.45123251e-01 9.89408045e-01 -3.31092078e-03 2.27044931e+00] [ 2.49826442e-02 -3.19054743e-04 9.99687834e-01 1.10625029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.68, Y:2.28, Z:1.11 [[ 9.88945551e-01 -1.46196669e-01 -2.47634980e-02 4.46770644e+01] [ 1.46159425e-01 9.89255487e-01 -3.31714285e-03 2.28051584e+00] [ 2.49823815e-02 -3.38944955e-04 9.99687834e-01 1.11308018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.73, Y:2.29, Z:1.12 [[ 9.90250989e-01 -1.37075765e-01 -2.47631452e-02 4.47346594e+01] [ 1.37035600e-01 9.90560560e-01 -3.31977405e-03 2.28643737e+00] [ 2.49844556e-02 -1.06022940e-04 9.99687834e-01 1.11865553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.828040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.79, Y:2.29, Z:1.13 [[ 9.91213094e-01 -1.29936282e-01 -2.47621765e-02 4.47929639e+01] [ 1.29893707e-01 9.91522343e-01 -3.32698392e-03 2.29101716e+00] [ 2.49845472e-02 8.12991114e-05 9.99687834e-01 1.12637493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.888040941999996 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:44.85, Y:2.30, Z:1.12 [[ 9.90831126e-01 -1.32817759e-01 -2.47613309e-02 4.48504915e+01] [ 1.32775926e-01 9.91140476e-01 -3.33326572e-03 2.30383636e+00] [ 2.49846742e-02 1.49947847e-05 9.99687834e-01 1.11952657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.948040942 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:44.91, Y:2.31, Z:1.12 [[ 9.91059844e-01 -1.31100357e-01 -2.47604825e-02 4.49076211e+01] [ 1.31057832e-01 9.91369100e-01 -3.33955602e-03 2.30992487e+00] [ 2.49845942e-02 6.46447138e-05 9.99687834e-01 1.12458307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.008040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.97, Y:2.32, Z:1.13 [[ 9.90886604e-01 -1.32403509e-01 -2.47598285e-02 4.49661340e+01] [ 1.32361269e-01 9.91195899e-01 -3.34439780e-03 2.31881931e+00] [ 2.49846505e-02 3.66766654e-05 9.99687834e-01 1.12529035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.068040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.02, Y:2.33, Z:1.12 [[ 9.89303212e-01 -1.43757252e-01 -2.47589703e-02 4.50243914e+01] [ 1.43718403e-01 9.89612951e-01 -3.35073899e-03 2.33147570e+00] [ 2.49834907e-02 -2.43422826e-04 9.99687834e-01 1.11861673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.08, Y:2.34, Z:1.12 [[ 9.88991979e-01 -1.45883174e-01 -2.47581272e-02 4.50816343e+01] [ 1.45844835e-01 9.89301782e-01 -3.35695688e-03 2.33863603e+00] [ 2.49829829e-02 -2.90841547e-04 9.99687834e-01 1.12172266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.14, Y:2.35, Z:1.12 [[ 9.88590190e-01 -1.48581687e-01 -2.47571723e-02 4.51388465e+01] [ 1.48544018e-01 9.88900075e-01 -3.36398508e-03 2.34593167e+00] [ 2.49821961e-02 -3.51927184e-04 9.99687834e-01 1.12384015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.248040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.20, Y:2.36, Z:1.12 [[ 9.88374629e-01 -1.50009071e-01 -2.47562196e-02 4.51962154e+01] [ 1.49971674e-01 9.88684547e-01 -3.37098108e-03 2.35521693e+00] [ 2.49817695e-02 -3.80939526e-04 9.99687834e-01 1.12412604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.25, Y:2.37, Z:1.13 [[ 9.88087779e-01 -1.51887186e-01 -2.47552735e-02 4.52532106e+01] [ 1.51850204e-01 9.88397746e-01 -3.37791477e-03 2.36709265e+00] [ 2.49811185e-02 -4.21417034e-04 9.99687834e-01 1.12899479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.31, Y:2.38, Z:1.13 [[ 9.88396563e-01 -1.49864804e-01 -2.47542800e-02 4.53095108e+01] [ 1.49827006e-01 9.88706432e-01 -3.38517997e-03 2.37654240e+00] [ 2.49820352e-02 -3.62959418e-04 9.99687834e-01 1.12896191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.428040941999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.37, Y:2.39, Z:1.13 [[ 9.88619393e-01 -1.48387816e-01 -2.47538167e-02 4.53668325e+01] [ 1.48349470e-01 9.88929195e-01 -3.38856436e-03 2.38705221e+00] [ 2.49825937e-02 -3.22215155e-04 9.99687834e-01 1.12919469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.43, Y:2.39, Z:1.13 [[ 9.88663570e-01 -1.48093362e-01 -2.47527900e-02 4.54250846e+01] [ 1.48054737e-01 9.88973337e-01 -3.39604763e-03 2.39264698e+00] [ 2.49827815e-02 -3.07219241e-04 9.99687834e-01 1.12821909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.48, Y:2.40, Z:1.14 [[ 9.88933910e-01 -1.46277361e-01 -2.47518909e-02 4.54830155e+01] [ 1.46238003e-01 9.89243584e-01 -3.40258805e-03 2.40043431e+00] [ 2.49833709e-02 -2.54732403e-04 9.99687834e-01 1.13703095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.608040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.54, Y:2.41, Z:1.14 [[ 9.88845774e-01 -1.46872122e-01 -2.47510519e-02 4.55400718e+01] [ 1.46832798e-01 9.89155453e-01 -3.40868035e-03 2.40961887e+00] [ 2.49832781e-02 -2.63607040e-04 9.99687834e-01 1.14025965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.668040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:45.60, Y:2.42, Z:1.14 [[ 9.89109009e-01 -1.45088942e-01 -2.47500997e-02 4.55974868e+01] [ 1.45048887e-01 9.89418594e-01 -3.41557984e-03 2.41790885e+00] [ 2.49837718e-02 -2.11593621e-04 9.99687834e-01 1.14319493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.66, Y:2.43, Z:1.14 [[ 9.88792556e-01 -1.47230213e-01 -2.47496661e-02 4.56556677e+01] [ 1.47190750e-01 9.89102217e-01 -3.41871942e-03 2.42841079e+00] [ 2.49832884e-02 -2.62517592e-04 9.99687834e-01 1.14296254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.788040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.71, Y:2.44, Z:1.14 [[ 9.87983613e-01 -1.52564340e-01 -2.47488049e-02 4.57129530e+01] [ 1.52526393e-01 9.88293463e-01 -3.42494209e-03 2.44369196e+00] [ 2.49816062e-02 -3.91059273e-04 9.99687834e-01 1.14276326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.77, Y:2.45, Z:1.15 [[ 9.88513974e-01 -1.49089336e-01 -2.47486099e-02 4.57724318e+01] [ 1.49050264e-01 9.88823684e-01 -3.42635075e-03 2.44617697e+00] [ 2.49828440e-02 -3.01791254e-04 9.99687834e-01 1.15250476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90804094199999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:45.83, Y:2.47, Z:1.14 [[ 9.87456300e-01 -1.55941031e-01 -2.47477573e-02 4.58299986e+01] [ 1.55903954e-01 9.87766255e-01 -3.43249796e-03 2.46580830e+00] [ 2.49802668e-02 -4.68831469e-04 9.99687835e-01 1.14326092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.968040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.89, Y:2.47, Z:1.15 [[ 9.88381946e-01 -1.49962275e-01 -2.47476337e-02 4.58882843e+01] [ 1.49923301e-01 9.88691669e-01 -3.43338841e-03 2.47164658e+00] [ 2.49826580e-02 -3.16747815e-04 9.99687835e-01 1.15276521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.94, Y:2.48, Z:1.15 [[ 9.87977971e-01 -1.52601212e-01 -2.47466961e-02 4.59447391e+01] [ 1.52562896e-01 9.88287776e-01 -3.44013324e-03 2.48422443e+00] [ 2.49818258e-02 -3.76651758e-04 9.99687835e-01 1.15080980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.00, Y:2.50, Z:1.15 [[ 9.87990951e-01 -1.52517203e-01 -2.47463662e-02 4.60016711e+01] [ 1.52478802e-01 9.88300746e-01 -3.44250493e-03 2.50101079e+00] [ 2.49818934e-02 -3.72132540e-04 9.99687835e-01 1.14776649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.148040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.06, Y:2.51, Z:1.15 [[ 9.88514365e-01 -1.49087267e-01 -2.47454437e-02 4.60599796e+01] [ 1.49047625e-01 9.88824003e-01 -3.44912313e-03 2.50875902e+00] [ 2.49831091e-02 -2.78741860e-04 9.99687835e-01 1.15062308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.12, Y:2.52, Z:1.15 [[ 9.88450212e-01 -1.49512164e-01 -2.47445106e-02 4.61158002e+01] [ 1.49472487e-01 9.88759846e-01 -3.45580447e-03 2.52411210e+00] [ 2.49830633e-02 -2.82732886e-04 9.99687835e-01 1.14652849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.17, Y:2.53, Z:1.16 [[ 9.89630201e-01 -1.41491378e-01 -2.47437912e-02 4.61733898e+01] [ 1.41449064e-01 9.89939485e-01 -3.46094785e-03 2.53096107e+00] [ 2.49845502e-02 -7.49275816e-05 9.99687835e-01 1.15604405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.328040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.23, Y:2.55, Z:1.15 [[ 9.89576041e-01 -1.41869845e-01 -2.47428074e-02 4.62308074e+01] [ 1.41827473e-01 9.89885317e-01 -3.46796673e-03 2.54609275e+00] [ 2.49845417e-02 -7.73930589e-05 9.99687835e-01 1.15144071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.388040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.29, Y:2.56, Z:1.15 [[ 9.89502141e-01 -1.42384523e-01 -2.47418688e-02 4.62862244e+01] [ 1.42342145e-01 9.89811417e-01 -3.47465062e-03 2.56288467e+00] [ 2.49845207e-02 -8.36364482e-05 9.99687835e-01 1.15279974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.35, Y:2.57, Z:1.16 [[ 9.90432543e-01 -1.35761751e-01 -2.47411483e-02 4.63452157e+01] [ 1.35717177e-01 9.90741510e-01 -3.47977329e-03 2.56909103e+00] [ 2.49845027e-02 8.86819129e-05 9.99687835e-01 1.15680650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.508040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.40, Y:2.58, Z:1.16 [[ 9.90453517e-01 -1.35608817e-01 -2.47402352e-02 4.64018472e+01] [ 1.35564033e-01 9.90762453e-01 -3.48625303e-03 2.57905397e+00] [ 2.49844628e-02 9.90855091e-05 9.99687835e-01 1.15797369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.568040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.46, Y:2.59, Z:1.16 [[ 9.90209176e-01 -1.37381704e-01 -2.47397521e-02 4.64604502e+01] [ 1.37337387e-01 9.90518180e-01 -3.48967809e-03 2.58775120e+00] [ 2.49845921e-02 5.78183492e-05 9.99687835e-01 1.15765342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.52, Y:2.60, Z:1.16 [[ 9.89584139e-01 -1.41814042e-01 -2.47388405e-02 4.65188184e+01] [ 1.41770949e-01 9.89893315e-01 -3.49612829e-03 2.59830435e+00] [ 2.49846129e-02 -4.75357908e-05 9.99687835e-01 1.15576491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68804094199999 meters Centerline goodness : 0.997440 with order 1 Centerline is valid? [True, True] Translation: X:46.58, Y:2.61, Z:1.16 [[ 9.88923613e-01 -1.46349314e-01 -2.47379410e-02 4.65750241e+01] [ 1.46307480e-01 9.89232962e-01 -3.50248184e-03 2.60947870e+00] [ 2.49841724e-02 -1.55658802e-04 9.99687835e-01 1.15821837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.748040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.63, Y:2.62, Z:1.16 [[ 9.88451049e-01 -1.49507917e-01 -2.47367374e-02 4.66329489e+01] [ 1.49466859e-01 9.88760502e-01 -3.51096146e-03 2.61679882e+00] [ 2.49836255e-02 -2.26908907e-04 9.99687835e-01 1.15891714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.69, Y:2.62, Z:1.16 [[ 9.88900673e-01 -1.46504647e-01 -2.47355555e-02 4.66915899e+01] [ 1.46462441e-01 9.89209972e-01 -3.51926894e-03 2.61858290e+00] [ 2.49842474e-02 -1.42622408e-04 9.99687835e-01 1.15813169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86804094199999 meters Centerline goodness : 0.997062 with order 1 Centerline is valid? [True, True] Translation: X:46.75, Y:2.63, Z:1.15 [[ 9.87150303e-01 -1.57868549e-01 -2.47345892e-02 4.67484157e+01] [ 1.57829734e-01 9.87460046e-01 -3.52604686e-03 2.63258165e+00] [ 2.49810705e-02 -4.23115406e-04 9.99687835e-01 1.15471768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.928040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.81, Y:2.63, Z:1.17 [[ 9.88028900e-01 -1.52273205e-01 -2.47338787e-02 4.68073580e+01] [ 1.52232511e-01 9.88338401e-01 -3.53102409e-03 2.63229998e+00] [ 2.49831225e-02 -2.76546608e-04 9.99687835e-01 1.16536192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.86, Y:2.64, Z:1.16 [[ 9.87824842e-01 -1.53591573e-01 -2.47327898e-02 4.68647819e+01] [ 1.53551101e-01 9.88134372e-01 -3.53863459e-03 2.64032578e+00] [ 2.49828242e-02 -3.02195951e-04 9.99687835e-01 1.16479611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.92, Y:2.65, Z:1.16 [[ 9.87756124e-01 -1.54032932e-01 -2.47324758e-02 4.69220473e+01] [ 1.53992544e-01 9.88065665e-01 -3.54082832e-03 2.64990398e+00] [ 2.49827143e-02 -3.11142007e-04 9.99687835e-01 1.16056463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.108040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.98, Y:2.66, Z:1.17 [[ 9.87572972e-01 -1.55203029e-01 -2.47314693e-02 4.69795664e+01] [ 1.55162831e-01 9.87882538e-01 -3.54784398e-03 2.65879921e+00] [ 2.49824228e-02 -3.33649981e-04 9.99687835e-01 1.16518008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.168040942 meters Centerline goodness : 0.995987 with order 1 Centerline is valid? [True, True] Translation: X:47.04, Y:2.66, Z:1.17 [[ 9.87777200e-01 -1.53898044e-01 -2.47304659e-02 4.70370251e+01] [ 1.53857263e-01 9.88086690e-01 -3.55482502e-03 2.66478229e+00] [ 2.49829248e-02 -2.93586677e-04 9.99687835e-01 1.16532073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.09, Y:2.67, Z:1.17 [[ 9.87977984e-01 -1.52603946e-01 -2.47292980e-02 4.70945454e+01] [ 1.52562557e-01 9.88287393e-01 -3.56293079e-03 2.67193628e+00] [ 2.49833708e-02 -2.52667755e-04 9.99687835e-01 1.16933628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.288040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.15, Y:2.68, Z:1.17 [[ 9.87934531e-01 -1.52885067e-01 -2.47289092e-02 4.71527529e+01] [ 1.52843699e-01 9.88243943e-01 -3.56562724e-03 2.67791501e+00] [ 2.49833259e-02 -2.57051677e-04 9.99687835e-01 1.17196940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.348040942 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:47.21, Y:2.68, Z:1.17 [[ 9.87744346e-01 -1.54109173e-01 -2.47279179e-02 4.72099455e+01] [ 1.54068016e-01 9.88053786e-01 -3.57248905e-03 2.68473533e+00] [ 2.49830662e-02 -2.81075381e-04 9.99687835e-01 1.17247908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40804094199999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:47.27, Y:2.69, Z:1.18 [[ 9.87797970e-01 -1.53765245e-01 -2.47268992e-02 4.72665273e+01] [ 1.53723804e-01 9.88107372e-01 -3.57952597e-03 2.69085849e+00] [ 2.49832381e-02 -2.65264525e-04 9.99687835e-01 1.17534823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.468040941999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:47.32, Y:2.70, Z:1.18 [[ 9.87880212e-01 -1.53236057e-01 -2.47264610e-02 4.73248021e+01] [ 1.53194374e-01 9.88189582e-01 -3.58255021e-03 2.69616085e+00] [ 2.49834070e-02 -2.48824255e-04 9.99687835e-01 1.17633117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.38, Y:2.70, Z:1.18 [[ 9.88158733e-01 -1.51429751e-01 -2.47254540e-02 4.73837239e+01] [ 1.51387329e-01 9.88468003e-01 -3.58948653e-03 2.70200837e+00] [ 2.49838752e-02 -1.96137995e-04 9.99687835e-01 1.17954537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.44, Y:2.71, Z:1.18 [[ 9.88205545e-01 -1.51124120e-01 -2.47245266e-02 4.74411025e+01] [ 1.51081443e-01 9.88514779e-01 -3.59586344e-03 2.70992777e+00] [ 2.49839816e-02 -1.81964967e-04 9.99687835e-01 1.17588761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.648040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.50, Y:2.71, Z:1.18 [[ 9.88344055e-01 -1.50215655e-01 -2.47242020e-02 4.74991967e+01] [ 1.50172638e-01 9.88653242e-01 -3.59809385e-03 2.71431028e+00] [ 2.49841525e-02 -1.56743988e-04 9.99687835e-01 1.17648083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.708040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:47.56, Y:2.72, Z:1.18 [[ 9.88489899e-01 -1.49253085e-01 -2.47231766e-02 4.75573398e+01] [ 1.49209591e-01 9.88799019e-01 -3.60512621e-03 2.72044521e+00] [ 2.49843289e-02 -1.25304233e-04 9.99687835e-01 1.17797631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76804094199999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:47.62, Y:2.72, Z:1.18 [[ 9.88643801e-01 -1.48230392e-01 -2.47221580e-02 4.76156911e+01] [ 1.48186404e-01 9.88952851e-01 -3.61209722e-03 2.72458698e+00] [ 2.49844713e-02 -9.24101750e-05 9.99687835e-01 1.17851288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.828040941999994 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:47.68, Y:2.73, Z:1.18 [[ 9.89111126e-01 -1.45079447e-01 -2.47211484e-02 4.76751927e+01] [ 1.45034303e-01 9.89420009e-01 -3.61899370e-03 2.72533154e+00] [ 2.49846405e-02 -5.82759630e-06 9.99687835e-01 1.18148902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.888040941999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:47.73, Y:2.73, Z:1.18 [[ 9.89140546e-01 -1.44878883e-01 -2.47202123e-02 4.77327268e+01] [ 1.44833516e-01 9.89449397e-01 -3.62537699e-03 2.73331038e+00] [ 2.49846397e-02 5.69210827e-06 9.99687835e-01 1.18007859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.948040942 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:47.79, Y:2.74, Z:1.18 [[ 9.89324438e-01 -1.43617838e-01 -2.47198843e-02 4.77905556e+01] [ 1.43572022e-01 9.89633222e-01 -3.62761199e-03 2.73822209e+00] [ 2.49846086e-02 3.98014236e-05 9.99687835e-01 1.18021929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.008040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.85, Y:2.74, Z:1.18 [[ 9.89943325e-01 -1.39288148e-01 -2.47189154e-02 4.78505220e+01] [ 1.39240817e-01 9.90251881e-01 -3.63420229e-03 2.73783512e+00] [ 2.49841538e-02 1.55772322e-04 9.99687835e-01 1.18442903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.068040941999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:47.91, Y:2.74, Z:1.19 [[ 9.90042405e-01 -1.38582297e-01 -2.47180850e-02 4.79099737e+01] [ 1.38534605e-01 9.90350905e-01 -3.63984128e-03 2.73851393e+00] [ 2.49839954e-02 1.79287080e-04 9.99687835e-01 1.18977484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.97, Y:2.75, Z:1.18 [[ 9.88788057e-01 -1.47265896e-01 -2.47170946e-02 4.79665563e+01] [ 1.47220746e-01 9.89096939e-01 -3.64655478e-03 2.74974781e+00] [ 2.49846157e-02 -3.31992854e-05 9.99687835e-01 1.18443038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.03, Y:2.74, Z:1.19 [[ 9.89905484e-01 -1.39557208e-01 -2.47167464e-02 4.80260082e+01] [ 1.39509593e-01 9.90213997e-01 -3.64891327e-03 2.74292968e+00] [ 2.49841004e-02 1.63856026e-04 9.99687835e-01 1.19255656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.248040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.08, Y:2.75, Z:1.19 [[ 9.89558355e-01 -1.41997749e-01 -2.47164351e-02 4.80847371e+01] [ 1.41950843e-01 9.89866975e-01 -3.65102099e-03 2.74967901e+00] [ 2.49844196e-02 1.04379545e-04 9.99687835e-01 1.19132941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.14, Y:2.77, Z:1.19 [[ 9.88801096e-01 -1.47178593e-01 -2.47154739e-02 4.81403447e+01] [ 1.47133141e-01 9.89109934e-01 -3.65751588e-03 2.76917313e+00] [ 2.49846288e-02 -1.99096054e-05 9.99687835e-01 1.18697682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.20, Y:2.78, Z:1.19 [[ 9.88960240e-01 -1.46105461e-01 -2.47151368e-02 4.81969703e+01] [ 1.46059617e-01 9.89269020e-01 -3.65979253e-03 2.77778722e+00] [ 2.49846348e-02 9.50588630e-06 9.99687835e-01 1.18799656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.428040941999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:48.26, Y:2.78, Z:1.19 [[ 9.89339711e-01 -1.43513477e-01 -2.47147167e-02 4.82560591e+01] [ 1.43466753e-01 9.89648360e-01 -3.66262736e-03 2.78075494e+00] [ 2.49845152e-02 7.78425312e-05 9.99687835e-01 1.19362261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.31, Y:2.80, Z:1.19 [[ 9.87598497e-01 -1.55043344e-01 -2.47137846e-02 4.83120397e+01] [ 1.55000066e-01 9.87907647e-01 -3.66890579e-03 2.79912237e+00] [ 2.49837762e-02 -2.07232408e-04 9.99687835e-01 1.19159935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54804094199999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:48.37, Y:2.81, Z:1.19 [[ 9.86361363e-01 -1.62728346e-01 -2.47132924e-02 4.83693563e+01] [ 1.62687394e-01 9.86670830e-01 -3.67221822e-03 2.80811924e+00] [ 2.49814587e-02 -3.98406974e-04 9.99687835e-01 1.19369553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.608040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.43, Y:2.81, Z:1.20 [[ 9.87190377e-01 -1.57621265e-01 -2.47122603e-02 4.84287468e+01] [ 1.57578538e-01 9.87499604e-01 -3.67915083e-03 2.80836386e+00] [ 2.49832597e-02 -2.62099539e-04 9.99687835e-01 1.20390968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.49, Y:2.82, Z:1.21 [[ 9.87151616e-01 -1.57863883e-01 -2.47119794e-02 4.84860356e+01] [ 1.57821185e-01 9.87460847e-01 -3.68103626e-03 2.81691763e+00] [ 2.49832148e-02 -2.66332988e-04 9.99687835e-01 1.20685602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.54, Y:2.84, Z:1.20 [[ 9.85682302e-01 -1.66792489e-01 -2.47116317e-02 4.85421241e+01] [ 1.66752533e-01 9.85991899e-01 -3.68336941e-03 2.83796546e+00] [ 2.49798270e-02 -4.90095137e-04 9.99687835e-01 1.19791331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.788040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.60, Y:2.83, Z:1.21 [[ 9.87696297e-01 -1.54419472e-01 -2.47113583e-02 4.86024872e+01] [ 1.54375591e-01 9.88005362e-01 -3.68520238e-03 2.83351012e+00] [ 2.49840215e-02 -1.74969807e-04 9.99687835e-01 1.21155591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.66, Y:2.85, Z:1.21 [[ 9.87921238e-01 -1.52973795e-01 -2.47112300e-02 4.86600920e+01] [ 1.52929441e-01 9.88230236e-01 -3.68606234e-03 2.84769293e+00] [ 2.49842556e-02 -1.37535318e-04 9.99687835e-01 1.20975315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.72, Y:2.86, Z:1.21 [[ 9.88253304e-01 -1.50813698e-01 -2.47110238e-02 4.87187724e+01] [ 1.50768634e-01 9.88562199e-01 -3.68744421e-03 2.85706386e+00] [ 2.49845012e-02 -8.15183788e-05 9.99687835e-01 1.21057194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.968040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.78, Y:2.87, Z:1.21 [[ 9.88502409e-01 -1.49172373e-01 -2.47101358e-02 4.87758220e+01] [ 1.49126647e-01 9.88811206e-01 -3.69338521e-03 2.86668988e+00] [ 2.49846103e-02 -3.40195356e-05 9.99687835e-01 1.21279968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.028040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:48.83, Y:2.87, Z:1.22 [[ 9.88819323e-01 -1.47057038e-01 -2.47097998e-02 4.88346376e+01] [ 1.47010596e-01 9.89128014e-01 -3.69563194e-03 2.87242064e+00] [ 2.49846239e-02 2.17098818e-05 9.99687835e-01 1.21842918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.89, Y:2.88, Z:1.22 [[ 9.88484140e-01 -1.49293482e-01 -2.47095368e-02 4.88925813e+01] [ 1.49247694e-01 9.88792928e-01 -3.69738992e-03 2.88235131e+00] [ 2.49846114e-02 -3.30300914e-05 9.99687835e-01 1.21901079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.148040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.95, Y:2.90, Z:1.21 [[ 9.87554369e-01 -1.55324999e-01 -2.47085432e-02 4.89488034e+01] [ 1.55280931e-01 9.87863408e-01 -3.70401758e-03 2.89541320e+00] [ 2.49839922e-02 -1.78846838e-04 9.99687835e-01 1.21387114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.01, Y:2.91, Z:1.22 [[ 9.87247046e-01 -1.57266617e-01 -2.47079319e-02 4.90064212e+01] [ 1.57223055e-01 9.87556156e-01 -3.70809116e-03 2.90561843e+00] [ 2.49836292e-02 -2.23854489e-04 9.99687835e-01 1.21561974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.06, Y:2.91, Z:1.22 [[ 9.87053059e-01 -1.58479727e-01 -2.47069652e-02 4.90639559e+01] [ 1.58436384e-01 9.87362200e-01 -3.71452082e-03 2.91377270e+00] [ 2.49833998e-02 -2.48053094e-04 9.99687835e-01 1.21584418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.328040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.12, Y:2.92, Z:1.22 [[ 9.86752116e-01 -1.60342898e-01 -2.47066265e-02 4.91228344e+01] [ 1.60300082e-01 9.87061330e-01 -3.71677232e-03 2.92031821e+00] [ 2.49829137e-02 -2.92941299e-04 9.99687835e-01 1.21857754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.388040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.18, Y:2.93, Z:1.22 [[ 9.85768320e-01 -1.66284235e-01 -2.47057317e-02 4.91809235e+01] [ 1.66243134e-01 9.86077767e-01 -3.72271096e-03 2.93454600e+00] [ 2.49808008e-02 -4.37427726e-04 9.99687835e-01 1.21622908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.24, Y:2.94, Z:1.22 [[ 9.85867891e-01 -1.65692893e-01 -2.47055912e-02 4.92374011e+01] [ 1.65651583e-01 9.86177310e-01 -3.72364295e-03 2.94354374e+00] [ 2.49810746e-02 -4.21500260e-04 9.99687835e-01 1.21696740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.508040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.30, Y:2.95, Z:1.22 [[ 9.86367861e-01 -1.62690194e-01 -2.47051128e-02 4.92954890e+01] [ 1.62647863e-01 9.86677143e-01 -3.72681400e-03 2.95142949e+00] [ 2.49822862e-02 -3.42224249e-04 9.99687835e-01 1.22087990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.568040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.35, Y:2.96, Z:1.22 [[ 9.86486627e-01 -1.61968639e-01 -2.47041392e-02 4.93517624e+01] [ 1.61925920e-01 9.86795855e-01 -3.73325667e-03 2.96107776e+00] [ 2.49826127e-02 -3.17432700e-04 9.99687835e-01 1.22105199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.41, Y:2.97, Z:1.22 [[ 9.86972418e-01 -1.58981680e-01 -2.47036600e-02 4.94092938e+01] [ 1.58937946e-01 9.87281504e-01 -3.73642480e-03 2.96867557e+00] [ 2.49834897e-02 -2.38600760e-04 9.99687835e-01 1.22358381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.47, Y:2.98, Z:1.22 [[ 9.86884077e-01 -1.59529218e-01 -2.47031782e-02 4.94676475e+01] [ 1.59485575e-01 9.87193176e-01 -3.73960803e-03 2.97938418e+00] [ 2.49833857e-02 -2.49240964e-04 9.99687835e-01 1.22174158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.748040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.53, Y:2.99, Z:1.23 [[ 9.86820757e-01 -1.59920577e-01 -2.47022784e-02 4.95257957e+01] [ 1.59876909e-01 9.87129852e-01 -3.74554224e-03 2.98919717e+00] [ 2.49833457e-02 -2.53145071e-04 9.99687835e-01 1.22513886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.58, Y:3.00, Z:1.23 [[ 9.86820948e-01 -1.59919546e-01 -2.47013107e-02 4.95823492e+01] [ 1.59875718e-01 9.87130021e-01 -3.75191317e-03 2.99979009e+00] [ 2.49834096e-02 -2.46673267e-04 9.99687835e-01 1.22606681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.64, Y:3.01, Z:1.23 [[ 9.86591671e-01 -1.61328041e-01 -2.47009717e-02 4.96395688e+01] [ 1.61284599e-01 9.86900798e-01 -3.75414338e-03 3.00809424e+00] [ 2.49830573e-02 -2.80079726e-04 9.99687835e-01 1.22812003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.928040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.70, Y:3.02, Z:1.23 [[ 9.86730552e-01 -1.60476579e-01 -2.46999242e-02 4.96971044e+01] [ 1.60432698e-01 9.87039616e-01 -3.76102309e-03 3.01646292e+00] [ 2.49833598e-02 -2.51559076e-04 9.99687836e-01 1.22755756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.75, Y:3.03, Z:1.23 [[ 9.86048418e-01 -1.64616081e-01 -2.46994483e-02 4.97541909e+01] [ 1.64573419e-01 9.86357654e-01 -3.76414568e-03 3.03021771e+00] [ 2.49821288e-02 -3.53242750e-04 9.99687836e-01 1.22854001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.81, Y:3.04, Z:1.23 [[ 9.85695084e-01 -1.66718875e-01 -2.46985570e-02 4.98125425e+01] [ 1.66676726e-01 9.86004390e-01 -3.76998460e-03 3.04067483e+00] [ 2.49814133e-02 -4.00619338e-04 9.99687836e-01 1.22874289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.108040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.87, Y:3.05, Z:1.23 [[ 9.85716738e-01 -1.66590933e-01 -2.46976464e-02 4.98696225e+01] [ 1.66548594e-01 9.86026018e-01 -3.77594113e-03 3.05031049e+00] [ 2.49815595e-02 -3.91349919e-04 9.99687836e-01 1.23236139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.93, Y:3.06, Z:1.24 [[ 9.85796595e-01 -1.66117775e-01 -2.46973264e-02 4.99270003e+01] [ 1.66075236e-01 9.86105847e-01 -3.77803276e-03 3.06096849e+00] [ 2.49817764e-02 -3.77242492e-04 9.99687836e-01 1.23593618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.98, Y:3.07, Z:1.24 [[ 9.85927053e-01 -1.65341886e-01 -2.46962844e-02 4.99826650e+01] [ 1.65298934e-01 9.86236248e-01 -3.78483175e-03 3.07253887e+00] [ 2.49821621e-02 -3.50701462e-04 9.99687836e-01 1.23748050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.288040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.04, Y:3.08, Z:1.24 [[ 9.86397786e-01 -1.62510072e-01 -2.46958367e-02 5.00412923e+01] [ 1.62466158e-01 9.86706846e-01 -3.78775097e-03 3.07998620e+00] [ 2.49830988e-02 -2.76008542e-04 9.99687836e-01 1.24128111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.10, Y:3.09, Z:1.24 [[ 9.86897310e-01 -1.59448610e-01 -2.46949505e-02 5.00986247e+01] [ 1.59403593e-01 9.87206211e-01 -3.79351961e-03 3.09290858e+00] [ 2.49838800e-02 -1.92649559e-04 9.99687836e-01 1.24326998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.16, Y:3.11, Z:1.25 [[ 9.88029078e-01 -1.52278512e-01 -2.46940600e-02 5.01550129e+01] [ 1.52231109e-01 9.88337622e-01 -3.79930772e-03 3.10545507e+00] [ 2.49846215e-02 -5.37763451e-06 9.99687836e-01 1.24587911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.468040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.21, Y:3.12, Z:1.25 [[ 9.88740877e-01 -1.47586359e-01 -2.46930122e-02 5.02108734e+01] [ 1.47537322e-01 9.89049166e-01 -3.80610582e-03 3.11643638e+00] [ 2.49843324e-02 1.20111520e-04 9.99687836e-01 1.24646236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.27, Y:3.12, Z:1.25 [[ 9.89050906e-01 -1.45494270e-01 -2.46925606e-02 5.02687795e+01] [ 1.45444508e-01 9.89359079e-01 -3.80903336e-03 3.12441848e+00] [ 2.49840015e-02 1.75930586e-04 9.99687836e-01 1.25047787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.33, Y:3.13, Z:1.25 [[ 9.89280937e-01 -1.43922051e-01 -2.46915106e-02 5.03269794e+01] [ 1.43871629e-01 9.89589002e-01 -3.81582777e-03 3.13440384e+00] [ 2.49836291e-02 2.22517819e-04 9.99687836e-01 1.25368421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.648040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.38, Y:3.15, Z:1.25 [[ 9.89006230e-01 -1.45797969e-01 -2.46906590e-02 5.03849193e+01] [ 1.45747995e-01 9.89314368e-01 -3.82133005e-03 3.14625180e+00] [ 2.49839659e-02 1.80705189e-04 9.99687836e-01 1.25330379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.44, Y:3.15, Z:1.26 [[ 9.89162853e-01 -1.44731709e-01 -2.46897333e-02 5.04430641e+01] [ 1.44681253e-01 9.89470913e-01 -3.82730168e-03 3.15397969e+00] [ 2.49837048e-02 2.13683105e-04 9.99687836e-01 1.25758877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.50, Y:3.17, Z:1.26 [[ 9.87906487e-01 -1.53072645e-01 -2.46888254e-02 5.04989349e+01] [ 1.53024644e-01 9.88214939e-01 -3.83314925e-03 3.17440098e+00] [ 2.49846164e-02 8.79429414e-06 9.99687836e-01 1.25822390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.828040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.56, Y:3.19, Z:1.26 [[ 9.87709825e-01 -1.54336585e-01 -2.46884718e-02 5.05560450e+01] [ 1.54288922e-01 9.88018329e-01 -3.83542566e-03 3.18565398e+00] [ 2.49846091e-02 -2.08700874e-05 9.99687836e-01 1.25899092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.888040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.61, Y:3.20, Z:1.26 [[ 9.87517421e-01 -1.55562976e-01 -2.46881217e-02 5.06128662e+01] [ 1.55515640e-01 9.87825976e-01 -3.83767764e-03 3.19745413e+00] [ 2.49845685e-02 -4.96155232e-05 9.99687836e-01 1.26040601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.67, Y:3.21, Z:1.26 [[ 9.87771797e-01 -1.53939569e-01 -2.46877736e-02 5.06710108e+01] [ 1.53891669e-01 9.88080265e-01 -3.83991592e-03 3.20739504e+00] [ 2.49846168e-02 -6.28203240e-06 9.99687836e-01 1.26050309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.008040941999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:50.73, Y:3.22, Z:1.26 [[ 9.87963038e-01 -1.52707568e-01 -2.46867326e-02 5.07284633e+01] [ 1.52659117e-01 9.88271419e-01 -3.84659639e-03 3.21690250e+00] [ 2.49845967e-02 3.16402401e-05 9.99687836e-01 1.26314962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.068040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.79, Y:3.23, Z:1.27 [[ 9.88258105e-01 -1.50786407e-01 -2.46855579e-02 5.07853685e+01] [ 1.50737168e-01 9.88566362e-01 -3.85412051e-03 3.22564095e+00] [ 2.49844611e-02 8.78347366e-05 9.99687836e-01 1.26671148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.84, Y:3.23, Z:1.28 [[ 9.88467290e-01 -1.49409025e-01 -2.46852279e-02 5.08431382e+01] [ 1.49359304e-01 9.88775469e-01 -3.85623277e-03 3.23427485e+00] [ 2.49843038e-02 1.24791492e-04 9.99687836e-01 1.27524002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.90, Y:3.25, Z:1.28 [[ 9.87818522e-01 -1.53640033e-01 -2.46841629e-02 5.09001556e+01] [ 1.53591462e-01 9.88126884e-01 -3.86303816e-03 3.24570954e+00] [ 2.49846023e-02 2.47039795e-05 9.99687836e-01 1.27517085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.248040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.96, Y:3.25, Z:1.28 [[ 9.87714090e-01 -1.54310034e-01 -2.46837889e-02 5.09570631e+01] [ 1.54261613e-01 9.88022476e-01 -3.86542617e-03 3.25407024e+00] [ 2.49846123e-02 1.01748015e-05 9.99687836e-01 1.27922281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.01, Y:3.26, Z:1.28 [[ 9.87287157e-01 -1.57018595e-01 -2.46825886e-02 5.10143055e+01] [ 1.56970829e-01 9.87595645e-01 -3.87307589e-03 3.26402546e+00] [ 2.49845619e-02 -5.06082982e-05 9.99687836e-01 1.27805855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.07, Y:3.27, Z:1.28 [[ 9.87433484e-01 -1.56095812e-01 -2.46822204e-02 5.10712467e+01] [ 1.56047699e-01 9.87741918e-01 -3.87542109e-03 3.27382872e+00] [ 2.49846007e-02 -2.48831342e-05 9.99687836e-01 1.27806716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.428040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.13, Y:3.28, Z:1.28 [[ 9.87670485e-01 -1.54589188e-01 -2.46818742e-02 5.11293341e+01] [ 1.54540550e-01 9.87978837e-01 -3.87762433e-03 3.28147070e+00] [ 2.49846082e-02 1.54646990e-05 9.99687836e-01 1.27876583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.19, Y:3.29, Z:1.28 [[ 9.88007355e-01 -1.52421514e-01 -2.46809289e-02 5.11864863e+01] [ 1.52372049e-01 9.88315575e-01 -3.88363216e-03 3.29004615e+00] [ 2.49844955e-02 7.63734408e-05 9.99687836e-01 1.28041258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.24, Y:3.30, Z:1.28 [[ 9.88120253e-01 -1.51687947e-01 -2.46805968e-02 5.12433363e+01] [ 1.51638200e-01 9.88428428e-01 -3.88574147e-03 3.29932833e+00] [ 2.49844236e-02 9.70585683e-05 9.99687836e-01 1.28245254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.608040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.30, Y:3.31, Z:1.28 [[ 9.87841670e-01 -1.53491882e-01 -2.46794706e-02 5.13021427e+01] [ 1.53442520e-01 9.88149907e-01 -3.89288128e-03 3.30704422e+00] [ 2.49845422e-02 5.86701963e-05 9.99687836e-01 1.28093794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.36, Y:3.31, Z:1.29 [[ 9.88028868e-01 -1.52282405e-01 -2.46784207e-02 5.13602271e+01] [ 1.52232499e-01 9.88337017e-01 -3.89952520e-03 3.31165281e+00] [ 2.49844258e-02 9.59858072e-05 9.99687836e-01 1.28640630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.42, Y:3.32, Z:1.29 [[ 9.87896275e-01 -1.53140276e-01 -2.46780543e-02 5.14175659e+01] [ 1.53090580e-01 9.88204458e-01 -3.90184284e-03 3.32119565e+00] [ 2.49844925e-02 7.66383714e-05 9.99687836e-01 1.28788445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.788040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.48, Y:3.33, Z:1.29 [[ 9.87417914e-01 -1.56195107e-01 -2.46769603e-02 5.14755881e+01] [ 1.56146191e-01 9.87726222e-01 -3.90874952e-03 3.32700064e+00] [ 2.49846083e-02 6.35594090e-06 9.99687836e-01 1.28871478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.53, Y:3.33, Z:1.29 [[ 9.87628195e-01 -1.54859976e-01 -2.46766239e-02 5.15331896e+01] [ 1.54810591e-01 9.87936428e-01 -3.91087215e-03 3.33317132e+00] [ 2.49845732e-02 4.22848842e-05 9.99687836e-01 1.29198628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90804094199999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:51.59, Y:3.34, Z:1.29 [[ 9.87427546e-01 -1.56134436e-01 -2.46754713e-02 5.15900861e+01] [ 1.56085268e-01 9.87735814e-01 -3.91813110e-03 3.34116792e+00] [ 2.49846019e-02 1.73930383e-05 9.99687836e-01 1.29138020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.968040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.65, Y:3.35, Z:1.29 [[ 9.87138666e-01 -1.57950604e-01 -2.46751212e-02 5.16475106e+01] [ 1.57901947e-01 9.87447014e-01 -3.92033466e-03 3.34774641e+00] [ 2.49845940e-02 -2.63357611e-05 9.99687836e-01 1.29307342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.70, Y:3.35, Z:1.30 [[ 9.86935466e-01 -1.59215513e-01 -2.46739986e-02 5.17049248e+01] [ 1.59167075e-01 9.87243849e-01 -3.92738702e-03 3.35314998e+00] [ 2.49845543e-02 -5.12106616e-05 9.99687836e-01 1.29527208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.76, Y:3.36, Z:1.30 [[ 9.86871762e-01 -1.59610067e-01 -2.46728868e-02 5.17626769e+01] [ 1.59561578e-01 9.87180137e-01 -3.93435948e-03 3.35907360e+00] [ 2.49845472e-02 -5.41364864e-05 9.99687836e-01 1.29681605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.148040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.82, Y:3.36, Z:1.30 [[ 9.87505022e-01 -1.55644263e-01 -2.46717639e-02 5.18217590e+01] [ 1.55594360e-01 9.87813171e-01 -3.94138851e-03 3.36073238e+00] [ 2.49845478e-02 5.33536299e-05 9.99687836e-01 1.29632940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.88, Y:3.36, Z:1.30 [[ 9.87971264e-01 -1.52656925e-01 -2.46707455e-02 5.18810669e+01] [ 1.52605932e-01 9.88279234e-01 -3.94775303e-03 3.36378481e+00] [ 2.49842373e-02 1.35364452e-04 9.99687836e-01 1.30110166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.94, Y:3.38, Z:1.30 [[ 9.87835933e-01 -1.53530372e-01 -2.46697261e-02 5.19381831e+01] [ 1.53479492e-01 9.88143922e-01 -3.95411284e-03 3.37529013e+00] [ 2.49843163e-02 1.19717722e-04 9.99687836e-01 1.30273104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.328040941999994 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:52.00, Y:3.37, Z:1.31 [[ 9.89339541e-01 -1.43522453e-01 -2.46693687e-02 5.19984427e+01] [ 1.43468402e-01 9.89646990e-01 -3.95634137e-03 3.37225015e+00] [ 2.49817903e-02 3.74890044e-04 9.99687836e-01 1.30574180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.388040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.06, Y:3.38, Z:1.31 [[ 9.89927375e-01 -1.39410410e-01 -2.46683932e-02 5.20574016e+01] [ 1.39354931e-01 9.90234569e-01 -3.96241468e-03 3.37903640e+00] [ 2.49798975e-02 4.84840542e-04 9.99687836e-01 1.30928738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44804094199999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:52.11, Y:3.39, Z:1.30 [[ 9.89957831e-01 -1.39194163e-01 -2.46673272e-02 5.21142521e+01] [ 1.39138452e-01 9.90264984e-01 -3.96903938e-03 3.38764700e+00] [ 2.49796575e-02 4.97007883e-04 9.99687836e-01 1.30409976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.508040941999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:52.17, Y:3.39, Z:1.31 [[ 9.90714882e-01 -1.33699543e-01 -2.46668772e-02 5.21735278e+01] [ 1.33642059e-01 9.91021707e-01 -3.97183423e-03 3.39038697e+00] [ 2.49764432e-02 6.38423019e-04 9.99687836e-01 1.31366808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.568040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.23, Y:3.39, Z:1.32 [[ 9.90668733e-01 -1.34041247e-01 -2.46658870e-02 5.22325985e+01] [ 1.33983716e-01 9.90975549e-01 -3.97797407e-03 3.39429921e+00] [ 2.49765035e-02 6.36027335e-04 9.99687836e-01 1.31548309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.628040942 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:52.29, Y:3.40, Z:1.31 [[ 9.90120071e-01 -1.38035842e-01 -2.46647977e-02 5.22909105e+01] [ 1.37979381e-01 9.90427086e-01 -3.98471664e-03 3.39843852e+00] [ 2.49787174e-02 5.42114404e-04 9.99687836e-01 1.31459419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68804094199999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:52.35, Y:3.40, Z:1.31 [[ 9.89316326e-01 -1.43683275e-01 -2.46642257e-02 5.23489389e+01] [ 1.43628478e-01 9.89623643e-01 -3.98825427e-03 3.40298577e+00] [ 2.49813463e-02 4.03159861e-04 9.99687836e-01 1.31447088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.748040941999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:52.41, Y:3.41, Z:1.32 [[ 9.88954911e-01 -1.46150323e-01 -2.46630855e-02 5.24081148e+01] [ 1.46096118e-01 9.89262332e-01 -3.99529285e-03 3.40648883e+00] [ 2.49821748e-02 3.47983440e-04 9.99687836e-01 1.31681261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.808040942 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:52.47, Y:3.41, Z:1.32 [[ 9.88479334e-01 -1.49333159e-01 -2.46619985e-02 5.24650086e+01] [ 1.49279777e-01 9.88786899e-01 -4.00199138e-03 3.41416076e+00] [ 2.49830910e-02 2.74348142e-04 9.99687836e-01 1.31905698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86804094199999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:52.52, Y:3.42, Z:1.32 [[ 9.88438861e-01 -1.49600876e-01 -2.46616132e-02 5.25220082e+01] [ 1.49547518e-01 9.88746431e-01 -4.00436430e-03 3.42351119e+00] [ 2.49831384e-02 2.69986255e-04 9.99687836e-01 1.32076275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.928040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.58, Y:3.44, Z:1.32 [[ 9.87769253e-01 -1.53960139e-01 -2.46612544e-02 5.25789470e+01] [ 1.53908083e-01 9.88077046e-01 -4.00657265e-03 3.44034231e+00] [ 2.49840719e-02 1.62002878e-04 9.99687836e-01 1.32491321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.988040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:52.64, Y:3.45, Z:1.32 [[ 9.88055925e-01 -1.52109700e-01 -2.46602501e-02 5.26381022e+01] [ 1.52056913e-01 9.88363594e-01 -4.01274480e-03 3.44522648e+00] [ 2.49836708e-02 2.15054767e-04 9.99687836e-01 1.32296045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.69, Y:3.46, Z:1.33 [[ 9.87425426e-01 -1.56150291e-01 -2.46599712e-02 5.26943526e+01] [ 1.56098721e-01 9.87733301e-01 -4.01445754e-03 3.46274086e+00] [ 2.49843335e-02 1.14587494e-04 9.99687836e-01 1.32741486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.108040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.75, Y:3.47, Z:1.33 [[ 9.87010715e-01 -1.58750593e-01 -2.46596246e-02 5.27525271e+01] [ 1.58699781e-01 9.87318716e-01 -4.01658537e-03 3.46803623e+00] [ 2.49845442e-02 5.09357700e-05 9.99687836e-01 1.32536068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.81, Y:3.48, Z:1.33 [[ 9.85943894e-01 -1.65246962e-01 -2.46592843e-02 5.28100832e+01] [ 1.65198127e-01 9.86252214e-01 -4.01867377e-03 3.47896205e+00] [ 2.49843474e-02 -1.11480706e-04 9.99687836e-01 1.32874193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22804094199999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:52.87, Y:3.49, Z:1.34 [[ 9.86240939e-01 -1.63464910e-01 -2.46583444e-02 5.28680935e+01] [ 1.63415373e-01 9.86549147e-01 -4.02443265e-03 3.48705333e+00] [ 2.49845222e-02 -6.04923277e-05 9.99687836e-01 1.34044986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.288040941999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:52.93, Y:3.50, Z:1.35 [[ 9.86710679e-01 -1.60605282e-01 -2.46572493e-02 5.29267517e+01] [ 1.60554685e-01 9.87018715e-01 -4.03113110e-03 3.49591867e+00] [ 2.49845875e-02 1.87231947e-05 9.99687836e-01 1.34903017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.348040942 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:52.98, Y:3.51, Z:1.34 [[ 9.85794287e-01 -1.66137448e-01 -2.46570955e-02 5.29835732e+01] [ 1.66088556e-01 9.86102598e-01 -4.03207167e-03 3.51354671e+00] [ 2.49843040e-02 -1.20468173e-04 9.99687836e-01 1.34007112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40804094199999 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:53.04, Y:3.51, Z:1.35 [[ 9.87009999e-01 -1.58755462e-01 -2.46569549e-02 5.30444062e+01] [ 1.58704243e-01 9.87317932e-01 -4.03293142e-03 3.51384593e+00] [ 2.49845036e-02 6.73802757e-05 9.99687836e-01 1.35455436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.468040941999995 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:53.10, Y:3.53, Z:1.35 [[ 9.86741708e-01 -1.60414580e-01 -2.46569123e-02 5.31012942e+01] [ 1.60363873e-01 9.87049726e-01 -4.03319179e-03 3.52661246e+00] [ 2.49845813e-02 2.56406131e-05 9.99687836e-01 1.35214540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.528040942 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:53.16, Y:3.53, Z:1.36 [[ 9.87107528e-01 -1.58147966e-01 -2.46566256e-02 5.31598203e+01] [ 1.58096508e-01 9.87415421e-01 -4.03494347e-03 3.53399290e+00] [ 2.49844505e-02 8.47966691e-05 9.99687836e-01 1.35748848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58804094199999 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:53.22, Y:3.54, Z:1.36 [[ 9.86837655e-01 -1.59823343e-01 -2.46564837e-02 5.32181412e+01] [ 1.59772386e-01 9.87145631e-01 -4.03581075e-03 3.54434257e+00] [ 2.49845569e-02 4.32647935e-05 9.99687836e-01 1.35833682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.648040941999994 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:53.28, Y:3.56, Z:1.36 [[ 9.86329396e-01 -1.62930632e-01 -2.46562710e-02 5.32772061e+01] [ 1.62880612e-01 9.86637526e-01 -4.03710948e-03 3.55703060e+00] [ 2.49845710e-02 -3.41087655e-05 9.99687836e-01 1.35578929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.708040942 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:53.33, Y:3.57, Z:1.35 [[ 9.86122810e-01 -1.64176354e-01 -2.46562014e-02 5.33346794e+01] [ 1.64126713e-01 9.86431001e-01 -4.03753480e-03 3.56722027e+00] [ 2.49845092e-02 -6.52361202e-05 9.99687836e-01 1.35403262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76804094199999 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:53.39, Y:3.57, Z:1.36 [[ 9.86361734e-01 -1.62734902e-01 -2.46552384e-02 5.33933524e+01] [ 1.62684664e-01 9.86669829e-01 -4.04340640e-03 3.57190774e+00] [ 2.49845832e-02 -2.27678232e-05 9.99687836e-01 1.36121156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.828040941999994 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:53.45, Y:3.58, Z:1.36 [[ 9.86316822e-01 -1.63007032e-01 -2.46542737e-02 5.34513811e+01] [ 1.62956732e-01 9.86624907e-01 -4.04928030e-03 3.57780220e+00] [ 2.49845817e-02 -2.37065925e-05 9.99687836e-01 1.36257102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.888040941999996 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:53.51, Y:3.59, Z:1.37 [[ 9.86133335e-01 -1.64113451e-01 -2.46540023e-02 5.35095682e+01] [ 1.64063455e-01 9.86441469e-01 -4.05093198e-03 3.58502623e+00] [ 2.49845427e-02 -5.00617378e-05 9.99687836e-01 1.37062038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94804094199999 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:53.57, Y:3.59, Z:1.37 [[ 9.85727758e-01 -1.66532324e-01 -2.46530484e-02 5.35686559e+01] [ 1.66482939e-01 9.86035990e-01 -4.05672899e-03 3.59236745e+00] [ 2.49843695e-02 -1.05481572e-04 9.99687836e-01 1.37404962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.008040941999994 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:53.63, Y:3.60, Z:1.38 [[ 9.85110378e-01 -1.70146451e-01 -2.46521421e-02 5.36263297e+01] [ 1.70098059e-01 9.85418768e-01 -4.06222877e-03 3.60027536e+00] [ 2.49838573e-02 -1.91537808e-04 9.99687836e-01 1.37910035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.068040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.68, Y:3.61, Z:1.38 [[ 9.84337379e-01 -1.74562926e-01 -2.46517736e-02 5.36833004e+01] [ 1.74515862e-01 9.84645974e-01 -4.06446379e-03 3.61034892e+00] [ 2.49827744e-02 -3.01321893e-04 9.99687836e-01 1.37587230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.128040942 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:53.74, Y:3.62, Z:1.37 [[ 9.83535875e-01 -1.79023714e-01 -2.46514124e-02 5.37405393e+01] [ 1.78977995e-01 9.83844673e-01 -4.06665361e-03 3.62303651e+00] [ 2.49811882e-02 -4.12360646e-04 9.99687836e-01 1.37233834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18804094199999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:53.80, Y:3.64, Z:1.37 [[ 9.83213651e-01 -1.80785051e-01 -2.46512073e-02 5.37989716e+01] [ 1.80739854e-01 9.83522525e-01 -4.06789656e-03 3.63618355e+00] [ 2.49804325e-02 -4.55844178e-04 9.99687836e-01 1.37194447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.248040941999996 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:53.86, Y:3.65, Z:1.37 [[ 9.81938778e-01 -1.87586145e-01 -2.46510665e-02 5.38569068e+01] [ 1.87543065e-01 9.82247954e-01 -4.06874954e-03 3.65398523e+00] [ 2.49767007e-02 -6.27873621e-04 9.99687836e-01 1.36704202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.308040942 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:53.91, Y:3.67, Z:1.37 [[ 9.81714038e-01 -1.88758780e-01 -2.46509906e-02 5.39134729e+01] [ 1.88716058e-01 9.82023264e-01 -4.06920953e-03 3.66609481e+00] [ 2.49759452e-02 -6.57237644e-04 9.99687836e-01 1.36774713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36804094199999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:53.97, Y:3.68, Z:1.37 [[ 9.82239066e-01 -1.86007543e-01 -2.46497495e-02 5.39705793e+01] [ 1.85963767e-01 9.82548145e-01 -4.07671382e-03 3.67564060e+00] [ 2.49778651e-02 -5.79652685e-04 9.99687836e-01 1.37151429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.428040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.03, Y:3.69, Z:1.36 [[ 9.81566523e-01 -1.89524691e-01 -2.46485601e-02 5.40261756e+01] [ 1.89481842e-01 9.81875732e-01 -4.08389244e-03 3.69314152e+00] [ 2.49758214e-02 -6.61842462e-04 9.99687836e-01 1.36441872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.09, Y:3.70, Z:1.39 [[ 9.82549318e-01 -1.84361906e-01 -2.46480470e-02 5.40858901e+01] [ 1.84317354e-01 9.82858286e-01 -4.08698683e-03 3.69545236e+00] [ 2.49790219e-02 -5.27396681e-04 9.99687836e-01 1.39028778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54804094199999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:54.14, Y:3.70, Z:1.39 [[ 9.83367837e-01 -1.79944932e-01 -2.46478787e-02 5.41449785e+01] [ 1.79898967e-01 9.83676598e-01 -4.08800156e-03 3.70137340e+00] [ 2.49811566e-02 -4.14118656e-04 9.99687836e-01 1.38624101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.608040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.20, Y:3.71, Z:1.39 [[ 9.83933582e-01 -1.76825444e-01 -2.46468830e-02 5.42027870e+01] [ 1.76778350e-01 9.84242173e-01 -4.09399578e-03 3.71440391e+00] [ 2.49824243e-02 -3.28815372e-04 9.99687836e-01 1.39042747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.26, Y:3.73, Z:1.40 [[ 9.83264986e-01 -1.80506375e-01 -2.46458101e-02 5.42578769e+01] [ 1.80460274e-01 9.83573727e-01 -4.10044463e-03 3.73386495e+00] [ 2.49811277e-02 -4.15766017e-04 9.99687836e-01 1.39533192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72804094199999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:54.32, Y:3.74, Z:1.40 [[ 9.84569956e-01 -1.73247232e-01 -2.46454339e-02 5.43168046e+01] [ 1.73198798e-01 9.84878340e-01 -4.10270410e-03 3.73512153e+00] [ 2.49835362e-02 -2.29160340e-04 9.99687836e-01 1.39697294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.788040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.37, Y:3.75, Z:1.40 [[ 9.84649936e-01 -1.72792262e-01 -2.46442312e-02 5.43731894e+01] [ 1.72743506e-01 9.84958268e-01 -4.10991602e-03 3.74926838e+00] [ 2.49837010e-02 -2.10302357e-04 9.99687837e-01 1.39543485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.848040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:54.43, Y:3.76, Z:1.40 [[ 9.85085845e-01 -1.70289628e-01 -2.46438577e-02 5.44303128e+01] [ 1.70240032e-01 9.85394044e-01 -4.11215460e-03 3.75901991e+00] [ 2.49841679e-02 -1.44545820e-04 9.99687837e-01 1.40088331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.49, Y:3.77, Z:1.40 [[ 9.84473084e-01 -1.73797140e-01 -2.46434945e-02 5.44880895e+01] [ 1.73748587e-01 9.84781448e-01 -4.11432977e-03 3.77275208e+00] [ 2.49835150e-02 -2.31325440e-04 9.99687837e-01 1.40340669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.968040941999995 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:54.54, Y:3.80, Z:1.40 [[ 9.82917115e-01 -1.82391603e-01 -2.46424038e-02 5.45426547e+01] [ 1.82345583e-01 9.83225868e-01 -4.12085222e-03 3.79734788e+00] [ 2.49806577e-02 -4.42977323e-04 9.99687837e-01 1.40259310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.60, Y:3.81, Z:1.40 [[ 9.82509127e-01 -1.84576775e-01 -2.46420213e-02 5.45995429e+01] [ 1.84531385e-01 9.82817973e-01 -4.12313821e-03 3.81004747e+00] [ 2.49796570e-02 -4.96205390e-04 9.99687837e-01 1.40087967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08804094199999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:54.66, Y:3.82, Z:1.40 [[ 9.82686625e-01 -1.83629587e-01 -2.46408542e-02 5.46562185e+01] [ 1.83583724e-01 9.82995401e-01 -4.13010162e-03 3.82133360e+00] [ 2.49802552e-02 -4.65064158e-04 9.99687837e-01 1.40196006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.148040941999994 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:54.71, Y:3.83, Z:1.40 [[ 9.82142395e-01 -1.86518633e-01 -2.46397040e-02 5.47138103e+01] [ 1.86473507e-01 9.82451280e-01 -4.13695211e-03 3.83441536e+00] [ 2.49789274e-02 -5.31575964e-04 9.99687837e-01 1.40467700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.208040942 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:54.77, Y:3.84, Z:1.40 [[ 9.83212850e-01 -1.80791112e-01 -2.46386791e-02 5.47712394e+01] [ 1.80744034e-01 9.83521443e-01 -4.14304677e-03 3.84090547e+00] [ 2.49816953e-02 -3.79797433e-04 9.99687837e-01 1.40300904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.83, Y:3.85, Z:1.41 [[ 9.82884143e-01 -1.82569858e-01 -2.46375196e-02 5.48275633e+01] [ 1.82523166e-01 9.83192795e-01 -4.14993076e-03 3.85441177e+00] [ 2.49810840e-02 -4.18016936e-04 9.99687837e-01 1.40563672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.328040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.88, Y:3.87, Z:1.41 [[ 9.83258332e-01 -1.80543908e-01 -2.46363582e-02 5.48837443e+01] [ 1.80496407e-01 9.83566860e-01 -4.15681442e-03 3.86629467e+00] [ 2.49819930e-02 -3.59551716e-04 9.99687837e-01 1.40802606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.388040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.94, Y:3.88, Z:1.41 [[ 9.83214590e-01 -1.80782019e-01 -2.46360013e-02 5.49394368e+01] [ 1.80734540e-01 9.83523121e-01 -4.15892820e-03 3.88327311e+00] [ 2.49819363e-02 -3.63457471e-04 9.99687837e-01 1.40920721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.00, Y:3.89, Z:1.42 [[ 9.84431447e-01 -1.74034065e-01 -2.46347547e-02 5.49968891e+01] [ 1.73984286e-01 9.84739615e-01 -4.16629939e-03 3.89499784e+00] [ 2.49838969e-02 -1.84624064e-04 9.99687837e-01 1.41615903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.508040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.05, Y:3.92, Z:1.41 [[ 9.83243132e-01 -1.80627039e-01 -2.46336240e-02 5.50517501e+01] [ 1.80579160e-01 9.83551602e-01 -4.17297370e-03 3.91921154e+00] [ 2.49821923e-02 -3.45271392e-04 9.99687837e-01 1.41122212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.568040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.11, Y:3.93, Z:1.41 [[ 9.84015119e-01 -1.76373068e-01 -2.46330268e-02 5.51084551e+01] [ 1.76323767e-01 9.84323365e-01 -4.17649655e-03 3.93315750e+00] [ 2.49834853e-02 -2.33652317e-04 9.99687837e-01 1.41205650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.17, Y:3.93, Z:1.42 [[ 9.86146564e-01 -1.64037272e-01 -2.46318343e-02 5.51674949e+01] [ 1.63983939e-01 9.86454138e-01 -4.18351770e-03 3.93482993e+00] [ 2.49844277e-02 8.63364037e-05 9.99687837e-01 1.42189599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.22, Y:3.96, Z:1.42 [[ 9.85068712e-01 -1.70390606e-01 -2.46307480e-02 5.52225994e+01] [ 1.70339097e-01 9.85376596e-01 -4.18990339e-03 3.95625121e+00] [ 2.49844828e-02 -6.82366370e-05 9.99687837e-01 1.41553054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.748040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.28, Y:3.98, Z:1.40 [[ 9.83200736e-01 -1.80858118e-01 -2.46303624e-02 5.52791220e+01] [ 1.80809830e-01 9.83509141e-01 -4.19216904e-03 3.98248516e+00] [ 2.49823744e-02 -3.31667953e-04 9.99687837e-01 1.39855801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.34, Y:3.98, Z:1.42 [[ 9.85551042e-01 -1.67578328e-01 -2.46302327e-02 5.53391560e+01] [ 1.67525864e-01 9.85858765e-01 -4.19293088e-03 3.98061959e+00] [ 2.49845751e-02 6.14637348e-06 9.99687837e-01 1.41730054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.40, Y:3.99, Z:1.42 [[ 9.85593424e-01 -1.67328892e-01 -2.46301466e-02 5.53951366e+01] [ 1.67276339e-01 9.85901132e-01 -4.19343642e-03 3.98951029e+00] [ 2.49845725e-02 1.29826190e-05 9.99687837e-01 1.41879264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.928040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.45, Y:4.00, Z:1.42 [[ 9.85446424e-01 -1.68192525e-01 -2.46296476e-02 5.54525182e+01] [ 1.68140168e-01 9.85754165e-01 -4.19636554e-03 3.99810411e+00] [ 2.49845750e-02 -5.93966377e-06 9.99687837e-01 1.42007135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.51, Y:4.01, Z:1.42 [[ 9.85251215e-01 -1.69332454e-01 -2.46285136e-02 5.55104918e+01] [ 1.69280287e-01 9.85558988e-01 -4.20301009e-03 4.00635959e+00] [ 2.49845590e-02 -2.81010533e-05 9.99687837e-01 1.41986816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.57, Y:4.00, Z:1.44 [[ 9.86758239e-01 -1.60317413e-01 -2.46273185e-02 5.55715313e+01] [ 1.60262259e-01 9.87065491e-01 -4.21000142e-03 4.00070473e+00] [ 2.49837127e-02 2.07423893e-04 9.99687837e-01 1.43944618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.108040941999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:55.63, Y:4.02, Z:1.42 [[ 9.84701101e-01 -1.72502875e-01 -2.46272211e-02 5.56284324e+01] [ 1.72451510e-01 9.85009009e-01 -4.21057087e-03 4.01974576e+00] [ 2.49843702e-02 -1.00847687e-04 9.99687837e-01 1.42163074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.69, Y:4.02, Z:1.43 [[ 9.85105418e-01 -1.70178791e-01 -2.46271117e-02 5.56868320e+01] [ 1.70126683e-01 9.85413201e-01 -4.21121090e-03 4.02323300e+00] [ 2.49845397e-02 -4.12421451e-05 9.99687837e-01 1.42879808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.75, Y:4.02, Z:1.44 [[ 9.86823507e-01 -1.59915384e-01 -2.46259109e-02 5.57477151e+01] [ 1.59859900e-01 9.87130700e-01 -4.21822082e-03 4.02116605e+00] [ 2.49835511e-02 2.25943797e-04 9.99687837e-01 1.44467303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.288040941999995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:55.81, Y:4.03, Z:1.44 [[ 9.87187073e-01 -1.57655481e-01 -2.46258574e-02 5.58069115e+01] [ 1.57599286e-01 9.87494136e-01 -4.21853331e-03 4.03060911e+00] [ 2.49829647e-02 2.83464017e-04 9.99687837e-01 1.44345505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.348040942 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:55.87, Y:4.04, Z:1.44 [[ 9.87411545e-01 -1.56243451e-01 -2.46256959e-02 5.58655361e+01] [ 1.56186794e-01 9.87718523e-01 -4.21947597e-03 4.03969890e+00] [ 2.49825215e-02 3.20150791e-04 9.99687837e-01 1.44450078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40804094199999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.92, Y:4.05, Z:1.44 [[ 9.87869409e-01 -1.53322085e-01 -2.46245708e-02 5.59241143e+01] [ 1.53264356e-01 9.88176188e-01 -4.22603155e-03 4.04845095e+00] [ 2.49813585e-02 4.00698295e-04 9.99687837e-01 1.44229575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.468040941999995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:55.98, Y:4.06, Z:1.44 [[ 9.87559560e-01 -1.55305371e-01 -2.46243297e-02 5.59828805e+01] [ 1.55248224e-01 9.87866447e-01 -4.22743595e-03 4.05770670e+00] [ 2.49820926e-02 3.51961341e-04 9.99687837e-01 1.43761524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.528040942 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:56.04, Y:4.06, Z:1.44 [[ 9.87593423e-01 -1.55089927e-01 -2.46240894e-02 5.60420068e+01] [ 1.55032678e-01 9.87900291e-01 -4.22883549e-03 4.06316084e+00] [ 2.49819948e-02 3.58831606e-04 9.99687837e-01 1.43723496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58804094199999 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:56.10, Y:4.07, Z:1.44 [[ 9.87468749e-01 -1.55881947e-01 -2.46229280e-02 5.60992647e+01] [ 1.55824776e-01 9.87775632e-01 -4.23558674e-03 4.06773389e+00] [ 2.49821798e-02 3.45647309e-04 9.99687837e-01 1.43788253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.648040941999994 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:56.16, Y:4.07, Z:1.44 [[ 9.87003816e-01 -1.58799265e-01 -2.46223567e-02 5.61575767e+01] [ 1.58742918e-01 9.87310852e-01 -4.23890555e-03 4.07352363e+00] [ 2.49830550e-02 2.75191199e-04 9.99687837e-01 1.43517044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.708040942 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:56.21, Y:4.08, Z:1.43 [[ 9.86868959e-01 -1.59635264e-01 -2.46219501e-02 5.62145142e+01] [ 1.59579118e-01 9.87176031e-01 -4.24126557e-03 4.07665329e+00] [ 2.49832546e-02 2.56424240e-04 9.99687837e-01 1.43350786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.27, Y:4.08, Z:1.43 [[ 9.86250905e-01 -1.63410342e-01 -2.46213901e-02 5.62731357e+01] [ 1.63355291e-01 9.86558175e-01 -4.24451405e-03 4.07924427e+00] [ 2.49840312e-02 1.64121485e-04 9.99687837e-01 1.42994726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.828040941999994 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:56.33, Y:4.08, Z:1.43 [[ 9.86057110e-01 -1.64575897e-01 -2.46201080e-02 5.63304885e+01] [ 1.64521023e-01 9.86364412e-01 -4.25193776e-03 4.08498811e+00] [ 2.49841649e-02 1.42128084e-04 9.99687837e-01 1.43155607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.888040941999996 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:56.39, Y:4.09, Z:1.43 [[ 9.85748714e-01 -1.66413167e-01 -2.46197180e-02 5.63905643e+01] [ 1.66358810e-01 9.86056108e-01 -4.25419487e-03 4.08699580e+00] [ 2.49843774e-02 9.78601347e-05 9.99687837e-01 1.42949288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94804094199999 meters Centerline goodness : 0.997987 with order 1 Centerline is valid? [True, True] Translation: X:56.45, Y:4.09, Z:1.43 [[ 9.85456852e-01 -1.68133048e-01 -2.46185225e-02 5.64500047e+01] [ 1.68079055e-01 9.85764310e-01 -4.26110231e-03 4.09172228e+00] [ 2.49844929e-02 6.12744874e-05 9.99687837e-01 1.42949529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.008040941999994 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:56.51, Y:4.09, Z:1.43 [[ 9.85655853e-01 -1.66962669e-01 -2.46172159e-02 5.65089199e+01] [ 1.66908122e-01 9.85963213e-01 -4.26863721e-03 4.09449473e+00] [ 2.49843723e-02 9.85939652e-05 9.99687837e-01 1.43369665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.068040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.57, Y:4.10, Z:1.44 [[ 9.85327135e-01 -1.68891989e-01 -2.46156949e-02 5.65667785e+01] [ 1.68837826e-01 9.85634563e-01 -4.27739044e-03 4.09887254e+00] [ 2.49844967e-02 5.85684648e-05 9.99687837e-01 1.43947954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.62, Y:4.11, Z:1.44 [[ 9.85718702e-01 -1.66591534e-01 -2.46150803e-02 5.66245910e+01] [ 1.66536565e-01 9.86025987e-01 -4.28092442e-03 4.10944477e+00] [ 2.49842746e-02 1.20476356e-04 9.99687837e-01 1.44222873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.68, Y:4.12, Z:1.44 [[ 9.86223125e-01 -1.63579019e-01 -2.46140500e-02 5.66812308e+01] [ 1.63522963e-01 9.86530214e-01 -4.28684001e-03 4.12113559e+00] [ 2.49837411e-02 2.02818366e-04 9.99687837e-01 1.44316156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.248040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.74, Y:4.13, Z:1.44 [[ 9.86735918e-01 -1.60456961e-01 -2.46128444e-02 5.67383593e+01] [ 1.60399762e-01 9.87042796e-01 -4.29375060e-03 4.13345723e+00] [ 2.49828929e-02 2.88903557e-04 9.99687837e-01 1.44268572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.79, Y:4.15, Z:1.44 [[ 9.86765669e-01 -1.60274085e-01 -2.46116472e-02 5.67949118e+01] [ 1.60216658e-01 9.87072504e-01 -4.30060238e-03 4.14531992e+00] [ 2.49827553e-02 3.00490938e-04 9.99687837e-01 1.44365735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.85, Y:4.16, Z:1.44 [[ 9.86070184e-01 -1.64498996e-01 -2.46104084e-02 5.68502967e+01] [ 1.64442707e-01 9.86377230e-01 -4.30767954e-03 4.15746828e+00] [ 2.49837554e-02 2.00672171e-04 9.99687837e-01 1.44368331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.428040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.91, Y:4.16, Z:1.45 [[ 9.86520658e-01 -1.61775600e-01 -2.46098752e-02 5.69094934e+01] [ 1.61718387e-01 9.86827533e-01 -4.31072358e-03 4.15932406e+00] [ 2.49830723e-02 2.72748527e-04 9.99687837e-01 1.45373421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.97, Y:4.18, Z:1.45 [[ 9.83953655e-01 -1.76718917e-01 -2.46095420e-02 5.69656883e+01] [ 1.76666318e-01 9.84261354e-01 -4.31262505e-03 4.17853633e+00] [ 2.49843436e-02 -1.04253979e-04 9.99687837e-01 1.45048686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.02, Y:4.18, Z:1.45 [[ 9.83695585e-01 -1.78149880e-01 -2.46092921e-02 5.70245945e+01] [ 1.78097693e-01 9.84003354e-01 -4.31405072e-03 4.18291194e+00] [ 2.49841736e-02 -1.39145487e-04 9.99687837e-01 1.45448664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.608040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.08, Y:4.19, Z:1.46 [[ 9.83154482e-01 -1.81112404e-01 -2.46081575e-02 5.70822304e+01] [ 1.81060983e-01 9.83462380e-01 -4.32051281e-03 4.19213300e+00] [ 2.49836956e-02 -2.07845644e-04 9.99687837e-01 1.45631620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.14, Y:4.20, Z:1.46 [[ 9.82651344e-01 -1.83822844e-01 -2.46068614e-02 5.71407312e+01] [ 1.83772087e-01 9.82959353e-01 -4.32788231e-03 4.20199202e+00] [ 2.49831081e-02 -2.69254893e-04 9.99687837e-01 1.45656320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.20, Y:4.21, Z:1.46 [[ 9.82732838e-01 -1.83386820e-01 -2.46057432e-02 5.71983803e+01] [ 1.83335768e-01 9.83040798e-01 -4.33423007e-03 4.21178649e+00] [ 2.49832901e-02 -2.51722603e-04 9.99687837e-01 1.45861436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.788040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.26, Y:4.22, Z:1.46 [[ 9.83225240e-01 -1.80728358e-01 -2.46046398e-02 5.72556214e+01] [ 1.80676316e-01 9.83533034e-01 -4.34048513e-03 4.21868644e+00] [ 2.49839247e-02 -1.77801133e-04 9.99687837e-01 1.46101381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.31, Y:4.23, Z:1.46 [[ 9.83573634e-01 -1.78822644e-01 -2.46042528e-02 5.73143295e+01] [ 1.78769951e-01 9.83881317e-01 -4.34267753e-03 4.22620879e+00] [ 2.49842337e-02 -1.27157961e-04 9.99687837e-01 1.46382900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90804094199999 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:57.37, Y:4.24, Z:1.47 [[ 9.84327473e-01 -1.74625627e-01 -2.46031680e-02 5.73723643e+01] [ 1.74571469e-01 9.84634902e-01 -4.34881447e-03 4.23613471e+00] [ 2.49845524e-02 -1.43536319e-05 9.99687837e-01 1.46751424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.968040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.43, Y:4.25, Z:1.47 [[ 9.84583157e-01 -1.73178360e-01 -2.46020785e-02 5.74299363e+01] [ 1.73123596e-01 9.84890479e-01 -4.35496927e-03 4.24688392e+00] [ 2.49845394e-02 2.86290826e-05 9.99687837e-01 1.46970420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.49, Y:4.25, Z:1.47 [[ 9.84839606e-01 -1.71714127e-01 -2.46009937e-02 5.74871476e+01] [ 1.71658753e-01 9.85146818e-01 -4.36108902e-03 4.25446361e+00] [ 2.49844512e-02 7.19972815e-05 9.99687837e-01 1.47410909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.55, Y:4.26, Z:1.48 [[ 9.85045369e-01 -1.70529976e-01 -2.45997455e-02 5.75459393e+01] [ 1.70474058e-01 9.85352483e-01 -4.36811840e-03 4.26060096e+00] [ 2.49843154e-02 1.09176372e-04 9.99687837e-01 1.47794728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.148040941999994 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:57.61, Y:4.27, Z:1.49 [[ 9.85747884e-01 -1.66421212e-01 -2.45985814e-02 5.76060946e+01] [ 1.66363850e-01 9.86054731e-01 -4.37466392e-03 4.26518539e+00] [ 2.49835845e-02 2.20000989e-04 9.99687837e-01 1.48541984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.208040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:57.66, Y:4.28, Z:1.48 [[ 9.85661470e-01 -1.66932279e-01 -2.45983838e-02 5.76636543e+01] [ 1.66875049e-01 9.85968342e-01 -4.37577513e-03 4.27615782e+00] [ 2.49836858e-02 2.08176461e-04 9.99687837e-01 1.48238592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26804094199999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:57.72, Y:4.29, Z:1.48 [[ 9.85960235e-01 -1.65158683e-01 -2.45972302e-02 5.77218215e+01] [ 1.65100739e-01 9.86266973e-01 -4.38224977e-03 4.28525443e+00] [ 2.49832024e-02 2.59703127e-04 9.99687837e-01 1.48328618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.328040941999994 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:57.78, Y:4.29, Z:1.49 [[ 9.86374220e-01 -1.62668164e-01 -2.45960739e-02 5.77793710e+01] [ 1.62609284e-01 9.86680779e-01 -4.38873032e-03 4.29334649e+00] [ 2.49823801e-02 3.29380482e-04 9.99687837e-01 1.48647061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.388040941999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:57.84, Y:4.31, Z:1.49 [[ 9.87014353e-01 -1.58737897e-01 -2.45956684e-02 5.78361059e+01] [ 1.58677739e-01 9.87320664e-01 -4.39100137e-03 4.30574554e+00] [ 2.49808300e-02 4.31196311e-04 9.99687837e-01 1.48987345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44804094199999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:57.90, Y:4.32, Z:1.49 [[ 9.86647741e-01 -1.61000951e-01 -2.45952907e-02 5.78953693e+01] [ 1.60941443e-01 9.86954179e-01 -4.39311601e-03 4.31737634e+00] [ 2.49817208e-02 3.76056400e-04 9.99687837e-01 1.49049846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.508040941999994 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:57.95, Y:4.33, Z:1.49 [[ 9.86341541e-01 -1.62866325e-01 -2.45952098e-02 5.79524798e+01] [ 1.62807385e-01 9.86648089e-01 -4.39356919e-03 4.33078167e+00] [ 2.49823812e-02 3.29278017e-04 9.99687837e-01 1.49225039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.568040941999996 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:58.01, Y:4.34, Z:1.49 [[ 9.86171784e-01 -1.63891268e-01 -2.45940057e-02 5.80095653e+01] [ 1.63832480e-01 9.86478361e-01 -4.40029911e-03 4.34156509e+00] [ 2.49826250e-02 3.10153886e-04 9.99687837e-01 1.49124352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62804094199999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:58.07, Y:4.35, Z:1.49 [[ 9.84740024e-01 -1.72285349e-01 -2.45935825e-02 5.80673110e+01] [ 1.72229114e-01 9.85047079e-01 -4.40266308e-03 4.35392966e+00] [ 2.49843510e-02 9.97476184e-05 9.99687837e-01 1.49032387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68804094199999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:58.13, Y:4.37, Z:1.49 [[ 9.83547783e-01 -1.78966386e-01 -2.45924976e-02 5.81250199e+01] [ 1.78912086e-01 9.83855187e-01 -4.40871501e-03 4.36662609e+00] [ 2.49844681e-02 -6.37131649e-05 9.99687837e-01 1.49180658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.748040941999996 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:58.18, Y:4.38, Z:1.49 [[ 9.81619355e-01 -1.89258306e-01 -2.45913829e-02 5.81828312e+01] [ 1.89207074e-01 9.81927284e-01 -4.41492365e-03 4.38102418e+00] [ 2.49825108e-02 -3.19089104e-04 9.99687837e-01 1.48907091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.808040942 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:58.24, Y:4.39, Z:1.49 [[ 9.80718396e-01 -1.93872905e-01 -2.45911489e-02 5.82412548e+01] [ 1.93823089e-01 9.81026558e-01 -4.41622648e-03 4.39112783e+00] [ 2.49807569e-02 -4.35257898e-04 9.99687837e-01 1.49145792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86804094199999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:58.30, Y:4.40, Z:1.49 [[ 9.79540527e-01 -1.99739044e-01 -2.45900393e-02 5.82975028e+01] [ 1.99690918e-01 9.79848958e-01 -4.42239651e-03 4.40258557e+00] [ 2.49778496e-02 -5.78490924e-04 9.99687837e-01 1.49352198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.928040941999996 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:58.35, Y:4.41, Z:1.50 [[ 9.79430588e-01 -2.00277498e-01 -2.45895718e-02 5.83547102e+01] [ 2.00229476e-01 9.79739035e-01 -4.42499412e-03 4.41306311e+00] [ 2.49775901e-02 -5.89582489e-04 9.99687837e-01 1.49868688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.988040942 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:58.41, Y:4.42, Z:1.50 [[ 9.79476624e-01 -2.00052400e-01 -2.45882149e-02 5.84117667e+01] [ 2.00004118e-01 9.79785030e-01 -4.43252143e-03 4.42248224e+00] [ 2.49779014e-02 -5.76193118e-04 9.99687837e-01 1.49910005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.47, Y:4.44, Z:1.50 [[ 9.80077398e-01 -1.97088140e-01 -2.45877976e-02 5.84690716e+01] [ 1.97038868e-01 9.80385647e-01 -4.43483519e-03 4.43703206e+00] [ 2.49795772e-02 -4.98270064e-04 9.99687837e-01 1.50430909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.108040941999995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:58.53, Y:4.45, Z:1.51 [[ 9.81092220e-01 -1.91972683e-01 -2.45874943e-02 5.85253299e+01] [ 1.91921762e-01 9.81400201e-01 -4.43651598e-03 4.45134458e+00] [ 2.49818617e-02 -3.66243903e-04 9.99687838e-01 1.50505886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.168040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:58.58, Y:4.46, Z:1.51 [[ 9.82636107e-01 -1.83907019e-01 -2.45863720e-02 5.85823681e+01] [ 1.83853414e-01 9.82943632e-01 -4.44272710e-03 4.46421976e+00] [ 2.49840665e-02 -1.54704363e-04 9.99687838e-01 1.51089338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22804094199999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:58.64, Y:4.48, Z:1.51 [[ 9.83688989e-01 -1.78189615e-01 -2.45852247e-02 5.86386399e+01] [ 1.78134064e-01 9.83996169e-01 -4.44906661e-03 4.47869457e+00] [ 2.49845444e-02 -2.96816192e-06 9.99687838e-01 1.51235629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.288040941999995 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:58.70, Y:4.49, Z:1.51 [[ 9.84072927e-01 -1.76056980e-01 -2.45848311e-02 5.86957886e+01] [ 1.76000709e-01 9.84379976e-01 -4.45124044e-03 4.49300645e+00] [ 2.49844874e-02 5.33974868e-05 9.99687838e-01 1.51477992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.348040942 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:58.75, Y:4.50, Z:1.52 [[ 9.84064125e-01 -1.76106325e-01 -2.45837191e-02 5.87525709e+01] [ 1.76049916e-01 9.84371149e-01 -4.45737391e-03 4.50446901e+00] [ 2.49844755e-02 5.83800787e-05 9.99687838e-01 1.51567109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40804094199999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:58.81, Y:4.52, Z:1.52 [[ 9.83589086e-01 -1.78740620e-01 -2.45825255e-02 5.88085429e+01] [ 1.78684869e-01 9.83896230e-01 -4.46394680e-03 4.51852379e+00] [ 2.49845428e-02 -1.83598771e-06 9.99687838e-01 1.51743872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.468040941999995 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:58.87, Y:4.53, Z:1.52 [[ 9.83101954e-01 -1.81400969e-01 -2.45812341e-02 5.88658706e+01] [ 1.81345872e-01 9.83409215e-01 -4.47104659e-03 4.53408530e+00] [ 2.49844643e-02 -6.22106874e-05 9.99687838e-01 1.51996943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.92, Y:4.55, Z:1.52 [[ 9.82556285e-01 -1.84333838e-01 -2.45801261e-02 5.89231766e+01] [ 1.84279505e-01 9.82863683e-01 -4.47712949e-03 4.54726238e+00] [ 2.49841998e-02 -1.30581767e-04 9.99687838e-01 1.51987247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58804094199999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:58.98, Y:4.56, Z:1.52 [[ 9.81738649e-01 -1.88640126e-01 -2.45790290e-02 5.89807912e+01] [ 1.88586991e-01 9.82046256e-01 -4.48314446e-03 4.56107664e+00] [ 2.49834444e-02 -2.34008940e-04 9.99687838e-01 1.52191052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.648040941999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:59.04, Y:4.58, Z:1.52 [[ 9.80434343e-01 -1.95305978e-01 -2.45779282e-02 5.90381276e+01] [ 1.95254784e-01 9.80742278e-01 -4.48917121e-03 4.57918773e+00] [ 2.49813753e-02 -3.97620440e-04 9.99687838e-01 1.51638045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.708040942 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:59.09, Y:4.59, Z:1.53 [[ 9.80203775e-01 -1.96459900e-01 -2.45777648e-02 5.90944327e+01] [ 1.96409046e-01 9.80511767e-01 -4.49006576e-03 4.59219622e+00] [ 2.49809055e-02 -4.26115928e-04 9.99687838e-01 1.52700426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76804094199999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:59.15, Y:4.61, Z:1.53 [[ 9.79933902e-01 -1.97801671e-01 -2.45773647e-02 5.91503447e+01] [ 1.97751184e-01 9.80241954e-01 -4.49225484e-03 4.60721687e+00] [ 2.49803395e-02 -4.58090141e-04 9.99687838e-01 1.52730572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.828040941999994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:59.21, Y:4.62, Z:1.53 [[ 9.79827933e-01 -1.98326085e-01 -2.45761068e-02 5.92070489e+01] [ 1.98275590e-01 9.80135985e-01 -4.49912580e-03 4.62213361e+00] [ 2.49802207e-02 -4.64472955e-04 9.99687838e-01 1.52857703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.888040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.26, Y:4.64, Z:1.53 [[ 9.79898267e-01 -1.97978425e-01 -2.45749887e-02 5.92631066e+01] [ 1.97927667e-01 9.80206275e-01 -4.50522526e-03 4.63717318e+00] [ 2.49804955e-02 -4.49407758e-04 9.99687838e-01 1.52971655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.32, Y:4.65, Z:1.53 [[ 9.80065463e-01 -1.97149123e-01 -2.45745958e-02 5.93201526e+01] [ 1.97098051e-01 9.80373420e-01 -4.50736725e-03 4.65226906e+00] [ 2.49809040e-02 -4.26089963e-04 9.99687838e-01 1.53213182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.008040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.38, Y:4.67, Z:1.53 [[ 9.80551465e-01 -1.94717663e-01 -2.45734803e-02 5.93765914e+01] [ 1.94665676e-01 9.80859268e-01 -4.51344031e-03 4.66839140e+00] [ 2.49819725e-02 -3.57952653e-04 9.99687838e-01 1.53333230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.068040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.43, Y:4.68, Z:1.53 [[ 9.80881717e-01 -1.93047312e-01 -2.45721844e-02 5.94332209e+01] [ 1.92994624e-01 9.81189401e-01 -4.52048455e-03 4.68155803e+00] [ 2.49826343e-02 -3.08238855e-04 9.99687838e-01 1.53446019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.49, Y:4.69, Z:1.53 [[ 9.81320159e-01 -1.90806227e-01 -2.45708939e-02 5.94904820e+01] [ 1.90752661e-01 9.81627691e-01 -4.52748833e-03 4.69369189e+00] [ 2.49833428e-02 -2.44047812e-04 9.99687838e-01 1.53499853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.55, Y:4.71, Z:1.54 [[ 9.82132775e-01 -1.86578530e-01 -2.45695874e-02 5.95460955e+01] [ 1.86523463e-01 9.82440042e-01 -4.53456703e-03 4.70623674e+00] [ 2.49841994e-02 -1.29257624e-04 9.99687838e-01 1.53667037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.248040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.60, Y:4.72, Z:1.54 [[ 9.82625141e-01 -1.83967918e-01 -2.45690257e-02 5.96012373e+01] [ 1.83911959e-01 9.82932247e-01 -4.53760855e-03 4.71903052e+00] [ 2.49844620e-02 -5.97694052e-05 9.99687838e-01 1.53820964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.66, Y:4.73, Z:1.54 [[ 9.83251546e-01 -1.80590110e-01 -2.45684735e-02 5.96581314e+01] [ 1.80533021e-01 9.83558443e-01 -4.54059629e-03 4.73025156e+00] [ 2.49845164e-02 2.91275670e-05 9.99687838e-01 1.53979850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.72, Y:4.74, Z:1.54 [[ 9.83380563e-01 -1.79886407e-01 -2.45672186e-02 5.97150604e+01] [ 1.79828929e-01 9.83687388e-01 -4.54737594e-03 4.73991701e+00] [ 2.49844742e-02 5.39044943e-05 9.99687838e-01 1.54050627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.428040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.77, Y:4.75, Z:1.54 [[ 9.83058218e-01 -1.81639901e-01 -2.45659792e-02 5.97724983e+01] [ 1.81582803e-01 9.83365113e-01 -4.55406160e-03 4.75081604e+00] [ 2.49845263e-02 1.61483220e-05 9.99687838e-01 1.54121797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.83, Y:4.76, Z:1.55 [[ 9.82803215e-01 -1.83014801e-01 -2.45646812e-02 5.98302799e+01] [ 1.82957957e-01 9.83110158e-01 -4.56105236e-03 4.75681026e+00] [ 2.49845277e-02 -1.16869763e-05 9.99687838e-01 1.54550864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.89, Y:4.76, Z:1.54 [[ 9.82788433e-01 -1.83094215e-01 -2.45642828e-02 5.98874261e+01] [ 1.83037343e-01 9.83095371e-01 -4.56319740e-03 4.76287967e+00] [ 2.49845277e-02 -1.15234137e-05 9.99687838e-01 1.54483468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.608040941999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.95, Y:4.77, Z:1.54 [[ 9.82621508e-01 -1.83988028e-01 -2.45637620e-02 5.99460743e+01] [ 1.83931365e-01 9.82928484e-01 -4.56599872e-03 4.77180142e+00] [ 2.49845105e-02 -3.13977369e-05 9.99687838e-01 1.54446024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.668040942 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:60.00, Y:4.78, Z:1.55 [[ 9.82760005e-01 -1.83246960e-01 -2.45626728e-02 6.00036324e+01] [ 1.83189919e-01 9.83066911e-01 -4.57185080e-03 4.77643604e+00] [ 2.49845286e-02 -6.60193355e-06 9.99687838e-01 1.54660425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72804094199999 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:60.06, Y:4.78, Z:1.55 [[ 9.82873017e-01 -1.82639904e-01 -2.45621352e-02 6.00620927e+01] [ 1.82582602e-01 9.83179874e-01 -4.57473702e-03 4.78153970e+00] [ 2.49845266e-02 1.17670189e-05 9.99687838e-01 1.54823436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.788040941999995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:60.12, Y:4.79, Z:1.55 [[ 9.83114155e-01 -1.81337590e-01 -2.45608954e-02 6.01201120e+01] [ 1.81279715e-01 9.83420905e-01 -4.58138360e-03 4.78573244e+00] [ 2.49844751e-02 5.16309303e-05 9.99687838e-01 1.54998296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.848040942 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:60.18, Y:4.79, Z:1.55 [[ 9.83288888e-01 -1.80387758e-01 -2.45605146e-02 6.01784921e+01] [ 1.80329536e-01 9.83595573e-01 -4.58342404e-03 4.78882572e+00] [ 2.49844071e-02 7.78437285e-05 9.99687838e-01 1.55124240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90804094199999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:60.24, Y:4.79, Z:1.55 [[ 9.83567948e-01 -1.78860104e-01 -2.45592121e-02 6.02363394e+01] [ 1.78801231e-01 9.83874508e-01 -4.59039257e-03 4.79337073e+00] [ 2.49842209e-02 1.23745632e-04 9.99687838e-01 1.55244984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.968040941999995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:60.29, Y:4.80, Z:1.55 [[ 9.83725210e-01 -1.77993314e-01 -2.45579168e-02 6.02927003e+01] [ 1.77933998e-01 9.84031685e-01 -4.59731216e-03 4.80014506e+00] [ 2.49840591e-02 1.52803542e-04 9.99687838e-01 1.55382780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.028040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:60.35, Y:4.80, Z:1.55 [[ 9.83579623e-01 -1.78796144e-01 -2.45573596e-02 6.03512657e+01] [ 1.78737004e-01 9.83886132e-01 -4.60028671e-03 4.80202135e+00] [ 2.49841590e-02 1.35439390e-04 9.99687838e-01 1.55426233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08804094199999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:60.41, Y:4.81, Z:1.56 [[ 9.83000388e-01 -1.81953945e-01 -2.45560593e-02 6.04091702e+01] [ 1.81895617e-01 9.83307052e-01 -4.60721680e-03 4.80550805e+00] [ 2.49844476e-02 6.22563399e-05 9.99687838e-01 1.55582702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.148040941999994 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:60.47, Y:4.80, Z:1.56 [[ 9.83129756e-01 -1.81253830e-01 -2.45546916e-02 6.04687953e+01] [ 1.81195102e-01 9.83436343e-01 -4.61449507e-03 4.80451296e+00] [ 2.49843710e-02 8.74575665e-05 9.99687838e-01 1.55826197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.53, Y:4.81, Z:1.56 [[ 9.82464748e-01 -1.84824679e-01 -2.45531523e-02 6.05264986e+01] [ 1.84766861e-01 9.82771509e-01 -4.62267095e-03 4.81117353e+00] [ 2.49845222e-02 5.00237463e-06 9.99687838e-01 1.55851506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.58, Y:4.82, Z:1.56 [[ 9.81360808e-01 -1.90599519e-01 -2.45517444e-02 6.05849341e+01] [ 1.90543319e-01 9.81667869e-01 -4.63013654e-03 4.81505878e+00] [ 2.49841604e-02 -1.34336329e-04 9.99687838e-01 1.55932239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.328040941999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.64, Y:4.82, Z:1.56 [[ 9.80172639e-01 -1.96618612e-01 -2.45503414e-02 6.06427860e+01] [ 1.96564112e-01 9.80480006e-01 -4.63756344e-03 4.82068414e+00] [ 2.49829502e-02 -2.80103259e-04 9.99687838e-01 1.55798566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.388040941999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:60.70, Y:4.83, Z:1.56 [[ 9.79923709e-01 -1.97855689e-01 -2.45489395e-02 6.07002182e+01] [ 1.97801391e-01 9.80231113e-01 -4.64497244e-03 4.82773139e+00] [ 2.49826685e-02 -3.04095764e-04 9.99687838e-01 1.55884005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.76, Y:4.83, Z:1.56 [[ 9.79809019e-01 -1.98423052e-01 -2.45474941e-02 6.07575023e+01] [ 1.98368741e-01 9.80116420e-01 -4.65259872e-03 4.83316114e+00] [ 2.49825849e-02 -3.10797308e-04 9.99687838e-01 1.55968379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.508040941999994 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:60.81, Y:4.84, Z:1.56 [[ 9.80371731e-01 -1.95623924e-01 -2.45468738e-02 6.08149898e+01] [ 1.95568654e-01 9.80678961e-01 -4.65586888e-03 4.84205912e+00] [ 2.49834021e-02 -2.36116834e-04 9.99687838e-01 1.56136594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.568040941999996 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:60.87, Y:4.85, Z:1.56 [[ 9.80928419e-01 -1.92813271e-01 -2.45454668e-02 6.08728895e+01] [ 1.92756935e-01 9.81235455e-01 -4.66327487e-03 4.84996744e+00] [ 2.49840236e-02 -1.56970109e-04 9.99687838e-01 1.56270429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.93, Y:4.86, Z:1.57 [[ 9.81360027e-01 -1.90604531e-01 -2.45440518e-02 6.09293506e+01] [ 1.90547318e-01 9.81666901e-01 -4.67071061e-03 4.85875254e+00] [ 2.49843419e-02 -9.31545671e-05 9.99687838e-01 1.56598007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.99, Y:4.87, Z:1.57 [[ 9.81345696e-01 -1.90678423e-01 -2.45431023e-02 6.09862037e+01] [ 1.90621108e-01 9.81652551e-01 -4.67569457e-03 4.86940711e+00] [ 2.49843531e-02 -8.99606125e-05 9.99687838e-01 1.56668116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.748040941999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.04, Y:4.88, Z:1.57 [[ 9.80647062e-01 -1.94239653e-01 -2.45417478e-02 6.10421284e+01] [ 1.94183275e-01 9.80954090e-01 -4.68279317e-03 4.88033572e+00] [ 2.49839120e-02 -1.73429610e-04 9.99687838e-01 1.57423414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.808040942 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:61.10, Y:4.89, Z:1.57 [[ 9.80361000e-01 -1.95678421e-01 -2.45411163e-02 6.10994255e+01] [ 1.95622410e-01 9.80668095e-01 -4.68610066e-03 4.89254968e+00] [ 2.49836585e-02 -2.06721991e-04 9.99687838e-01 1.57488999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.16, Y:4.91, Z:1.57 [[ 9.80356168e-01 -1.95702789e-01 -2.45398080e-02 6.11553036e+01] [ 1.95646615e-01 9.80663234e-01 -4.69294153e-03 4.90799491e+00] [ 2.49837092e-02 -2.00376193e-04 9.99687838e-01 1.57381612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.928040941999996 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:61.21, Y:4.92, Z:1.57 [[ 9.80259133e-01 -1.96188302e-01 -2.45394063e-02 6.12113649e+01] [ 1.96132228e-01 9.80566217e-01 -4.69504132e-03 4.92150505e+00] [ 2.49836250e-02 -2.10611282e-04 9.99687838e-01 1.57463488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.988040942 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:61.27, Y:4.93, Z:1.58 [[ 9.79547428e-01 -1.99711583e-01 -2.45381306e-02 6.12678654e+01] [ 1.99656447e-01 9.79854682e-01 -4.70169893e-03 4.93452426e+00] [ 2.49827859e-02 -2.93658884e-04 9.99687838e-01 1.57651480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.048040942 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:61.32, Y:4.95, Z:1.58 [[ 9.78874461e-01 -2.02984568e-01 -2.45368226e-02 6.13245176e+01] [ 2.02930288e-01 9.79181867e-01 -4.70851509e-03 4.94523432e+00] [ 2.49817677e-02 -3.70219322e-04 9.99687838e-01 1.57940812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.108040942 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:61.38, Y:4.96, Z:1.58 [[ 9.78265430e-01 -2.05899873e-01 -2.45355145e-02 6.13809970e+01] [ 2.05846339e-01 9.78572966e-01 -4.71532186e-03 4.95739691e+00] [ 2.49806754e-02 -4.37709466e-04 9.99687838e-01 1.58165252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.168040942 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:61.44, Y:4.97, Z:1.58 [[ 9.77973776e-01 -2.07280885e-01 -2.45342171e-02 6.14369701e+01] [ 2.07227615e-01 9.78281359e-01 -4.72206251e-03 4.97129292e+00] [ 2.49801606e-02 -4.66114005e-04 9.99687838e-01 1.58082863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.228040942 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:61.49, Y:4.98, Z:1.58 [[ 9.78347269e-01 -2.05510915e-01 -2.45333415e-02 6.14937518e+01] [ 2.05456975e-01 9.78654735e-01 -4.72660755e-03 4.98338094e+00] [ 2.49810402e-02 -4.16282547e-04 9.99687838e-01 1.58355549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.288040942 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:61.55, Y:5.00, Z:1.59 [[ 9.78481709e-01 -2.04870008e-01 -2.45321206e-02 6.15502038e+01] [ 2.04815708e-01 9.78789112e-01 -4.73293586e-03 4.99654946e+00] [ 2.49814091e-02 -3.93472482e-04 9.99687838e-01 1.58763594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.348040942 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:61.61, Y:5.01, Z:1.59 [[ 9.79027376e-01 -2.02246363e-01 -2.45317141e-02 6.16063570e+01] [ 2.02191187e-01 9.79334623e-01 -4.73504154e-03 5.00975853e+00] [ 2.49824019e-02 -3.24361099e-04 9.99687838e-01 1.58759168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.408040942 meters Centerline goodness : 0.999776 with order 1 Centerline is valid? [True, True] Translation: X:61.66, Y:5.02, Z:1.59 [[ 9.78616010e-01 -2.04227722e-01 -2.45304353e-02 6.16638153e+01] [ 2.04173002e-01 9.78923338e-01 -4.74165771e-03 5.02141111e+00] [ 2.49817935e-02 -3.68190458e-04 9.99687838e-01 1.58900281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.468040942 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:61.72, Y:5.03, Z:1.59 [[ 9.79489272e-01 -1.99997645e-01 -2.45297431e-02 6.17218579e+01] [ 1.99941508e-01 9.79796344e-01 -4.74523554e-03 5.02653260e+00] [ 2.49831886e-02 -2.56606532e-04 9.99687838e-01 1.59284770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.78, Y:5.05, Z:1.60 [[ 9.77550964e-01 -2.09266536e-01 -2.45281311e-02 6.17765997e+01] [ 2.09213102e-01 9.77858518e-01 -4.75355336e-03 5.04547573e+00] [ 2.49798016e-02 -4.84765719e-04 9.99687839e-01 1.59542309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.588040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:61.83, Y:5.06, Z:1.60 [[ 9.77311404e-01 -2.10382592e-01 -2.45272386e-02 6.18331239e+01] [ 2.10329393e-01 9.77618999e-01 -4.75815405e-03 5.05752676e+00] [ 2.49793272e-02 -5.08601004e-04 9.99687839e-01 1.59588104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64804094200001 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:61.89, Y:5.07, Z:1.59 [[ 9.77138822e-01 -2.11182865e-01 -2.45258877e-02 6.18889974e+01] [ 2.11129744e-01 9.77446431e-01 -4.76510716e-03 5.06900835e+00] [ 2.49790504e-02 -5.21973193e-04 9.99687839e-01 1.59346805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.95, Y:5.08, Z:1.60 [[ 9.77249795e-01 -2.10668919e-01 -2.45243643e-02 6.19467692e+01] [ 2.10615439e-01 9.77557341e-01 -4.77293495e-03 5.08001019e+00] [ 2.49794814e-02 -5.00860052e-04 9.99687839e-01 1.59800024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.00, Y:5.09, Z:1.60 [[ 9.77845457e-01 -2.07886711e-01 -2.45230122e-02 6.20038920e+01] [ 2.07832182e-01 9.78152819e-01 -4.77987154e-03 5.09093977e+00] [ 2.49809253e-02 -4.22695481e-04 9.99687839e-01 1.60011059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.06, Y:5.10, Z:1.60 [[ 9.78132977e-01 -2.06529817e-01 -2.45216907e-02 6.20610662e+01] [ 2.06474693e-01 9.78440233e-01 -4.78664190e-03 5.10227989e+00] [ 2.49815930e-02 -3.81136259e-04 9.99687839e-01 1.60247305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.888040942 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:62.12, Y:5.11, Z:1.61 [[ 9.78230224e-01 -2.06068874e-01 -2.45203751e-02 6.21181019e+01] [ 2.06013436e-01 9.78537423e-01 -4.79337154e-03 5.11265266e+00] [ 2.49818693e-02 -3.62505823e-04 9.99687839e-01 1.60571852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.17, Y:5.12, Z:1.61 [[ 9.78092906e-01 -2.06719815e-01 -2.45190700e-02 6.21738422e+01] [ 2.06664415e-01 9.78400112e-01 -4.80003808e-03 5.12233208e+00] [ 2.49817238e-02 -3.72336063e-04 9.99687839e-01 1.60789471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00804094200001 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:62.23, Y:5.13, Z:1.61 [[ 9.77978162e-01 -2.07262051e-01 -2.45185090e-02 6.22309285e+01] [ 2.07206749e-01 9.78285385e-01 -4.80290195e-03 5.13439823e+00] [ 2.49815584e-02 -3.83267328e-04 9.99687839e-01 1.60903707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.29, Y:5.15, Z:1.61 [[ 9.77831523e-01 -2.07952928e-01 -2.45172001e-02 6.22883120e+01] [ 2.07897676e-01 9.78138755e-01 -4.80957433e-03 5.14549432e+00] [ 2.49813886e-02 -3.94115531e-04 9.99687839e-01 1.60961079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.35, Y:5.14, Z:1.62 [[ 9.79424409e-01 -2.00316752e-01 -2.45158398e-02 6.23493859e+01] [ 2.00258930e-01 9.79731168e-01 -4.81649820e-03 5.14341796e+00] [ 2.49837576e-02 -1.92119953e-04 9.99687839e-01 1.61829452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.188040942 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:62.40, Y:5.17, Z:1.61 [[ 9.77205552e-01 -2.10875064e-01 -2.45156425e-02 6.24044149e+01] [ 2.10820532e-01 9.77512913e-01 -4.81750201e-03 5.16792435e+00] [ 2.49802482e-02 -4.60711085e-04 9.99687839e-01 1.61243889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.248040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:62.46, Y:5.18, Z:1.61 [[ 9.77115495e-01 -2.11291990e-01 -2.45153931e-02 6.24616502e+01] [ 2.11237557e-01 9.77422874e-01 -4.81877120e-03 5.18017147e+00] [ 2.49800737e-02 -4.70075744e-04 9.99687839e-01 1.61300931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.308040942 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:62.52, Y:5.18, Z:1.61 [[ 9.77475667e-01 -2.09619609e-01 -2.45140815e-02 6.25206935e+01] [ 2.09564483e-01 9.77782922e-01 -4.82543408e-03 5.18405340e+00] [ 2.49809559e-02 -4.20536424e-04 9.99687839e-01 1.60880945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36804094200001 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:62.58, Y:5.19, Z:1.61 [[ 9.77614840e-01 -2.08969729e-01 -2.45127873e-02 6.25792595e+01] [ 2.08914234e-01 9.77922029e-01 -4.83199978e-03 5.19439541e+00] [ 2.49813364e-02 -3.97235500e-04 9.99687839e-01 1.60949130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.428040942 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:62.64, Y:5.21, Z:1.61 [[ 9.76479446e-01 -2.14212670e-01 -2.45116993e-02 6.26369197e+01] [ 2.14158686e-01 9.76786904e-01 -4.83751270e-03 5.20775691e+00] [ 2.49789634e-02 -5.25661601e-04 9.99687839e-01 1.61084274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.488040942 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:62.69, Y:5.22, Z:1.61 [[ 9.75813781e-01 -2.17224991e-01 -2.45105621e-02 6.26932019e+01] [ 2.17171812e-01 9.76121379e-01 -4.84326752e-03 5.21730899e+00] [ 2.49773625e-02 -5.96875991e-04 9.99687839e-01 1.61301726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.75, Y:5.23, Z:1.61 [[ 9.75608700e-01 -2.18144282e-01 -2.45099500e-02 6.27502073e+01] [ 2.18091314e-01 9.75916334e-01 -4.84636316e-03 5.22970623e+00] [ 2.49768670e-02 -6.17253159e-04 9.99687839e-01 1.61427679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.608040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:62.81, Y:5.24, Z:1.62 [[ 9.75916727e-01 -2.16762254e-01 -2.45085369e-02 6.28076256e+01] [ 2.16708671e-01 9.76224255e-01 -4.85349918e-03 5.23999708e+00] [ 2.49778836e-02 -5.74601432e-04 9.99687839e-01 1.61725145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.668040942 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:62.86, Y:5.25, Z:1.62 [[ 9.76349029e-01 -2.14806825e-01 -2.45071571e-02 6.28644646e+01] [ 2.14752452e-01 9.76656419e-01 -4.86045639e-03 5.25205123e+00] [ 2.49791314e-02 -5.17470191e-04 9.99687839e-01 1.61794233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.728040942 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:62.92, Y:5.27, Z:1.62 [[ 9.76228641e-01 -2.15353338e-01 -2.45067321e-02 6.29210979e+01] [ 2.15299084e-01 9.76536051e-01 -4.86259817e-03 5.26538598e+00] [ 2.49788841e-02 -5.29269361e-04 9.99687839e-01 1.61890610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.788040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:62.98, Y:5.28, Z:1.62 [[ 9.76690682e-01 -2.13248202e-01 -2.45054119e-02 6.29760716e+01] [ 2.13193119e-01 9.76997945e-01 -4.86924249e-03 5.27936060e+00] [ 2.49800942e-02 -4.68641409e-04 9.99687839e-01 1.61823874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.03, Y:5.30, Z:1.62 [[ 9.76450882e-01 -2.14343624e-01 -2.45047965e-02 6.30306401e+01] [ 2.14288808e-01 9.76758193e-01 -4.87233748e-03 5.29502216e+00] [ 2.49796152e-02 -4.93505397e-04 9.99687839e-01 1.62420022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.908040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:63.09, Y:5.31, Z:1.62 [[ 9.77145108e-01 -2.11156389e-01 -2.45034086e-02 6.30869412e+01] [ 2.11100395e-01 9.77452206e-01 -4.87930732e-03 5.30825403e+00] [ 2.49812077e-02 -4.04887945e-04 9.99687839e-01 1.62303273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.14, Y:5.32, Z:1.62 [[ 9.77113175e-01 -2.11304270e-01 -2.45020352e-02 6.31449609e+01] [ 2.11248150e-01 9.77420250e-01 -4.88619433e-03 5.31943352e+00] [ 2.49812591e-02 -4.01644737e-04 9.99687839e-01 1.61661774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.028040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:63.20, Y:5.33, Z:1.63 [[ 9.77761668e-01 -2.08283054e-01 -2.45008093e-02 6.32017366e+01] [ 2.08225831e-01 9.78068540e-01 -4.89233357e-03 5.33177006e+00] [ 2.49824609e-02 -3.18165142e-04 9.99687839e-01 1.62661255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.26, Y:5.34, Z:1.63 [[ 9.78337296e-01 -2.05562320e-01 -2.45003765e-02 6.32581907e+01] [ 2.05504190e-01 9.78643997e-01 -4.89449993e-03 5.34312616e+00] [ 2.49832711e-02 -2.46458194e-04 9.99687839e-01 1.62800475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.32, Y:5.36, Z:1.63 [[ 9.77960996e-01 -2.07345338e-01 -2.44990025e-02 6.33152416e+01] [ 2.07287595e-01 9.78267770e-01 -4.90136766e-03 5.35556068e+00] [ 2.49828603e-02 -2.84992906e-04 9.99687839e-01 1.62875565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.37, Y:5.37, Z:1.63 [[ 9.77586998e-01 -2.09101722e-01 -2.44975679e-02 6.33707746e+01] [ 2.09044351e-01 9.77893842e-01 -4.90852769e-03 5.36640466e+00] [ 2.49824024e-02 -3.22565321e-04 9.99687839e-01 1.63151738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.43, Y:5.38, Z:1.63 [[ 9.76519942e-01 -2.14029677e-01 -2.44969498e-02 6.34281733e+01] [ 2.13973776e-01 9.76827057e-01 -4.91161025e-03 5.37655297e+00] [ 2.49805138e-02 -4.45419506e-04 9.99687839e-01 1.63326982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.49, Y:5.39, Z:1.63 [[ 9.75917034e-01 -2.16762339e-01 -2.44955363e-02 6.34859333e+01] [ 2.16707122e-01 9.76224272e-01 -4.91865002e-03 5.38725828e+00] [ 2.49793152e-02 -5.08162835e-04 9.99687839e-01 1.62620237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.388040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:63.54, Y:5.40, Z:1.63 [[ 9.75091964e-01 -2.20444314e-01 -2.44942008e-02 6.35417871e+01] [ 2.20390090e-01 9.75399380e-01 -4.92529151e-03 5.40263223e+00] [ 2.49773808e-02 -5.95666957e-04 9.99687839e-01 1.63434942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.448040942 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:63.60, Y:5.42, Z:1.64 [[ 9.74781272e-01 -2.21814177e-01 -2.44937292e-02 6.35976844e+01] [ 2.21760326e-01 9.75088753e-01 -4.92763581e-03 5.41619112e+00] [ 2.49765793e-02 -6.28370276e-04 9.99687839e-01 1.63580280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.65, Y:5.43, Z:1.64 [[ 9.75066112e-01 -2.20558756e-01 -2.44931314e-02 6.36534276e+01] [ 2.20504435e-01 9.75373510e-01 -4.93060529e-03 5.43161234e+00] [ 2.49774397e-02 -5.93177962e-04 9.99687839e-01 1.63725755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.568040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.71, Y:5.45, Z:1.64 [[ 9.75754236e-01 -2.17494424e-01 -2.44917555e-02 6.37098043e+01] [ 2.17438966e-01 9.76061431e-01 -4.93743035e-03 5.44663344e+00] [ 2.49793215e-02 -5.07743417e-04 9.99687839e-01 1.63845323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.77, Y:5.46, Z:1.64 [[ 9.76449929e-01 -2.14349620e-01 -2.44903306e-02 6.37660094e+01] [ 2.14292996e-01 9.76756911e-01 -4.94448799e-03 5.46216814e+00] [ 2.49809488e-02 -4.20061377e-04 9.99687839e-01 1.64083797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.82, Y:5.47, Z:1.64 [[ 9.77131644e-01 -2.11220251e-01 -2.44898930e-02 6.38240216e+01] [ 2.11162590e-01 9.77438433e-01 -4.94665433e-03 5.47366650e+00] [ 2.49821962e-02 -3.37816760e-04 9.99687839e-01 1.63652540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.88, Y:5.49, Z:1.64 [[ 9.76433436e-01 -2.14424933e-01 -2.44886540e-02 6.38804624e+01] [ 2.14368125e-01 9.76740384e-01 -4.95278076e-03 5.49142912e+00] [ 2.49810570e-02 -4.13526096e-04 9.99687839e-01 1.64295071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.94, Y:5.50, Z:1.64 [[ 9.76576652e-01 -2.13771862e-01 -2.44874000e-02 6.39383799e+01] [ 2.13714694e-01 9.76883534e-01 -4.95897308e-03 5.50061312e+00] [ 2.49814267e-02 -3.90499843e-04 9.99687839e-01 1.64213861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.99, Y:5.52, Z:1.64 [[ 9.75020326e-01 -2.20761841e-01 -2.44861809e-02 6.39941968e+01] [ 2.20706721e-01 9.75327582e-01 -4.96498537e-03 5.51955477e+00] [ 2.49781269e-02 -5.63303026e-04 9.99687839e-01 1.64410093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.928040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:64.05, Y:5.53, Z:1.64 [[ 9.74289124e-01 -2.23966959e-01 -2.44847774e-02 6.40503899e+01] [ 2.23912676e-01 9.74596529e-01 -4.97189706e-03 5.53396398e+00] [ 2.49763197e-02 -6.38386803e-04 9.99687839e-01 1.64480572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.988040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:64.11, Y:5.55, Z:1.64 [[ 9.73140383e-01 -2.28906876e-01 -2.44833983e-02 6.41066950e+01] [ 2.28853983e-01 9.73448030e-01 -4.97867874e-03 5.55045261e+00] [ 2.49729697e-02 -7.58169879e-04 9.99687839e-01 1.64398237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.16, Y:5.57, Z:1.64 [[ 9.72168105e-01 -2.33001729e-01 -2.44820265e-02 6.41630820e+01] [ 2.32949962e-01 9.72475944e-01 -4.98541550e-03 5.56635292e+00] [ 2.49697922e-02 -8.56425200e-04 9.99687839e-01 1.64440641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.22, Y:5.58, Z:1.65 [[ 9.71646493e-01 -2.35167583e-01 -2.44806160e-02 6.42175398e+01] [ 2.35116329e-01 9.71954417e-01 -4.99233191e-03 5.58379880e+00] [ 2.49680775e-02 -9.05010764e-04 9.99687839e-01 1.64562292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.27, Y:5.60, Z:1.65 [[ 9.71502942e-01 -2.35760006e-01 -2.44796658e-02 6.42738382e+01] [ 2.35708822e-01 9.71810877e-01 -4.99698677e-03 5.60056885e+00] [ 2.49676952e-02 -9.15485855e-04 9.99687839e-01 1.64621080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.228040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.33, Y:5.62, Z:1.65 [[ 9.71641056e-01 -2.35190288e-01 -2.44782706e-02 6.43297646e+01] [ 2.35138752e-01 9.71948933e-01 -5.00381215e-03 5.61805679e+00] [ 2.49684770e-02 -8.93880671e-04 9.99687839e-01 1.64647511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.39, Y:5.64, Z:1.65 [[ 9.72056840e-01 -2.33466021e-01 -2.44768649e-02 6.43850832e+01] [ 2.33413766e-01 9.72364596e-01 -5.01067873e-03 5.63731277e+00] [ 2.49702601e-02 -8.42572684e-04 9.99687839e-01 1.64739198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.44, Y:5.66, Z:1.65 [[ 9.72540403e-01 -2.31443553e-01 -2.44754401e-02 6.44398737e+01] [ 2.31390483e-01 9.72848019e-01 -5.01762867e-03 5.65748877e+00] [ 2.49721813e-02 -7.83537303e-04 9.99687839e-01 1.64746597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.408040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.50, Y:5.67, Z:1.65 [[ 9.72615588e-01 -2.31127541e-01 -2.44740095e-02 6.44964257e+01] [ 2.31074196e-01 9.72923157e-01 -5.02459709e-03 5.67315173e+00] [ 2.49726534e-02 -7.68310615e-04 9.99687839e-01 1.64902978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.55, Y:5.69, Z:1.65 [[ 9.72816832e-01 -2.30279185e-01 -2.44726018e-02 6.45519311e+01] [ 2.30225400e-01 9.73124324e-01 -5.03144413e-03 5.69153814e+00] [ 2.49735209e-02 -7.39540990e-04 9.99687839e-01 1.65020539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.61, Y:5.71, Z:1.65 [[ 9.73460890e-01 -2.27541328e-01 -2.44712093e-02 6.46091920e+01] [ 2.27486508e-01 9.73768199e-01 -5.03820783e-03 5.70642375e+00] [ 2.49756859e-02 -6.62371655e-04 9.99687839e-01 1.64722462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.66, Y:5.73, Z:1.65 [[ 9.73185356e-01 -2.28717044e-01 -2.44699045e-02 6.46638738e+01] [ 2.28662436e-01 9.73492703e-01 -5.04453688e-03 5.72500783e+00] [ 2.49750450e-02 -6.86078556e-04 9.99687839e-01 1.65246077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.72, Y:5.74, Z:1.65 [[ 9.73292280e-01 -2.28261659e-01 -2.44694442e-02 6.47191981e+01] [ 2.28206851e-01 9.73599591e-01 -5.04676891e-03 5.74235034e+00] [ 2.49754247e-02 -6.72113569e-04 9.99687839e-01 1.65332280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.708040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:64.77, Y:5.76, Z:1.65 [[ 9.73619459e-01 -2.26862219e-01 -2.44680036e-02 6.47743344e+01] [ 2.26806794e-01 9.73926659e-01 -5.05374336e-03 5.75977973e+00] [ 2.49765445e-02 -6.29086572e-04 9.99687840e-01 1.65357492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.83, Y:5.78, Z:1.66 [[ 9.74213493e-01 -2.24297609e-01 -2.44673846e-02 6.48302360e+01] [ 2.24241300e-01 9.74520533e-01 -5.05673869e-03 5.77611322e+00] [ 2.49781830e-02 -5.60255056e-04 9.99687840e-01 1.65502392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.89, Y:5.79, Z:1.66 [[ 9.74935253e-01 -2.21139471e-01 -2.44660233e-02 6.48873192e+01] [ 2.21082002e-01 9.75242078e-01 -5.06331625e-03 5.78748936e+00] [ 2.49799945e-02 -4.72591909e-04 9.99687840e-01 1.65559594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.94, Y:5.80, Z:1.65 [[ 9.74805693e-01 -2.21709940e-01 -2.44655703e-02 6.49436539e+01] [ 2.21652596e-01 9.75112541e-01 -5.06550431e-03 5.80445523e+00] [ 2.49797571e-02 -4.84974729e-04 9.99687840e-01 1.65261972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.00, Y:5.82, Z:1.66 [[ 9.75005774e-01 -2.20828525e-01 -2.44643231e-02 6.50010706e+01] [ 2.20770753e-01 9.75312542e-01 -5.07152063e-03 5.81700221e+00] [ 2.49802976e-02 -4.56245140e-04 9.99687840e-01 1.65778757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.06, Y:5.84, Z:1.65 [[ 9.73920261e-01 -2.25567914e-01 -2.44630620e-02 6.50575361e+01] [ 2.25511481e-01 9.74227278e-01 -5.07759645e-03 5.83591882e+00] [ 2.49779251e-02 -5.71527292e-04 9.99687840e-01 1.65361190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.11, Y:5.85, Z:1.66 [[ 9.73932728e-01 -2.25514218e-01 -2.44617690e-02 6.51149778e+01] [ 2.25457613e-01 9.74239714e-01 -5.08381805e-03 5.84611327e+00] [ 2.49781000e-02 -5.63795250e-04 9.99687840e-01 1.65780562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.17, Y:5.86, Z:1.66 [[ 9.72899007e-01 -2.29932962e-01 -2.44613118e-02 6.51709667e+01] [ 2.29877696e-01 9.73206236e-01 -5.08601659e-03 5.86118717e+00] [ 2.49753441e-02 -6.74929524e-04 9.99687840e-01 1.65856262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.23, Y:5.87, Z:1.66 [[ 9.72630927e-01 -2.31064378e-01 -2.44608611e-02 6.52279873e+01] [ 2.31009415e-01 9.72938210e-01 -5.08818328e-03 5.87271996e+00] [ 2.49746044e-02 -7.01764798e-04 9.99687840e-01 1.65961692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.29, Y:5.88, Z:1.67 [[ 9.72917491e-01 -2.29854935e-01 -2.44594341e-02 6.52852002e+01] [ 2.29799418e-01 9.73224675e-01 -5.09503411e-03 5.88313525e+00] [ 2.49756435e-02 -6.63715902e-04 9.99687840e-01 1.66647327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.34, Y:5.90, Z:1.66 [[ 9.72010165e-01 -2.33662247e-01 -2.44580016e-02 6.53420201e+01] [ 2.33607760e-01 9.72317533e-01 -5.10190122e-03 5.90107190e+00] [ 2.49730655e-02 -7.54479110e-04 9.99687840e-01 1.65756984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.40, Y:5.91, Z:1.66 [[ 9.72836657e-01 -2.30197106e-01 -2.44567057e-02 6.54006765e+01] [ 2.30141368e-01 9.73143801e-01 -5.10810574e-03 5.90927978e+00] [ 2.49757627e-02 -6.59147197e-04 9.99687840e-01 1.66238639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.46, Y:5.92, Z:1.66 [[ 9.73918738e-01 -2.25575327e-01 -2.44553601e-02 6.54573751e+01] [ 2.25517970e-01 9.74225583e-01 -5.11453998e-03 5.92232827e+00] [ 2.49787515e-02 -5.33976836e-04 9.99687840e-01 1.66121542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.51, Y:5.94, Z:1.66 [[ 9.75242132e-01 -2.19783426e-01 -2.44546562e-02 6.55139703e+01] [ 2.19724162e-01 9.75548615e-01 -5.11790332e-03 5.93602942e+00] [ 2.49815363e-02 -3.82083890e-04 9.99687840e-01 1.66223467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.57, Y:5.95, Z:1.66 [[ 9.75452581e-01 -2.18847560e-01 -2.44542022e-02 6.55718494e+01] [ 2.18787948e-01 9.75758996e-01 -5.12007146e-03 5.94869898e+00] [ 2.49819230e-02 -3.55897812e-04 9.99687840e-01 1.66146734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.608040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.63, Y:5.96, Z:1.67 [[ 9.76219167e-01 -2.15402407e-01 -2.44528338e-02 6.56288243e+01] [ 2.15341549e-01 9.76525338e-01 -5.12659871e-03 5.95636468e+00] [ 2.49830935e-02 -2.61027190e-04 9.99687840e-01 1.66796661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.668040942 meters Centerline goodness : 0.995675 with order 1 Centerline is valid? [True, True] Translation: X:65.69, Y:5.97, Z:1.67 [[ 9.75480971e-01 -2.18721185e-01 -2.44523557e-02 6.56872772e+01] [ 2.18661313e-01 9.75787336e-01 -5.12887780e-03 5.96654309e+00] [ 2.49820933e-02 -3.43661503e-04 9.99687840e-01 1.67202335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.728040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.75, Y:5.98, Z:1.67 [[ 9.75007248e-01 -2.20823519e-01 -2.44507645e-02 6.57454243e+01] [ 2.20764116e-01 9.75313704e-01 -5.13645238e-03 5.97581865e+00] [ 2.49814152e-02 -3.89773124e-04 9.99687840e-01 1.66629700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.788040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.80, Y:5.98, Z:1.67 [[ 9.74605881e-01 -2.22588441e-01 -2.44491660e-02 6.58044709e+01] [ 2.22529404e-01 9.74912408e-01 -5.14405002e-03 5.98229437e+00] [ 2.49808014e-02 -4.27236920e-04 9.99687840e-01 1.66892665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.86, Y:6.00, Z:1.66 [[ 9.74264516e-01 -2.24078006e-01 -2.44479040e-02 6.58622257e+01] [ 2.24019286e-01 9.74571104e-01 -5.15004091e-03 5.99630294e+00] [ 2.49802317e-02 -4.59299897e-04 9.99687840e-01 1.66352005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.908040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.92, Y:6.00, Z:1.67 [[ 9.74722773e-01 -2.22076286e-01 -2.44466453e-02 6.59210916e+01] [ 2.22016787e-01 9.75029211e-01 -5.15600887e-03 6.00358003e+00] [ 2.49812206e-02 -4.01886387e-04 9.99687840e-01 1.66594407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.98, Y:6.01, Z:1.67 [[ 9.75116523e-01 -2.20341094e-01 -2.44452308e-02 6.59780844e+01] [ 2.20280883e-01 9.75422821e-01 -5.16270642e-03 6.01081801e+00] [ 2.49819924e-02 -3.50576688e-04 9.99687840e-01 1.66998608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.04, Y:6.02, Z:1.66 [[ 9.75581822e-01 -2.18271815e-01 -2.44442764e-02 6.60368668e+01] [ 2.18210841e-01 9.75887969e-01 -5.16722151e-03 6.02197416e+00] [ 2.49827341e-02 -2.92958726e-04 9.99687840e-01 1.66273650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.09, Y:6.03, Z:1.67 [[ 9.76630528e-01 -2.13530559e-01 -2.44440542e-02 6.60946057e+01] [ 2.13468072e-01 9.76936370e-01 -5.16827243e-03 6.02923602e+00] [ 2.49838697e-02 -1.70532477e-04 9.99687840e-01 1.67148002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.15, Y:6.04, Z:1.67 [[ 9.77057655e-01 -2.11567595e-01 -2.44436616e-02 6.61539119e+01] [ 2.11504447e-01 9.77363361e-01 -5.17012861e-03 6.03591403e+00] [ 2.49841709e-02 -1.18429389e-04 9.99687840e-01 1.66934057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.21, Y:6.05, Z:1.67 [[ 9.76368850e-01 -2.14724107e-01 -2.44422918e-02 6.62120607e+01] [ 2.14661785e-01 9.76674726e-01 -5.17659653e-03 6.04539706e+00] [ 2.49837087e-02 -1.92558377e-04 9.99687840e-01 1.66600533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.27, Y:6.05, Z:1.67 [[ 9.75728132e-01 -2.17617225e-01 -2.44408755e-02 6.62697792e+01] [ 2.17555643e-01 9.76034157e-01 -5.18327458e-03 6.05004276e+00] [ 2.49830992e-02 -2.59783558e-04 9.99687840e-01 1.66804814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.328040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:66.33, Y:6.06, Z:1.67 [[ 9.75027572e-01 -2.20734940e-01 -2.44401323e-02 6.63267512e+01] [ 2.20674248e-01 9.75333775e-01 -5.18677667e-03 6.05939335e+00] [ 2.49821893e-02 -3.36057558e-04 9.99687840e-01 1.66811279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.388040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.39, Y:6.06, Z:1.67 [[ 9.74619990e-01 -2.22527699e-01 -2.44396718e-02 6.63860732e+01] [ 2.22467516e-01 9.74926294e-01 -5.18894555e-03 6.06425893e+00] [ 2.49815628e-02 -3.79783025e-04 9.99687840e-01 1.67046419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.44, Y:6.07, Z:1.67 [[ 9.74778539e-01 -2.21832302e-01 -2.44382893e-02 6.64443345e+01] [ 2.21771738e-01 9.75084767e-01 -5.19544841e-03 6.06781808e+00] [ 2.49819219e-02 -3.55310296e-04 9.99687840e-01 1.67435155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50804094200001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:66.50, Y:6.08, Z:1.68 [[ 9.74254182e-01 -2.24124060e-01 -2.44375634e-02 6.65005560e+01] [ 2.24064130e-01 9.74560536e-01 -5.19886049e-03 6.07687399e+00] [ 2.49810746e-02 -4.10569822e-04 9.99687840e-01 1.67660219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.568040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.56, Y:6.09, Z:1.68 [[ 9.74178769e-01 -2.24451803e-01 -2.44359325e-02 6.65585880e+01] [ 2.24391785e-01 9.74485105e-01 -5.20651512e-03 6.08521337e+00] [ 2.49810639e-02 -4.11146028e-04 9.99687840e-01 1.67867037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.628040942 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:66.62, Y:6.09, Z:1.68 [[ 9.74732148e-01 -2.22036495e-01 -2.44342877e-02 6.66182005e+01] [ 2.21975525e-01 9.75038296e-01 -5.21422263e-03 6.08603298e+00] [ 2.49821140e-02 -3.41343425e-04 9.99687840e-01 1.68217705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.68, Y:6.09, Z:1.68 [[ 9.74416599e-01 -2.23417377e-01 -2.44329268e-02 6.66767046e+01] [ 2.23356680e-01 9.74722801e-01 -5.22059179e-03 6.09418221e+00] [ 2.49817018e-02 -3.70226137e-04 9.99687840e-01 1.68493592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.73, Y:6.11, Z:1.69 [[ 9.73526980e-01 -2.27262677e-01 -2.44314339e-02 6.67343867e+01] [ 2.27203015e-01 9.73833385e-01 -5.22756886e-03 6.10512886e+00] [ 2.49801773e-02 -4.61716128e-04 9.99687840e-01 1.68539106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.808040942 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:66.79, Y:6.11, Z:1.69 [[ 9.73264655e-01 -2.28383647e-01 -2.44299110e-02 6.67916498e+01] [ 2.28324160e-01 9.73571095e-01 -5.23467654e-03 6.11371173e+00] [ 2.49797697e-02 -4.83213238e-04 9.99687840e-01 1.68655120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.85, Y:6.12, Z:1.69 [[ 9.73383383e-01 -2.27877170e-01 -2.44291899e-02 6.68490925e+01] [ 2.27817439e-01 9.73689775e-01 -5.23803935e-03 6.12187216e+00] [ 2.49800820e-02 -4.66775030e-04 9.99687840e-01 1.68836219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.928040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:66.91, Y:6.13, Z:1.69 [[ 9.74293983e-01 -2.23951942e-01 -2.44287217e-02 6.69075494e+01] [ 2.23890922e-01 9.74600121e-01 -5.24022205e-03 6.13174567e+00] [ 2.49817930e-02 -3.63852203e-04 9.99687840e-01 1.69100140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.988040942 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:66.96, Y:6.15, Z:1.69 [[ 9.73666537e-01 -2.26664454e-01 -2.44274298e-02 6.69623838e+01] [ 2.26604136e-01 9.73972814e-01 -5.24623736e-03 6.15450900e+00] [ 2.49807881e-02 -4.27270859e-04 9.99687840e-01 1.68979862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.02, Y:6.17, Z:1.69 [[ 9.74260962e-01 -2.24095764e-01 -2.44267413e-02 6.70185708e+01] [ 2.24034558e-01 9.74567063e-01 -5.24944128e-03 6.16796695e+00] [ 2.49818750e-02 -3.58108471e-04 9.99687840e-01 1.69065664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.108040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:67.08, Y:6.18, Z:1.69 [[ 9.74779685e-01 -2.21828697e-01 -2.44252862e-02 6.70769493e+01] [ 2.21766609e-01 9.75085608e-01 -5.25620284e-03 6.17532382e+00] [ 2.49827217e-02 -2.93073141e-04 9.99687840e-01 1.69001772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.168040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:67.13, Y:6.19, Z:1.69 [[ 9.73512027e-01 -2.27327533e-01 -2.44238896e-02 6.71322079e+01] [ 2.27267011e-01 9.73818263e-01 -5.26268462e-03 6.19268508e+00] [ 2.49807828e-02 -4.27457613e-04 9.99687840e-01 1.68513117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.228040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.19, Y:6.21, Z:1.69 [[ 9.73343737e-01 -2.28047100e-01 -2.44231458e-02 6.71892464e+01] [ 2.27986718e-01 9.73650001e-01 -5.26613390e-03 6.20803530e+00] [ 2.49805225e-02 -4.42394406e-04 9.99687840e-01 1.68801848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.288040942 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:67.25, Y:6.22, Z:1.69 [[ 9.72876801e-01 -2.30031104e-01 -2.44217509e-02 6.72451326e+01] [ 2.29971184e-01 9.73183156e-01 -5.27259485e-03 6.22143446e+00] [ 2.49796974e-02 -4.86713765e-04 9.99687840e-01 1.68889655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.30, Y:6.23, Z:1.69 [[ 9.72978173e-01 -2.29602016e-01 -2.44210683e-02 6.73021427e+01] [ 2.29541882e-01 9.73284486e-01 -5.27575463e-03 6.23417328e+00] [ 2.49799708e-02 -4.72463879e-04 9.99687840e-01 1.69171298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.408040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.36, Y:6.25, Z:1.70 [[ 9.74049446e-01 -2.25014137e-01 -2.44195616e-02 6.73596502e+01] [ 2.24952385e-01 9.74355437e-01 -5.28271954e-03 6.24516614e+00] [ 2.49820192e-02 -3.47608587e-04 9.99687840e-01 1.69819045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.41, Y:6.27, Z:1.70 [[ 9.73216559e-01 -2.28589752e-01 -2.44183233e-02 6.74146996e+01] [ 2.28528981e-01 9.73522746e-01 -5.28843693e-03 6.26973270e+00] [ 2.49806757e-02 -4.33500162e-04 9.99687840e-01 1.69953801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.47, Y:6.28, Z:1.70 [[ 9.73613374e-01 -2.26893832e-01 -2.44169593e-02 6.74720857e+01] [ 2.26832369e-01 9.73919423e-01 -5.29472713e-03 6.28144965e+00] [ 2.49814919e-02 -3.83539591e-04 9.99687840e-01 1.70206971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.588040942 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:67.53, Y:6.29, Z:1.70 [[ 9.73194968e-01 -2.28681939e-01 -2.44156630e-02 6.75292161e+01] [ 2.28620889e-01 9.73501100e-01 -5.30069811e-03 6.29386140e+00] [ 2.49808487e-02 -4.23317862e-04 9.99687840e-01 1.69931956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.648040942 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:67.59, Y:6.30, Z:1.71 [[ 9.73454521e-01 -2.27574672e-01 -2.44144369e-02 6.75869967e+01] [ 2.27513133e-01 9.73760554e-01 -5.30633939e-03 6.30448691e+00] [ 2.49814041e-02 -3.89124964e-04 9.99687840e-01 1.70600588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.708040942 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:67.65, Y:6.30, Z:1.71 [[ 9.75006955e-01 -2.20828987e-01 -2.44130246e-02 6.76471391e+01] [ 2.20765167e-01 9.75312522e-01 -5.31282923e-03 6.30407757e+00] [ 2.49835552e-02 -2.09499996e-04 9.99687840e-01 1.71130733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.768040942 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:67.70, Y:6.33, Z:1.71 [[ 9.73576215e-01 -2.27053686e-01 -2.44126398e-02 6.77032515e+01] [ 2.26991776e-01 9.73882174e-01 -5.31459656e-03 6.32551811e+00] [ 2.49817335e-02 -3.67303669e-04 9.99687840e-01 1.70593229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.828040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:67.76, Y:6.33, Z:1.71 [[ 9.74431925e-01 -2.23352827e-01 -2.44118347e-02 6.77635205e+01] [ 2.23289662e-01 9.74737628e-01 -5.31829238e-03 6.32747757e+00] [ 2.49829894e-02 -2.68596423e-04 9.99687840e-01 1.71130837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.888040942 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:67.82, Y:6.34, Z:1.71 [[ 9.73897829e-01 -2.25670435e-01 -2.44105057e-02 6.78208045e+01] [ 2.25607845e-01 9.74203650e-01 -5.32438510e-03 6.34118293e+00] [ 2.49823601e-02 -3.21794502e-04 9.99687840e-01 1.71146368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.88, Y:6.35, Z:1.71 [[ 9.74142212e-01 -2.24613319e-01 -2.44091833e-02 6.78771475e+01] [ 2.24550245e-01 9.74447933e-01 -5.33044069e-03 6.35483758e+00] [ 2.49827662e-02 -2.88480820e-04 9.99687840e-01 1.71421922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.93, Y:6.37, Z:1.72 [[ 9.73641584e-01 -2.26773633e-01 -2.44087191e-02 6.79344785e+01] [ 2.26711184e-01 9.73947433e-01 -5.33256540e-03 6.36702929e+00] [ 2.49820946e-02 -3.41722196e-04 9.99687840e-01 1.71551325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.068040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:67.99, Y:6.38, Z:1.71 [[ 9.72704449e-01 -2.30760336e-01 -2.44074367e-02 6.79911004e+01] [ 2.30698994e-01 9.73010522e-01 -5.33842878e-03 6.38399295e+00] [ 2.49805903e-02 -4.38057659e-04 9.99687840e-01 1.71471628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.128040942 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:68.05, Y:6.40, Z:1.71 [[ 9.71946247e-01 -2.33933409e-01 -2.44060186e-02 6.80471464e+01] [ 2.33872903e-01 9.72252486e-01 -5.34490426e-03 6.40107212e+00] [ 2.49791639e-02 -5.12946784e-04 9.99687840e-01 1.71360841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.188040942 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:68.10, Y:6.41, Z:1.71 [[ 9.71602577e-01 -2.35356873e-01 -2.44044148e-02 6.81022912e+01] [ 2.35296633e-01 9.71908868e-01 -5.35221697e-03 6.41434558e+00] [ 2.49785482e-02 -5.42048829e-04 9.99687840e-01 1.71411106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.16, Y:6.43, Z:1.72 [[ 9.71747980e-01 -2.34755876e-01 -2.44037277e-02 6.81577916e+01] [ 2.34695368e-01 9.72054219e-01 -5.35534798e-03 6.42952545e+00] [ 2.49789459e-02 -5.23393257e-04 9.99687840e-01 1.71591291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.308040942 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:68.21, Y:6.45, Z:1.71 [[ 9.72187602e-01 -2.32928654e-01 -2.44030513e-02 6.82128256e+01] [ 2.32867493e-01 9.72493711e-01 -5.35842849e-03 6.44752633e+00] [ 2.49799454e-02 -4.73279615e-04 9.99687840e-01 1.71475530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.27, Y:6.46, Z:1.72 [[ 9.73337208e-01 -2.28077166e-01 -2.44025783e-02 6.82694332e+01] [ 2.28014425e-01 9.73642997e-01 -5.36058150e-03 6.46165229e+00] [ 2.49820257e-02 -3.46486434e-04 9.99687840e-01 1.72258534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.33, Y:6.48, Z:1.73 [[ 9.73661586e-01 -2.26688538e-01 -2.44012760e-02 6.83262287e+01] [ 2.26625212e-01 9.73967255e-01 -5.36650288e-03 6.47520485e+00] [ 2.49825685e-02 -3.04786648e-04 9.99687840e-01 1.72510170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.38, Y:6.49, Z:1.73 [[ 9.74273286e-01 -2.24045097e-01 -2.43999885e-02 6.83832755e+01] [ 2.23980795e-01 9.74578751e-01 -5.37235042e-03 6.48829258e+00] [ 2.49833591e-02 -2.30991343e-04 9.99687840e-01 1.72654050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.44, Y:6.50, Z:1.72 [[ 9.74440549e-01 -2.23316657e-01 -2.43984910e-02 6.84400047e+01] [ 2.23251957e-01 9.74745930e-01 -5.37914286e-03 6.50315977e+00] [ 2.49835820e-02 -2.05355952e-04 9.99687841e-01 1.72471845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.608040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:68.50, Y:6.52, Z:1.73 [[ 9.74296069e-01 -2.23946302e-01 -2.43972146e-02 6.84962910e+01] [ 2.23881655e-01 9.74601461e-01 -5.38492567e-03 6.51637748e+00] [ 2.49834952e-02 -2.15576866e-04 9.99687841e-01 1.72623709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.668040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:68.55, Y:6.53, Z:1.73 [[ 9.74058403e-01 -2.24977836e-01 -2.43967241e-02 6.85545905e+01] [ 2.24913456e-01 9.74363852e-01 -5.38714702e-03 6.52748509e+00] [ 2.49832748e-02 -2.39755720e-04 9.99687841e-01 1.72801346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.728040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.61, Y:6.54, Z:1.73 [[ 9.73827866e-01 -2.25973799e-01 -2.43952681e-02 6.86112778e+01] [ 2.25909567e-01 9.74133346e-01 -5.39373245e-03 6.53953622e+00] [ 2.49830864e-02 -2.58557481e-04 9.99687841e-01 1.72965803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.788040942 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:68.67, Y:6.55, Z:1.73 [[ 9.72823505e-01 -2.30259252e-01 -2.43947589e-02 6.86677339e+01] [ 2.30196308e-01 9.73129253e-01 -5.39603466e-03 6.55169717e+00] [ 2.49817404e-02 -3.66194060e-04 9.99687841e-01 1.73148368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.72, Y:6.57, Z:1.73 [[ 9.71720212e-01 -2.34871894e-01 -2.43930826e-02 6.87236169e+01] [ 2.34810211e-01 9.72026217e-01 -5.40360176e-03 6.56577514e+00] [ 2.49798700e-02 -4.76955822e-04 9.99687841e-01 1.73296564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.908040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.78, Y:6.58, Z:1.73 [[ 9.71115956e-01 -2.37357963e-01 -2.43925692e-02 6.87804896e+01] [ 2.37297005e-01 9.71422106e-01 -5.40591815e-03 6.58102154e+00] [ 2.49786187e-02 -5.38510253e-04 9.99687841e-01 1.73294539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.84, Y:6.60, Z:1.73 [[ 9.70831781e-01 -2.38517767e-01 -2.43911540e-02 6.88374101e+01] [ 2.38457015e-01 9.71137971e-01 -5.41229584e-03 6.59898532e+00] [ 2.49781046e-02 -5.61812977e-04 9.99687841e-01 1.73172007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.89, Y:6.62, Z:1.73 [[ 9.71750839e-01 -2.34745482e-01 -2.43898563e-02 6.88926597e+01] [ 2.34683394e-01 9.72056762e-01 -5.41813763e-03 6.61662683e+00] [ 2.49802081e-02 -4.58814475e-04 9.99687841e-01 1.73352835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.95, Y:6.64, Z:1.73 [[ 9.73201843e-01 -2.28655486e-01 -2.43893665e-02 6.89490103e+01] [ 2.28591428e-01 9.73507359e-01 -5.42034180e-03 6.63543991e+00] [ 2.49826186e-02 -3.00113475e-04 9.99687841e-01 1.73103911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.00, Y:6.65, Z:1.73 [[ 9.74282507e-01 -2.24006309e-01 -2.43878942e-02 6.90046916e+01] [ 2.23940628e-01 9.74587679e-01 -5.42695770e-03 6.65260601e+00] [ 2.49838140e-02 -1.74050383e-04 9.99687841e-01 1.73177085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.06, Y:6.67, Z:1.74 [[ 9.76184437e-01 -2.15567290e-01 -2.43862183e-02 6.90616301e+01] [ 2.15498783e-01 9.76488987e-01 -5.43447812e-03 6.66915058e+00] [ 2.49843693e-02 4.98525931e-05 9.99687841e-01 1.73604590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.12, Y:6.68, Z:1.74 [[ 9.77799106e-01 -2.08120858e-01 -2.43847635e-02 6.91176875e+01] [ 2.08049870e-01 9.78103086e-01 -5.44099827e-03 6.68434215e+00] [ 2.49831976e-02 2.46956391e-04 9.99687841e-01 1.74289003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.17, Y:6.70, Z:1.74 [[ 9.78294336e-01 -2.05780464e-01 -2.43842530e-02 6.91740831e+01] [ 2.05708691e-01 9.78598132e-01 -5.44328504e-03 6.69947068e+00] [ 2.49825062e-02 3.09082155e-04 9.99687841e-01 1.74423231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.388040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.23, Y:6.72, Z:1.74 [[ 9.77275288e-01 -2.10567091e-01 -2.43825969e-02 6.92288520e+01] [ 2.10496621e-01 9.77579389e-01 -5.45069329e-03 6.72007826e+00] [ 2.49836608e-02 1.94373602e-04 9.99687841e-01 1.74177793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.29, Y:6.73, Z:1.75 [[ 9.77209606e-01 -2.10871762e-01 -2.43820874e-02 6.92864030e+01] [ 2.10801330e-01 9.77513716e-01 -5.45297132e-03 6.73094324e+00] [ 2.49837025e-02 1.88919483e-04 9.99687841e-01 1.74841756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.34, Y:6.75, Z:1.75 [[ 9.76259664e-01 -2.15226973e-01 -2.43807053e-02 6.93431069e+01] [ 2.15157744e-01 9.76564050e-01 -5.45914377e-03 6.74601656e+00] [ 2.49842753e-02 8.38442980e-05 9.99687841e-01 1.74897093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.568040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.40, Y:6.76, Z:1.75 [[ 9.73421399e-01 -2.27720072e-01 -2.43792820e-02 6.93996827e+01] [ 2.27654591e-01 9.73726612e-01 -5.46549269e-03 6.76153796e+00] [ 2.49833581e-02 -2.29827924e-04 9.99687841e-01 1.74662493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.45, Y:6.78, Z:1.74 [[ 9.69590657e-01 -2.43515251e-01 -2.43778720e-02 6.94539486e+01] [ 2.43454582e-01 9.69896864e-01 -5.47177428e-03 6.78383529e+00] [ 2.49764821e-02 -6.29523439e-04 9.99687841e-01 1.74337107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.51, Y:6.80, Z:1.74 [[ 9.67671971e-01 -2.51031273e-01 -2.43773784e-02 6.95090254e+01] [ 2.50972926e-01 9.67978629e-01 -5.47397246e-03 6.80256778e+00] [ 2.49709196e-02 -8.21052270e-04 9.99687841e-01 1.74270006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.56, Y:6.82, Z:1.74 [[ 9.66929377e-01 -2.53876739e-01 -2.43758445e-02 6.95644849e+01] [ 2.53819123e-01 9.67236173e-01 -5.48079487e-03 6.81827811e+00] [ 2.49686448e-02 -8.87513909e-04 9.99687841e-01 1.74433467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.62, Y:6.83, Z:1.75 [[ 9.66762448e-01 -2.54511815e-01 -2.43742933e-02 6.96198693e+01] [ 2.54454227e-01 9.67069249e-01 -5.48768464e-03 6.83346988e+00] [ 2.49683101e-02 -8.96854514e-04 9.99687841e-01 1.74680048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.68, Y:6.85, Z:1.75 [[ 9.67241065e-01 -2.52686860e-01 -2.43736267e-02 6.96752542e+01] [ 2.52628619e-01 9.67547742e-01 -5.49064355e-03 6.85292024e+00] [ 2.49700610e-02 -8.46699732e-04 9.99687841e-01 1.74728872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.73, Y:6.87, Z:1.75 [[ 9.68880751e-01 -2.46325170e-01 -2.43721196e-02 6.97291136e+01] [ 2.46264746e-01 9.69187007e-01 -5.49732535e-03 6.87133364e+00] [ 2.49752712e-02 -6.75741126e-04 9.99687841e-01 1.74834342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.78, Y:6.89, Z:1.75 [[ 9.70204665e-01 -2.41057959e-01 -2.43714717e-02 6.97842406e+01] [ 2.40995801e-01 9.70510573e-01 -5.50019626e-03 6.88583678e+00] [ 2.49786370e-02 -5.37106266e-04 9.99687841e-01 1.74962107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.84, Y:6.90, Z:1.75 [[ 9.72102025e-01 -2.33288908e-01 -2.43708327e-02 6.98402172e+01] [ 2.33224234e-01 9.72407411e-01 -5.50302596e-03 6.90250004e+00] [ 2.49821733e-02 -3.34366097e-04 9.99687841e-01 1.74992875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.90, Y:6.92, Z:1.75 [[ 9.73389718e-01 -2.27856512e-01 -2.43693977e-02 6.98975588e+01] [ 2.27789974e-01 9.73694703e-01 -5.50937323e-03 6.91649877e+00] [ 2.49837001e-02 -1.88337229e-04 9.99687841e-01 1.74513211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.95, Y:6.93, Z:1.75 [[ 9.74442614e-01 -2.23310979e-01 -2.43679877e-02 6.99546624e+01] [ 2.23242863e-01 9.74747250e-01 -5.51560269e-03 6.92739583e+00] [ 2.49843237e-02 -6.53410466e-05 9.99687841e-01 1.74549455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.228040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.01, Y:6.94, Z:1.75 [[ 9.74955437e-01 -2.21061490e-01 -2.43662455e-02 7.00116584e+01] [ 2.20992479e-01 9.75259872e-01 -5.52328874e-03 6.93631855e+00] [ 2.49844079e-02 2.03392714e-07 9.99687841e-01 1.74649302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.07, Y:6.95, Z:1.75 [[ 9.75293875e-01 -2.19563588e-01 -2.43657104e-02 7.00671849e+01] [ 2.19494051e-01 9.75598190e-01 -5.52564812e-03 6.95206046e+00] [ 2.49843741e-02 4.10022972e-05 9.99687841e-01 1.75312737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.12, Y:6.96, Z:1.75 [[ 9.75823408e-01 -2.17198214e-01 -2.43641515e-02 7.01249858e+01] [ 2.17127767e-01 9.76127514e-01 -5.53251311e-03 6.96127404e+00] [ 2.49841706e-02 1.08621981e-04 9.99687841e-01 1.75440898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.408040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.18, Y:6.97, Z:1.75 [[ 9.76502375e-01 -2.14125138e-01 -2.43626269e-02 7.01817882e+01] [ 2.14053567e-01 9.76806218e-01 -5.53921864e-03 6.96739113e+00] [ 2.49836514e-02 1.94152961e-04 9.99687841e-01 1.75159135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.24, Y:6.98, Z:1.76 [[ 9.76113854e-01 -2.15889413e-01 -2.43619718e-02 7.02379933e+01] [ 2.15818319e-01 9.76417809e-01 -5.54209839e-03 6.98009469e+00] [ 2.49839435e-02 1.51959213e-04 9.99687841e-01 1.75535679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.30, Y:6.98, Z:1.76 [[ 9.76543363e-01 -2.13938377e-01 -2.43604473e-02 7.02975817e+01] [ 2.13866509e-01 9.76847136e-01 -5.54879129e-03 6.98200839e+00] [ 2.49835326e-02 2.08751474e-04 9.99687841e-01 1.75596374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.35, Y:6.99, Z:1.76 [[ 9.76414614e-01 -2.14525378e-01 -2.43590674e-02 7.03548639e+01] [ 2.14453542e-01 9.76718395e-01 -5.55484264e-03 6.99287366e+00] [ 2.49836039e-02 1.99941261e-04 9.99687841e-01 1.76035372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.41, Y:7.00, Z:1.76 [[ 9.75384347e-01 -2.19162129e-01 -2.43585295e-02 7.04130971e+01] [ 2.19091677e-01 9.75688452e-01 -5.55720026e-03 6.99805677e+00] [ 2.49842638e-02 8.36550530e-05 9.99687841e-01 1.76237033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.47, Y:7.01, Z:1.76 [[ 9.73273440e-01 -2.28353891e-01 -2.43580036e-02 7.04699575e+01] [ 2.28286254e-01 9.73578183e-01 -5.55950462e-03 7.01123575e+00] [ 2.49839553e-02 -1.49679211e-04 9.99687841e-01 1.76199023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.53, Y:7.02, Z:1.76 [[ 9.72495365e-01 -2.31645152e-01 -2.43575028e-02 7.05271547e+01] [ 2.31578491e-01 9.72800324e-01 -5.56169777e-03 7.02034562e+00] [ 2.49833269e-02 -2.31948449e-04 9.99687841e-01 1.76390974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.59, Y:7.02, Z:1.76 [[ 9.73067465e-01 -2.29230228e-01 -2.43559227e-02 7.05874238e+01] [ 2.29162637e-01 9.73372219e-01 -5.56860861e-03 7.02059981e+00] [ 2.49838720e-02 -1.62835614e-04 9.99687841e-01 1.76496767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.65, Y:7.03, Z:1.76 [[ 9.72171410e-01 -2.33001300e-01 -2.43545558e-02 7.06460178e+01] [ 2.32934742e-01 9.72476390e-01 -5.57458059e-03 7.03006750e+00] [ 2.49831150e-02 -2.53574302e-04 9.99687841e-01 1.76289180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.70, Y:7.04, Z:1.76 [[ 9.72703946e-01 -2.30768191e-01 -2.43531327e-02 7.07037715e+01] [ 2.30700778e-01 9.73008739e-01 -5.58079036e-03 7.03995164e+00] [ 2.49836799e-02 -1.89829851e-04 9.99687841e-01 1.76306354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.76, Y:7.05, Z:1.77 [[ 9.73652950e-01 -2.26730982e-01 -2.43514977e-02 7.07617728e+01] [ 2.26662126e-01 9.73957420e-01 -5.58791582e-03 7.04706361e+00] [ 2.49842755e-02 -7.88715204e-05 9.99687841e-01 1.76690849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.82, Y:7.06, Z:1.77 [[ 9.74136532e-01 -2.24644267e-01 -2.43509950e-02 7.08205839e+01] [ 2.24574705e-01 9.74440841e-01 -5.59010537e-03 7.05564913e+00] [ 2.49843892e-02 -2.30916667e-05 9.99687841e-01 1.77043002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.88, Y:7.06, Z:1.77 [[ 9.74052239e-01 -2.25009644e-01 -2.43494450e-02 7.08774811e+01] [ 2.24940027e-01 9.74356536e-01 -5.59684890e-03 7.06148528e+00] [ 2.49843859e-02 -2.55416100e-05 9.99687841e-01 1.77269615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.93, Y:7.07, Z:1.77 [[ 9.74047630e-01 -2.25029679e-01 -2.43486846e-02 7.09337061e+01] [ 2.24959986e-01 9.74351909e-01 -5.60015513e-03 7.06963992e+00] [ 2.49843884e-02 -2.26619021e-05 9.99687841e-01 1.77310687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.99, Y:7.08, Z:1.78 [[ 9.73614290e-01 -2.26897314e-01 -2.43479713e-02 7.09924983e+01] [ 2.26828127e-01 9.73918685e-01 -5.60325430e-03 7.07570320e+00] [ 2.49843076e-02 -6.73962827e-05 9.99687841e-01 1.77522874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.05, Y:7.08, Z:1.78 [[ 9.72976337e-01 -2.29617708e-01 -2.43465901e-02 7.10504782e+01] [ 2.29549222e-01 9.73280890e-01 -5.60924971e-03 7.08181999e+00] [ 2.49840539e-02 -1.31073576e-04 9.99687841e-01 1.78049473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36804094200001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:71.11, Y:7.10, Z:1.78 [[ 9.72972447e-01 -2.29634372e-01 -2.43448493e-02 7.11065500e+01] [ 2.29565703e-01 9.73276959e-01 -5.61679476e-03 7.09565414e+00] [ 2.49840900e-02 -1.23755888e-04 9.99687841e-01 1.78148909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.428040942 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:71.16, Y:7.11, Z:1.78 [[ 9.73128761e-01 -2.28971239e-01 -2.43431102e-02 7.11637277e+01] [ 2.28902173e-01 9.73433183e-01 -5.62432201e-03 7.10935803e+00] [ 2.49841992e-02 -9.90013068e-05 9.99687841e-01 1.78144146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.488040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:71.22, Y:7.12, Z:1.78 [[ 9.72412121e-01 -2.31996021e-01 -2.43415923e-02 7.12196141e+01] [ 2.31927739e-01 9.72716720e-01 -5.63088329e-03 7.12360476e+00] [ 2.49838164e-02 -1.69951305e-04 9.99687841e-01 1.77744919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.28, Y:7.14, Z:1.79 [[ 9.72538290e-01 -2.31466600e-01 -2.43410566e-02 7.12762564e+01] [ 2.31398093e-01 9.72842839e-01 -5.63319815e-03 7.13812146e+00] [ 2.49839199e-02 -1.53973191e-04 9.99687841e-01 1.78507051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.608040942 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:71.33, Y:7.16, Z:1.78 [[ 9.71321281e-01 -2.36521792e-01 -2.43395103e-02 7.13319628e+01] [ 2.36454703e-01 9.71626145e-01 -5.63987169e-03 7.15531001e+00] [ 2.49828571e-02 -2.77064271e-04 9.99687841e-01 1.77995645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.668040942 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:71.39, Y:7.17, Z:1.78 [[ 9.70353002e-01 -2.40463441e-01 -2.43389703e-02 7.13893400e+01] [ 2.40397532e-01 9.70658123e-01 -5.64220093e-03 7.16886981e+00] [ 2.49815623e-02 -3.76101785e-04 9.99687841e-01 1.78244850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.728040942 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:71.45, Y:7.18, Z:1.79 [[ 9.70698216e-01 -2.39066223e-01 -2.43375049e-02 7.14470855e+01] [ 2.38999716e-01 9.71003208e-01 -5.64851503e-03 7.18112225e+00] [ 2.49821644e-02 -3.33653296e-04 9.99687841e-01 1.78709719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.788040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.50, Y:7.20, Z:1.79 [[ 9.71853593e-01 -2.34325307e-01 -2.43360559e-02 7.15024001e+01] [ 2.34257156e-01 9.72158222e-01 -5.65475078e-03 7.19612206e+00] [ 2.49835481e-02 -2.05305385e-04 9.99687841e-01 1.79036891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.56, Y:7.21, Z:1.79 [[ 9.71771611e-01 -2.34665156e-01 -2.43351640e-02 7.15585048e+01] [ 2.34597016e-01 9.72076242e-01 -5.65858670e-03 7.21027758e+00] [ 2.49835079e-02 -2.10102925e-04 9.99687841e-01 1.78749167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.908040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.62, Y:7.22, Z:1.80 [[ 9.73382566e-01 -2.27890892e-01 -2.43335298e-02 7.16155446e+01] [ 2.27820456e-01 9.73686675e-01 -5.66560527e-03 7.21864336e+00] [ 2.49843736e-02 -2.88744655e-05 9.99687841e-01 1.79834740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.968040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:71.67, Y:7.23, Z:1.80 [[ 9.73813998e-01 -2.26040263e-01 -2.43330280e-02 7.16735164e+01] [ 2.25969196e-01 9.74117960e-01 -5.66775975e-03 7.22919927e+00] [ 2.49843815e-02 2.08290180e-05 9.99687841e-01 1.80352910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.028040942 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:71.73, Y:7.24, Z:1.81 [[ 9.74667920e-01 -2.22329525e-01 -2.43316198e-02 7.17313962e+01] [ 2.22257150e-01 9.74971573e-01 -5.67379880e-03 7.23820470e+00] [ 2.49840906e-02 1.22193221e-04 9.99687841e-01 1.80972382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.088040942 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:71.79, Y:7.26, Z:1.80 [[ 9.73114517e-01 -2.29033032e-01 -2.43311992e-02 7.17870735e+01] [ 2.28962704e-01 9.73418650e-01 -5.67560184e-03 7.25801646e+00] [ 2.49843433e-02 -4.79266030e-05 9.99687841e-01 1.80241168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.148040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:71.84, Y:7.27, Z:1.80 [[ 9.71938852e-01 -2.33971952e-01 -2.43309143e-02 7.18437053e+01] [ 2.33903138e-01 9.72243331e-01 -5.67682295e-03 7.27020852e+00] [ 2.49837865e-02 -1.73552416e-04 9.99687841e-01 1.80108184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.208040942 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:71.90, Y:7.28, Z:1.81 [[ 9.71968440e-01 -2.33849174e-01 -2.43293316e-02 7.19011028e+01] [ 2.33780152e-01 9.72272872e-01 -5.68359779e-03 7.27748769e+00] [ 2.49838537e-02 -1.63437156e-04 9.99687841e-01 1.80692837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.268040942 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:71.96, Y:7.29, Z:1.81 [[ 9.70116212e-01 -2.41417983e-01 -2.43288455e-02 7.19585196e+01] [ 2.41351284e-01 9.70421162e-01 -5.68567788e-03 7.28851739e+00] [ 2.49818514e-02 -3.56029805e-04 9.99687841e-01 1.80974672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.328040942 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:72.01, Y:7.30, Z:1.81 [[ 9.69023587e-01 -2.45767128e-01 -2.43270726e-02 7.20148436e+01] [ 2.45701607e-01 9.69328792e-01 -5.69325310e-03 7.30379490e+00] [ 2.49801464e-02 -4.60304314e-04 9.99687841e-01 1.81235057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.388040942 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:72.07, Y:7.31, Z:1.82 [[ 9.68612082e-01 -2.47384114e-01 -2.43255907e-02 7.20719844e+01] [ 2.47318944e-01 9.68917362e-01 -5.69957790e-03 7.31495763e+00] [ 2.49794722e-02 -4.95499399e-04 9.99687842e-01 1.81586064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.448040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:72.13, Y:7.34, Z:1.81 [[ 9.68143100e-01 -2.49213353e-01 -2.43236877e-02 7.21266376e+01] [ 2.49148556e-01 9.68448460e-01 -5.70768790e-03 7.33596092e+00] [ 2.49786699e-02 -5.34353012e-04 9.99687842e-01 1.81119320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50804094200001 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:72.18, Y:7.35, Z:1.81 [[ 9.67004264e-01 -2.53596414e-01 -2.43230947e-02 7.21820279e+01] [ 2.53532937e-01 9.67309900e-01 -5.71021387e-03 7.35397946e+00] [ 2.49760600e-02 -6.44904474e-04 9.99687842e-01 1.80680977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.568040942 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:72.24, Y:7.37, Z:1.82 [[ 9.67423017e-01 -2.51994406e-01 -2.43212763e-02 7.22374500e+01] [ 2.51930230e-01 9.67728508e-01 -5.71794823e-03 7.37012199e+00] [ 2.49772834e-02 -5.95589995e-04 9.99687842e-01 1.81663962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.628040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:72.29, Y:7.39, Z:1.82 [[ 9.67837319e-01 -2.50398530e-01 -2.43207640e-02 7.22933643e+01] [ 2.50333794e-01 9.68142692e-01 -5.72012632e-03 7.38968648e+00] [ 2.49782812e-02 -5.52157425e-04 9.99687842e-01 1.81728239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.35, Y:7.41, Z:1.82 [[ 9.67576112e-01 -2.51406063e-01 -2.43199391e-02 7.23484563e+01] [ 2.51341558e-01 9.67881533e-01 -5.72363159e-03 7.40613865e+00] [ 2.49777756e-02 -5.74562167e-04 9.99687842e-01 1.81849162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.748040942 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:72.41, Y:7.41, Z:1.83 [[ 9.69894874e-01 -2.42306651e-01 -2.43191514e-02 7.24077592e+01] [ 2.42239196e-01 9.70199657e-01 -5.72697634e-03 7.41225267e+00] [ 2.49821168e-02 -3.36486686e-04 9.99687842e-01 1.82896895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.46, Y:7.44, Z:1.82 [[ 9.66887086e-01 -2.54043323e-01 -2.43177538e-02 7.24619584e+01] [ 2.53979418e-01 9.67192633e-01 -5.73290463e-03 7.44006153e+00] [ 2.49763585e-02 -6.33137503e-04 9.99687842e-01 1.82057600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.52, Y:7.46, Z:1.81 [[ 9.65218083e-01 -2.60312725e-01 -2.43174325e-02 7.25190439e+01] [ 2.60250770e-01 9.65524031e-01 -5.73426718e-03 7.45950244e+00] [ 2.49717682e-02 -7.93812158e-04 9.99687842e-01 1.81062315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.928040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:72.58, Y:7.47, Z:1.82 [[ 9.65856965e-01 -2.57932143e-01 -2.43173289e-02 7.25771332e+01] [ 2.57869422e-01 9.66162758e-01 -5.73470654e-03 7.46856574e+00] [ 2.49736627e-02 -7.31789296e-04 9.99687842e-01 1.82167772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.63, Y:7.48, Z:1.82 [[ 9.65896821e-01 -2.57782881e-01 -2.43170177e-02 7.26325448e+01] [ 2.57720080e-01 9.66202597e-01 -5.73602564e-03 7.48187086e+00] [ 2.49738149e-02 -7.26574831e-04 9.99687842e-01 1.82277908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.69, Y:7.49, Z:1.82 [[ 9.66870595e-01 -2.54106216e-01 -2.43163164e-02 7.26903927e+01] [ 2.54042178e-01 9.67176114e-01 -5.73899727e-03 7.48979870e+00] [ 2.49764753e-02 -6.28502268e-04 9.99687842e-01 1.82014595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.75, Y:7.50, Z:1.82 [[ 9.67111027e-01 -2.53189769e-01 -2.43146692e-02 7.27472727e+01] [ 2.53125266e-01 9.67416448e-01 -5.74596770e-03 7.50207783e+00] [ 2.49772311e-02 -5.97668383e-04 9.99687842e-01 1.81906945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.80, Y:7.52, Z:1.82 [[ 9.67158733e-01 -2.53007638e-01 -2.43129728e-02 7.28023022e+01] [ 2.52942897e-01 9.67464104e-01 -5.75313645e-03 7.51602995e+00] [ 2.49775159e-02 -5.85597620e-04 9.99687842e-01 1.81907560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.228040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.86, Y:7.53, Z:1.82 [[ 9.66973750e-01 -2.53713777e-01 -2.43122435e-02 7.28594908e+01] [ 2.53649182e-01 9.67279152e-01 -5.75621692e-03 7.53142070e+00] [ 2.49771578e-02 -6.00670022e-04 9.99687842e-01 1.82194248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.92, Y:7.54, Z:1.82 [[ 9.67425703e-01 -2.51985120e-01 -2.43106771e-02 7.29162266e+01] [ 2.51919813e-01 9.67730953e-01 -5.76282489e-03 7.54472715e+00] [ 2.49783408e-02 -5.49236310e-04 9.99687842e-01 1.82233252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.97, Y:7.56, Z:1.83 [[ 9.66970647e-01 -2.53725808e-01 -2.43101285e-02 7.29729501e+01] [ 2.53660992e-01 9.67276002e-01 -5.76513809e-03 7.55801673e+00] [ 2.49773682e-02 -5.91812023e-04 9.99687842e-01 1.82514067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.408040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.03, Y:7.57, Z:1.82 [[ 9.67739070e-01 -2.50779177e-01 -2.43083762e-02 7.30292236e+01] [ 2.50713246e-01 9.68044186e-01 -5.77251717e-03 7.57218653e+00] [ 2.49792094e-02 -5.08141500e-04 9.99687842e-01 1.82273108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.09, Y:7.58, Z:1.83 [[ 9.68378703e-01 -2.48297867e-01 -2.43075697e-02 7.30859281e+01] [ 2.48231069e-01 9.68683630e-01 -5.77591112e-03 7.58211272e+00] [ 2.49804913e-02 -4.40624701e-04 9.99687842e-01 1.83226353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.14, Y:7.60, Z:1.83 [[ 9.68809993e-01 -2.46609857e-01 -2.43058657e-02 7.31412065e+01] [ 2.46542349e-01 9.69114764e-01 -5.78307324e-03 7.59511899e+00] [ 2.49813361e-02 -3.89726064e-04 9.99687842e-01 1.83119801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.20, Y:7.61, Z:1.84 [[ 9.70428244e-01 -2.40163035e-01 -2.43051325e-02 7.31981596e+01] [ 2.40093425e-01 9.70732542e-01 -5.78615280e-03 7.60809489e+00] [ 2.49834031e-02 -2.20456403e-04 9.99687842e-01 1.83635159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.648040942 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:73.25, Y:7.62, Z:1.84 [[ 9.71270743e-01 -2.36732947e-01 -2.43034089e-02 7.32548190e+01] [ 2.36662081e-01 9.71574751e-01 -5.79338353e-03 7.62132358e+00] [ 2.49840632e-02 -1.24751387e-04 9.99687842e-01 1.83875395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.708040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:73.31, Y:7.63, Z:1.84 [[ 9.71139606e-01 -2.37270515e-01 -2.43016238e-02 7.33103480e+01] [ 2.37199630e-01 9.71443609e-01 -5.80086189e-03 7.63267855e+00] [ 2.49840306e-02 -1.30889433e-04 9.99687842e-01 1.84366826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.37, Y:7.65, Z:1.84 [[ 9.70440148e-01 -2.40115365e-01 -2.43008566e-02 7.33666577e+01] [ 2.40045290e-01 9.70744339e-01 -5.80407414e-03 7.64606714e+00] [ 2.49835663e-02 -2.00799602e-04 9.99687842e-01 1.84451430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.42, Y:7.66, Z:1.84 [[ 9.69636939e-01 -2.43338775e-01 -2.42991132e-02 7.34229878e+01] [ 2.43269529e-01 9.69941320e-01 -5.81136381e-03 7.66126634e+00] [ 2.49828441e-02 -2.76320811e-04 9.99687842e-01 1.84331670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.48, Y:7.68, Z:1.84 [[ 9.68542982e-01 -2.47657284e-01 -2.42973647e-02 7.34787955e+01] [ 2.47589212e-01 9.68847627e-01 -5.81866506e-03 7.67702602e+00] [ 2.49814789e-02 -3.80138181e-04 9.99687842e-01 1.84142955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.53, Y:7.69, Z:1.84 [[ 9.67145063e-01 -2.53061552e-01 -2.42956206e-02 7.35348479e+01] [ 2.52994999e-01 9.67450045e-01 -5.82593857e-03 7.69343221e+00] [ 2.49791202e-02 -5.12142774e-04 9.99687842e-01 1.84065557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.59, Y:7.71, Z:1.84 [[ 9.66931770e-01 -2.53875477e-01 -2.42938924e-02 7.35899265e+01] [ 2.53809001e-01 9.67236768e-01 -5.83313580e-03 7.70846122e+00] [ 2.49788361e-02 -5.25764242e-04 9.99687842e-01 1.84416062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.65, Y:7.72, Z:1.85 [[ 9.67452728e-01 -2.51883033e-01 -2.42931516e-02 7.36471032e+01] [ 2.51815851e-01 9.67757571e-01 -5.83621975e-03 7.72038052e+00] [ 2.49799261e-02 -4.71133917e-04 9.99687842e-01 1.84971105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.70, Y:7.73, Z:1.85 [[ 9.68373687e-01 -2.48319008e-01 -2.42914188e-02 7.37048589e+01] [ 2.48250524e-01 9.68678240e-01 -5.84342270e-03 7.73389493e+00] [ 2.49816018e-02 -3.71740672e-04 9.99687842e-01 1.85451924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.188040942 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:73.76, Y:7.75, Z:1.86 [[ 9.68894561e-01 -2.46278959e-01 -2.42900082e-02 7.37626843e+01] [ 2.46209686e-01 9.69198935e-01 -5.84928051e-03 7.74587519e+00] [ 2.49824048e-02 -3.13099236e-04 9.99687842e-01 1.86190812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.82, Y:7.76, Z:1.87 [[ 9.69047720e-01 -2.45675768e-01 -2.42885507e-02 7.38206255e+01] [ 2.45606154e-01 9.69352017e-01 -5.85532635e-03 7.75781597e+00] [ 2.49826674e-02 -2.91326890e-04 9.99687842e-01 1.87094073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.308040942 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:73.88, Y:7.78, Z:1.87 [[ 9.68072399e-01 -2.49491299e-01 -2.42883305e-02 7.38773326e+01] [ 2.49422862e-01 9.68376962e-01 -5.85623996e-03 7.77640620e+00] [ 2.49813406e-02 -3.88800622e-04 9.99687842e-01 1.86966206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36804094200001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:73.93, Y:7.79, Z:1.87 [[ 9.67649287e-01 -2.51127349e-01 -2.42881142e-02 7.39335871e+01] [ 2.51059404e-01 9.67953961e-01 -5.85713682e-03 7.79228838e+00] [ 2.49806635e-02 -4.30105203e-04 9.99687842e-01 1.86967331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.428040942 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:73.99, Y:7.81, Z:1.87 [[ 9.67305183e-01 -2.52449591e-01 -2.42875812e-02 7.39902222e+01] [ 2.52382007e-01 9.67609937e-01 -5.85934610e-03 7.81003612e+00] [ 2.49800944e-02 -4.61972640e-04 9.99687842e-01 1.87061437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.488040942 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:74.05, Y:7.84, Z:1.86 [[ 9.65287985e-01 -2.60056332e-01 -2.42860089e-02 7.40452911e+01] [ 2.59990985e-01 9.65593227e-01 -5.86585570e-03 7.83578686e+00] [ 2.49758586e-02 -6.51903358e-04 9.99687842e-01 1.85968636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.10, Y:7.85, Z:1.87 [[ 9.66228718e-01 -2.56539007e-01 -2.42858550e-02 7.41036548e+01] [ 2.56472533e-01 9.66533716e-01 -5.86649283e-03 7.84695043e+00] [ 2.49780819e-02 -5.60280915e-04 9.99687842e-01 1.87074484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.608040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.16, Y:7.86, Z:1.87 [[ 9.66147700e-01 -2.56843978e-01 -2.42856408e-02 7.41600060e+01] [ 2.56777578e-01 9.66452715e-01 -5.86737930e-03 7.86288418e+00] [ 2.49779245e-02 -5.67253009e-04 9.99687842e-01 1.87217795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.668040942 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:74.22, Y:7.88, Z:1.87 [[ 9.66082644e-01 -2.57088711e-01 -2.42841445e-02 7.42164736e+01] [ 2.57022233e-01 9.66387641e-01 -5.87356573e-03 7.87983456e+00] [ 2.49779246e-02 -5.67215156e-04 9.99687842e-01 1.87017829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.728040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.27, Y:7.90, Z:1.87 [[ 9.66018914e-01 -2.57328214e-01 -2.42826556e-02 7.42712006e+01] [ 2.57261658e-01 9.66323894e-01 -5.87971477e-03 7.90324231e+00] [ 2.49779269e-02 -5.67080563e-04 9.99687842e-01 1.86506652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.788040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.33, Y:7.92, Z:1.87 [[ 9.67003698e-01 -2.53602475e-01 -2.42823416e-02 7.43281570e+01] [ 2.53534710e-01 9.67308412e-01 -5.88101119e-03 7.91825341e+00] [ 2.49799523e-02 -4.69456889e-04 9.99687842e-01 1.87351160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.38, Y:7.94, Z:1.87 [[ 9.66989977e-01 -2.53654931e-01 -2.42808546e-02 7.43830594e+01] [ 2.53587029e-01 9.67294661e-01 -5.88714422e-03 7.93716047e+00] [ 2.49800442e-02 -4.64500322e-04 9.99687842e-01 1.87258701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.908040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.44, Y:7.95, Z:1.88 [[ 9.67762694e-01 -2.50690712e-01 -2.42803313e-02 7.44399859e+01] [ 2.50621823e-01 9.68067156e-01 -5.88930189e-03 7.95302617e+00] [ 2.49813845e-02 -3.85734231e-04 9.99687842e-01 1.87618302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.50, Y:7.97, Z:1.88 [[ 9.68864446e-01 -2.46398507e-01 -2.42788086e-02 7.44960914e+01] [ 2.46328112e-01 9.69168563e-01 -5.89557266e-03 7.96930660e+00] [ 2.49829183e-02 -2.68542325e-04 9.99687842e-01 1.87644531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.028040942 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:74.55, Y:7.99, Z:1.88 [[ 9.69489098e-01 -2.43929318e-01 -2.42770697e-02 7.45517380e+01] [ 2.43857969e-01 9.69792993e-01 -5.90272445e-03 7.98560902e+00] [ 2.49835796e-02 -1.97529904e-04 9.99687842e-01 1.87564132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.61, Y:8.00, Z:1.88 [[ 9.70571156e-01 -2.39587854e-01 -2.42753282e-02 7.46085487e+01] [ 2.39514967e-01 9.70874685e-01 -5.90987757e-03 8.00267069e+00] [ 2.49842365e-02 -7.83477319e-05 9.99687842e-01 1.87583333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.67, Y:8.02, Z:1.87 [[ 9.71040157e-01 -2.37680030e-01 -2.42737955e-02 7.46651125e+01] [ 2.37606389e-01 9.71343504e-01 -5.91616624e-03 8.01914645e+00] [ 2.49843482e-02 -2.27739023e-05 9.99687842e-01 1.87296522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.72, Y:8.04, Z:1.87 [[ 9.70333567e-01 -2.40548594e-01 -2.42722568e-02 7.47208114e+01] [ 2.40475692e-01 9.70637093e-01 -5.92247234e-03 8.03669357e+00] [ 2.49841952e-02 -9.01140527e-05 9.99687842e-01 1.86874696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.78, Y:8.04, Z:1.88 [[ 9.70986911e-01 -2.37897794e-01 -2.42705116e-02 7.47782226e+01] [ 2.37823885e-01 9.71290193e-01 -5.92961583e-03 8.04464908e+00] [ 2.49843524e-02 -1.45279933e-05 9.99687842e-01 1.87948827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.328040942 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:74.84, Y:8.06, Z:1.88 [[ 9.70162429e-01 -2.41238144e-01 -2.42697091e-02 7.48359405e+01] [ 2.41165197e-01 9.70465944e-01 -5.93289869e-03 8.05776342e+00] [ 2.49841676e-02 -9.71337686e-05 9.99687842e-01 1.88149075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.388040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.89, Y:8.07, Z:1.88 [[ 9.69681598e-01 -2.43163837e-01 -2.42682397e-02 7.48917659e+01] [ 2.43091343e-01 9.69985221e-01 -5.93890306e-03 8.07181223e+00] [ 2.49839603e-02 -1.40553955e-04 9.99687842e-01 1.88255700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.95, Y:8.09, Z:1.87 [[ 9.68629442e-01 -2.47321816e-01 -2.42677236e-02 7.49478871e+01] [ 2.47250572e-01 9.68933361e-01 -5.94101096e-03 8.09240608e+00] [ 2.49831487e-02 -2.45570417e-04 9.99687842e-01 1.86655819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.01, Y:8.10, Z:1.88 [[ 9.69545822e-01 -2.43704835e-01 -2.42662969e-02 7.50056718e+01] [ 2.43632312e-01 9.69849438e-01 -5.94683282e-03 8.09660924e+00] [ 2.49839263e-02 -1.46327100e-04 9.99687842e-01 1.88298687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.568040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.06, Y:8.11, Z:1.88 [[ 9.70110299e-01 -2.41448086e-01 -2.42657931e-02 7.50623497e+01] [ 2.41374805e-01 9.70413733e-01 -5.94888770e-03 8.10835095e+00] [ 2.49842065e-02 -8.60738620e-05 9.99687842e-01 1.88330383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.12, Y:8.12, Z:1.88 [[ 9.70701503e-01 -2.39060329e-01 -2.42641918e-02 7.51194488e+01] [ 2.38986138e-01 9.71004716e-01 -5.95541184e-03 8.12054550e+00] [ 2.49843474e-02 -1.78782709e-05 9.99687842e-01 1.88462890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.18, Y:8.13, Z:1.87 [[ 9.71584431e-01 -2.35446424e-01 -2.42626055e-02 7.51763029e+01] [ 2.35370944e-01 9.71887326e-01 -5.96186775e-03 8.13335439e+00] [ 2.49842192e-02 8.17455308e-05 9.99687842e-01 1.87373790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.23, Y:8.14, Z:1.89 [[ 9.71740873e-01 -2.34800070e-01 -2.42611538e-02 7.52338537e+01] [ 2.34724241e-01 9.72043680e-01 -5.96776945e-03 8.13913254e+00] [ 2.49841339e-02 1.04444588e-04 9.99687842e-01 1.88919093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.29, Y:8.15, Z:1.88 [[ 9.71841108e-01 -2.34384900e-01 -2.42606400e-02 7.52922650e+01] [ 2.34308890e-01 9.72143870e-01 -5.96985734e-03 8.15010290e+00] [ 2.49840769e-02 1.17269136e-04 9.99687842e-01 1.87902751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.35, Y:8.16, Z:1.88 [[ 9.71129923e-01 -2.37314478e-01 -2.42592316e-02 7.53495332e+01] [ 2.37239239e-01 9.71432878e-01 -5.97557521e-03 8.16260706e+00] [ 2.49843057e-02 4.78182669e-05 9.99687842e-01 1.87705021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.41, Y:8.17, Z:1.88 [[ 9.69537976e-01 -2.43736911e-01 -2.42576182e-02 7.54076378e+01] [ 2.43663514e-01 9.69841382e-01 -5.98211745e-03 8.17106429e+00] [ 2.49841048e-02 -1.10806451e-04 9.99687842e-01 1.88286611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.988040942 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:75.47, Y:8.18, Z:1.89 [[ 9.69023471e-01 -2.45774600e-01 -2.42560973e-02 7.54655658e+01] [ 2.45701687e-01 9.69326994e-01 -5.98827819e-03 8.17669856e+00] [ 2.49838565e-02 -1.56981903e-04 9.99687842e-01 1.88796833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.52, Y:8.18, Z:1.89 [[ 9.69176599e-01 -2.45170123e-01 -2.42555194e-02 7.55223898e+01] [ 2.45096962e-01 9.69480062e-01 -5.99061785e-03 8.18483895e+00] [ 2.49839630e-02 -1.38987488e-04 9.99687842e-01 1.88772492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.58, Y:8.19, Z:1.90 [[ 9.66312794e-01 -2.56225084e-01 -2.42547103e-02 7.55794081e+01] [ 2.56155313e-01 9.66617054e-01 -5.99389192e-03 8.19277142e+00] [ 2.49808021e-02 -4.20998460e-04 9.99687842e-01 1.89621789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.64, Y:8.20, Z:1.89 [[ 9.66166218e-01 -2.56777282e-01 -2.42541959e-02 7.56381941e+01] [ 2.56707632e-01 9.66470507e-01 -5.99597294e-03 8.19929171e+00] [ 2.49805946e-02 -4.33130685e-04 9.99687842e-01 1.88687764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.228040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.70, Y:8.20, Z:1.89 [[ 9.66526412e-01 -2.55418280e-01 -2.42527891e-02 7.56955878e+01] [ 2.55348060e-01 9.66830569e-01 -6.00165762e-03 8.20311442e+00] [ 2.49812710e-02 -3.92142047e-04 9.99687842e-01 1.89279007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.75, Y:8.22, Z:1.90 [[ 9.64007954e-01 -2.64764992e-01 -2.42520862e-02 7.57515103e+01] [ 2.64697649e-01 9.64312761e-01 -6.00449649e-03 8.21838836e+00] [ 2.49763767e-02 -6.31087820e-04 9.99687842e-01 1.89865938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.81, Y:8.23, Z:1.90 [[ 9.64132143e-01 -2.64312466e-01 -2.42514097e-02 7.58090365e+01] [ 2.64244911e-01 9.64436903e-01 -6.00722758e-03 8.22714931e+00] [ 2.49767396e-02 -6.16550403e-04 9.99687842e-01 1.89797887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.408040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.87, Y:8.24, Z:1.89 [[ 9.66034831e-01 -2.57271562e-01 -2.42497306e-02 7.58668599e+01] [ 2.57201616e-01 9.66339051e-01 -6.01399825e-03 8.23780533e+00] [ 2.49806924e-02 -4.27338118e-04 9.99687842e-01 1.89462896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.468040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:75.92, Y:8.25, Z:1.90 [[ 9.67111288e-01 -2.53195143e-01 -2.42482201e-02 7.59228480e+01] [ 2.53123761e-01 9.67415175e-01 -6.02008251e-03 8.25323652e+00] [ 2.49823517e-02 -3.15710914e-04 9.99687842e-01 1.89865190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.528040942 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:75.98, Y:8.26, Z:1.90 [[ 9.68749090e-01 -2.46854847e-01 -2.42463459e-02 7.59803080e+01] [ 2.46781288e-01 9.69052457e-01 -6.02762138e-03 8.26242241e+00] [ 2.49839286e-02 -1.44291736e-04 9.99687843e-01 1.89919642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.04, Y:8.28, Z:1.90 [[ 9.68597057e-01 -2.47450899e-01 -2.42444774e-02 7.60350155e+01] [ 2.47377339e-01 9.68900423e-01 -6.03512759e-03 8.27983138e+00] [ 2.49838822e-02 -1.51927481e-04 9.99687843e-01 1.90448290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.648040942 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:76.09, Y:8.29, Z:1.90 [[ 9.69474850e-01 -2.43989243e-01 -2.42438556e-02 7.60933487e+01] [ 2.43914537e-01 9.69777936e-01 -6.03762431e-03 8.28975984e+00] [ 2.49842717e-02 -6.01038952e-05 9.99687843e-01 1.90382766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.708040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:76.15, Y:8.31, Z:1.90 [[ 9.67935837e-01 -2.50025048e-01 -2.42423412e-02 7.61497570e+01] [ 2.49952080e-01 9.68239346e-01 -6.04369878e-03 8.30539939e+00] [ 2.49834647e-02 -2.09510966e-04 9.99687843e-01 1.90366241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.20, Y:8.32, Z:1.90 [[ 9.66798172e-01 -2.54388847e-01 -2.42406295e-02 7.62045317e+01] [ 2.54317077e-01 9.67101967e-01 -6.05055664e-03 8.32099385e+00] [ 2.49823546e-02 -3.15138939e-04 9.99687843e-01 1.90382749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.26, Y:8.34, Z:1.91 [[ 9.65383106e-01 -2.59707308e-01 -2.42398957e-02 7.62598127e+01] [ 2.59637137e-01 9.65687275e-01 -6.05349513e-03 8.33868885e+00] [ 2.49802957e-02 -4.49635179e-04 9.99687843e-01 1.90957659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.32, Y:8.35, Z:1.91 [[ 9.64306211e-01 -2.63677923e-01 -2.42380848e-02 7.63157802e+01] [ 2.63608822e-01 9.64610624e-01 -6.06073728e-03 8.35364687e+00] [ 2.49783967e-02 -5.44966377e-04 9.99687843e-01 1.90532765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.37, Y:8.36, Z:1.92 [[ 9.65149571e-01 -2.60574074e-01 -2.42375199e-02 7.63741563e+01] [ 2.60503938e-01 9.65453747e-01 -6.06299535e-03 8.36218309e+00] [ 2.49800638e-02 -4.62272016e-04 9.99687843e-01 1.91616581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.43, Y:8.39, Z:1.91 [[ 9.63674945e-01 -2.65975966e-01 -2.42360652e-02 7.64283871e+01] [ 2.65907389e-01 9.63979476e-01 -6.06880487e-03 8.38845236e+00] [ 2.49772256e-02 -5.96193604e-04 9.99687843e-01 1.90517888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.49, Y:8.40, Z:1.91 [[ 9.65280983e-01 -2.60087123e-01 -2.42345471e-02 7.64860658e+01] [ 2.60016536e-01 9.65585054e-01 -6.07486083e-03 8.39894692e+00] [ 2.49805096e-02 -4.37435359e-04 9.99687843e-01 1.91215054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.54, Y:8.41, Z:1.91 [[ 9.66018822e-01 -2.57333243e-01 -2.42329965e-02 7.65410148e+01] [ 2.57261635e-01 9.66322654e-01 -6.08103997e-03 8.41458564e+00] [ 2.49817473e-02 -3.59821229e-04 9.99687843e-01 1.91313689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.60, Y:8.43, Z:1.92 [[ 9.66550656e-01 -2.55328512e-01 -2.42317991e-02 7.65993631e+01] [ 2.55256153e-01 9.66854311e-01 -6.08580792e-03 8.42549631e+00] [ 2.49824997e-02 -3.03074177e-04 9.99687843e-01 1.91713953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.66, Y:8.44, Z:1.92 [[ 9.66333094e-01 -2.56150760e-01 -2.42309797e-02 7.66555034e+01] [ 2.56078578e-01 9.66636791e-01 -6.08906844e-03 8.43868593e+00] [ 2.49822760e-02 -3.20966490e-04 9.99687843e-01 1.91954477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.71, Y:8.45, Z:1.92 [[ 9.66335338e-01 -2.56142343e-01 -2.42304282e-02 7.67125888e+01] [ 2.56070104e-01 9.66639022e-01 -6.09126244e-03 8.45000025e+00] [ 2.49823076e-02 -3.18486098e-04 9.99687843e-01 1.92319901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.77, Y:8.46, Z:1.92 [[ 9.66419412e-01 -2.55825005e-01 -2.42298832e-02 7.67699525e+01] [ 2.55752611e-01 9.66723059e-01 -6.09342942e-03 8.46462698e+00] [ 2.49824384e-02 -3.08047422e-04 9.99687843e-01 1.92487580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.83, Y:8.48, Z:1.93 [[ 9.65709363e-01 -2.58492577e-01 -2.42283676e-02 7.68269482e+01] [ 2.58420871e-01 9.66013173e-01 -6.09944965e-03 8.48105533e+00] [ 2.49815847e-02 -3.70820222e-04 9.99687843e-01 1.92595907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.488040942 meters Centerline goodness : 0.997116 with order 1 Centerline is valid? [True, True] Translation: X:76.88, Y:8.50, Z:1.93 [[ 9.63639779e-01 -2.66104184e-01 -2.42268567e-02 7.68821079e+01] [ 2.66034727e-01 9.63944110e-01 -6.10544513e-03 8.50143091e+00] [ 2.49780203e-02 -5.61735409e-04 9.99687843e-01 1.92948225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.548040942 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:76.94, Y:8.52, Z:1.92 [[ 9.61670112e-01 -2.73136877e-01 -2.42248145e-02 7.69388747e+01] [ 2.73069441e-01 9.61974898e-01 -6.11353740e-03 8.52105802e+00] [ 2.49734960e-02 -7.35850361e-04 9.99687843e-01 1.91711842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.608040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:77.00, Y:8.53, Z:1.92 [[ 9.62207717e-01 -2.71237075e-01 -2.42231209e-02 7.69974831e+01] [ 2.71168868e-01 9.62512331e-01 -6.12024037e-03 8.53297187e+00] [ 2.49750887e-02 -6.79613769e-04 9.99687843e-01 1.92496434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.668040942 meters Centerline goodness : 0.996220 with order 1 Centerline is valid? [True, True] Translation: X:77.05, Y:8.55, Z:1.93 [[ 9.62729709e-01 -2.69378464e-01 -2.42229115e-02 7.70523520e+01] [ 2.69309649e-01 9.63034187e-01 -6.12106910e-03 8.54850886e+00] [ 2.49763761e-02 -6.30528710e-04 9.99687843e-01 1.93411755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.728040942 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:77.11, Y:8.58, Z:1.91 [[ 9.57766428e-01 -2.86525422e-01 -2.42208782e-02 7.71055268e+01] [ 2.86461852e-01 9.58072044e-01 -6.12910412e-03 8.58474278e+00] [ 2.49614904e-02 -1.06810747e-03 9.99687843e-01 1.91105092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.788040942 meters Centerline goodness : 0.996334 with order 1 Centerline is valid? [True, True] Translation: X:77.17, Y:8.58, Z:1.94 [[ 9.62574718e-01 -2.69931995e-01 -2.42204621e-02 7.71670963e+01] [ 2.69863112e-01 9.62879180e-01 -6.13074803e-03 8.58113927e+00] [ 2.49762637e-02 -6.34906220e-04 9.99687843e-01 1.93951454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.848040942 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:77.22, Y:8.60, Z:1.93 [[ 9.63397247e-01 -2.66981520e-01 -2.42201034e-02 7.72246750e+01] [ 2.66911668e-01 9.63701488e-01 -6.13216490e-03 8.59527732e+00] [ 2.49781244e-02 -5.56917415e-04 9.99687843e-01 1.93388024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.908040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:77.28, Y:8.61, Z:1.94 [[ 9.66265266e-01 -2.56407711e-01 -2.42182051e-02 7.72823939e+01] [ 2.56334342e-01 9.66568678e-01 -6.13965268e-03 8.60870980e+00] [ 2.49828128e-02 -2.75424547e-04 9.99687843e-01 1.93997581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.968040942 meters Centerline goodness : 0.995781 with order 1 Centerline is valid? [True, True] Translation: X:77.34, Y:8.63, Z:1.94 [[ 9.65991476e-01 -2.57437400e-01 -2.42168125e-02 7.73376815e+01] [ 2.57364216e-01 9.66294933e-01 -6.14514055e-03 8.63227308e+00] [ 2.49825723e-02 -2.96387598e-04 9.99687843e-01 1.94117660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.028040942 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:77.39, Y:8.65, Z:1.95 [[ 9.67022904e-01 -2.53535586e-01 -2.42158859e-02 7.73939004e+01] [ 2.53461087e-01 9.67326041e-01 -6.14879001e-03 8.65011115e+00] [ 2.49835941e-02 -1.91763994e-04 9.99687843e-01 1.94712980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.45, Y:8.66, Z:1.96 [[ 9.68844684e-01 -2.46482583e-01 -2.42139437e-02 7.74521738e+01] [ 2.46405686e-01 9.69147221e-01 -6.15642896e-03 8.65640098e+00] [ 2.49843287e-02 -1.82994291e-06 9.99687843e-01 1.95621560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.51, Y:8.67, Z:1.96 [[ 9.67911219e-01 -2.50123288e-01 -2.42118470e-02 7.75089543e+01] [ 2.50047323e-01 9.68213991e-01 -6.16466375e-03 8.67279140e+00] [ 2.49841750e-02 -8.72603251e-05 9.99687843e-01 1.95691614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.57, Y:8.69, Z:1.96 [[ 9.67227576e-01 -2.52754186e-01 -2.42102898e-02 7.75654219e+01] [ 2.52678892e-01 9.67530516e-01 -6.17077333e-03 8.68767974e+00] [ 2.49838829e-02 -1.48887056e-04 9.99687843e-01 1.95930244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.62, Y:8.70, Z:1.96 [[ 9.66370759e-01 -2.56010754e-01 -2.42084673e-02 7.76214880e+01] [ 2.55936301e-01 9.66673907e-01 -6.17791495e-03 8.70123769e+00] [ 2.49833063e-02 -2.25669207e-04 9.99687843e-01 1.96147958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.68, Y:8.72, Z:1.96 [[ 9.65034583e-01 -2.61002471e-01 -2.42066798e-02 7.76776856e+01] [ 2.60929411e-01 9.65338070e-01 -6.18491087e-03 8.71501029e+00] [ 2.49819065e-02 -3.47581802e-04 9.99687843e-01 1.96163831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.388040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.74, Y:8.73, Z:1.97 [[ 9.63535905e-01 -2.66482049e-01 -2.42048889e-02 7.77350179e+01] [ 2.66410539e-01 9.63839761e-01 -6.19191161e-03 8.72823590e+00] [ 2.49796676e-02 -4.82308334e-04 9.99687843e-01 1.96546702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.448040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:77.79, Y:8.74, Z:1.97 [[ 9.62109937e-01 -2.71585473e-01 -2.42033139e-02 7.77906483e+01] [ 2.71515420e-01 9.62414132e-01 -6.19806177e-03 8.74326914e+00] [ 2.49769149e-02 -6.08356144e-04 9.99687843e-01 1.96513820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.85, Y:8.76, Z:1.97 [[ 9.60656486e-01 -2.76682747e-01 -2.42027624e-02 7.78467821e+01] [ 2.76614253e-01 9.60961036e-01 -6.20021456e-03 8.76254355e+00] [ 2.49734041e-02 -7.38552728e-04 9.99687843e-01 1.96577081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.568040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.90, Y:8.79, Z:1.96 [[ 9.59215260e-01 -2.81638749e-01 -2.42012362e-02 7.79021096e+01] [ 2.81571679e-01 9.59520126e-01 -6.20616618e-03 8.78535935e+00] [ 2.49694701e-02 -8.61333414e-04 9.99687843e-01 1.96150991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.96, Y:8.81, Z:1.96 [[ 9.58853821e-01 -2.82866972e-01 -2.41997078e-02 7.79559966e+01] [ 2.82800142e-01 9.59158740e-01 -6.21212012e-03 8.80832486e+00] [ 2.49685649e-02 -8.87165700e-04 9.99687843e-01 1.95939640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.01, Y:8.83, Z:1.96 [[ 9.58878845e-01 -2.82782179e-01 -2.41991716e-02 7.80113008e+01] [ 2.82715270e-01 9.59183747e-01 -6.21420821e-03 8.83119815e+00] [ 2.49687194e-02 -8.82802550e-04 9.99687843e-01 1.95543749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.748040942 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:78.07, Y:8.85, Z:1.96 [[ 9.60487073e-01 -2.77270741e-01 -2.41974965e-02 7.80667926e+01] [ 2.77201918e-01 9.60791548e-01 -6.22072424e-03 8.84785484e+00] [ 2.49735749e-02 -7.32667217e-04 9.99687843e-01 1.95568341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.12, Y:8.86, Z:1.96 [[ 9.62537481e-01 -2.70066857e-01 -2.41969098e-02 7.81240752e+01] [ 2.69995697e-01 9.62841419e-01 -6.22300550e-03 8.86227837e+00] [ 2.49784145e-02 -5.43185476e-04 9.99687843e-01 1.96165486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.18, Y:8.88, Z:1.97 [[ 9.63390430e-01 -2.67008353e-01 -2.41954372e-02 7.81794703e+01] [ 2.66936085e-01 9.63694106e-01 -6.22872548e-03 8.87761622e+00] [ 2.49801220e-02 -4.57940778e-04 9.99687843e-01 1.96846003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.23, Y:8.90, Z:1.97 [[ 9.63776139e-01 -2.65612801e-01 -2.41949179e-02 7.82338541e+01] [ 2.65540042e-01 9.64079698e-01 -6.23074225e-03 8.89920979e+00] [ 2.49807940e-02 -4.19678796e-04 9.99687843e-01 1.97333750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.29, Y:8.92, Z:1.98 [[ 9.64178194e-01 -2.64149762e-01 -2.41932438e-02 7.82907657e+01] [ 2.64076380e-01 9.64481603e-01 -6.23723593e-03 8.91571844e+00] [ 2.49815029e-02 -3.75057350e-04 9.99687843e-01 1.97689794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.35, Y:8.93, Z:1.98 [[ 9.64479943e-01 -2.63046008e-01 -2.41916907e-02 7.83454813e+01] [ 2.62972127e-01 9.64783231e-01 -6.24325385e-03 8.93260635e+00] [ 2.49820005e-02 -3.40247250e-04 9.99687843e-01 1.97577994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.40, Y:8.95, Z:1.98 [[ 9.64515893e-01 -2.62914229e-01 -2.41909284e-02 7.84017569e+01] [ 2.62840233e-01 9.64819152e-01 -6.24620593e-03 8.94761009e+00] [ 2.49820875e-02 -3.33784368e-04 9.99687843e-01 1.97596500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.46, Y:8.96, Z:1.98 [[ 9.64065128e-01 -2.64562496e-01 -2.41891618e-02 7.84580952e+01] [ 2.64488847e-01 9.64368472e-01 -6.25304000e-03 8.96304603e+00] [ 2.49815849e-02 -3.69425711e-04 9.99687843e-01 1.97619120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.228040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.52, Y:8.97, Z:1.98 [[ 9.64950962e-01 -2.61313246e-01 -2.41873441e-02 7.85172006e+01] [ 2.61238400e-01 9.65254013e-01 -6.26006298e-03 8.97095996e+00] [ 2.49827684e-02 -2.78009287e-04 9.99687843e-01 1.98290173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.288040942 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:78.57, Y:8.99, Z:1.98 [[ 9.63911686e-01 -2.65121307e-01 -2.41858229e-02 7.85728992e+01] [ 2.65047510e-01 9.64214994e-01 -6.26593469e-03 8.98521083e+00] [ 2.49815659e-02 -3.70584475e-04 9.99687843e-01 1.98161564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.348040942 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:78.63, Y:9.00, Z:1.98 [[ 9.63105338e-01 -2.68035807e-01 -2.41850137e-02 7.86301205e+01] [ 2.67962850e-01 9.63408849e-01 -6.26905647e-03 9.00010469e+00] [ 2.49803878e-02 -4.42923458e-04 9.99687843e-01 1.98122719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.408040942 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:78.68, Y:9.02, Z:1.97 [[ 9.61453759e-01 -2.73901134e-01 -2.41834155e-02 7.86849247e+01] [ 2.73829873e-01 9.61757673e-01 -6.27521582e-03 9.02029903e+00] [ 2.49773741e-02 -5.88811744e-04 9.99687843e-01 1.97477752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.74, Y:9.03, Z:1.98 [[ 9.63570355e-01 -2.66359461e-01 -2.41828120e-02 7.87424779e+01] [ 2.66285763e-01 9.63873687e-01 -6.27754056e-03 9.02746846e+00] [ 2.49812585e-02 -3.90686555e-04 9.99687843e-01 1.98391162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.80, Y:9.04, Z:1.98 [[ 9.62681762e-01 -2.69553418e-01 -2.41822148e-02 7.87996647e+01] [ 2.69480669e-01 9.62985323e-01 -6.27984031e-03 9.03999918e+00] [ 2.49798703e-02 -4.71151673e-04 9.99687843e-01 1.98448506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.588040942 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:78.86, Y:9.06, Z:1.98 [[ 9.61488137e-01 -2.73780670e-01 -2.41807074e-02 7.88560051e+01] [ 2.73709109e-01 9.61791981e-01 -6.28563907e-03 9.06045886e+00] [ 2.49776970e-02 -5.74912497e-04 9.99687843e-01 1.98082054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.91, Y:9.08, Z:1.98 [[ 9.61503316e-01 -2.73727380e-01 -2.41804627e-02 7.89124095e+01] [ 2.73655779e-01 9.61807150e-01 -6.28658024e-03 9.07610462e+00] [ 2.49777511e-02 -5.72555625e-04 9.99687843e-01 1.97832925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.708040942 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:78.97, Y:9.09, Z:1.98 [[ 9.61263418e-01 -2.74568843e-01 -2.41783189e-02 7.89678922e+01] [ 2.74497300e-01 9.61567266e-01 -6.29481454e-03 9.09166097e+00] [ 2.49774400e-02 -5.85908336e-04 9.99687843e-01 1.97574697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.02, Y:9.10, Z:1.98 [[ 9.61673166e-01 -2.73130296e-01 -2.41777283e-02 7.90236928e+01] [ 2.73058242e-01 9.61976893e-01 -6.29708218e-03 9.10446188e+00] [ 2.49783399e-02 -5.46193040e-04 9.99687843e-01 1.97722615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.08, Y:9.11, Z:1.99 [[ 9.64040896e-01 -2.64651939e-01 -2.41764728e-02 7.90827315e+01] [ 2.64577093e-01 9.64343947e-01 -6.30189907e-03 9.10876995e+00] [ 2.49822450e-02 -3.21252444e-04 9.99687843e-01 1.99017805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.888040942 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:79.14, Y:9.12, Z:1.99 [[ 9.63590041e-01 -2.66288968e-01 -2.41747533e-02 7.91393257e+01] [ 2.66214471e-01 9.63893178e-01 -6.30848802e-03 9.12358867e+00] [ 2.49817606e-02 -3.56872949e-04 9.99687843e-01 1.98774734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.948040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:79.20, Y:9.13, Z:1.99 [[ 9.64003593e-01 -2.64788122e-01 -2.41727799e-02 7.91951738e+01] [ 2.64712964e-01 9.64306567e-01 -6.31604064e-03 9.13490917e+00] [ 2.49823830e-02 -3.10162349e-04 9.99687843e-01 1.98763866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00804094200001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:79.25, Y:9.15, Z:1.99 [[ 9.65152073e-01 -2.60570900e-01 -2.41719336e-02 7.92525457e+01] [ 2.60494338e-01 9.65454694e-01 -6.31927786e-03 9.14550727e+00] [ 2.49835267e-02 -1.97587709e-04 9.99687843e-01 1.98958879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.31, Y:9.16, Z:1.99 [[ 9.65966178e-01 -2.57536704e-01 -2.41699844e-02 7.93101303e+01] [ 2.57459005e-01 9.66268510e-01 -6.32672465e-03 9.15637662e+00] [ 2.49840586e-02 -1.11378079e-04 9.99687843e-01 1.99049186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.37, Y:9.17, Z:1.99 [[ 9.65987186e-01 -2.57458079e-01 -2.41680362e-02 7.93654782e+01] [ 2.57380169e-01 9.66289464e-01 -6.33415791e-03 9.17015861e+00] [ 2.49840989e-02 -1.01657856e-04 9.99687844e-01 1.99080523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.42, Y:9.18, Z:1.99 [[ 9.66836329e-01 -2.54250827e-01 -2.41667237e-02 7.94230805e+01] [ 2.54171789e-01 9.67138313e-01 -6.33916164e-03 9.17977350e+00] [ 2.49843015e-02 -1.35676133e-05 9.99687844e-01 1.99396748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.48, Y:9.19, Z:2.00 [[ 9.67697058e-01 -2.50955105e-01 -2.41648284e-02 7.94808489e+01] [ 2.50874858e-01 9.67998724e-01 -6.34637813e-03 9.18911007e+00] [ 2.49841791e-02 7.90235539e-05 9.99687844e-01 1.99828655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.54, Y:9.21, Z:2.00 [[ 9.66188484e-01 -2.56702106e-01 -2.41628230e-02 7.95354246e+01] [ 2.56623463e-01 9.66490572e-01 -6.35400422e-03 9.20570537e+00] [ 2.49842269e-02 -6.15816144e-05 9.99687844e-01 1.99822860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.59, Y:9.21, Z:1.99 [[ 9.65682842e-01 -2.58597955e-01 -2.41608490e-02 7.95926046e+01] [ 2.58519717e-01 9.65985035e-01 -6.36150130e-03 9.21398507e+00] [ 2.49840898e-02 -1.02863209e-04 9.99687844e-01 1.99390580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.428040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:79.65, Y:9.22, Z:2.00 [[ 9.66052903e-01 -2.57212242e-01 -2.41588844e-02 7.96502891e+01] [ 2.57133385e-01 9.66354934e-01 -6.36895362e-03 9.22128912e+00] [ 2.49842300e-02 -5.93095839e-05 9.99687844e-01 1.99960046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.488040942 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:79.71, Y:9.24, Z:2.00 [[ 9.64741121e-01 -2.62089705e-01 -2.41569047e-02 7.97060328e+01] [ 2.62012187e-01 9.65043499e-01 -6.37645355e-03 9.23767552e+00] [ 2.49836667e-02 -1.77776490e-04 9.99687844e-01 1.99814793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.76, Y:9.25, Z:2.00 [[ 9.65475096e-01 -2.59373038e-01 -2.41550647e-02 7.97616219e+01] [ 2.59294494e-01 9.65777209e-01 -6.38341621e-03 9.25460512e+00] [ 2.49840970e-02 -1.00245917e-04 9.99687844e-01 2.00197550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.608040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.82, Y:9.27, Z:2.00 [[ 9.66905631e-01 -2.53988312e-01 -2.41544524e-02 7.98172532e+01] [ 2.53908028e-01 9.67207287e-01 -6.38573247e-03 9.27169815e+00] [ 2.49842637e-02 4.13913140e-05 9.99687844e-01 2.00411531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.87, Y:9.28, Z:2.00 [[ 9.66558767e-01 -2.55305304e-01 -2.41526841e-02 7.98726356e+01] [ 2.55225265e-01 9.66860487e-01 -6.39241350e-03 9.28445967e+00] [ 2.49842930e-02 1.42681114e-05 9.99687844e-01 2.00342207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.728040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.93, Y:9.30, Z:2.01 [[ 9.65707587e-01 -2.58506370e-01 -2.41518598e-02 7.99301230e+01] [ 2.58427252e-01 9.66009551e-01 -6.39552662e-03 9.29831484e+00] [ 2.49842116e-02 -6.52901690e-05 9.99687844e-01 2.00682516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.788040942 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:79.99, Y:9.32, Z:2.01 [[ 9.63418713e-01 -2.66910383e-01 -2.41501898e-02 7.99852666e+01] [ 2.66833741e-01 9.63721314e-01 -6.40182631e-03 9.31706232e+00] [ 2.49827666e-02 -2.76446241e-04 9.99687844e-01 2.00905138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.04, Y:9.33, Z:2.01 [[ 9.62069697e-01 -2.71732770e-01 -2.41495320e-02 8.00410869e+01] [ 2.71657583e-01 9.62372663e-01 -6.40430672e-03 9.32943597e+00] [ 2.49811094e-02 -3.99014086e-04 9.99687844e-01 2.00793333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.908040942 meters Centerline goodness : 0.995937 with order 1 Centerline is valid? [True, True] Translation: X:80.10, Y:9.35, Z:2.01 [[ 9.59851592e-01 -2.79466974e-01 -2.41481239e-02 8.00970987e+01] [ 2.79394095e-01 9.60155121e-01 -6.40961166e-03 9.34536762e+00] [ 2.49772196e-02 -5.94567269e-04 9.99687844e-01 2.01138955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.968040942 meters Centerline goodness : 0.995722 with order 1 Centerline is valid? [True, True] Translation: X:80.15, Y:9.36, Z:2.01 [[ 9.59210014e-01 -2.81661365e-01 -2.41458977e-02 8.01529543e+01] [ 2.81588969e-01 9.59513659e-01 -6.41798719e-03 9.36154741e+00] [ 2.49760177e-02 -6.43020861e-04 9.99687844e-01 2.00831565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.21, Y:9.37, Z:2.01 [[ 9.61096309e-01 -2.75156127e-01 -2.41452034e-02 8.02099269e+01] [ 2.75081610e-01 9.61399440e-01 -6.42059824e-03 9.37236719e+00] [ 2.49798520e-02 -4.71088147e-04 9.99687844e-01 2.01459283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.088040942 meters Centerline goodness : 0.996886 with order 1 Centerline is valid? [True, True] Translation: X:80.27, Y:9.39, Z:2.02 [[ 9.60509728e-01 -2.77197003e-01 -2.41429771e-02 8.02652733e+01] [ 2.77122920e-01 9.60812966e-01 -6.42895891e-03 9.39255291e+00] [ 2.49789735e-02 -5.15494711e-04 9.99687844e-01 2.01696187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.32, Y:9.40, Z:2.02 [[ 9.62131398e-01 -2.71514960e-01 -2.41412303e-02 8.03235123e+01] [ 2.71438921e-01 9.62434152e-01 -6.43551140e-03 9.40097564e+00] [ 2.49816821e-02 -3.61061936e-04 9.99687844e-01 2.02352053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.38, Y:9.42, Z:2.02 [[ 9.61473604e-01 -2.73835371e-01 -2.41391672e-02 8.03789296e+01] [ 2.73759869e-01 9.61776491e-01 -6.44324088e-03 9.41946067e+00] [ 2.49808707e-02 -4.13329205e-04 9.99687844e-01 2.02069769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.43, Y:9.44, Z:2.02 [[ 9.61349703e-01 -2.74270192e-01 -2.41373236e-02 8.04342746e+01] [ 2.74194654e-01 9.61652581e-01 -6.45013985e-03 9.43627278e+00] [ 2.49808006e-02 -4.17485061e-04 9.99687844e-01 2.01827469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.49, Y:9.45, Z:2.02 [[ 9.61707584e-01 -2.73012837e-01 -2.41353262e-02 8.04906512e+01] [ 2.72936715e-01 9.62010316e-01 -6.45760487e-03 9.45016066e+00] [ 2.49814419e-02 -3.77089089e-04 9.99687844e-01 2.02145680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.388040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.55, Y:9.47, Z:2.02 [[ 9.62117670e-01 -2.71564302e-01 -2.41333575e-02 8.05458403e+01] [ 2.71487540e-01 9.62420241e-01 -6.46495391e-03 9.46645523e+00] [ 2.49820825e-02 -3.31859489e-04 9.99687844e-01 2.01958160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.60, Y:9.48, Z:2.02 [[ 9.62395145e-01 -2.70579392e-01 -2.41325142e-02 8.06016045e+01] [ 2.70502242e-01 9.62697617e-01 -6.46810026e-03 9.48288854e+00] [ 2.49824486e-02 -3.03030910e-04 9.99687844e-01 2.01707898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.508040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:80.66, Y:9.48, Z:2.04 [[ 9.65081159e-01 -2.60837244e-01 -2.41306665e-02 8.06627202e+01] [ 2.60756868e-01 9.65382790e-01 -6.47498621e-03 9.48410325e+00] [ 2.49842477e-02 -4.33498348e-05 9.99687844e-01 2.03536715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.568040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:80.72, Y:9.51, Z:2.03 [[ 9.62965104e-01 -2.68544100e-01 -2.41303776e-02 8.07173648e+01] [ 2.68466111e-01 9.63267360e-01 -6.47606293e-03 9.50977982e+00] [ 2.49831136e-02 -2.41966027e-04 9.99687844e-01 2.02833333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.628040942 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:80.77, Y:9.53, Z:2.03 [[ 9.63174988e-01 -2.67790366e-01 -2.41301165e-02 8.07726229e+01] [ 2.67712116e-01 9.63477177e-01 -6.47703541e-03 9.52673512e+00] [ 2.49833042e-02 -2.21406047e-04 9.99687844e-01 2.02935180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.688040942 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:80.83, Y:9.53, Z:2.04 [[ 9.65341976e-01 -2.59870536e-01 -2.41282622e-02 8.08333778e+01] [ 2.59789634e-01 9.65643467e-01 -6.48393603e-03 9.53211014e+00] [ 2.49842826e-02 -9.05677889e-06 9.99687844e-01 2.03601797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.748040942 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:80.89, Y:9.55, Z:2.04 [[ 9.64300663e-01 -2.63708312e-01 -2.41279596e-02 8.08892517e+01] [ 2.63628582e-01 9.64602465e-01 -6.48506153e-03 9.55251096e+00] [ 2.49840540e-02 -1.07270657e-04 9.99687844e-01 2.03505120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.808040942 meters Centerline goodness : 0.998513 with order 1 Centerline is valid? [True, True] Translation: X:80.95, Y:9.57, Z:2.03 [[ 9.63342832e-01 -2.67186291e-01 -2.41262245e-02 8.09452200e+01] [ 2.67107489e-01 9.63644877e-01 -6.49151028e-03 9.56972474e+00] [ 2.49835552e-02 -1.90745345e-04 9.99687844e-01 2.03304385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86804094200001 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:81.00, Y:9.59, Z:2.03 [[ 9.61664897e-01 -2.73164152e-01 -2.41240795e-02 8.10019034e+01] [ 2.73087028e-01 9.61967376e-01 -6.49947199e-03 9.58700832e+00] [ 2.49820002e-02 -3.37659098e-04 9.99687844e-01 2.03150321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.928040942 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:81.06, Y:9.61, Z:2.03 [[ 9.58184172e-01 -2.85133672e-01 -2.41222102e-02 8.10563796e+01] [ 2.85060152e-01 9.58487546e-01 -6.50640215e-03 9.61030579e+00] [ 2.49760324e-02 -6.41949344e-04 9.99687844e-01 2.03152185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.988040942 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:81.11, Y:9.63, Z:2.03 [[ 9.57731592e-01 -2.86650313e-01 -2.41204307e-02 8.11122995e+01] [ 2.86577107e-01 9.58035042e-01 -6.51299265e-03 9.62593067e+00] [ 2.49751692e-02 -6.74664426e-04 9.99687844e-01 2.03335154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.048040942 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:81.17, Y:9.64, Z:2.03 [[ 9.59437884e-01 -2.80886526e-01 -2.41185752e-02 8.11696824e+01] [ 2.80811324e-01 9.59740846e-01 -6.51985645e-03 9.63654013e+00] [ 2.49789216e-02 -5.17371765e-04 9.99687844e-01 2.03407287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.108040942 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:81.23, Y:9.65, Z:2.03 [[ 9.60012482e-01 -2.78916523e-01 -2.41165522e-02 8.12264459e+01] [ 2.78840512e-01 9.60315241e-01 -6.52733074e-03 9.65306216e+00] [ 2.49800731e-02 -4.58352778e-04 9.99687844e-01 2.03443830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.168040942 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:81.28, Y:9.67, Z:2.04 [[ 9.61087267e-01 -2.75190374e-01 -2.41147867e-02 8.12809711e+01] [ 2.75113026e-01 9.61389688e-01 -6.53384682e-03 9.67305122e+00] [ 2.49817590e-02 -3.54694955e-04 9.99687844e-01 2.03826096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.228040942 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:81.34, Y:9.69, Z:2.04 [[ 9.63272358e-01 -2.67441340e-01 -2.41141681e-02 8.13369981e+01] [ 2.67361501e-01 9.63574131e-01 -6.53612913e-03 9.69001936e+00] [ 2.49838197e-02 -1.51127663e-04 9.99687844e-01 2.03901197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.288040942 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:81.40, Y:9.70, Z:2.05 [[ 9.66290307e-01 -2.56323295e-01 -2.41124598e-02 8.13960118e+01] [ 2.56239826e-01 9.66591097e-01 -6.54242505e-03 9.69810416e+00] [ 2.49838649e-02 1.43309389e-04 9.99687844e-01 2.04521951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.348040942 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:81.45, Y:9.71, Z:2.04 [[ 9.65935556e-01 -2.57657090e-01 -2.41106980e-02 8.14511835e+01] [ 2.57573875e-01 9.66236415e-01 -6.54891134e-03 9.71408468e+00] [ 2.49840079e-02 1.15540384e-04 9.99687844e-01 2.04303306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.408040942 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:81.51, Y:9.73, Z:2.05 [[ 9.65391034e-01 -2.59689933e-01 -2.41099656e-02 8.15080501e+01] [ 2.59607284e-01 9.65692050e-01 -6.55160690e-03 9.72848648e+00] [ 2.49841884e-02 6.57398844e-05 9.99687844e-01 2.04513547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.468040942 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:81.56, Y:9.75, Z:2.05 [[ 9.63907818e-01 -2.65142432e-01 -2.41082781e-02 8.15639305e+01] [ 2.65061331e-01 9.64209254e-01 -6.55781030e-03 9.74816078e+00] [ 2.49841787e-02 -6.90476707e-05 9.99687844e-01 2.05024595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.528040942 meters Centerline goodness : 0.999194 with order 1 Centerline is valid? [True, True] Translation: X:81.62, Y:9.76, Z:2.05 [[ 9.63253621e-01 -2.67509500e-01 -2.41066083e-02 8.16194339e+01] [ 2.67428986e-01 9.63555215e-01 -6.56394298e-03 9.76360482e+00] [ 2.49839652e-02 -1.24063966e-04 9.99687844e-01 2.05223601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.588040942 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:81.68, Y:9.77, Z:2.05 [[ 9.63936982e-01 -2.65036709e-01 -2.41047161e-02 8.16769326e+01] [ 2.64955248e-01 9.64238321e-01 -6.57088425e-03 9.77495570e+00] [ 2.49842165e-02 -5.27527132e-05 9.99687844e-01 2.04988120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.648040942 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:81.73, Y:9.80, Z:2.05 [[ 9.61288390e-01 -2.74488042e-01 -2.41028365e-02 8.17301344e+01] [ 2.74409370e-01 9.61590469e-01 -6.57777164e-03 9.79780357e+00] [ 2.49825775e-02 -2.90908688e-04 9.99687844e-01 2.05250557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.708040942 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:81.79, Y:9.80, Z:2.06 [[ 9.61327317e-01 -2.74351728e-01 -2.41022552e-02 8.17881205e+01] [ 2.74272960e-01 9.61629372e-01 -6.57990102e-03 9.80400083e+00] [ 2.49826437e-02 -2.85158281e-04 9.99687844e-01 2.06125967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.768040942 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:81.84, Y:9.83, Z:2.06 [[ 9.57277991e-01 -2.88163094e-01 -2.41014282e-02 8.18406222e+01] [ 2.88088607e-01 9.57581130e-01 -6.58292879e-03 9.83348956e+00] [ 2.49760300e-02 -6.41654019e-04 9.99687844e-01 2.05763217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.828040942 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:81.90, Y:9.85, Z:2.06 [[ 9.56610184e-01 -2.90372353e-01 -2.41008642e-02 8.18954813e+01] [ 2.90298514e-01 9.56913481e-01 -6.58499291e-03 9.85173643e+00] [ 2.49745418e-02 -6.97173786e-04 9.99687844e-01 2.05963491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.888040942 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:81.95, Y:9.87, Z:2.06 [[ 9.57425680e-01 -2.87672214e-01 -2.40990476e-02 8.19497757e+01] [ 2.87597353e-01 9.57728726e-01 -6.59163462e-03 9.87152571e+00] [ 2.49765803e-02 -6.19822028e-04 9.99687844e-01 2.06119530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.948040942 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:82.00, Y:9.89, Z:2.06 [[ 9.58442432e-01 -2.84266482e-01 -2.40971491e-02 8.20037724e+01] [ 2.84190369e-01 9.58745166e-01 -6.59856767e-03 9.88943095e+00] [ 2.49787768e-02 -5.23830451e-04 9.99687844e-01 2.06298512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.008040942 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:82.06, Y:9.90, Z:2.07 [[ 9.61668856e-01 -2.73152665e-01 -2.40963325e-02 8.20607257e+01] [ 2.73072979e-01 9.61970669e-01 -6.60154818e-03 9.90129845e+00] [ 2.49831956e-02 -2.31554015e-04 9.99687844e-01 2.06687681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.068040942 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:82.11, Y:9.92, Z:2.06 [[ 9.61690229e-01 -2.73077581e-01 -2.40943612e-02 8.21144793e+01] [ 2.72997690e-01 9.61991988e-01 -6.60873526e-03 9.92273009e+00] [ 2.49832799e-02 -2.22148841e-04 9.99687844e-01 2.06468733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.128040942 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:82.17, Y:9.95, Z:2.06 [[ 9.60900833e-01 -2.75842490e-01 -2.40937540e-02 8.21684815e+01] [ 2.75763413e-01 9.61202807e-01 -6.61094844e-03 9.94732266e+00] [ 2.49825644e-02 -2.91709946e-04 9.99687844e-01 2.06278357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.188040942 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:82.22, Y:9.97, Z:2.07 [[ 9.59783449e-01 -2.79705766e-01 -2.40918197e-02 8.22222994e+01] [ 2.79627728e-01 9.60085692e-01 -6.61798988e-03 9.97118257e+00] [ 2.49813013e-02 -3.84903645e-04 9.99687844e-01 2.06712465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.248040942 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:82.28, Y:9.99, Z:2.07 [[ 9.59644581e-01 -2.80182002e-01 -2.40899126e-02 8.22766655e+01] [ 2.80103939e-01 9.59946818e-01 -6.62492434e-03 9.99096849e+00] [ 2.49812196e-02 -3.90106690e-04 9.99687845e-01 2.06769972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.308040942 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:82.33, Y:10.00, Z:2.08 [[ 9.60823462e-01 -2.76112317e-01 -2.40886595e-02 8.23339340e+01] [ 2.76032860e-01 9.61125335e-01 -6.62947780e-03 1.00009616e+01] [ 2.49827014e-02 -2.79503767e-04 9.99687845e-01 2.07637689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36804094200001 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:82.39, Y:10.02, Z:2.08 [[ 9.59956794e-01 -2.79110613e-01 -2.40877381e-02 8.23880814e+01] [ 2.79032015e-01 9.60258892e-01 -6.63282382e-03 1.00225166e+01] [ 2.49817562e-02 -3.54025820e-04 9.99687845e-01 2.07608404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.428040942 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:82.44, Y:10.04, Z:2.08 [[ 9.59300921e-01 -2.81356754e-01 -2.40856768e-02 8.24429694e+01] [ 2.81278675e-01 9.59603154e-01 -6.64030061e-03 1.00436961e+01] [ 2.49809849e-02 -4.04740774e-04 9.99687845e-01 2.07649292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.488040942 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:82.49, Y:10.07, Z:2.07 [[ 9.57407342e-01 -2.87734511e-01 -2.40838821e-02 8.24948429e+01] [ 2.87658282e-01 9.57710046e-01 -6.64680357e-03 1.00727854e+01] [ 2.49778906e-02 -5.64229617e-04 9.99687845e-01 2.07113233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.548040942 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:82.55, Y:10.09, Z:2.08 [[ 9.60118062e-01 -2.78555748e-01 -2.40832512e-02 8.25525309e+01] [ 2.78476567e-01 9.60420008e-01 -6.64908854e-03 1.00853602e+01] [ 2.49821782e-02 -3.22711137e-04 9.99687845e-01 2.07800036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.608040942 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:82.61, Y:10.11, Z:2.08 [[ 9.62043155e-01 -2.71832756e-01 -2.40815542e-02 8.26067413e+01] [ 2.71751312e-01 9.62344498e-01 -6.65522906e-03 1.01061946e+01] [ 2.49838605e-02 -1.41576384e-04 9.99687845e-01 2.07962215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.668040942 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:82.66, Y:10.13, Z:2.08 [[ 9.63175255e-01 -2.67793954e-01 -2.40795810e-02 8.26623422e+01] [ 2.67711067e-01 9.63476205e-01 -6.66236095e-03 1.01256982e+01] [ 2.49842433e-02 -2.93491052e-05 9.99687845e-01 2.08019571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.728040942 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:82.71, Y:10.15, Z:2.08 [[ 9.64046104e-01 -2.64641956e-01 -2.40778786e-02 8.27146634e+01] [ 2.64557932e-01 9.64346738e-01 -6.66850767e-03 1.01522893e+01] [ 2.49841906e-02 5.87550678e-05 9.99687845e-01 2.07950805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.788040942 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:82.77, Y:10.17, Z:2.08 [[ 9.65958819e-01 -2.57572989e-01 -2.40772804e-02 8.27700009e+01] [ 2.57486711e-01 9.66258814e-01 -6.67066668e-03 1.01701270e+01] [ 2.49830680e-02 2.44009551e-04 9.99687845e-01 2.07546143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.848040942 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:82.83, Y:10.18, Z:2.09 [[ 9.68276887e-01 -2.48717196e-01 -2.40754231e-02 8.28285436e+01] [ 2.48628008e-01 9.68576030e-01 -6.67736351e-03 1.01780088e+01] [ 2.49796528e-02 4.79712264e-04 9.99687845e-01 2.08754797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.908040942 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:82.88, Y:10.20, Z:2.08 [[ 9.68110626e-01 -2.49363727e-01 -2.40737977e-02 8.28844198e+01] [ 2.49274594e-01 9.68409785e-01 -6.68321835e-03 1.01991084e+01] [ 2.49798535e-02 4.69108562e-04 9.99687845e-01 2.08087239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.968040942 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:82.94, Y:10.21, Z:2.09 [[ 9.68473038e-01 -2.47952646e-01 -2.40719743e-02 8.29414142e+01] [ 2.47862914e-01 9.68772018e-01 -6.68977928e-03 1.02116321e+01] [ 2.49790036e-02 5.12321158e-04 9.99687845e-01 2.08619890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.028040942 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:83.00, Y:10.22, Z:2.09 [[ 9.69272327e-01 -2.44809685e-01 -2.40701895e-02 8.29991249e+01] [ 2.44718824e-01 9.69570966e-01 -6.69619505e-03 1.02240551e+01] [ 2.49770503e-02 6.00008099e-04 9.99687845e-01 2.08731632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.088040942 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:83.05, Y:10.24, Z:2.09 [[ 9.68247323e-01 -2.48832939e-01 -2.40684315e-02 8.30544317e+01] [ 2.48743162e-01 9.68546290e-01 -6.70250786e-03 1.02392274e+01] [ 2.49791948e-02 5.02827533e-04 9.99687845e-01 2.08639836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.148040942 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:83.11, Y:10.25, Z:2.09 [[ 9.69447580e-01 -2.44115143e-01 -2.40663123e-02 8.31131977e+01] [ 2.44023723e-01 9.69746048e-01 -6.71010865e-03 1.02460167e+01] [ 2.49762504e-02 6.32347459e-04 9.99687845e-01 2.09217336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.208040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:83.17, Y:10.25, Z:2.09 [[ 9.69213222e-01 -2.45044148e-01 -2.40643911e-02 8.31708277e+01] [ 2.44952843e-01 9.69511726e-01 -6.71699162e-03 1.02539125e+01] [ 2.49766688e-02 6.15556074e-04 9.99687845e-01 2.09340163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.268040942 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:83.23, Y:10.27, Z:2.10 [[ 9.67390700e-01 -2.52143151e-01 -2.40637733e-02 8.32275065e+01] [ 2.52053983e-01 9.67689848e-01 -6.71920420e-03 1.02667582e+01] [ 2.49804704e-02 4.34725757e-04 9.99687845e-01 2.09506406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.328040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:83.29, Y:10.27, Z:2.10 [[ 9.66323033e-01 -2.56204527e-01 -2.40631787e-02 8.32850763e+01] [ 2.56116562e-01 9.66622538e-01 -6.72133300e-03 1.02741930e+01] [ 2.49820468e-02 3.32000296e-04 9.99687845e-01 2.09745910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.388040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:83.34, Y:10.28, Z:2.10 [[ 9.65836126e-01 -2.58034066e-01 -2.40623724e-02 8.33441224e+01] [ 2.57946597e-01 9.66135776e-01 -6.72421827e-03 1.02775168e+01] [ 2.49825962e-02 2.87685847e-04 9.99687845e-01 2.09695706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.448040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:83.40, Y:10.29, Z:2.10 [[ 9.65242162e-01 -2.60247310e-01 -2.40604795e-02 8.34022359e+01] [ 2.60160359e-01 9.65541962e-01 -6.73098450e-03 1.02883782e+01] [ 2.49831232e-02 2.37447031e-04 9.99687845e-01 2.09984180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.508040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.46, Y:10.30, Z:2.10 [[ 9.63389170e-01 -2.67025251e-01 -2.40587103e-02 8.34589440e+01] [ 2.66940252e-01 9.63689530e-01 -6.73730230e-03 1.02996581e+01] [ 2.49841571e-02 6.84058719e-05 9.99687845e-01 2.10433076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.568040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.52, Y:10.31, Z:2.10 [[ 9.62602210e-01 -2.69848465e-01 -2.40580881e-02 8.35176221e+01] [ 2.69764292e-01 9.62902802e-01 -6.73952348e-03 1.03092238e+01] [ 2.49842505e-02 -2.53289141e-06 9.99687845e-01 2.09951448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.58, Y:10.32, Z:2.10 [[ 9.61077057e-01 -2.75231145e-01 -2.40563392e-02 8.35750832e+01] [ 2.75148499e-01 9.61378073e-01 -6.74576025e-03 1.03178743e+01] [ 2.49838803e-02 -1.35870208e-04 9.99687845e-01 2.10000582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.63, Y:10.33, Z:2.11 [[ 9.60344040e-01 -2.77778174e-01 -2.40543340e-02 8.36328137e+01] [ 2.77696147e-01 9.60645225e-01 -6.75290301e-03 1.03250162e+01] [ 2.49834901e-02 -1.94685704e-04 9.99687845e-01 2.10746552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.69, Y:10.34, Z:2.11 [[ 9.60025386e-01 -2.78877529e-01 -2.40537192e-02 8.36899432e+01] [ 2.78795792e-01 9.60326650e-01 -6.75509196e-03 1.03352018e+01] [ 2.49832710e-02 -2.21015940e-04 9.99687845e-01 2.10819315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.75, Y:10.34, Z:2.11 [[ 9.60628465e-01 -2.76793166e-01 -2.40519471e-02 8.37493840e+01] [ 2.76710617e-01 9.60929507e-01 -6.76139573e-03 1.03412851e+01] [ 2.49837338e-02 -1.60239936e-04 9.99687845e-01 2.10823749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86804094200001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:83.81, Y:10.35, Z:2.11 [[ 9.61399273e-01 -2.74104029e-01 -2.40503597e-02 8.38063166e+01] [ 2.74020498e-01 9.61700044e-01 -6.76703775e-03 1.03510027e+01] [ 2.49841042e-02 -8.44663552e-05 9.99687845e-01 2.11243027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.86, Y:10.36, Z:2.12 [[ 9.63142733e-01 -2.67913599e-01 -2.40495237e-02 8.38638782e+01] [ 2.67828060e-01 9.63442939e-01 -6.77000721e-03 1.03604239e+01] [ 2.49841208e-02 7.93459613e-05 9.99687845e-01 2.11514714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.988040942 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:83.92, Y:10.38, Z:2.12 [[ 9.63166874e-01 -2.67826846e-01 -2.40489789e-02 8.39206966e+01] [ 2.67741232e-01 9.63467059e-01 -6.77194208e-03 1.03758294e+01] [ 2.49841069e-02 8.36070497e-05 9.99687845e-01 2.11886575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.98, Y:10.39, Z:2.12 [[ 9.63463529e-01 -2.66757785e-01 -2.40481127e-02 8.39778639e+01] [ 2.66671761e-01 9.63763597e-01 -6.77501661e-03 1.03862769e+01] [ 2.49839840e-02 1.14528859e-04 9.99687845e-01 2.12456089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.04, Y:10.39, Z:2.13 [[ 9.65269519e-01 -2.60147045e-01 -2.40472616e-02 8.40383872e+01] [ 2.60058891e-01 9.65568968e-01 -6.77803641e-03 1.03896711e+01] [ 2.49825757e-02 2.88927783e-04 9.99687845e-01 2.13129082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.10, Y:10.40, Z:2.13 [[ 9.64558645e-01 -2.62770613e-01 -2.40463344e-02 8.40959764e+01] [ 2.62683191e-01 9.64858308e-01 -6.78132416e-03 1.03976657e+01] [ 2.49832382e-02 2.24416988e-04 9.99687845e-01 2.12870833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.228040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.15, Y:10.42, Z:2.13 [[ 9.62339125e-01 -2.70786288e-01 -2.40456981e-02 8.41513903e+01] [ 2.70701306e-01 9.62639489e-01 -6.78357941e-03 1.04186695e+01] [ 2.49842389e-02 1.89019777e-05 9.99687845e-01 2.12592271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.21, Y:10.43, Z:2.12 [[ 9.62396959e-01 -2.70580816e-01 -2.40440325e-02 8.42106481e+01] [ 2.70495623e-01 9.62697263e-01 -6.78947820e-03 1.04255945e+01] [ 2.49842268e-02 3.03676423e-05 9.99687845e-01 2.12313411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.348040942 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:84.27, Y:10.43, Z:2.13 [[ 9.61923888e-01 -2.72257978e-01 -2.40422047e-02 8.42677737e+01] [ 2.72173147e-01 9.62224295e-01 -6.79594449e-03 1.04347214e+01] [ 2.49842435e-02 -6.46115704e-06 9.99687845e-01 2.12660623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.408040942 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:84.32, Y:10.45, Z:2.13 [[ 9.62320923e-01 -2.70851354e-01 -2.40413097e-02 8.43249989e+01] [ 2.70766004e-01 9.62621184e-01 -6.79910903e-03 1.04485231e+01] [ 2.49842219e-02 3.33555219e-05 9.99687845e-01 2.13097714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.468040942 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:84.38, Y:10.47, Z:2.13 [[ 9.61237191e-01 -2.74672821e-01 -2.40396122e-02 8.43796925e+01] [ 2.74588515e-01 9.61537746e-01 -6.80510540e-03 1.04692756e+01] [ 2.49841721e-02 -5.96810381e-05 9.99687845e-01 2.13391650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.528040942 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:84.44, Y:10.48, Z:2.13 [[ 9.62865266e-01 -2.68910148e-01 -2.40376988e-02 8.44372156e+01] [ 2.68823875e-01 9.63165263e-01 -6.81185757e-03 1.04814808e+01] [ 2.49840541e-02 9.69937255e-05 9.99687845e-01 2.13355374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.588040942 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:84.49, Y:10.50, Z:2.14 [[ 9.62536570e-01 -2.70084498e-01 -2.40356974e-02 8.44911567e+01] [ 2.69998414e-01 9.62836621e-01 -6.81891211e-03 1.05036787e+01] [ 2.49841321e-02 7.38520799e-05 9.99687845e-01 2.13677582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.648040942 meters Centerline goodness : 0.997021 with order 1 Centerline is valid? [True, True] Translation: X:84.55, Y:10.52, Z:2.14 [[ 9.62494104e-01 -2.70235858e-01 -2.40349834e-02 8.45480744e+01] [ 2.70149759e-01 9.62794150e-01 -6.82142812e-03 1.05200812e+01] [ 2.49841359e-02 7.25393885e-05 9.99687845e-01 2.13744056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.708040942 meters Centerline goodness : 0.997302 with order 1 Centerline is valid? [True, True] Translation: X:84.60, Y:10.54, Z:2.14 [[ 9.61116216e-01 -2.75096399e-01 -2.40331017e-02 8.46038412e+01] [ 2.75011652e-01 9.61416647e-01 -6.82805120e-03 1.05376638e+01] [ 2.49841963e-02 -4.68322591e-05 9.99687845e-01 2.13911094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.768040942 meters Centerline goodness : 0.996784 with order 1 Centerline is valid? [True, True] Translation: X:84.66, Y:10.55, Z:2.14 [[ 9.60458250e-01 -2.77385065e-01 -2.40307396e-02 8.46607595e+01] [ 2.77300826e-01 9.60758823e-01 -6.83635426e-03 1.05543960e+01] [ 2.49840477e-02 -9.77111004e-05 9.99687845e-01 2.14142580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.828040942 meters Centerline goodness : 0.996259 with order 1 Centerline is valid? [True, True] Translation: X:84.72, Y:10.57, Z:2.14 [[ 9.59753026e-01 -2.79815564e-01 -2.40287256e-02 8.47162664e+01] [ 2.79731910e-01 9.60053762e-01 -6.84342564e-03 1.05701982e+01] [ 2.49837655e-02 -1.53602845e-04 9.99687845e-01 2.14465979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.888040942 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:84.77, Y:10.59, Z:2.14 [[ 9.57615001e-01 -2.87047320e-01 -2.40280155e-02 8.47726272e+01] [ 2.86965874e-01 9.57916343e-01 -6.84591824e-03 1.05862656e+01] [ 2.49819312e-02 -3.39466454e-04 9.99687845e-01 2.14479741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.948040942 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:84.83, Y:10.60, Z:2.15 [[ 9.56448968e-01 -2.90909129e-01 -2.40260132e-02 8.48290469e+01] [ 2.90828723e-01 9.56750590e-01 -6.85293807e-03 1.06022564e+01] [ 2.49804845e-02 -4.32969189e-04 9.99687845e-01 2.15111691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.008040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.89, Y:10.62, Z:2.15 [[ 9.56134670e-01 -2.91940636e-01 -2.40240917e-02 8.48853165e+01] [ 2.91860386e-01 9.56436333e-01 -6.85966772e-03 1.06170058e+01] [ 2.49801299e-02 -4.52914535e-04 9.99687845e-01 2.15359803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.068040942 meters Centerline goodness : 0.995386 with order 1 Centerline is valid? [True, True] Translation: X:84.94, Y:10.63, Z:2.15 [[ 9.57222369e-01 -2.88354418e-01 -2.40221893e-02 8.49415936e+01] [ 2.88272871e-01 9.57523684e-01 -6.86632327e-03 1.06311531e+01] [ 2.49817498e-02 -3.52347238e-04 9.99687845e-01 2.14971341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.128040942 meters Centerline goodness : 0.995078 with order 1 Centerline is valid? [True, True] Translation: X:85.00, Y:10.65, Z:2.15 [[ 9.56560675e-01 -2.90542087e-01 -2.40202219e-02 8.49965895e+01] [ 2.90461056e-01 9.56862129e-01 -6.87319894e-03 1.06490736e+01] [ 2.49809942e-02 -4.02307206e-04 9.99687845e-01 2.15160562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.188040942 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:85.05, Y:10.66, Z:2.15 [[ 9.57603501e-01 -2.87086538e-01 -2.40178061e-02 8.50538115e+01] [ 2.87004208e-01 9.57904603e-01 -6.88163032e-03 1.06641962e+01] [ 2.49823904e-02 -3.03338137e-04 9.99687845e-01 2.15237811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.11, Y:10.68, Z:2.16 [[ 9.58106846e-01 -2.85402400e-01 -2.40154434e-02 8.51079003e+01] [ 2.85319334e-01 9.58407746e-01 -6.88986566e-03 1.06808842e+01] [ 2.49829712e-02 -2.50842874e-04 9.99687845e-01 2.15889344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.16, Y:10.70, Z:2.15 [[ 9.57724698e-01 -2.86682238e-01 -2.40145336e-02 8.51634619e+01] [ 2.86599495e-01 9.58025686e-01 -6.89303549e-03 1.06994150e+01] [ 2.49826509e-02 -2.80922864e-04 9.99687845e-01 2.15114330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36804094200001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:85.22, Y:10.71, Z:2.16 [[ 9.59922249e-01 -2.79235883e-01 -2.40124279e-02 8.52205644e+01] [ 2.79150622e-01 9.60222534e-01 -6.90036315e-03 1.07092214e+01] [ 2.49841033e-02 -7.92720546e-05 9.99687845e-01 2.16353594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.428040942 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:85.28, Y:10.73, Z:2.16 [[ 9.58461441e-01 -2.84209606e-01 -2.40117799e-02 8.52758829e+01] [ 2.84125846e-01 9.58762149e-01 -6.90261722e-03 1.07296878e+01] [ 2.49833758e-02 -2.06474825e-04 9.99687845e-01 2.15632812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.33, Y:10.75, Z:2.16 [[ 9.57453815e-01 -2.87586009e-01 -2.40100026e-02 8.53302487e+01] [ 2.87503155e-01 9.57754772e-01 -6.90879390e-03 1.07459286e+01] [ 2.49825670e-02 -2.88100425e-04 9.99687845e-01 2.15608594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.548040942 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:85.39, Y:10.76, Z:2.15 [[ 9.56917936e-01 -2.89364176e-01 -2.40091280e-02 8.53861153e+01] [ 2.89281805e-01 9.57219026e-01 -6.91183176e-03 1.07617301e+01] [ 2.49820306e-02 -3.31348114e-04 9.99687845e-01 2.15479742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.608040942 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:85.45, Y:10.77, Z:2.17 [[ 9.57106715e-01 -2.88739319e-01 -2.40071337e-02 8.54453053e+01] [ 2.88656578e-01 9.57407704e-01 -6.91875190e-03 1.07682624e+01] [ 2.49823304e-02 -3.07833148e-04 9.99687845e-01 2.17328899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.668040942 meters Centerline goodness : 0.994482 with order 1 Centerline is valid? [True, True] Translation: X:85.50, Y:10.79, Z:2.16 [[ 9.54394445e-01 -2.97581782e-01 -2.40067996e-02 8.55004151e+01] [ 2.97501800e-01 9.54696179e-01 -6.91991073e-03 1.07922824e+01] [ 2.49784392e-02 -5.37741754e-04 9.99687845e-01 2.16480373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.728040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.56, Y:10.81, Z:2.17 [[ 9.54255771e-01 -2.98026201e-01 -2.40063922e-02 8.55568468e+01] [ 2.97946324e-01 9.54557533e-01 -6.92132390e-03 1.08084536e+01] [ 2.49782184e-02 -5.47903029e-04 9.99687845e-01 2.17118001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.788040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.61, Y:10.83, Z:2.17 [[ 9.54833505e-01 -2.96170181e-01 -2.40041848e-02 8.56125948e+01] [ 2.96089525e-01 9.55135060e-01 -6.92897120e-03 1.08261716e+01] [ 2.49793931e-02 -4.91373808e-04 9.99687846e-01 2.16818290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.67, Y:10.85, Z:2.16 [[ 9.54867666e-01 -2.96060075e-01 -2.40035798e-02 8.56666948e+01] [ 2.95979332e-01 9.55169197e-01 -6.93106641e-03 1.08470932e+01] [ 2.49794921e-02 -4.86312286e-04 9.99687846e-01 2.16417513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.908040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.72, Y:10.87, Z:2.16 [[ 9.54661660e-01 -2.96723839e-01 -2.40016380e-02 8.57213806e+01] [ 2.96643137e-01 9.54963202e-01 -6.93778408e-03 1.08689158e+01] [ 2.49792870e-02 -4.96684710e-04 9.99687846e-01 2.16120830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.78, Y:10.88, Z:2.17 [[ 9.56177493e-01 -2.91802346e-01 -2.39998587e-02 8.57788092e+01] [ 2.91719937e-01 9.56478573e-01 -6.94393369e-03 1.08776606e+01] [ 2.49816068e-02 -3.61604166e-04 9.99687846e-01 2.17172850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.83, Y:10.90, Z:2.17 [[ 9.55341706e-01 -2.94527182e-01 -2.39992321e-02 8.58341403e+01] [ 2.94445578e-01 9.55643005e-01 -6.94609870e-03 1.08978287e+01] [ 2.49805132e-02 -4.30569978e-04 9.99687846e-01 2.17431312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.89, Y:10.92, Z:2.18 [[ 9.54838829e-01 -2.96153558e-01 -2.39975007e-02 8.58882989e+01] [ 2.96072317e-01 9.55140226e-01 -6.95207508e-03 1.09166028e+01] [ 2.49798601e-02 -4.66884407e-04 9.99687846e-01 2.17572818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.95, Y:10.93, Z:2.18 [[ 9.56257156e-01 -2.91541443e-01 -2.39966478e-02 8.59458351e+01] [ 2.91458674e-01 9.56558137e-01 -6.95501792e-03 1.09293994e+01] [ 2.49818647e-02 -3.43245491e-04 9.99687846e-01 2.18307305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.00, Y:10.95, Z:2.19 [[ 9.56733710e-01 -2.89973780e-01 -2.39961521e-02 8.60020769e+01] [ 2.89890475e-01 9.57034543e-01 -6.95672764e-03 1.09472321e+01] [ 2.49824151e-02 -3.00520089e-04 9.99687846e-01 2.18832492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.06, Y:10.97, Z:2.18 [[ 9.56344412e-01 -2.91255282e-01 -2.39942775e-02 8.60557425e+01] [ 2.91172218e-01 9.56645312e-01 -6.96318738e-03 1.09696290e+01] [ 2.49820782e-02 -3.27261657e-04 9.99687846e-01 2.18204998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.11, Y:10.99, Z:2.18 [[ 9.55937192e-01 -2.92589118e-01 -2.39936177e-02 8.61107034e+01] [ 2.92506417e-01 9.56238191e-01 -6.96546031e-03 1.09896444e+01] [ 2.49816315e-02 -3.59744566e-04 9.99687846e-01 2.18135207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.388040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.17, Y:11.01, Z:2.18 [[ 9.56560620e-01 -2.90544630e-01 -2.39916226e-02 8.61651465e+01] [ 2.90461113e-01 9.56861395e-01 -6.97232528e-03 1.10109685e+01] [ 2.49824291e-02 -2.99181615e-04 9.99687846e-01 2.18285019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.22, Y:11.03, Z:2.18 [[ 9.56124289e-01 -2.91977468e-01 -2.39896196e-02 8.62195937e+01] [ 2.91894229e-01 9.56425141e-01 -6.97921021e-03 1.10282119e+01] [ 2.49820474e-02 -3.29439121e-04 9.99687846e-01 2.18331525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.508040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.27, Y:11.05, Z:2.19 [[ 9.54309482e-01 -2.97855588e-01 -2.39887584e-02 8.62749583e+01] [ 2.97774127e-01 9.54610820e-01 -6.98216914e-03 1.10464576e+01] [ 2.49796064e-02 -4.80081370e-04 9.99687846e-01 2.18575372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.568040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:86.33, Y:11.06, Z:2.19 [[ 9.54493335e-01 -2.97266059e-01 -2.39867275e-02 8.63308839e+01] [ 2.97184237e-01 9.54794575e-01 -6.98913919e-03 1.10612743e+01] [ 2.49800311e-02 -4.57390536e-04 9.99687846e-01 2.19250945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.39, Y:11.08, Z:2.20 [[ 9.53348983e-01 -3.00916020e-01 -2.39847081e-02 8.63859616e+01] [ 3.00835177e-01 9.53650487e-01 -6.99606238e-03 1.10773268e+01] [ 2.49782558e-02 -5.45754939e-04 9.99687846e-01 2.19915243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.44, Y:11.10, Z:2.19 [[ 9.52005851e-01 -3.05138694e-01 -2.39840881e-02 8.64395649e+01] [ 3.05059135e-01 9.52307697e-01 -6.99818706e-03 1.11009340e+01] [ 2.49756494e-02 -6.54250146e-04 9.99687846e-01 2.19030875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.49, Y:11.12, Z:2.20 [[ 9.53101032e-01 -3.01700655e-01 -2.39820197e-02 8.64944434e+01] [ 3.01619829e-01 9.53402541e-01 -7.00526820e-03 1.11180744e+01] [ 2.49780125e-02 -5.56724328e-04 9.99687846e-01 2.19633857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.55, Y:11.14, Z:2.20 [[ 9.52213582e-01 -3.04490046e-01 -2.39813825e-02 8.65473942e+01] [ 3.04410048e-01 9.52515311e-01 -7.00744870e-03 1.11435122e+01] [ 2.49763324e-02 -6.27585981e-04 9.99687846e-01 2.19795053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.60, Y:11.16, Z:2.20 [[ 9.52654149e-01 -3.03108996e-01 -2.39793368e-02 8.66042792e+01] [ 3.03028385e-01 9.52955715e-01 -7.01444214e-03 1.11585795e+01] [ 2.49773866e-02 -5.84082293e-04 9.99687846e-01 2.19753214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.66, Y:11.18, Z:2.19 [[ 9.51093986e-01 -3.07969654e-01 -2.39775471e-02 8.66598644e+01] [ 3.07890430e-01 9.51395919e-01 -7.02055474e-03 1.11803599e+01] [ 2.49742582e-02 -7.05249896e-04 9.99687846e-01 2.19294843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.71, Y:11.20, Z:2.19 [[ 9.51634190e-01 -3.06296473e-01 -2.39758074e-02 8.67143870e+01] [ 3.06216569e-01 9.51935944e-01 -7.02649074e-03 1.12011934e+01] [ 2.49756222e-02 -6.55140660e-04 9.99687846e-01 2.19491709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.048040942 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:86.77, Y:11.22, Z:2.20 [[ 9.53005672e-01 -3.02002395e-01 -2.39737876e-02 8.67696436e+01] [ 3.01920958e-01 9.53307016e-01 -7.03337537e-03 1.12186255e+01] [ 2.49784761e-02 -5.35342290e-04 9.99687846e-01 2.20177660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.82, Y:11.24, Z:2.20 [[ 9.51957725e-01 -3.05289772e-01 -2.39717442e-02 8.68236552e+01] [ 3.05209201e-01 9.52259302e-01 -7.04033318e-03 1.12408659e+01] [ 2.49766581e-02 -6.14297321e-04 9.99687846e-01 2.20152203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.88, Y:11.26, Z:2.20 [[ 9.49566174e-01 -3.12649224e-01 -2.39696360e-02 8.68771441e+01] [ 3.12570808e-01 9.49868319e-01 -7.04750347e-03 1.12627520e+01] [ 2.49713943e-02 -8.00137582e-04 9.99687846e-01 2.19943508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.228040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.94, Y:11.27, Z:2.22 [[ 9.51543670e-01 -3.06578102e-01 -2.39689899e-02 8.69358147e+01] [ 3.06497702e-01 9.51845292e-01 -7.04969998e-03 1.12718927e+01] [ 2.49760539e-02 -6.38342960e-04 9.99687846e-01 2.21913781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.99, Y:11.31, Z:2.21 [[ 9.47656260e-01 -3.18391488e-01 -2.39681823e-02 8.69875470e+01] [ 3.18314778e-01 9.47958842e-01 -7.05244464e-03 1.13065795e+01] [ 2.49662887e-02 -9.46133330e-04 9.99687846e-01 2.20904274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.348040942 meters Centerline goodness : 0.997033 with order 1 Centerline is valid? [True, True] Translation: X:87.04, Y:11.33, Z:2.21 [[ 9.46185120e-01 -3.22737135e-01 -2.39678972e-02 8.70410670e+01] [ 3.22661790e-01 9.46488045e-01 -7.05341354e-03 1.13315888e+01] [ 2.49617266e-02 -1.05968968e-03 9.99687846e-01 2.20692643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.408040942 meters Centerline goodness : 0.997167 with order 1 Centerline is valid? [True, True] Translation: X:87.10, Y:11.35, Z:2.21 [[ 9.47540849e-01 -3.18734931e-01 -2.39663083e-02 8.70956973e+01] [ 3.18658170e-01 9.47843417e-01 -7.05880842e-03 1.13488567e+01] [ 2.49661963e-02 -9.48550605e-04 9.99687846e-01 2.21104029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.468040942 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:87.15, Y:11.36, Z:2.21 [[ 9.49363525e-01 -3.13264420e-01 -2.39645599e-02 8.71511535e+01] [ 3.13185765e-01 9.49665607e-01 -7.06473919e-03 1.13646696e+01] [ 2.49714497e-02 -7.98353318e-04 9.99687846e-01 2.21492339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.528040942 meters Centerline goodness : 0.996363 with order 1 Centerline is valid? [True, True] Translation: X:87.20, Y:11.39, Z:2.21 [[ 9.47459706e-01 -3.18976243e-01 -2.39637849e-02 8.72033692e+01] [ 3.18899342e-01 9.47762239e-01 -7.06736702e-03 1.13936342e+01] [ 2.49662926e-02 -9.45989764e-04 9.99687846e-01 2.21198629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.588040942 meters Centerline goodness : 0.996166 with order 1 Centerline is valid? [True, True] Translation: X:87.26, Y:11.41, Z:2.21 [[ 9.50074804e-01 -3.11100794e-01 -2.39616917e-02 8.72600646e+01] [ 3.11021207e-01 9.50376642e-01 -7.07445659e-03 1.14095938e+01] [ 2.49735012e-02 -7.31331323e-04 9.99687846e-01 2.21032297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.648040942 meters Centerline goodness : 0.997285 with order 1 Centerline is valid? [True, True] Translation: X:87.31, Y:11.43, Z:2.21 [[ 9.48158843e-01 -3.16892329e-01 -2.39595673e-02 8.73128873e+01] [ 3.16814404e-01 9.48461114e-01 -7.08164418e-03 1.14339792e+01] [ 2.49688366e-02 -8.76212487e-04 9.99687846e-01 2.21243012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.708040942 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:87.37, Y:11.45, Z:2.21 [[ 9.50566902e-01 -3.09594153e-01 -2.39588316e-02 8.73684529e+01] [ 3.09513844e-01 9.50868548e-01 -7.08413233e-03 1.14505891e+01] [ 2.49749054e-02 -6.81648357e-04 9.99687846e-01 2.21089544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.768040942 meters Centerline goodness : 0.997245 with order 1 Centerline is valid? [True, True] Translation: X:87.42, Y:11.47, Z:2.22 [[ 9.50184831e-01 -3.10764976e-01 -2.39565381e-02 8.74217108e+01] [ 3.10684843e-01 9.50486525e-01 -7.09188007e-03 1.14719672e+01] [ 2.49742746e-02 -7.04336399e-04 9.99687846e-01 2.21686303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.828040942 meters Centerline goodness : 0.997380 with order 1 Centerline is valid? [True, True] Translation: X:87.48, Y:11.49, Z:2.22 [[ 9.51460343e-01 -3.06837750e-01 -2.39543298e-02 8.74769179e+01] [ 3.06756184e-01 9.51761652e-01 -7.09933110e-03 1.14903812e+01] [ 2.49771553e-02 -5.93406805e-04 9.99687846e-01 2.21996101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.888040942 meters Centerline goodness : 0.997799 with order 1 Centerline is valid? [True, True] Translation: X:87.53, Y:11.51, Z:2.22 [[ 9.52016858e-01 -3.05106862e-01 -2.39521311e-02 8.75305827e+01] [ 3.05024561e-01 9.52317967e-01 -7.10674147e-03 1.15087259e+01] [ 2.49783604e-02 -5.40250603e-04 9.99687846e-01 2.22284900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.948040942 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:87.59, Y:11.52, Z:2.22 [[ 9.54865530e-01 -2.96071210e-01 -2.39511880e-02 8.75866478e+01] [ 2.95985980e-01 9.55165823e-01 -7.10991841e-03 1.15228506e+01] [ 2.49823984e-02 -3.00199851e-04 9.99687846e-01 2.22369557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.008040942 meters Centerline goodness : 0.995065 with order 1 Centerline is valid? [True, True] Translation: X:87.64, Y:11.54, Z:2.23 [[ 9.53937592e-01 -2.99047676e-01 -2.39490596e-02 8.76406019e+01] [ 2.98963203e-01 9.54238099e-01 -7.11708067e-03 1.15422963e+01] [ 2.49814515e-02 -3.70636764e-04 9.99687846e-01 2.22505401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.068040942 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:87.70, Y:11.55, Z:2.23 [[ 9.55981107e-01 -2.92449330e-01 -2.39481184e-02 8.76985191e+01] [ 2.92362704e-01 9.56281000e-01 -7.12024629e-03 1.15511282e+01] [ 2.49834419e-02 -1.94715717e-04 9.99687846e-01 2.22751114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.128040942 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:87.75, Y:11.57, Z:2.23 [[ 9.55224980e-01 -2.94909864e-01 -2.39459636e-02 8.77538049e+01] [ 2.94823828e-01 9.55525044e-01 -7.12748565e-03 1.15701324e+01] [ 2.49829337e-02 -2.51488325e-04 9.99687846e-01 2.22556161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.188040942 meters Centerline goodness : 0.995189 with order 1 Centerline is valid? [True, True] Translation: X:87.81, Y:11.58, Z:2.23 [[ 9.54986463e-01 -2.95681491e-01 -2.39439212e-02 8.78103027e+01] [ 2.95595526e-01 9.55286547e-01 -7.13434040e-03 1.15837206e+01] [ 2.49827982e-02 -2.64517463e-04 9.99687846e-01 2.22885654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.248040942 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:87.87, Y:11.60, Z:2.23 [[ 9.53650008e-01 -2.99964008e-01 -2.39427580e-02 8.78678112e+01] [ 2.99879293e-01 9.53950447e-01 -7.13824168e-03 1.15977592e+01] [ 2.49814203e-02 -3.72553106e-04 9.99687846e-01 2.23059030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.308040942 meters Centerline goodness : 0.995430 with order 1 Centerline is valid? [True, True] Translation: X:87.92, Y:11.62, Z:2.23 [[ 9.52831724e-01 -3.02553398e-01 -2.39404953e-02 8.79213915e+01] [ 3.02469309e-01 9.53132338e-01 -7.14582262e-03 1.16163708e+01] [ 2.49804531e-02 -4.32498572e-04 9.99687846e-01 2.22982731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36804094200001 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:87.98, Y:11.63, Z:2.23 [[ 9.52370102e-01 -3.04003554e-01 -2.39379994e-02 8.79767797e+01] [ 3.03919713e-01 9.52670786e-01 -7.15417375e-03 1.16337992e+01] [ 2.49799270e-02 -4.61808727e-04 9.99687846e-01 2.22611689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.428040942 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:88.03, Y:11.65, Z:2.23 [[ 9.52498762e-01 -3.03600395e-01 -2.39355090e-02 8.80335041e+01] [ 3.03516217e-01 9.52799352e-01 -7.16249629e-03 1.16508726e+01] [ 2.49802741e-02 -4.42546302e-04 9.99687846e-01 2.22886745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.488040942 meters Centerline goodness : 0.995350 with order 1 Centerline is valid? [True, True] Translation: X:88.09, Y:11.67, Z:2.23 [[ 9.53177927e-01 -3.01461477e-01 -2.39336170e-02 8.80878001e+01] [ 3.01376466e-01 9.53478282e-01 -7.16881288e-03 1.16670317e+01] [ 2.49813049e-02 -3.79874704e-04 9.99687846e-01 2.22813202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.548040942 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:88.14, Y:11.68, Z:2.23 [[ 9.54381771e-01 -2.97628515e-01 -2.39312066e-02 8.81435187e+01] [ 2.97542097e-01 9.54681724e-01 -7.17685022e-03 1.16823580e+01] [ 2.49827209e-02 -2.71086380e-04 9.99687846e-01 2.22877706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.608040942 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:88.20, Y:11.70, Z:2.23 [[ 9.54766267e-01 -2.96392998e-01 -2.39283634e-02 8.81980991e+01] [ 2.96305954e-01 9.55066039e-01 -7.18631733e-03 1.16972107e+01] [ 2.49831414e-02 -2.28863169e-04 9.99687846e-01 2.23170984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.668040942 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:88.25, Y:11.71, Z:2.23 [[ 9.55538023e-01 -2.93895502e-01 -2.39274135e-02 8.82526796e+01] [ 2.93807595e-01 9.55837543e-01 -7.18947881e-03 1.17124091e+01] [ 2.49836756e-02 -1.60235447e-04 9.99687846e-01 2.23075605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.728040942 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:88.31, Y:11.73, Z:2.23 [[ 9.56661359e-01 -2.90218137e-01 -2.39264975e-02 8.83087998e+01] [ 2.90129003e-01 9.56960516e-01 -7.19252595e-03 1.17259982e+01] [ 2.49841148e-02 -6.09591971e-05 9.99687846e-01 2.23263585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.788040942 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:88.37, Y:11.74, Z:2.24 [[ 9.57403829e-01 -2.87759509e-01 -2.39243288e-02 8.83657865e+01] [ 2.87669426e-01 9.57702702e-01 -7.19973225e-03 1.17376055e+01] [ 2.49841858e-02 1.07532788e-05 9.99687846e-01 2.23778317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.848040942 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:88.42, Y:11.75, Z:2.24 [[ 9.57248248e-01 -2.88276815e-01 -2.39221662e-02 8.84210275e+01] [ 2.88186715e-01 9.57547115e-01 -7.20691072e-03 1.17544540e+01] [ 2.49841865e-02 4.75217351e-06 9.99687846e-01 2.24303868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.908040942 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:88.48, Y:11.77, Z:2.24 [[ 9.57360186e-01 -2.87904909e-01 -2.39214987e-02 8.84772606e+01] [ 2.87814637e-01 9.57659001e-01 -7.20912577e-03 1.17674015e+01] [ 2.49841812e-02 1.67725266e-05 9.99687846e-01 2.24424523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.53, Y:11.78, Z:2.25 [[ 9.57319744e-01 -2.88039524e-01 -2.39194552e-02 8.85331681e+01] [ 2.87949125e-01 9.57618521e-01 -7.21589947e-03 1.17806544e+01] [ 2.49841776e-02 2.03368296e-05 9.99687847e-01 2.24633958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.028040942 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:88.59, Y:11.79, Z:2.24 [[ 9.57286914e-01 -2.88148688e-01 -2.39185773e-02 8.85916147e+01] [ 2.88058250e-01 9.57585679e-01 -7.21880818e-03 1.17926603e+01] [ 2.49841772e-02 2.05270681e-05 9.99687847e-01 2.24199116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.088040942 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:88.65, Y:11.81, Z:2.25 [[ 9.57067372e-01 -2.88877201e-01 -2.39166759e-02 8.86494338e+01] [ 2.88786834e-01 9.57366159e-01 -7.22510218e-03 1.18057798e+01] [ 2.49841835e-02 8.08843982e-06 9.99687847e-01 2.24617300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.148040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:88.70, Y:11.82, Z:2.25 [[ 9.54978605e-01 -2.95709226e-01 -2.39147927e-02 8.87049197e+01] [ 2.95620840e-01 9.55277984e-01 -7.23133013e-03 1.18205574e+01] [ 2.49836460e-02 -1.63945565e-04 9.99687847e-01 2.24603235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.76, Y:11.84, Z:2.25 [[ 9.53406757e-01 -3.00738605e-01 -2.39133437e-02 8.87609454e+01] [ 3.00651678e-01 9.53706562e-01 -7.23611870e-03 1.18354268e+01] [ 2.49824931e-02 -2.90622456e-04 9.99687847e-01 2.24876295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.268040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:88.81, Y:11.85, Z:2.24 [[ 9.52301826e-01 -3.04219471e-01 -2.39112171e-02 8.88149394e+01] [ 3.04133464e-01 9.52601896e-01 -7.24313935e-03 1.18531588e+01] [ 2.49813747e-02 -3.74546440e-04 9.99687847e-01 2.24455246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.87, Y:11.87, Z:2.25 [[ 9.51320871e-01 -3.07273327e-01 -2.39103040e-02 8.88708626e+01] [ 3.07188208e-01 9.51621195e-01 -7.24615223e-03 1.18714236e+01] [ 2.49801014e-02 -4.51547576e-04 9.99687847e-01 2.24541423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.388040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:88.93, Y:11.88, Z:2.26 [[ 9.53998343e-01 -2.98857074e-01 -2.39083793e-02 8.89281136e+01] [ 2.98769145e-01 9.54297857e-01 -7.25249719e-03 1.18786333e+01] [ 2.49831752e-02 -2.24215735e-04 9.99687847e-01 2.26264599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.98, Y:11.90, Z:2.25 [[ 9.53045624e-01 -3.01881555e-01 -2.39074346e-02 8.89819503e+01] [ 3.01794499e-01 9.53345392e-01 -7.25560977e-03 1.19036547e+01] [ 2.49823774e-02 -3.00205126e-04 9.99687847e-01 2.25177328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.508040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.04, Y:11.92, Z:2.26 [[ 9.53822921e-01 -2.99416698e-01 -2.39055774e-02 8.90374481e+01] [ 2.99328714e-01 9.54122418e-01 -7.26172384e-03 1.19206053e+01] [ 2.49831287e-02 -2.29227087e-04 9.99687847e-01 2.25825558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.568040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:89.09, Y:11.94, Z:2.26 [[ 9.54675804e-01 -2.96686162e-01 -2.39046107e-02 8.90936427e+01] [ 2.96597241e-01 9.54975025e-01 -7.26490473e-03 1.19368068e+01] [ 2.49837029e-02 -1.54412807e-04 9.99687847e-01 2.26017424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.15, Y:11.94, Z:2.26 [[ 9.57697379e-01 -2.86782839e-01 -2.39025640e-02 8.91516804e+01] [ 2.86690657e-01 9.57995611e-01 -7.27163227e-03 1.19443304e+01] [ 2.49839308e-02 1.11381399e-04 9.99687847e-01 2.26410056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.688040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:89.20, Y:11.97, Z:2.26 [[ 9.56177096e-01 -2.91811809e-01 -2.39003923e-02 8.92044986e+01] [ 2.91721017e-01 9.56475754e-01 -7.27876335e-03 1.19656536e+01] [ 2.49841748e-02 -1.24599304e-05 9.99687847e-01 2.26129628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.26, Y:11.98, Z:2.26 [[ 9.55546754e-01 -2.93869387e-01 -2.38994496e-02 8.92613091e+01] [ 2.93779161e-01 9.55845583e-01 -7.28185731e-03 1.19789393e+01] [ 2.49840983e-02 -6.30051245e-05 9.99687847e-01 2.26213160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.32, Y:11.99, Z:2.26 [[ 9.54833438e-01 -2.96179036e-01 -2.38973565e-02 8.93169737e+01] [ 2.96089360e-01 9.55132433e-01 -7.28871999e-03 1.19916803e+01] [ 2.49839063e-02 -1.16239411e-04 9.99687847e-01 2.26308758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86804094200001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:89.37, Y:12.01, Z:2.26 [[ 9.54461258e-01 -2.97376303e-01 -2.38964583e-02 8.93735527e+01] [ 2.97286928e-01 9.54760344e-01 -7.29166358e-03 1.20061760e+01] [ 2.49837587e-02 -1.44494289e-04 9.99687847e-01 2.26440804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.43, Y:12.02, Z:2.26 [[ 9.54288960e-01 -2.97928915e-01 -2.38944026e-02 8.94311800e+01] [ 2.97839545e-01 9.54588047e-01 -7.29839379e-03 1.20156957e+01] [ 2.49837136e-02 -1.51921382e-04 9.99687847e-01 2.26369831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.49, Y:12.03, Z:2.26 [[ 9.53014084e-01 -3.01982308e-01 -2.38922827e-02 8.94876550e+01] [ 3.01894037e-01 9.53313496e-01 -7.30532677e-03 1.20296652e+01] [ 2.49829150e-02 -2.50858397e-04 9.99687847e-01 2.26334873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.048040942 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:89.54, Y:12.04, Z:2.26 [[ 9.51686938e-01 -3.06139122e-01 -2.38916313e-02 8.95441142e+01] [ 3.06052105e-01 9.51986717e-01 -7.30745657e-03 1.20428860e+01] [ 2.49816140e-02 -3.57673090e-04 9.99687847e-01 2.26264548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.108040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:89.60, Y:12.06, Z:2.27 [[ 9.51695375e-01 -3.06113053e-01 -2.38895621e-02 8.96004647e+01] [ 3.06025858e-01 9.51995103e-01 -7.31421510e-03 1.20562708e+01] [ 2.49817228e-02 -3.49919056e-04 9.99687847e-01 2.26836617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.66, Y:12.07, Z:2.27 [[ 9.52640259e-01 -3.03159787e-01 -2.38889260e-02 8.96570275e+01] [ 3.03071610e-01 9.52939699e-01 -7.31629200e-03 1.20740983e+01] [ 2.49827115e-02 -2.70260966e-04 9.99687847e-01 2.26623732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.228040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:89.71, Y:12.09, Z:2.27 [[ 9.51784126e-01 -3.05837185e-01 -2.38870971e-02 8.97112619e+01] [ 3.05749702e-01 9.52083770e-01 -7.32225845e-03 1.20928133e+01] [ 2.49819363e-02 -3.34263448e-04 9.99687847e-01 2.26991923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.77, Y:12.11, Z:2.27 [[ 9.51850719e-01 -3.05629918e-01 -2.38864512e-02 8.97687720e+01] [ 3.05542316e-01 9.52150328e-01 -7.32436484e-03 1.21058094e+01] [ 2.49820374e-02 -3.26619693e-04 9.99687847e-01 2.26947903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.82, Y:12.13, Z:2.27 [[ 9.51762416e-01 -3.05904936e-01 -2.38846047e-02 8.98219694e+01] [ 3.05817270e-01 9.52062006e-01 -7.33038120e-03 1.21263725e+01] [ 2.49820245e-02 -3.27543291e-04 9.99687847e-01 2.26856172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.408040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.88, Y:12.15, Z:2.27 [[ 9.51520127e-01 -3.06657816e-01 -2.38836944e-02 8.98767868e+01] [ 3.06570313e-01 9.51819765e-01 -7.33334589e-03 1.21488113e+01] [ 2.49818003e-02 -3.44205458e-04 9.99687847e-01 2.26645444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.93, Y:12.16, Z:2.28 [[ 9.53104690e-01 -3.01697046e-01 -2.38818537e-02 8.99336972e+01] [ 3.01607833e-01 9.53403823e-01 -7.33933551e-03 1.21609084e+01] [ 2.49833065e-02 -2.07799050e-04 9.99687847e-01 2.27564087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.99, Y:12.18, Z:2.28 [[ 9.53595338e-01 -3.00142664e-01 -2.38812066e-02 8.99884008e+01] [ 3.00052911e-01 9.53894310e-01 -7.34144056e-03 1.21789638e+01] [ 2.49836266e-02 -1.64862058e-04 9.99687847e-01 2.27763930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.04, Y:12.20, Z:2.28 [[ 9.53422789e-01 -3.00690496e-01 -2.38790876e-02 9.00437810e+01] [ 3.00600742e-01 9.53721760e-01 -7.34832632e-03 1.21994446e+01] [ 2.49835774e-02 -1.72009681e-04 9.99687847e-01 2.27588128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.10, Y:12.22, Z:2.28 [[ 9.52009621e-01 -3.05135311e-01 -2.38772385e-02 9.00976041e+01] [ 3.05046802e-01 9.52308964e-01 -7.35432985e-03 1.22211689e+01] [ 2.49825740e-02 -2.82282477e-04 9.99687847e-01 2.27795084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.15, Y:12.24, Z:2.28 [[ 9.52026178e-01 -3.05083701e-01 -2.38765848e-02 9.01529542e+01] [ 3.04995123e-01 9.52325500e-01 -7.35645163e-03 1.22366740e+01] [ 2.49826140e-02 -2.78707366e-04 9.99687847e-01 2.27963280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.21, Y:12.25, Z:2.28 [[ 9.51819976e-01 -3.05726520e-01 -2.38752777e-02 9.02090404e+01] [ 3.05638037e-01 9.52119326e-01 -7.36069132e-03 1.22525877e+01] [ 2.49824718e-02 -2.91139980e-04 9.99687847e-01 2.28140829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.27, Y:12.26, Z:2.29 [[ 9.54029623e-01 -2.98760011e-01 -2.38733019e-02 9.02682281e+01] [ 2.98669183e-01 9.54328269e-01 -7.36709392e-03 1.22604906e+01] [ 2.49839599e-02 -1.01793732e-04 9.99687847e-01 2.28712103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.888040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:90.32, Y:12.28, Z:2.29 [[ 9.54191731e-01 -2.98242009e-01 -2.38714296e-02 9.03232857e+01] [ 2.98150867e-01 9.54490281e-01 -7.37315557e-03 1.22788884e+01] [ 2.49840323e-02 -8.18833619e-05 9.99687847e-01 2.29013739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.38, Y:12.30, Z:2.29 [[ 9.53724166e-01 -2.99733886e-01 -2.38707631e-02 9.03774952e+01] [ 2.99643157e-01 9.54022842e-01 -7.37531288e-03 1.22996329e+01] [ 2.49838845e-02 -1.18696686e-04 9.99687847e-01 2.28820114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.008040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.43, Y:12.32, Z:2.29 [[ 9.52987285e-01 -3.02068743e-01 -2.38685883e-02 9.04311039e+01] [ 3.01978569e-01 9.53286130e-01 -7.38234434e-03 1.23205046e+01] [ 2.49835697e-02 -1.72521870e-04 9.99687847e-01 2.28821574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.49, Y:12.34, Z:2.28 [[ 9.49753555e-01 -3.12087350e-01 -2.38677841e-02 9.04855727e+01] [ 3.12000263e-01 9.50053314e-01 -7.38494368e-03 1.23431763e+01] [ 2.49804148e-02 -4.32878394e-04 9.99687847e-01 2.28223456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.54, Y:12.36, Z:2.28 [[ 9.48214841e-01 -3.16731801e-01 -2.38658915e-02 9.05404039e+01] [ 3.16646028e-01 9.48514979e-01 -7.39105472e-03 1.23602222e+01] [ 2.49781377e-02 -5.48731985e-04 9.99687847e-01 2.28362148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.59, Y:12.38, Z:2.28 [[ 9.46872395e-01 -3.20722865e-01 -2.38644453e-02 9.05949987e+01] [ 3.20638239e-01 9.47172858e-01 -7.39572141e-03 1.23795902e+01] [ 2.49757318e-02 -6.49049280e-04 9.99687847e-01 2.28260048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.65, Y:12.39, Z:2.29 [[ 9.47626654e-01 -3.18487540e-01 -2.38623444e-02 9.06522704e+01] [ 3.18402035e-01 9.47926868e-01 -7.40249389e-03 1.23924296e+01] [ 2.49773594e-02 -5.83018490e-04 9.99687847e-01 2.29109642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.71, Y:12.41, Z:2.30 [[ 9.48337732e-01 -3.16364064e-01 -2.38605298e-02 9.07078928e+01] [ 3.16277741e-01 9.48637711e-01 -7.40833820e-03 1.24081307e+01] [ 2.49787304e-02 -5.20947804e-04 9.99687847e-01 2.29504426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.76, Y:12.43, Z:2.30 [[ 9.48663941e-01 -3.15384688e-01 -2.38584423e-02 9.07629197e+01] [ 3.15297885e-01 9.48963783e-01 -7.41505498e-03 1.24263937e+01] [ 2.49793924e-02 -4.88121110e-04 9.99687847e-01 2.29686775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.428040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:90.82, Y:12.44, Z:2.30 [[ 9.48788432e-01 -3.15010025e-01 -2.38577997e-02 9.08184662e+01] [ 3.14923052e-01 9.49088224e-01 -7.41712179e-03 1.24446502e+01] [ 2.49796245e-02 -4.76091756e-04 9.99687847e-01 2.29766490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.87, Y:12.46, Z:2.30 [[ 9.47516298e-01 -3.18816199e-01 -2.38557451e-02 9.08733198e+01] [ 3.18730264e-01 9.47816389e-01 -7.42372409e-03 1.24637569e+01] [ 2.49776697e-02 -5.69448382e-04 9.99687847e-01 2.30087729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.93, Y:12.48, Z:2.30 [[ 9.46773109e-01 -3.21016644e-01 -2.38535925e-02 9.09274845e+01] [ 3.20931233e-01 9.47073350e-01 -7.43063451e-03 1.24847102e+01] [ 2.49764591e-02 -6.20237901e-04 9.99687847e-01 2.29836583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.608040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.98, Y:12.51, Z:2.29 [[ 9.45797618e-01 -3.23879460e-01 -2.38529329e-02 9.09825215e+01] [ 3.23794904e-01 9.46098100e-01 -7.43275132e-03 1.25068142e+01] [ 2.49745299e-02 -6.93579603e-04 9.99687847e-01 2.29324551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.04, Y:12.52, Z:2.30 [[ 9.47728853e-01 -3.18184140e-01 -2.38510795e-02 9.10394116e+01] [ 3.18097629e-01 9.48028778e-01 -7.43869392e-03 1.25194291e+01] [ 2.49783842e-02 -5.37106975e-04 9.99687847e-01 2.30261335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.728040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.09, Y:12.54, Z:2.30 [[ 9.46521950e-01 -3.21756781e-01 -2.38489456e-02 9.10930485e+01] [ 3.21671229e-01 9.46822150e-01 -7.44552911e-03 1.25424572e+01] [ 2.49763594e-02 -6.24162907e-04 9.99687847e-01 2.29808183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.788040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.15, Y:12.56, Z:2.30 [[ 9.46350688e-01 -3.22260306e-01 -2.38467877e-02 9.11469824e+01] [ 3.22174741e-01 9.46650885e-01 -7.45243407e-03 1.25623095e+01] [ 2.49762063e-02 -6.30216523e-04 9.99687847e-01 2.29737407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.20, Y:12.58, Z:2.30 [[ 9.47223731e-01 -3.19685123e-01 -2.38458681e-02 9.12025908e+01] [ 3.19598667e-01 9.47523672e-01 -7.45537537e-03 1.25830948e+01] [ 2.49778971e-02 -5.59199165e-04 9.99687847e-01 2.29701040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.908040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.26, Y:12.60, Z:2.30 [[ 9.48073887e-01 -3.17155113e-01 -2.38440422e-02 9.12579560e+01] [ 3.17067710e-01 9.48373554e-01 -7.46121048e-03 1.26010348e+01] [ 2.49794201e-02 -4.86397019e-04 9.99687847e-01 2.29816049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.31, Y:12.62, Z:2.30 [[ 9.49617892e-01 -3.12501878e-01 -2.38419023e-02 9.13135549e+01] [ 3.12412835e-01 9.49917075e-01 -7.46804194e-03 1.26189263e+01] [ 2.49816073e-02 -3.56730055e-04 9.99687847e-01 2.30151422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.37, Y:12.64, Z:2.30 [[ 9.50870642e-01 -3.08669232e-01 -2.38396154e-02 9.13689945e+01] [ 3.08578800e-01 9.51169408e-01 -7.47533528e-03 1.26368237e+01] [ 2.49829189e-02 -2.48323063e-04 9.99687847e-01 2.30187396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.088040942 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:91.43, Y:12.65, Z:2.30 [[ 9.51271503e-01 -3.07431801e-01 -2.38372774e-02 9.14252467e+01] [ 3.07340794e-01 9.51570094e-01 -7.48278307e-03 1.26545377e+01] [ 2.49832858e-02 -2.08009479e-04 9.99687847e-01 2.30310792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.48, Y:12.68, Z:2.30 [[ 9.49546737e-01 -3.12718523e-01 -2.38352498e-02 9.14793380e+01] [ 3.12629016e-01 9.49845782e-01 -7.48923634e-03 1.26777569e+01] [ 2.49818344e-02 -3.40210760e-04 9.99687847e-01 2.29992111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.54, Y:12.69, Z:2.31 [[ 9.49208463e-01 -3.13743954e-01 -2.38332538e-02 9.15364501e+01] [ 3.13654611e-01 9.49507557e-01 -7.49558279e-03 1.26921640e+01] [ 2.49815484e-02 -3.60539341e-04 9.99687847e-01 2.30504488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.59, Y:12.71, Z:2.30 [[ 9.47244395e-01 -3.19624976e-01 -2.38312848e-02 9.15912861e+01] [ 3.19537332e-01 9.47543992e-01 -7.50183784e-03 1.27095811e+01] [ 2.49789654e-02 -5.08911306e-04 9.99687847e-01 2.30414006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.65, Y:12.73, Z:2.30 [[ 9.44966760e-01 -3.26297357e-01 -2.38297701e-02 9.16463621e+01] [ 3.26211707e-01 9.45266932e-01 -7.50664613e-03 1.27282376e+01] [ 2.49748925e-02 -6.80018927e-04 9.99687847e-01 2.30156312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.388040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.70, Y:12.74, Z:2.31 [[ 9.45846201e-01 -3.23739330e-01 -2.38287833e-02 9.17024228e+01] [ 3.23652789e-01 9.46146117e-01 -7.50977730e-03 1.27439826e+01] [ 2.49767211e-02 -6.09157850e-04 9.99687847e-01 2.30807663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.448040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:91.76, Y:12.76, Z:2.31 [[ 9.45538559e-01 -3.24636826e-01 -2.38278160e-02 9.17579109e+01] [ 3.24550493e-01 9.45838535e-01 -7.51284540e-03 1.27642769e+01] [ 2.49762128e-02 -6.29644399e-04 9.99687847e-01 2.30579633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.508040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.81, Y:12.78, Z:2.31 [[ 9.45988058e-01 -3.23324785e-01 -2.38259756e-02 9.18137939e+01] [ 3.23237889e-01 9.46287872e-01 -7.51867737e-03 1.27825455e+01] [ 2.49772065e-02 -5.88879047e-04 9.99687847e-01 2.30894857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.568040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.87, Y:12.80, Z:2.31 [[ 9.46435372e-01 -3.22013199e-01 -2.38240862e-02 9.18688074e+01] [ 3.21925737e-01 9.46735021e-01 -7.52465934e-03 1.28017226e+01] [ 2.49781364e-02 -5.47982765e-04 9.99687847e-01 2.31118929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.92, Y:12.82, Z:2.31 [[ 9.47638531e-01 -3.18455224e-01 -2.38219318e-02 9.19249425e+01] [ 3.18366466e-01 9.47937799e-01 -7.53147387e-03 1.28198717e+01] [ 2.49801468e-02 -4.46989382e-04 9.99687848e-01 2.31315031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.688040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:91.98, Y:12.84, Z:2.32 [[ 9.49045409e-01 -3.14237841e-01 -2.38199655e-02 9.19799862e+01] [ 3.14147597e-01 9.49344232e-01 -7.53768742e-03 1.28396323e+01] [ 2.49819735e-02 -3.29377287e-04 9.99687848e-01 2.31628832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.03, Y:12.86, Z:2.32 [[ 9.49974022e-01 -3.11419455e-01 -2.38176698e-02 9.20345948e+01] [ 3.11328142e-01 9.50272520e-01 -7.54493454e-03 1.28586634e+01] [ 2.49829165e-02 -2.47619087e-04 9.99687848e-01 2.31846668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.09, Y:12.88, Z:2.33 [[ 9.51581857e-01 -3.06471525e-01 -2.38154101e-02 9.20889865e+01] [ 3.06378482e-01 9.51879820e-01 -7.55206055e-03 1.28772232e+01] [ 2.49838998e-02 -1.10125375e-04 9.99687848e-01 2.32592441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.14, Y:12.90, Z:2.33 [[ 9.52496010e-01 -3.03618529e-01 -2.38147168e-02 9.21440595e+01] [ 3.03524539e-01 9.52793675e-01 -7.55424599e-03 1.28965977e+01] [ 2.49841206e-02 -3.29617797e-05 9.99687848e-01 2.32726905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.20, Y:12.92, Z:2.33 [[ 9.52325341e-01 -3.04153478e-01 -2.38140009e-02 9.21976761e+01] [ 3.04059598e-01 9.52623042e-01 -7.55650214e-03 1.29174482e+01] [ 2.49841024e-02 -4.46270733e-05 9.99687848e-01 2.33030947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.25, Y:12.94, Z:2.33 [[ 9.51538984e-01 -3.06604798e-01 -2.38130126e-02 9.22530766e+01] [ 3.06511607e-01 9.51836901e-01 -7.55961536e-03 1.29381494e+01] [ 2.49839185e-02 -1.05696047e-04 9.99687848e-01 2.33123042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.31, Y:12.96, Z:2.33 [[ 9.49986385e-01 -3.11382246e-01 -2.38110287e-02 9.23066582e+01] [ 3.11290397e-01 9.50284719e-01 -7.56585918e-03 1.29590573e+01] [ 2.49831309e-02 -2.24681357e-04 9.99687848e-01 2.33187179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.36, Y:12.98, Z:2.33 [[ 9.46457076e-01 -3.21950418e-01 -2.38103325e-02 9.23602725e+01] [ 3.21861845e-01 9.46756398e-01 -7.56804940e-03 1.29823979e+01] [ 2.49791213e-02 -5.00803645e-04 9.99687848e-01 2.32958766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.41, Y:13.01, Z:2.32 [[ 9.43399689e-01 -3.30802247e-01 -2.38096758e-02 9.24140055e+01] [ 3.30716429e-01 9.43699813e-01 -7.57011478e-03 1.30079739e+01] [ 2.49733976e-02 -7.32607041e-04 9.99687848e-01 2.32270741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.228040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.47, Y:13.03, Z:2.32 [[ 9.41188099e-01 -3.37043153e-01 -2.38091462e-02 9.24690845e+01] [ 3.36959283e-01 9.41488773e-01 -7.57178015e-03 1.30337662e+01] [ 2.49680605e-02 -8.96243455e-04 9.99687848e-01 2.31550978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.52, Y:13.06, Z:2.31 [[ 9.41129562e-01 -3.37206636e-01 -2.38082356e-02 9.25224856e+01] [ 3.37122746e-01 9.41430231e-01 -7.57464232e-03 1.30609903e+01] [ 2.49680124e-02 -8.97577951e-04 9.99687848e-01 2.31409820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.58, Y:13.08, Z:2.31 [[ 9.41634887e-01 -3.35792972e-01 -2.38079603e-02 9.25768683e+01] [ 3.35708609e-01 9.41935423e-01 -7.57550764e-03 1.30842647e+01] [ 2.49693634e-02 -8.59174936e-04 9.99687848e-01 2.31098609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.408040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.63, Y:13.10, Z:2.31 [[ 9.43258763e-01 -3.31204132e-01 -2.38060798e-02 9.26307303e+01] [ 3.31118158e-01 9.43558842e-01 -7.58141229e-03 1.31047619e+01] [ 2.49734322e-02 -7.31391719e-04 9.99687848e-01 2.31359835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.468040942 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:92.69, Y:13.12, Z:2.32 [[ 9.43589183e-01 -3.30261647e-01 -2.38054171e-02 9.26866524e+01] [ 3.30175320e-01 9.43889161e-01 -7.58349278e-03 1.31249443e+01] [ 2.49742120e-02 -7.04259438e-04 9.99687848e-01 2.31579382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.74, Y:13.14, Z:2.33 [[ 9.45873805e-01 -3.23660407e-01 -2.38051456e-02 9.27427145e+01] [ 3.23571965e-01 9.46173166e-01 -7.58434499e-03 1.31424580e+01] [ 2.49785421e-02 -5.28844475e-04 9.99687848e-01 2.33429091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.588040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:92.80, Y:13.17, Z:2.32 [[ 9.45123630e-01 -3.25844514e-01 -2.38049893e-02 9.27983330e+01] [ 3.25756751e-01 9.45423191e-01 -7.58483525e-03 1.31681211e+01] [ 2.49772659e-02 -5.86028963e-04 9.99687848e-01 2.31724804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.85, Y:13.19, Z:2.32 [[ 9.45148354e-01 -3.25772826e-01 -2.38045258e-02 9.28519649e+01] [ 3.25685004e-01 9.45447897e-01 -7.58628984e-03 1.31893906e+01] [ 2.49773459e-02 -5.82607734e-04 9.99687848e-01 2.31766165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.91, Y:13.21, Z:2.32 [[ 9.45491296e-01 -3.24776211e-01 -2.38038121e-02 9.29075885e+01] [ 3.24688017e-01 9.45790731e-01 -7.58852858e-03 1.32099635e+01] [ 2.49779984e-02 -5.53924803e-04 9.99687848e-01 2.31868328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.96, Y:13.23, Z:2.32 [[ 9.45786356e-01 -3.23916102e-01 -2.38018440e-02 9.29629746e+01] [ 3.23827480e-01 9.46085664e-01 -7.59469643e-03 1.32296729e+01] [ 2.49786279e-02 -5.24730924e-04 9.99687848e-01 2.32082582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.02, Y:13.25, Z:2.33 [[ 9.46674184e-01 -3.21312238e-01 -2.37998864e-02 9.30185578e+01] [ 3.21222639e-01 9.46973201e-01 -7.60082623e-03 1.32479214e+01] [ 2.49800931e-02 -4.49556344e-04 9.99687848e-01 2.32729309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.07, Y:13.27, Z:2.33 [[ 9.47961660e-01 -3.17493856e-01 -2.37979624e-02 9.30730074e+01] [ 3.17402901e-01 9.48260267e-01 -7.60684559e-03 1.32659834e+01] [ 2.49817889e-02 -3.42544318e-04 9.99687848e-01 2.32992581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.13, Y:13.28, Z:2.34 [[ 9.50700007e-01 -3.09197689e-01 -2.37967731e-02 9.31312871e+01] [ 3.09104035e-01 9.50997778e-01 -7.61056418e-03 1.32754544e+01] [ 2.49838472e-02 -1.20315184e-04 9.99687848e-01 2.34006956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.008040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.19, Y:13.29, Z:2.35 [[ 9.51532990e-01 -3.06624806e-01 -2.37949179e-02 9.31892091e+01] [ 3.06530202e-01 9.51830461e-01 -7.61636016e-03 1.32867187e+01] [ 2.49840926e-02 -4.66430558e-05 9.99687848e-01 2.34756537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.25, Y:13.30, Z:2.35 [[ 9.51046371e-01 -3.08130967e-01 -2.37930049e-02 9.32458533e+01] [ 3.08036685e-01 9.51343945e-01 -7.62233155e-03 1.33011404e+01] [ 2.49840075e-02 -7.99275969e-05 9.99687848e-01 2.34909861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.128040942 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:93.30, Y:13.31, Z:2.35 [[ 9.51443443e-01 -3.06902871e-01 -2.37908268e-02 9.33039270e+01] [ 3.06808035e-01 9.51740840e-01 -7.62912392e-03 1.33137347e+01] [ 2.49841015e-02 -4.05368781e-05 9.99687848e-01 2.34638194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.36, Y:13.33, Z:2.34 [[ 9.52279859e-01 -3.04297808e-01 -2.37889521e-02 9.33614643e+01] [ 3.04202013e-01 9.52576948e-01 -7.63496501e-03 1.33274273e+01] [ 2.49841105e-02 3.39762966e-05 9.99687848e-01 2.34365443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.248040942 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:93.42, Y:13.34, Z:2.35 [[ 9.50971550e-01 -3.08362268e-01 -2.37870136e-02 9.34175904e+01] [ 3.08267592e-01 9.51268998e-01 -7.64099964e-03 1.33435454e+01] [ 2.49840446e-02 -6.63921331e-05 9.99687848e-01 2.34871679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.47, Y:13.36, Z:2.35 [[ 9.49878112e-01 -3.11714384e-01 -2.37847618e-02 9.34722115e+01] [ 3.11620582e-01 9.50175837e-01 -7.64800279e-03 1.33610768e+01] [ 2.49836984e-02 -1.47150850e-04 9.99687848e-01 2.35154498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.53, Y:13.38, Z:2.35 [[ 9.48824653e-01 -3.14906487e-01 -2.37840726e-02 9.35274196e+01] [ 3.14813632e-01 9.49122675e-01 -7.65014543e-03 1.33804268e+01] [ 2.49830830e-02 -2.28903694e-04 9.99687848e-01 2.34793116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.58, Y:13.39, Z:2.35 [[ 9.49127338e-01 -3.13993187e-01 -2.37818200e-02 9.35846226e+01] [ 3.13899871e-01 9.49425215e-01 -7.65714149e-03 1.33903665e+01] [ 2.49833499e-02 -1.97507906e-04 9.99687848e-01 2.34944964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.64, Y:13.40, Z:2.35 [[ 9.50608009e-01 -3.09481617e-01 -2.37811319e-02 9.36423407e+01] [ 3.09386833e-01 9.50905423e-01 -7.65927799e-03 1.34017829e+01] [ 2.49840130e-02 -7.65980881e-05 9.99687848e-01 2.35069181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.70, Y:13.42, Z:2.35 [[ 9.46850488e-01 -3.20793863e-01 -2.37792046e-02 9.36963956e+01] [ 3.20702482e-01 9.47148965e-01 -7.66525687e-03 1.34225160e+01] [ 2.49814164e-02 -3.68197738e-04 9.99687848e-01 2.34760467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.608040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.75, Y:13.43, Z:2.35 [[ 9.46939851e-01 -3.20530142e-01 -2.37770017e-02 9.37546173e+01] [ 3.20438507e-01 9.47238250e-01 -7.67208399e-03 1.34329216e+01] [ 2.49816197e-02 -3.54064859e-04 9.99687848e-01 2.35239946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.81, Y:13.44, Z:2.35 [[ 9.46838450e-01 -3.20829697e-01 -2.37750943e-02 9.38114917e+01] [ 3.20738008e-01 9.47136832e-01 -7.67799026e-03 1.34446245e+01] [ 2.49815948e-02 -3.55759992e-04 9.99687848e-01 2.35345969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.728040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.87, Y:13.45, Z:2.36 [[ 9.47716721e-01 -3.18226121e-01 -2.37729385e-02 9.38695225e+01] [ 3.18133445e-01 9.48014798e-01 -7.68465936e-03 1.34535618e+01] [ 2.49825569e-02 -2.80086655e-04 9.99687848e-01 2.35761087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.788040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:93.93, Y:13.46, Z:2.36 [[ 9.48389281e-01 -3.16216257e-01 -2.37707968e-02 9.39282685e+01] [ 3.16122783e-01 9.48687109e-01 -7.69127867e-03 1.34628631e+01] [ 2.49831558e-02 -2.20164180e-04 9.99687848e-01 2.36440716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.99, Y:13.48, Z:2.36 [[ 9.48974818e-01 -3.14454719e-01 -2.37702436e-02 9.39860635e+01] [ 3.14360649e-01 9.49272458e-01 -7.69298785e-03 1.34768244e+01] [ 2.49835339e-02 -1.71977465e-04 9.99687848e-01 2.35870050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.908040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.04, Y:13.49, Z:2.36 [[ 9.49210059e-01 -3.13744056e-01 -2.37682718e-02 9.40419602e+01] [ 3.13649611e-01 9.49507581e-01 -7.69907530e-03 1.34887140e+01] [ 2.49836933e-02 -1.46869466e-04 9.99687848e-01 2.35931262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.10, Y:13.51, Z:2.36 [[ 9.47668109e-01 -3.18371276e-01 -2.37673062e-02 9.40967988e+01] [ 3.18278209e-01 9.47966065e-01 -7.70205504e-03 1.35089392e+01] [ 2.49827128e-02 -2.65623700e-04 9.99687848e-01 2.36354437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.15, Y:13.52, Z:2.36 [[ 9.47409295e-01 -3.19140799e-01 -2.37650571e-02 9.41522778e+01] [ 3.19047800e-01 9.47707272e-01 -7.70898831e-03 1.35244038e+01] [ 2.49825701e-02 -2.78622013e-04 9.99687848e-01 2.36357030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.21, Y:13.54, Z:2.37 [[ 9.49481653e-01 -3.12921467e-01 -2.37643669e-02 9.42084207e+01] [ 3.12826463e-01 9.49778997e-01 -7.71111545e-03 1.35384212e+01] [ 2.49838701e-02 -1.12560207e-04 9.99687848e-01 2.36659515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.26, Y:13.56, Z:2.37 [[ 9.47643730e-01 -3.18444235e-01 -2.37619712e-02 9.42623494e+01] [ 3.18350778e-01 9.47941563e-01 -7.71849076e-03 1.35590247e+01] [ 2.49828690e-02 -2.50262657e-04 9.99687848e-01 2.36830580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.32, Y:13.58, Z:2.37 [[ 9.47775967e-01 -3.18050499e-01 -2.37612366e-02 9.43176027e+01] [ 3.17956863e-01 9.48073744e-01 -7.72075173e-03 1.35767563e+01] [ 2.49829934e-02 -2.37505285e-04 9.99687848e-01 2.36971564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.37, Y:13.59, Z:2.37 [[ 9.48244409e-01 -3.16651307e-01 -2.37590182e-02 9.43727527e+01] [ 3.16557060e-01 9.48541993e-01 -7.72757220e-03 1.35943212e+01] [ 2.49833723e-02 -1.93457822e-04 9.99687848e-01 2.37075369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.43, Y:13.62, Z:2.37 [[ 9.47601452e-01 -3.18570403e-01 -2.37568045e-02 9.44281690e+01] [ 3.18476588e-01 9.47899173e-01 -7.73437168e-03 1.36155034e+01] [ 2.49829973e-02 -2.36884220e-04 9.99687848e-01 2.37027409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.388040942 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:94.48, Y:13.64, Z:2.37 [[ 9.46045131e-01 -3.23162991e-01 -2.37548062e-02 9.44814509e+01] [ 3.23070468e-01 9.46343256e-01 -7.74050425e-03 1.36351492e+01] [ 2.49816452e-02 -3.51610001e-04 9.99687848e-01 2.36846649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.54, Y:13.65, Z:2.37 [[ 9.44576859e-01 -3.27429899e-01 -2.37532650e-02 9.45373014e+01] [ 3.27338604e-01 9.44875362e-01 -7.74523088e-03 1.36520910e+01] [ 2.49798951e-02 -4.59394740e-04 9.99687848e-01 2.37316484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.508040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:94.60, Y:13.66, Z:2.39 [[ 9.47498787e-01 -3.18876054e-01 -2.37510062e-02 9.45960878e+01] [ 3.18781890e-01 9.47796397e-01 -7.75215163e-03 1.36619564e+01] [ 2.49830936e-02 -2.26236359e-04 9.99687848e-01 2.38803085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.568040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.65, Y:13.69, Z:2.37 [[ 9.45000020e-01 -3.26206840e-01 -2.37499492e-02 9.46481545e+01] [ 3.26114903e-01 9.45298325e-01 -7.75538829e-03 1.36932941e+01] [ 2.49806480e-02 -4.16370301e-04 9.99687848e-01 2.37228632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.70, Y:13.71, Z:2.38 [[ 9.45382018e-01 -3.25098139e-01 -2.37495026e-02 9.47036568e+01] [ 3.25005818e-01 9.45680205e-01 -7.75675593e-03 1.37108532e+01] [ 2.49811414e-02 -3.85628923e-04 9.99687848e-01 2.37512246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.76, Y:13.72, Z:2.39 [[ 9.47607973e-01 -3.18551722e-01 -2.37472219e-02 9.47599582e+01] [ 3.18457166e-01 9.47905458e-01 -7.76373202e-03 1.37246361e+01] [ 2.49832714e-02 -2.05498605e-04 9.99687848e-01 2.38791415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.81, Y:13.74, Z:2.39 [[ 9.47277833e-01 -3.19532201e-01 -2.37461684e-02 9.48142928e+01] [ 3.19437872e-01 9.47575390e-01 -7.76695289e-03 1.37433919e+01] [ 2.49830763e-02 -2.27963187e-04 9.99687848e-01 2.38781367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.87, Y:13.76, Z:2.39 [[ 9.46365883e-01 -3.22223184e-01 -2.37452048e-02 9.48689631e+01] [ 3.22129627e-01 9.46663685e-01 -7.76989763e-03 1.37644718e+01] [ 2.49823642e-02 -2.95867921e-04 9.99687848e-01 2.38594349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86804094200001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.92, Y:13.78, Z:2.38 [[ 9.46197293e-01 -3.22718054e-01 -2.37432330e-02 9.49245762e+01] [ 3.22624502e-01 9.46495096e-01 -7.77591838e-03 1.37826769e+01] [ 2.49822828e-02 -3.02595788e-04 9.99687848e-01 2.38422213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.98, Y:13.80, Z:2.39 [[ 9.46317344e-01 -3.22366019e-01 -2.37410024e-02 9.49796903e+01] [ 3.22272185e-01 9.46615058e-01 -7.78272264e-03 1.38020036e+01] [ 2.49824757e-02 -2.86139307e-04 9.99687848e-01 2.38621505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.04, Y:13.81, Z:2.39 [[ 9.48292221e-01 -3.16509610e-01 -2.37387846e-02 9.50353895e+01] [ 3.16413768e-01 9.48589295e-01 -7.78948173e-03 1.38148445e+01] [ 2.49838027e-02 -1.24573338e-04 9.99687848e-01 2.39211067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.09, Y:13.83, Z:2.39 [[ 9.48031269e-01 -3.17290448e-01 -2.37378293e-02 9.50904875e+01] [ 3.17194778e-01 9.48328399e-01 -7.79239162e-03 1.38337800e+01] [ 2.49837091e-02 -1.42084585e-04 9.99687848e-01 2.39064766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.15, Y:13.85, Z:2.39 [[ 9.47509642e-01 -3.18844854e-01 -2.37368229e-02 9.51455731e+01] [ 3.18749595e-01 9.47806904e-01 -7.79545602e-03 1.38526840e+01] [ 2.49834657e-02 -1.79832958e-04 9.99687848e-01 2.39211713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.20, Y:13.87, Z:2.39 [[ 9.45944942e-01 -3.23457624e-01 -2.37346288e-02 9.52008838e+01] [ 3.23363647e-01 9.46242611e-01 -7.80213061e-03 1.38713657e+01] [ 2.49823758e-02 -2.94530157e-04 9.99687848e-01 2.39442034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.228040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.26, Y:13.89, Z:2.40 [[ 9.45086678e-01 -3.25956968e-01 -2.37323677e-02 9.52554403e+01] [ 3.25863606e-01 9.45384541e-01 -7.80900243e-03 1.38920157e+01] [ 2.49816123e-02 -3.53330744e-04 9.99687848e-01 2.39542345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.31, Y:13.91, Z:2.40 [[ 9.44022158e-01 -3.29027431e-01 -2.37300335e-02 9.53104067e+01] [ 3.28934859e-01 9.44320267e-01 -7.81608907e-03 1.39104701e+01] [ 2.49804593e-02 -4.27073953e-04 9.99687848e-01 2.39705124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.37, Y:13.93, Z:2.39 [[ 9.43444076e-01 -3.30681525e-01 -2.37277099e-02 9.53654301e+01] [ 3.30589299e-01 9.43742292e-01 -7.82313668e-03 1.39329737e+01] [ 2.49798101e-02 -4.63435025e-04 9.99687848e-01 2.39491959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.408040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.42, Y:13.95, Z:2.39 [[ 9.42574693e-01 -3.33151678e-01 -2.37256700e-02 9.54188046e+01] [ 3.33060078e-01 9.42873102e-01 -7.82931829e-03 1.39537168e+01] [ 2.49786466e-02 -5.22356222e-04 9.99687848e-01 2.39433648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.47, Y:13.97, Z:2.39 [[ 9.43086121e-01 -3.31701234e-01 -2.37246702e-02 9.54730673e+01] [ 3.31609099e-01 9.43384365e-01 -7.83234684e-03 1.39739853e+01] [ 2.49794820e-02 -4.80738904e-04 9.99687848e-01 2.39257648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.53, Y:14.00, Z:2.39 [[ 9.43761214e-01 -3.29775708e-01 -2.37224017e-02 9.55270885e+01] [ 3.29682791e-01 9.44059216e-01 -7.83921151e-03 1.39953010e+01] [ 2.49805335e-02 -4.22523845e-04 9.99687848e-01 2.39193572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.58, Y:14.01, Z:2.40 [[ 9.44234966e-01 -3.28416934e-01 -2.37201536e-02 9.55827699e+01] [ 3.28323418e-01 9.44532781e-01 -7.84600809e-03 1.40115921e+01] [ 2.49812246e-02 -3.79406709e-04 9.99687849e-01 2.39782850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.64, Y:14.03, Z:2.39 [[ 9.46661534e-01 -3.21355453e-01 -2.37194594e-02 9.56378027e+01] [ 3.21259662e-01 9.46958625e-01 -7.84810628e-03 1.40305808e+01] [ 2.49833784e-02 -1.90605177e-04 9.99687849e-01 2.39441533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.69, Y:14.05, Z:2.40 [[ 9.44815643e-01 -3.26742855e-01 -2.37172281e-02 9.56926144e+01] [ 3.26648590e-01 9.45113221e-01 -7.85484335e-03 1.40511025e+01] [ 2.49819798e-02 -3.25820249e-04 9.99687849e-01 2.39606188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.75, Y:14.07, Z:2.39 [[ 9.44280909e-01 -3.28285185e-01 -2.37150048e-02 9.57483967e+01] [ 3.28191237e-01 9.44578587e-01 -7.86155009e-03 1.40715990e+01] [ 2.49815162e-02 -3.59545117e-04 9.99687849e-01 2.39415085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.80, Y:14.09, Z:2.40 [[ 9.43207087e-01 -3.31357952e-01 -2.37128219e-02 9.58021453e+01] [ 3.31264808e-01 9.43505018e-01 -7.86812890e-03 1.40918753e+01] [ 2.49803336e-02 -4.33948474e-04 9.99687849e-01 2.39690277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.86, Y:14.11, Z:2.39 [[ 9.42659535e-01 -3.32912509e-01 -2.37120635e-02 9.58554156e+01] [ 3.32819799e-01 9.42957601e-01 -7.87041381e-03 1.41128097e+01] [ 2.49796298e-02 -4.72723603e-04 9.99687849e-01 2.39154822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.91, Y:14.13, Z:2.40 [[ 9.44713109e-01 -3.27039643e-01 -2.37110650e-02 9.59121298e+01] [ 3.26945004e-01 9.45010568e-01 -7.87342098e-03 1.41264983e+01] [ 2.49821278e-02 -3.14090238e-04 9.99687849e-01 2.39573880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.008040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.97, Y:14.14, Z:2.40 [[ 9.45477399e-01 -3.24823500e-01 -2.37103680e-02 9.59680232e+01] [ 3.24728111e-01 9.45774619e-01 -7.87551944e-03 1.41432547e+01] [ 2.49828180e-02 -2.53297369e-04 9.99687849e-01 2.39930278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.02, Y:14.16, Z:2.40 [[ 9.45839347e-01 -3.23768208e-01 -2.37081470e-02 9.60232027e+01] [ 3.23672321e-01 9.46136406e-01 -7.88219959e-03 1.41577768e+01] [ 2.49831467e-02 -2.18376460e-04 9.99687849e-01 2.40309685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.08, Y:14.17, Z:2.41 [[ 9.47629777e-01 -3.18489836e-01 -2.37071911e-02 9.60792202e+01] [ 3.18392222e-01 9.47926273e-01 -7.88507379e-03 1.41735665e+01] [ 2.49839851e-02 -7.60545214e-05 9.99687849e-01 2.41196727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.13, Y:14.19, Z:2.41 [[ 9.47424623e-01 -3.19099778e-01 -2.37047427e-02 9.61343160e+01] [ 3.19002171e-01 9.47721122e-01 -7.89242735e-03 1.41907917e+01] [ 2.49839572e-02 -8.43843872e-05 9.99687849e-01 2.41477142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.19, Y:14.21, Z:2.42 [[ 9.47085719e-01 -3.20104424e-01 -2.37022650e-02 9.61895521e+01] [ 3.20006946e-01 9.47382260e-01 -7.89986123e-03 1.42088588e+01] [ 2.49838860e-02 -1.03043689e-04 9.99687849e-01 2.41707286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.24, Y:14.23, Z:2.42 [[ 9.45918434e-01 -3.23537690e-01 -2.36997901e-02 9.62430427e+01] [ 3.23441102e-01 9.46215265e-01 -7.90727916e-03 1.42287931e+01] [ 2.49834060e-02 -1.85845106e-04 9.99687849e-01 2.41602665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.30, Y:14.25, Z:2.42 [[ 9.45848722e-01 -3.23741510e-01 -2.36987255e-02 9.62976487e+01] [ 3.23644906e-01 9.46145549e-01 -7.91046843e-03 1.42475848e+01] [ 2.49833907e-02 -1.87865352e-04 9.99687849e-01 2.41736336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.35, Y:14.27, Z:2.42 [[ 9.47094947e-01 -3.20077568e-01 -2.36962459e-02 9.63529186e+01] [ 3.19979630e-01 9.47391336e-01 -7.91788931e-03 1.42662419e+01] [ 2.49839568e-02 -8.33230398e-05 9.99687849e-01 2.41961827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.41, Y:14.29, Z:2.42 [[ 9.47328420e-01 -3.19386083e-01 -2.36937697e-02 9.64066793e+01] [ 3.19287743e-01 9.47624676e-01 -7.92529227e-03 1.42852251e+01] [ 2.49840289e-02 -5.72756550e-05 9.99687849e-01 2.41996774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.46, Y:14.30, Z:2.42 [[ 9.49275422e-01 -3.13551955e-01 -2.36927074e-02 9.64616219e+01] [ 3.13451715e-01 9.49571041e-01 -7.92846675e-03 1.43025999e+01] [ 2.49838951e-02 9.97788343e-05 9.99687849e-01 2.42485023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.608040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.52, Y:14.32, Z:2.43 [[ 9.49034067e-01 -3.14281896e-01 -2.36902751e-02 9.65164353e+01] [ 3.14181702e-01 9.49329702e-01 -7.93572783e-03 1.43224691e+01] [ 2.49839374e-02 8.82250951e-05 9.99687849e-01 2.42500342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.57, Y:14.34, Z:2.42 [[ 9.47435134e-01 -3.19069700e-01 -2.36895306e-02 9.65708260e+01] [ 3.18970945e-01 9.47731251e-01 -7.93794968e-03 1.43442708e+01] [ 2.49840677e-02 -3.55795538e-05 9.99687849e-01 2.42237484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.728040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.63, Y:14.36, Z:2.42 [[ 9.45938492e-01 -3.23479967e-01 -2.36871579e-02 9.66255353e+01] [ 3.23382415e-01 9.46235008e-01 -7.94502352e-03 1.43642974e+01] [ 2.49836740e-02 -1.44506775e-04 9.99687849e-01 2.42446154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.788040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.68, Y:14.38, Z:2.43 [[ 9.44706184e-01 -3.27061549e-01 -2.36847914e-02 9.66803414e+01] [ 3.26964945e-01 9.45003010e-01 -7.95207203e-03 1.43839707e+01] [ 2.49830162e-02 -2.31724898e-04 9.99687849e-01 2.42600761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.73, Y:14.40, Z:2.43 [[ 9.44238911e-01 -3.28408316e-01 -2.36824207e-02 9.67341613e+01] [ 3.28311958e-01 9.44535818e-01 -7.95912618e-03 1.44042741e+01] [ 2.49827378e-02 -2.59905264e-04 9.99687849e-01 2.42752500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.908040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.79, Y:14.43, Z:2.43 [[ 9.43047871e-01 -3.31813035e-01 -2.36816935e-02 9.67881288e+01] [ 3.31717695e-01 9.43345106e-01 -7.96128937e-03 1.44262985e+01] [ 2.49816692e-02 -3.47759781e-04 9.99687849e-01 2.42500064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.84, Y:14.45, Z:2.42 [[ 9.41401822e-01 -3.36454895e-01 -2.36793696e-02 9.68430766e+01] [ 3.36360847e-01 9.41699468e-01 -7.96819533e-03 1.44479550e+01] [ 2.49797881e-02 -4.63539201e-04 9.99687849e-01 2.42377905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.90, Y:14.47, Z:2.43 [[ 9.42040927e-01 -3.34661437e-01 -2.36773042e-02 9.68959331e+01] [ 3.34566667e-01 9.42338344e-01 -7.97432803e-03 1.44678093e+01] [ 2.49807317e-02 -4.09493375e-04 9.99687849e-01 2.42931327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.95, Y:14.49, Z:2.43 [[ 9.43135342e-01 -3.31564773e-01 -2.36754845e-02 9.69489460e+01] [ 3.31468891e-01 9.43432403e-01 -7.97972690e-03 1.44889103e+01] [ 2.49820155e-02 -3.21724131e-04 9.99687849e-01 2.43096847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.00, Y:14.51, Z:2.43 [[ 9.43863734e-01 -3.29485614e-01 -2.36744936e-02 9.70035466e+01] [ 3.29389004e-01 9.44160559e-01 -7.98266562e-03 1.45093465e+01] [ 2.49826966e-02 -2.63569287e-04 9.99687849e-01 2.43269081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.208040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:97.06, Y:14.53, Z:2.43 [[ 9.43357328e-01 -3.30932882e-01 -2.36723367e-02 9.70579864e+01] [ 3.30836568e-01 9.43654248e-01 -7.98905674e-03 1.45323506e+01] [ 2.49823427e-02 -2.95139401e-04 9.99687849e-01 2.43290106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.11, Y:14.55, Z:2.44 [[ 9.43790147e-01 -3.29696580e-01 -2.36711555e-02 9.71137517e+01] [ 3.29599789e-01 9.44086913e-01 -7.99255514e-03 1.45490867e+01] [ 2.49827462e-02 -2.58713040e-04 9.99687849e-01 2.43877972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.17, Y:14.58, Z:2.44 [[ 9.41715766e-01 -3.35575933e-01 -2.36687502e-02 9.71666005e+01] [ 3.35480815e-01 9.42013072e-01 -7.99967150e-03 1.45754700e+01] [ 2.49807693e-02 -4.06994858e-04 9.99687849e-01 2.43860102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.388040942 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:97.22, Y:14.60, Z:2.43 [[ 9.40857585e-01 -3.37974705e-01 -2.36665204e-02 9.72199510e+01] [ 3.37880180e-01 9.41155080e-01 -8.00626284e-03 1.45981805e+01] [ 2.49797802e-02 -4.63695052e-04 9.99687849e-01 2.43333017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.27, Y:14.62, Z:2.43 [[ 9.40395045e-01 -3.39259755e-01 -2.36638526e-02 9.72723404e+01] [ 3.39165438e-01 9.40692606e-01 -8.01414030e-03 1.46224557e+01] [ 2.49792864e-02 -4.89503102e-04 9.99687849e-01 2.43440063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.508040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.33, Y:14.64, Z:2.44 [[ 9.38339307e-01 -3.44904937e-01 -2.36628138e-02 9.73263088e+01] [ 3.44812333e-01 9.38637406e-01 -8.01720630e-03 1.46426818e+01] [ 2.49759762e-02 -6.36370227e-04 9.99687849e-01 2.43554053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.568040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.38, Y:14.66, Z:2.44 [[ 9.38583301e-01 -3.44240564e-01 -2.36605283e-02 9.73805962e+01] [ 3.44147579e-01 9.38881281e-01 -8.02394555e-03 1.46635065e+01] [ 2.49765947e-02 -6.11572234e-04 9.99687849e-01 2.44286847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.43, Y:14.69, Z:2.44 [[ 9.37467587e-01 -3.47267617e-01 -2.36585308e-02 9.74349722e+01] [ 3.47175445e-01 9.37765819e-01 -8.02983084e-03 1.46868889e+01] [ 2.49746618e-02 -6.85954839e-04 9.99687849e-01 2.44285696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.49, Y:14.71, Z:2.45 [[ 9.39931796e-01 -3.40541610e-01 -2.36565076e-02 9.74873833e+01] [ 3.40447155e-01 9.40229313e-01 -8.03578704e-03 1.47089544e+01] [ 2.49790617e-02 -5.00698956e-04 9.99687849e-01 2.44512931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.54, Y:14.73, Z:2.44 [[ 9.40660674e-01 -3.38523132e-01 -2.36555482e-02 9.75424089e+01] [ 3.38427967e-01 9.40957965e-01 -8.03861017e-03 1.47303347e+01] [ 2.49801320e-02 -4.44094630e-04 9.99687849e-01 2.44396125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.808040942 meters Centerline goodness : 0.996517 with order 1 Centerline is valid? [True, True] Translation: X:97.60, Y:14.75, Z:2.44 [[ 9.41592624e-01 -3.35922312e-01 -2.36544167e-02 9.75974007e+01] [ 3.35826242e-01 9.41889623e-01 -8.04193840e-03 1.47494584e+01] [ 2.49813162e-02 -3.71544000e-04 9.99687849e-01 2.44466615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.65, Y:14.77, Z:2.45 [[ 9.41703901e-01 -3.35610436e-01 -2.36516176e-02 9.76504103e+01] [ 3.35514061e-01 9.42000801e-01 -8.05016223e-03 1.47699834e+01] [ 2.49815612e-02 -3.54581106e-04 9.99687849e-01 2.44826149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.71, Y:14.79, Z:2.45 [[ 9.41640418e-01 -3.35788647e-01 -2.36497018e-02 9.77063675e+01] [ 3.35692187e-01 9.41937291e-01 -8.05578663e-03 1.47860148e+01] [ 2.49815777e-02 -3.53365825e-04 9.99687849e-01 2.44609531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.76, Y:14.80, Z:2.45 [[ 9.41739606e-01 -3.35510538e-01 -2.36472754e-02 9.77617883e+01] [ 3.35413812e-01 9.42036392e-01 -8.06290300e-03 1.48023425e+01] [ 2.49817829e-02 -3.38467686e-04 9.99687849e-01 2.45098255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.82, Y:14.82, Z:2.46 [[ 9.43291837e-01 -3.31121475e-01 -2.36448704e-02 9.78185576e+01] [ 3.31023191e-01 9.43588111e-01 -8.06994964e-03 1.48178036e+01] [ 2.49831522e-02 -2.14682826e-04 9.99687849e-01 2.45651432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.87, Y:14.84, Z:2.45 [[ 9.41364381e-01 -3.36562209e-01 -2.36427815e-02 9.78705300e+01] [ 3.36465485e-01 9.41661168e-01 -8.07606476e-03 1.48444050e+01] [ 2.49815874e-02 -3.52460237e-04 9.99687849e-01 2.45481655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.93, Y:14.86, Z:2.45 [[ 9.42284978e-01 -3.33976157e-01 -2.36420440e-02 9.79263765e+01] [ 3.33878563e-01 9.42581481e-01 -8.07822317e-03 1.48603636e+01] [ 2.49824868e-02 -2.81583331e-04 9.99687849e-01 2.45390046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.228040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.99, Y:14.86, Z:2.46 [[ 9.46446393e-01 -3.21994275e-01 -2.36413298e-02 9.79883348e+01] [ 3.21892875e-01 9.46741615e-01 -8.08031270e-03 1.48647523e+01] [ 2.49840452e-02 3.76071765e-05 9.99687849e-01 2.46402493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.04, Y:14.89, Z:2.46 [[ 9.44005606e-01 -3.29081375e-01 -2.36403102e-02 9.80414154e+01] [ 3.28982117e-01 9.44301555e-01 -8.08329469e-03 1.48908879e+01] [ 2.49836434e-02 -1.46563794e-04 9.99687849e-01 2.45646558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.10, Y:14.90, Z:2.46 [[ 9.44811024e-01 -3.26761833e-01 -2.36396531e-02 9.81004516e+01] [ 3.26661801e-01 9.45106712e-01 -8.08521584e-03 1.49002642e+01] [ 2.49839348e-02 -8.31706018e-05 9.99687849e-01 2.45899772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.408040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.16, Y:14.92, Z:2.46 [[ 9.41190829e-01 -3.37047610e-01 -2.36375243e-02 9.81568827e+01] [ 3.36950652e-01 9.41487539e-01 -8.09143490e-03 1.49180958e+01] [ 2.49816334e-02 -3.49094893e-04 9.99687849e-01 2.45546689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.21, Y:14.93, Z:2.46 [[ 9.41070247e-01 -3.37384293e-01 -2.36353378e-02 9.82123991e+01] [ 3.37287281e-01 9.41366940e-01 -8.09781675e-03 1.49333991e+01] [ 2.49816018e-02 -3.51284390e-04 9.99687849e-01 2.45722739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.27, Y:14.94, Z:2.46 [[ 9.41815015e-01 -3.35299693e-01 -2.36345708e-02 9.82723630e+01] [ 3.35201968e-01 9.42111474e-01 -8.10005466e-03 1.49412035e+01] [ 2.49823462e-02 -2.93601544e-04 9.99687849e-01 2.46352272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.33, Y:14.96, Z:2.46 [[ 9.42642634e-01 -3.32966011e-01 -2.36326029e-02 9.83293108e+01] [ 3.32867408e-01 9.42938802e-01 -8.10579206e-03 1.49559064e+01] [ 2.49830515e-02 -2.25658099e-04 9.99687849e-01 2.46164060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.39, Y:14.97, Z:2.46 [[ 9.44354254e-01 -3.28080237e-01 -2.36305072e-02 9.83864741e+01] [ 3.27979949e-01 9.44649856e-01 -8.11189682e-03 1.49675701e+01] [ 2.49839083e-02 -8.98282992e-05 9.99687849e-01 2.46068165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.45, Y:14.97, Z:2.46 [[ 9.46423715e-01 -3.22061774e-01 -2.36297709e-02 9.84454947e+01] [ 3.21959553e-01 9.46718653e-01 -8.11404123e-03 1.49745418e+01] [ 2.49839674e-02 7.14905771e-05 9.99687849e-01 2.46360392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.768040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:98.50, Y:14.99, Z:2.46 [[ 9.46318844e-01 -3.22369825e-01 -2.36292479e-02 9.85023666e+01] [ 3.22267662e-01 9.46613803e-01 -8.11556390e-03 1.49921741e+01] [ 2.49839852e-02 6.49685720e-05 9.99687849e-01 2.46056183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.56, Y:15.01, Z:2.47 [[ 9.48343741e-01 -3.16363433e-01 -2.36289579e-02 9.85596686e+01] [ 3.16259381e-01 9.48638038e-01 -8.11640830e-03 1.50064429e+01] [ 2.49830630e-02 2.24265418e-04 9.99687849e-01 2.47037173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.61, Y:15.03, Z:2.47 [[ 9.46374589e-01 -3.22206308e-01 -2.36269236e-02 9.86137515e+01] [ 3.22103925e-01 9.46669472e-01 -8.12232588e-03 1.50323411e+01] [ 2.49839519e-02 7.64379901e-05 9.99687849e-01 2.46857215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.67, Y:15.05, Z:2.48 [[ 9.46348453e-01 -3.22283086e-01 -2.36266135e-02 9.86702950e+01] [ 3.22180705e-01 9.46643336e-01 -8.12322765e-03 1.50458725e+01] [ 2.49839551e-02 7.53649233e-05 9.99687849e-01 2.47794048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.008040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.72, Y:15.07, Z:2.47 [[ 9.43738712e-01 -3.29847056e-01 -2.36254953e-02 9.87246703e+01] [ 3.29746957e-01 9.44034377e-01 -8.12647869e-03 1.50681221e+01] [ 2.49837748e-02 -1.21162638e-04 9.99687849e-01 2.47343425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.78, Y:15.09, Z:2.47 [[ 9.42951911e-01 -3.32089786e-01 -2.36234658e-02 9.87794052e+01] [ 3.31990242e-01 9.43247764e-01 -8.13237391e-03 1.50861358e+01] [ 2.49834596e-02 -1.74322626e-04 9.99687849e-01 2.47415365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.84, Y:15.10, Z:2.48 [[ 9.42937017e-01 -3.32132148e-01 -2.36223978e-02 9.88356977e+01] [ 3.32032540e-01 9.43232849e-01 -8.13547522e-03 1.51024958e+01] [ 2.49834744e-02 -1.72163979e-04 9.99687849e-01 2.47962078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.89, Y:15.13, Z:2.47 [[ 9.41350272e-01 -3.36603245e-01 -2.36203642e-02 9.88887176e+01] [ 3.36504893e-01 9.41646523e-01 -8.14137504e-03 1.51291410e+01] [ 2.49824471e-02 -2.84482538e-04 9.99687849e-01 2.47328108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.94, Y:15.15, Z:2.47 [[ 9.41715961e-01 -3.35578942e-01 -2.36182780e-02 9.89427137e+01] [ 3.35480117e-01 9.42012055e-01 -8.14742268e-03 1.51488740e+01] [ 2.49828061e-02 -2.50904690e-04 9.99687850e-01 2.47428705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.00, Y:15.17, Z:2.48 [[ 9.41011390e-01 -3.37549725e-01 -2.36166700e-02 9.89973381e+01] [ 3.37451403e-01 9.41307651e-01 -8.15208118e-03 1.51706319e+01] [ 2.49822849e-02 -2.98277191e-04 9.99687850e-01 2.47559070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.05, Y:15.19, Z:2.48 [[ 9.40640596e-01 -3.38581777e-01 -2.36145984e-02 9.90513009e+01] [ 3.38483629e-01 9.40936915e-01 -8.15807761e-03 1.51922625e+01] [ 2.49820238e-02 -3.19335988e-04 9.99687850e-01 2.47634941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.11, Y:15.21, Z:2.48 [[ 9.40090599e-01 -3.40106053e-01 -2.36122551e-02 9.91061208e+01] [ 3.40008216e-01 9.40387021e-01 -8.16485424e-03 1.52108622e+01] [ 2.49815746e-02 -3.52658027e-04 9.99687850e-01 2.47888719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.16, Y:15.23, Z:2.48 [[ 9.40609262e-01 -3.38669142e-01 -2.36099169e-02 9.91617555e+01] [ 3.38570683e-01 9.40905478e-01 -8.17160999e-03 1.52271928e+01] [ 2.49821723e-02 -3.07333638e-04 9.99687850e-01 2.48464450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.22, Y:15.24, Z:2.49 [[ 9.42439019e-01 -3.33543664e-01 -2.36076108e-02 9.92185144e+01] [ 3.33443426e-01 9.42734638e-01 -8.17826674e-03 1.52394994e+01] [ 2.49835215e-02 -1.64284959e-04 9.99687850e-01 2.49332187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.608040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.27, Y:15.26, Z:2.49 [[ 9.42455121e-01 -3.33498238e-01 -2.36065650e-02 9.92719319e+01] [ 3.33397911e-01 9.42750709e-01 -8.18128432e-03 1.52633089e+01] [ 2.49835498e-02 -1.59886160e-04 9.99687850e-01 2.48639922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.33, Y:15.28, Z:2.49 [[ 9.42751430e-01 -3.32659741e-01 -2.36058657e-02 9.93266134e+01] [ 3.32559101e-01 9.43046912e-01 -8.18330178e-03 1.52814014e+01] [ 2.49836938e-02 -1.35525994e-04 9.99687850e-01 2.49341313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.728040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.38, Y:15.30, Z:2.49 [[ 9.42284743e-01 -3.33979535e-01 -2.36036569e-02 9.93810211e+01] [ 3.33879148e-01 9.42580311e-01 -8.18966765e-03 1.53012526e+01] [ 2.49835237e-02 -1.63769991e-04 9.99687850e-01 2.49387416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.788040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.44, Y:15.32, Z:2.49 [[ 9.41288614e-01 -3.36776952e-01 -2.36014756e-02 9.94356094e+01] [ 3.36677287e-01 9.41584426e-01 -8.19594911e-03 1.53220107e+01] [ 2.49829886e-02 -2.31327192e-04 9.99687850e-01 2.48891271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.49, Y:15.34, Z:2.50 [[ 9.40823106e-01 -3.38075265e-01 -2.36008022e-02 9.94900728e+01] [ 3.37975959e-01 9.41119039e-01 -8.19788768e-03 1.53432189e+01] [ 2.49826674e-02 -2.63741619e-04 9.99687850e-01 2.50004056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.908040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.54, Y:15.36, Z:2.50 [[ 9.39613473e-01 -3.41422936e-01 -2.35987166e-02 9.95444065e+01] [ 3.41324534e-01 9.39909708e-01 -8.20388701e-03 1.53640452e+01] [ 2.49816580e-02 -3.46338174e-04 9.99687850e-01 2.49585979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.60, Y:15.38, Z:2.50 [[ 9.41025519e-01 -3.37511667e-01 -2.35976236e-02 9.96005184e+01] [ 3.37411955e-01 9.41321315e-01 -8.20702985e-03 1.53830742e+01] [ 2.49829144e-02 -2.39095767e-04 9.99687850e-01 2.49588347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.028040942 meters Centerline goodness : 0.995833 with order 1 Centerline is valid? [True, True] Translation: X:99.65, Y:15.41, Z:2.51 [[ 9.40624815e-01 -3.38626926e-01 -2.35958158e-02 9.96525355e+01] [ 3.38527434e-01 9.40920685e-01 -8.21222402e-03 1.54120242e+01] [ 2.49826713e-02 -2.63209269e-04 9.99687850e-01 2.51144133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.088040942 meters Centerline goodness : 0.997644 with order 1 Centerline is valid? [True, True] Translation: X:99.71, Y:15.43, Z:2.51 [[ 9.41913551e-01 -3.35025698e-01 -2.35932908e-02 9.97057305e+01] [ 3.34924893e-01 9.42208977e-01 -8.21947172e-03 1.54333180e+01] [ 2.49835447e-02 -1.59948619e-04 9.99687850e-01 2.51428730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.148040942 meters Centerline goodness : 0.997217 with order 1 Centerline is valid? [True, True] Translation: X:99.76, Y:15.45, Z:2.52 [[ 9.41953970e-01 -3.34912129e-01 -2.35920298e-02 9.97593435e+01] [ 3.34811199e-01 9.42249352e-01 -8.22308958e-03 1.54546955e+01] [ 2.49835873e-02 -1.53103901e-04 9.99687850e-01 2.51836103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.208040942 meters Centerline goodness : 0.996712 with order 1 Centerline is valid? [True, True] Translation: X:99.81, Y:15.48, Z:2.51 [[ 9.42116361e-01 -3.34455273e-01 -2.35888406e-02 9.98130896e+01] [ 3.34353970e-01 9.42411615e-01 -8.23222790e-03 1.54764895e+01] [ 2.49837095e-02 -1.31305933e-04 9.99687850e-01 2.51325748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.268040942 meters Centerline goodness : 0.999112 with order 1 Centerline is valid? [True, True] Translation: X:99.87, Y:15.50, Z:2.52 [[ 9.43150458e-01 -3.31528019e-01 -2.35878588e-02 9.98684310e+01] [ 3.31425729e-01 9.43445372e-01 -8.23504027e-03 1.54966230e+01] [ 2.49840028e-02 -5.07412906e-05 9.99687850e-01 2.52449843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.328040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:99.92, Y:15.52, Z:2.52 [[ 9.41993738e-01 -3.34800731e-01 -2.35853367e-02 9.99212284e+01] [ 3.34699286e-01 9.42288944e-01 -8.24225733e-03 1.55194245e+01] [ 2.49837158e-02 -1.29840538e-04 9.99687850e-01 2.52173445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.388040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:99.98, Y:15.54, Z:2.51 [[ 9.39731268e-01 -3.41099591e-01 -2.35841595e-02 9.99751753e+01] [ 3.41000039e-01 9.40027118e-01 -8.24562437e-03 1.55418274e+01] [ 2.49823286e-02 -2.93528262e-04 9.99687850e-01 2.51336893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.03, Y:15.56, Z:2.53 [[ 9.40635316e-01 -3.38598623e-01 -2.35833654e-02 1.00032535e+02] [ 3.38498228e-01 9.40930881e-01 -8.24789481e-03 1.55550957e+01] [ 2.49830426e-02 -2.24666261e-04 9.99687850e-01 2.52589858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.508040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.08, Y:15.58, Z:2.52 [[ 9.36291845e-01 -3.50430458e-01 -2.35812495e-02 1.00083957e+02] [ 3.50333645e-01 9.36588602e-01 -8.25394001e-03 1.55828326e+01] [ 2.49783615e-02 -5.33208363e-04 9.99687850e-01 2.51610770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.568040942 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:100.14, Y:15.60, Z:2.52 [[ 9.35442951e-01 -3.52690297e-01 -2.35805061e-02 1.00139590e+02] [ 3.52594147e-01 9.35739924e-01 -8.25606320e-03 1.56027563e+01] [ 2.49770544e-02 -5.91272310e-04 9.99687850e-01 2.51987566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.19, Y:15.62, Z:2.52 [[ 9.34135695e-01 -3.56138400e-01 -2.35784550e-02 1.00193173e+02] [ 3.56043199e-01 9.34432973e-01 -8.26191664e-03 1.56239604e+01] [ 2.49748716e-02 -6.77197327e-04 9.99687850e-01 2.52065508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.25, Y:15.65, Z:2.52 [[ 9.32299763e-01 -3.60917332e-01 -2.35760838e-02 1.00246105e+02] [ 3.60823483e-01 9.32597471e-01 -8.26867779e-03 1.56503733e+01] [ 2.49713052e-02 -7.97918320e-04 9.99687850e-01 2.51895504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.30, Y:15.67, Z:2.52 [[ 9.33688239e-01 -3.57310144e-01 -2.35740174e-02 1.00301790e+02] [ 3.57214996e-01 9.33985534e-01 -8.27456471e-03 1.56686085e+01] [ 2.49743772e-02 -6.95128795e-04 9.99687850e-01 2.51797651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.36, Y:15.68, Z:2.53 [[ 9.33099580e-01 -3.58844745e-01 -2.35716499e-02 1.00358430e+02] [ 3.58749916e-01 9.33396977e-01 -8.28130368e-03 1.56843249e+01] [ 2.49734090e-02 -7.29046431e-04 9.99687850e-01 2.53273925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.41, Y:15.71, Z:2.53 [[ 9.32722724e-01 -3.59823287e-01 -2.35695382e-02 1.00409799e+02] [ 3.59728619e-01 9.33020172e-01 -8.28730944e-03 1.57106785e+01] [ 2.49728215e-02 -7.48875568e-04 9.99687850e-01 2.52993449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.47, Y:15.73, Z:2.54 [[ 9.36169912e-01 -3.50756926e-01 -2.35684915e-02 1.00465113e+02] [ 3.50659302e-01 9.36466404e-01 -8.29028491e-03 1.57286436e+01] [ 2.49789754e-02 -5.03395492e-04 9.99687850e-01 2.53669133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.988040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:100.52, Y:15.75, Z:2.54 [[ 9.35951393e-01 -3.51339651e-01 -2.35677573e-02 1.00520392e+02] [ 3.51242159e-01 9.36247928e-01 -8.29237162e-03 1.57478512e+01] [ 2.49787029e-02 -5.16733187e-04 9.99687850e-01 2.53967919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.58, Y:15.77, Z:2.54 [[ 9.37391187e-01 -3.47480101e-01 -2.35656986e-02 1.00575538e+02] [ 3.47381241e-01 9.37687268e-01 -8.29821796e-03 1.57700078e+01] [ 2.49807212e-02 -4.07605250e-04 9.99687850e-01 2.54242667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.63, Y:15.79, Z:2.54 [[ 9.36497872e-01 -3.49880670e-01 -2.35638018e-02 1.00628921e+02] [ 3.49782433e-01 9.36794161e-01 -8.30360084e-03 1.57918904e+01] [ 2.49797013e-02 -4.65899403e-04 9.99687850e-01 2.54237607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.68, Y:15.81, Z:2.55 [[ 9.36254084e-01 -3.50532553e-01 -2.35630823e-02 1.00683650e+02] [ 3.50434471e-01 9.36550424e-01 -8.30564212e-03 1.58114831e+01] [ 2.49794126e-02 -4.81124925e-04 9.99687850e-01 2.54531182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.228040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.74, Y:15.84, Z:2.54 [[ 9.34473002e-01 -3.55253463e-01 -2.35623799e-02 1.00735254e+02] [ 3.55156827e-01 9.34769817e-01 -8.30763406e-03 1.58430531e+01] [ 2.49767174e-02 -6.05080363e-04 9.99687850e-01 2.54141595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.79, Y:15.85, Z:2.55 [[ 9.37297046e-01 -3.47734315e-01 -2.35604401e-02 1.00792885e+02] [ 3.47635160e-01 9.37593028e-01 -8.31313184e-03 1.58541814e+01] [ 2.49808656e-02 -3.98563459e-04 9.99687850e-01 2.54542201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.84, Y:15.88, Z:2.54 [[ 9.37110452e-01 -3.48236924e-01 -2.35594072e-02 1.00844118e+02] [ 3.48137855e-01 9.37406463e-01 -8.31605797e-03 1.58822858e+01] [ 2.49806990e-02 -4.08856649e-04 9.99687850e-01 2.54464403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.408040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.90, Y:15.89, Z:2.55 [[ 9.42950964e-01 -3.32097158e-01 -2.35575117e-02 1.00904051e+02] [ 3.31992887e-01 9.43245184e-01 -8.32142414e-03 1.58895311e+01] [ 2.49840307e-02 2.57686118e-05 9.99687850e-01 2.55324079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.96, Y:15.91, Z:2.55 [[ 9.45128862e-01 -3.25847461e-01 -2.35556177e-02 1.00958758e+02] [ 3.25741111e-01 9.45422336e-01 -8.32678212e-03 1.59081221e+01] [ 2.49832679e-02 1.96849047e-04 9.99687850e-01 2.55148034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.02, Y:15.92, Z:2.55 [[ 9.47779104e-01 -3.18056494e-01 -2.35549693e-02 1.01015713e+02] [ 3.17947686e-01 9.48071676e-01 -8.32861570e-03 1.59246225e+01] [ 2.49807696e-02 4.04439938e-04 9.99687850e-01 2.55442980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.07, Y:15.94, Z:2.56 [[ 9.48009064e-01 -3.17370571e-01 -2.35528070e-02 1.01072102e+02] [ 3.17261399e-01 9.48301501e-01 -8.33472622e-03 1.59385681e+01] [ 2.49803590e-02 4.28999500e-04 9.99687850e-01 2.55506368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.13, Y:15.95, Z:2.55 [[ 9.46452825e-01 -3.21982036e-01 -2.35503490e-02 1.01128743e+02] [ 3.21874117e-01 9.46745726e-01 -8.34166571e-03 1.59542075e+01] [ 2.49820588e-02 3.14745296e-04 9.99687850e-01 2.55391438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.19, Y:15.96, Z:2.56 [[ 9.44108424e-01 -3.28792897e-01 -2.35481357e-02 1.01186043e+02] [ 3.28686935e-01 9.44402039e-01 -8.34790903e-03 1.59637168e+01] [ 2.49836406e-02 1.41366689e-04 9.99687850e-01 2.55926193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.24, Y:15.98, Z:2.56 [[ 9.42044737e-01 -3.34659902e-01 -2.35470506e-02 1.01242350e+02] [ 3.34555692e-01 9.42338978e-01 -8.35096868e-03 1.59819886e+01] [ 2.49840380e-02 -1.08137268e-05 9.99687850e-01 2.55840382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.30, Y:15.99, Z:2.56 [[ 9.41192449e-01 -3.37049568e-01 -2.35449067e-02 1.01300965e+02] [ 3.36945954e-01 9.41486901e-01 -8.35700876e-03 1.59911800e+01] [ 2.49839475e-02 -6.78075329e-05 9.99687850e-01 2.56339110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.36, Y:16.01, Z:2.56 [[ 9.38049752e-01 -3.45699870e-01 -2.35428007e-02 1.01357861e+02] [ 3.45598823e-01 9.38345094e-01 -8.36293768e-03 1.60084595e+01] [ 2.49823380e-02 -2.91512586e-04 9.99687850e-01 2.55678036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.42, Y:16.02, Z:2.56 [[ 9.38333203e-01 -3.44929900e-01 -2.35407098e-02 1.01416281e+02] [ 3.44828463e-01 9.38628411e-01 -8.36881893e-03 1.60194422e+01] [ 2.49826350e-02 -2.64766123e-04 9.99687850e-01 2.56117854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.008040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.47, Y:16.03, Z:2.56 [[ 9.37857426e-01 -3.46221578e-01 -2.35386327e-02 1.01472750e+02] [ 3.46120401e-01 9.38152724e-01 -8.37465724e-03 1.60305937e+01] [ 2.49823194e-02 -2.92966502e-04 9.99687850e-01 2.56150399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.53, Y:16.04, Z:2.56 [[ 9.37475278e-01 -3.47255069e-01 -2.35376131e-02 1.01530146e+02] [ 3.47154146e-01 9.37770663e-01 -8.37752197e-03 1.60440385e+01] [ 2.49820200e-02 -3.17460220e-04 9.99687850e-01 2.56290353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.59, Y:16.06, Z:2.56 [[ 9.38733466e-01 -3.43839432e-01 -2.35356175e-02 1.01585830e+02] [ 3.43737293e-01 9.39028432e-01 -8.38312452e-03 1.60601579e+01] [ 2.49830628e-02 -2.20549918e-04 9.99687850e-01 2.56405516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.188040942 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:101.64, Y:16.08, Z:2.57 [[ 9.40957352e-01 -3.37706161e-01 -2.35331982e-02 1.01641592e+02] [ 3.37601930e-01 9.41251585e-01 -8.38991054e-03 1.60785483e+01] [ 2.49839846e-02 -5.03051240e-05 9.99687850e-01 2.56572909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.248040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:101.70, Y:16.10, Z:2.57 [[ 9.42105262e-01 -3.34490602e-01 -2.35311068e-02 1.01696662e+02] [ 3.34385221e-01 9.42399085e-01 -8.39577209e-03 1.60982216e+01] [ 2.49840004e-02 4.12467246e-05 9.99687850e-01 2.56869072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.308040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:101.75, Y:16.12, Z:2.57 [[ 9.42134489e-01 -3.34408440e-01 -2.35286839e-02 1.01751790e+02] [ 3.34302863e-01 9.42428243e-01 -8.40255681e-03 1.61185231e+01] [ 2.49839821e-02 5.06321827e-05 9.99687850e-01 2.56887765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.368040942 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:101.81, Y:16.14, Z:2.57 [[ 9.41316824e-01 -3.36703337e-01 -2.35265870e-02 1.01806752e+02] [ 3.36598329e-01 9.41610781e-01 -8.40842389e-03 1.61367044e+01] [ 2.49840323e-02 -4.01900201e-06 9.99687850e-01 2.56748209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.428040942 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:101.86, Y:16.16, Z:2.57 [[ 9.41058919e-01 -3.37423539e-01 -2.35258529e-02 1.01861268e+02] [ 3.37318705e-01 9.41352939e-01 -8.41047720e-03 1.61558198e+01] [ 2.49840237e-02 -2.09556533e-05 9.99687850e-01 2.57227065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.488040942 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:101.92, Y:16.18, Z:2.57 [[ 9.39646117e-01 -3.41338280e-01 -2.35234660e-02 1.01915718e+02] [ 3.41234504e-01 9.39940511e-01 -8.41714778e-03 1.61786898e+01] [ 2.49837534e-02 -1.17878051e-04 9.99687850e-01 2.57188056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.548040942 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:101.97, Y:16.20, Z:2.57 [[ 9.38647188e-01 -3.44075874e-01 -2.35212435e-02 1.01969407e+02] [ 3.43972801e-01 9.38941830e-01 -8.42335406e-03 1.61997974e+01] [ 2.49833523e-02 -1.84110394e-04 9.99687850e-01 2.57148339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.608040942 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:102.02, Y:16.22, Z:2.57 [[ 9.37890409e-01 -3.46133454e-01 -2.35204648e-02 1.02024663e+02] [ 3.46030974e-01 9.38185257e-01 -8.42552772e-03 1.62205229e+01] [ 2.49829103e-02 -2.36587698e-04 9.99687850e-01 2.57336359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.668040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:102.08, Y:16.24, Z:2.58 [[ 9.37030621e-01 -3.48454451e-01 -2.35183238e-02 1.02077654e+02] [ 3.48352550e-01 9.37325669e-01 -8.43149971e-03 1.62422905e+01] [ 2.49823222e-02 -2.92094672e-04 9.99687850e-01 2.57574114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.728040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:102.13, Y:16.26, Z:2.58 [[ 9.36674125e-01 -3.49411668e-01 -2.35174216e-02 1.02132344e+02] [ 3.49310006e-01 9.36969256e-01 -8.43401556e-03 1.62637377e+01] [ 2.49820444e-02 -3.14946524e-04 9.99687850e-01 2.57710521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.788040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:102.19, Y:16.28, Z:2.58 [[ 9.37491196e-01 -3.47213604e-01 -2.35153404e-02 1.02186483e+02] [ 3.47111105e-01 9.37786037e-01 -8.43981406e-03 1.62843870e+01] [ 2.49827762e-02 -2.50184429e-04 9.99687850e-01 2.57694780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.24, Y:16.30, Z:2.58 [[ 9.37623283e-01 -3.46856803e-01 -2.35146098e-02 1.02241788e+02] [ 3.46754141e-01 9.37918067e-01 -8.44184927e-03 1.63045927e+01] [ 2.49828902e-02 -2.38513872e-04 9.99687850e-01 2.57549991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.908040942 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:102.30, Y:16.33, Z:2.57 [[ 9.37490756e-01 -3.47214986e-01 -2.35124522e-02 1.02295808e+02] [ 3.47112285e-01 9.37785527e-01 -8.44785442e-03 1.63259082e+01] [ 2.49828590e-02 -2.41675578e-04 9.99687850e-01 2.57347286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.968040942 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:102.35, Y:16.34, Z:2.58 [[ 9.40193370e-01 -3.39828821e-01 -2.35116945e-02 1.02353340e+02] [ 3.39723752e-01 9.40487305e-01 -8.44996272e-03 1.63383324e+01] [ 2.49839910e-02 -4.28821411e-05 9.99687850e-01 2.58193871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.028040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:102.41, Y:16.36, Z:2.58 [[ 9.39801537e-01 -3.40911089e-01 -2.35095927e-02 1.02407362e+02] [ 3.40806212e-01 9.40095540e-01 -8.45580619e-03 1.63570777e+01] [ 2.49839414e-02 -6.54355985e-05 9.99687850e-01 2.58171224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.088040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:102.46, Y:16.38, Z:2.58 [[ 9.38368147e-01 -3.44837022e-01 -2.35084615e-02 1.02461669e+02] [ 3.44733297e-01 9.38662559e-01 -8.45894996e-03 1.63800987e+01] [ 2.49834718e-02 -1.66540234e-04 9.99687850e-01 2.58154041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.148040942 meters Centerline goodness : 0.996564 with order 1 Centerline is valid? [True, True] Translation: X:102.52, Y:16.40, Z:2.58 [[ 9.37344973e-01 -3.47608771e-01 -2.35062601e-02 1.02515733e+02] [ 3.47505763e-01 9.37639636e-01 -8.46506284e-03 1.64008580e+01] [ 2.49829313e-02 -2.33876761e-04 9.99687851e-01 2.58286953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.208040942 meters Centerline goodness : 0.995502 with order 1 Centerline is valid? [True, True] Translation: X:102.57, Y:16.42, Z:2.59 [[ 9.35803194e-01 -3.51738394e-01 -2.35049924e-02 1.02570976e+02] [ 3.51636598e-01 9.36098278e-01 -8.46858153e-03 1.64195490e+01] [ 2.49817082e-02 -3.40289916e-04 9.99687851e-01 2.58751002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.268040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:102.62, Y:16.44, Z:2.59 [[ 9.34114447e-01 -3.56199175e-01 -2.35020547e-02 1.02624782e+02] [ 3.56098583e-01 9.34409944e-01 -8.47672632e-03 1.64402415e+01] [ 2.49799566e-02 -4.50815870e-04 9.99687851e-01 2.59192315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.68, Y:16.46, Z:2.59 [[ 9.34756966e-01 -3.54509824e-01 -2.34989303e-02 1.02677488e+02] [ 3.54408481e-01 9.35052206e-01 -8.48537886e-03 1.64620746e+01] [ 2.49808768e-02 -3.96453197e-04 9.99687851e-01 2.59168593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.388040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.74, Y:16.47, Z:2.60 [[ 9.38300489e-01 -3.45021809e-01 -2.34977414e-02 1.02736882e+02] [ 3.44917397e-01 9.38594658e-01 -8.48867008e-03 1.64716563e+01] [ 2.49836308e-02 -1.39856503e-04 9.99687851e-01 2.60484325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.79, Y:16.50, Z:2.60 [[ 9.35086627e-01 -3.53639491e-01 -2.34970130e-02 1.02789090e+02] [ 3.53537739e-01 9.35381727e-01 -8.49068569e-03 1.65018644e+01] [ 2.49813184e-02 -3.67554216e-04 9.99687851e-01 2.59900981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.508040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.84, Y:16.52, Z:2.60 [[ 9.35446151e-01 -3.52687407e-01 -2.34966291e-02 1.02843336e+02] [ 3.52585328e-01 9.35741138e-01 -8.49174792e-03 1.65226457e+01] [ 2.49816950e-02 -3.40993777e-04 9.99687851e-01 2.59955428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.568040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.90, Y:16.53, Z:2.61 [[ 9.39538017e-01 -3.41637728e-01 -2.34941934e-02 1.02903162e+02] [ 3.41532011e-01 9.39831720e-01 -8.49848144e-03 1.65325151e+01] [ 2.49839901e-02 -3.93727310e-05 9.99687851e-01 2.61002451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.96, Y:16.56, Z:2.60 [[ 9.34383953e-01 -3.55492160e-01 -2.34936584e-02 1.02955756e+02] [ 3.55390760e-01 9.34679174e-01 -8.49996026e-03 1.65614852e+01] [ 2.49807025e-02 -4.07202655e-04 9.99687851e-01 2.60232822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.688040942 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:103.01, Y:16.57, Z:2.61 [[ 9.37637384e-01 -3.46820139e-01 -2.34931299e-02 1.03014683e+02] [ 3.46715972e-01 9.37931640e-01 -8.50142081e-03 1.65712787e+01] [ 2.49834138e-02 -1.74193392e-04 9.99687851e-01 2.60778548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.07, Y:16.60, Z:2.61 [[ 9.36248507e-01 -3.50552172e-01 -2.34927197e-02 1.03069123e+02] [ 3.50449149e-01 9.36543165e-01 -8.50255424e-03 1.65962018e+01] [ 2.49825349e-02 -2.72499902e-04 9.99687851e-01 2.60723804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.12, Y:16.62, Z:2.61 [[ 9.36381864e-01 -3.50195819e-01 -2.34923958e-02 1.03123153e+02] [ 3.50092662e-01 9.36676475e-01 -8.50344908e-03 1.66169151e+01] [ 2.49826468e-02 -2.62039859e-04 9.99687851e-01 2.60826557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.868040942 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:103.18, Y:16.64, Z:2.60 [[ 9.35952396e-01 -3.51342079e-01 -2.34916019e-02 1.03176930e+02] [ 3.51239228e-01 9.36247114e-01 -8.50564175e-03 1.66412604e+01] [ 2.49823343e-02 -2.90296319e-04 9.99687851e-01 2.60411625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.23, Y:16.66, Z:2.60 [[ 9.35039445e-01 -3.53764727e-01 -2.34894524e-02 1.03231732e+02] [ 3.53662490e-01 9.35334377e-01 -8.51157353e-03 1.66643797e+01] [ 2.49815868e-02 -3.48681254e-04 9.99687851e-01 2.60096399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.29, Y:16.69, Z:2.60 [[ 9.33085420e-01 -3.58887092e-01 -2.34873182e-02 1.03285391e+02] [ 3.58786326e-01 9.33380858e-01 -8.51745882e-03 1.66882124e+01] [ 2.49794192e-02 -4.79411964e-04 9.99687851e-01 2.60086389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.34, Y:16.71, Z:2.61 [[ 9.33948691e-01 -3.56634705e-01 -2.34846651e-02 1.03341834e+02] [ 3.56533042e-01 9.34243822e-01 -8.52476773e-03 1.67054898e+01] [ 2.49806313e-02 -4.11363426e-04 9.99687851e-01 2.60916818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.40, Y:16.73, Z:2.61 [[ 9.34107299e-01 -3.56219219e-01 -2.34823773e-02 1.03395815e+02] [ 3.56117267e-01 9.34402329e-01 -8.53106497e-03 1.67252032e+01] [ 2.49809174e-02 -3.93549985e-04 9.99687851e-01 2.61263685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.45, Y:16.75, Z:2.62 [[ 9.33838891e-01 -3.56922381e-01 -2.34806169e-02 1.03451314e+02] [ 3.56820530e-01 9.34133956e-01 -8.53590767e-03 1.67460741e+01] [ 2.49806980e-02 -4.07203603e-04 9.99687851e-01 2.61647578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.228040942 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:103.51, Y:16.77, Z:2.62 [[ 9.33821342e-01 -3.56968444e-01 -2.34783233e-02 1.03505640e+02] [ 3.56866449e-01 9.34116357e-01 -8.54221152e-03 1.67682854e+01] [ 2.49807858e-02 -4.01726442e-04 9.99687851e-01 2.61626258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.56, Y:16.79, Z:2.61 [[ 9.34367423e-01 -3.55536772e-01 -2.34759980e-02 1.03558981e+02] [ 3.55434164e-01 9.34662226e-01 -8.54859737e-03 1.67909667e+01] [ 2.49814692e-02 -3.56640820e-04 9.99687851e-01 2.61448920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.348040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:103.61, Y:16.81, Z:2.62 [[ 9.35645811e-01 -3.52158936e-01 -2.34733718e-02 1.03614294e+02] [ 3.52055083e-01 9.35940178e-01 -8.55580252e-03 1.68116640e+01] [ 2.49826741e-02 -2.58719059e-04 9.99687851e-01 2.61808125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.408040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.67, Y:16.83, Z:2.62 [[ 9.36082590e-01 -3.50996432e-01 -2.34710444e-02 1.03667296e+02] [ 3.50892053e-01 9.36376770e-01 -8.56218226e-03 1.68327770e+01] [ 2.49830362e-02 -2.20893229e-04 9.99687851e-01 2.61829517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.72, Y:16.85, Z:2.62 [[ 9.36627785e-01 -3.49539063e-01 -2.34699002e-02 1.03722083e+02] [ 3.49434148e-01 9.36921775e-01 -8.56531772e-03 1.68536057e+01] [ 2.49833736e-02 -1.78670003e-04 9.99687851e-01 2.62026507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.78, Y:16.87, Z:2.62 [[ 9.36610277e-01 -3.49586121e-01 -2.34676790e-02 1.03776306e+02] [ 3.49481069e-01 9.36904218e-01 -8.57139897e-03 1.68742252e+01] [ 2.49834096e-02 -1.73449180e-04 9.99687851e-01 2.62062644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.83, Y:16.90, Z:2.62 [[ 9.36494052e-01 -3.49897406e-01 -2.34668974e-02 1.03830891e+02] [ 3.49792398e-01 9.36788009e-01 -8.57353841e-03 1.68975890e+01] [ 2.49833669e-02 -1.79474576e-04 9.99687851e-01 2.62264979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.88, Y:16.92, Z:2.63 [[ 9.36256702e-01 -3.50532159e-01 -2.34647238e-02 1.03883836e+02] [ 3.50427201e-01 9.36550676e-01 -8.57948305e-03 1.69210206e+01] [ 2.49832877e-02 -1.90078998e-04 9.99687851e-01 2.62503102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.94, Y:16.94, Z:2.63 [[ 9.36302233e-01 -3.50410574e-01 -2.34639609e-02 1.03936210e+02] [ 3.50305526e-01 9.36596175e-01 -8.58156903e-03 1.69447215e+01] [ 2.49833286e-02 -1.84612920e-04 9.99687851e-01 2.62730382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.99, Y:16.97, Z:2.63 [[ 9.36234209e-01 -3.50592333e-01 -2.34632101e-02 1.03990084e+02] [ 3.50487290e-01 9.36528153e-01 -8.58362151e-03 1.69665239e+01] [ 2.49833087e-02 -1.87276817e-04 9.99687851e-01 2.62869107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.04, Y:16.99, Z:2.63 [[ 9.36348938e-01 -3.50285963e-01 -2.34608131e-02 1.04042070e+02] [ 3.50180660e-01 9.36642789e-01 -8.59016798e-03 1.69908049e+01] [ 2.49834167e-02 -1.72128334e-04 9.99687851e-01 2.63067018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.09, Y:17.02, Z:2.63 [[ 9.35459628e-01 -3.52654112e-01 -2.34597822e-02 1.04093347e+02] [ 3.52549482e-01 9.35753720e-01 -8.59298240e-03 1.70156605e+01] [ 2.49829290e-02 -2.32345927e-04 9.99687851e-01 2.63117276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.15, Y:17.04, Z:2.63 [[ 9.36010065e-01 -3.51190658e-01 -2.34580540e-02 1.04146658e+02] [ 3.51085450e-01 9.36303950e-01 -8.59769768e-03 1.70385482e+01] [ 2.49832997e-02 -1.88249889e-04 9.99687851e-01 2.63405364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.008040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.20, Y:17.06, Z:2.64 [[ 9.35789082e-01 -3.51779239e-01 -2.34554989e-02 1.04199027e+02] [ 3.51674042e-01 9.36082971e-01 -8.60466262e-03 1.70622972e+01] [ 2.49832347e-02 -1.96540758e-04 9.99687851e-01 2.63590854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.25, Y:17.09, Z:2.63 [[ 9.35179222e-01 -3.53397362e-01 -2.34547893e-02 1.04251621e+02] [ 3.53292625e-01 9.35473275e-01 -8.60659630e-03 1.70869647e+01] [ 2.49828770e-02 -2.37694057e-04 9.99687851e-01 2.62882891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.30, Y:17.11, Z:2.63 [[ 9.33125288e-01 -3.58785695e-01 -2.34525375e-02 1.04304804e+02] [ 3.58682502e-01 9.33419886e-01 -8.61272806e-03 1.71102441e+01] [ 2.49811885e-02 -3.75260470e-04 9.99687851e-01 2.63316844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.188040942 meters Centerline goodness : 0.996222 with order 1 Centerline is valid? [True, True] Translation: X:104.36, Y:17.14, Z:2.63 [[ 9.29875026e-01 -3.67127416e-01 -2.34498706e-02 1.04357900e+02] [ 3.67026681e-01 9.30170474e-01 -8.61998304e-03 1.71353559e+01] [ 2.49770094e-02 -5.91221244e-04 9.99687851e-01 2.63323370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.41, Y:17.16, Z:2.64 [[ 9.28305633e-01 -3.71078019e-01 -2.34468895e-02 1.04411522e+02] [ 3.70978337e-01 9.28601438e-01 -8.62808436e-03 1.71575645e+01] [ 2.49745077e-02 -6.88788754e-04 9.99687851e-01 2.63622554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.46, Y:17.18, Z:2.64 [[ 9.26545689e-01 -3.75451029e-01 -2.34437901e-02 1.04464241e+02] [ 3.75352530e-01 9.26841890e-01 -8.63649750e-03 1.71822358e+01] [ 2.49712686e-02 -7.97576427e-04 9.99687851e-01 2.63744752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.52, Y:17.21, Z:2.64 [[ 9.26220630e-01 -3.76252373e-01 -2.34413292e-02 1.04516228e+02] [ 3.76153963e-01 9.26516860e-01 -8.64317189e-03 1.72080358e+01] [ 2.49708007e-02 -8.12064750e-04 9.99687851e-01 2.63804625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.57, Y:17.23, Z:2.63 [[ 9.25726210e-01 -3.77467354e-01 -2.34388709e-02 1.04569410e+02] [ 3.77369163e-01 9.26022513e-01 -8.64983321e-03 1.72342360e+01] [ 2.49699518e-02 -8.37729793e-04 9.99687851e-01 2.62746831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.62, Y:17.26, Z:2.63 [[ 9.27238055e-01 -3.73738290e-01 -2.34367163e-02 1.04622246e+02] [ 3.73638761e-01 9.27533911e-01 -8.65566726e-03 1.72582268e+01] [ 2.49733034e-02 -7.31001548e-04 9.99687851e-01 2.62688385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.548040942 meters Centerline goodness : 0.996628 with order 1 Centerline is valid? [True, True] Translation: X:104.68, Y:17.28, Z:2.64 [[ 9.28928831e-01 -3.69515990e-01 -2.34341499e-02 1.04675991e+02] [ 3.69414940e-01 9.29224172e-01 -8.66260979e-03 1.72789333e+01] [ 2.49765514e-02 -6.09977109e-04 9.99687851e-01 2.63741557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.608040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.73, Y:17.30, Z:2.64 [[ 9.31030234e-01 -3.64188979e-01 -2.34326959e-02 1.04731891e+02] [ 3.64086140e-01 9.31324956e-01 -8.66654117e-03 1.72976975e+01] [ 2.49797133e-02 -4.62707959e-04 9.99687851e-01 2.64206506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.79, Y:17.32, Z:2.64 [[ 9.32364401e-01 -3.60759836e-01 -2.34299689e-02 1.04786466e+02] [ 3.60655728e-01 9.32658678e-01 -8.67390744e-03 1.73185835e+01] [ 2.49813612e-02 -3.62909970e-04 9.99687851e-01 2.64413028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.728040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.84, Y:17.34, Z:2.65 [[ 9.34607559e-01 -3.54908248e-01 -2.34274890e-02 1.04841130e+02] [ 3.54802130e-01 9.34901116e-01 -8.68060018e-03 1.73351275e+01] [ 2.49832022e-02 -1.99168453e-04 9.99687851e-01 2.64569047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.788040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.90, Y:17.35, Z:2.65 [[ 9.35719892e-01 -3.51965177e-01 -2.34264213e-02 1.04896536e+02] [ 3.51858064e-01 9.36013088e-01 -8.68348080e-03 1.73534443e+01] [ 2.49837197e-02 -1.17469509e-04 9.99687851e-01 2.64538474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.95, Y:17.37, Z:2.65 [[ 9.38730852e-01 -3.43854188e-01 -2.34240066e-02 1.04952225e+02] [ 3.43744379e-01 9.39023049e-01 -8.68998940e-03 1.73682842e+01] [ 2.49837714e-02 1.05690540e-04 9.99687851e-01 2.64855964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.908040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.01, Y:17.38, Z:2.65 [[ 9.40481665e-01 -3.39036284e-01 -2.34229670e-02 1.05010116e+02] [ 3.38924908e-01 9.40773268e-01 -8.69279067e-03 1.73802779e+01] [ 2.49828727e-02 2.36783289e-04 9.99687851e-01 2.65285419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.07, Y:17.39, Z:2.65 [[ 9.41588769e-01 -3.35949499e-01 -2.34206087e-02 1.05067035e+02] [ 3.35837009e-01 9.41879944e-01 -8.69913987e-03 1.73940874e+01] [ 2.49818733e-02 3.25505213e-04 9.99687851e-01 2.65470473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.12, Y:17.41, Z:2.65 [[ 9.41184188e-01 -3.37081484e-01 -2.34178991e-02 1.05122308e+02] [ 3.36969163e-01 9.41475428e-01 -8.70642801e-03 1.74110000e+01] [ 2.49821523e-02 3.03242496e-04 9.99687851e-01 2.65464655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.18, Y:17.42, Z:2.66 [[ 9.40254619e-01 -3.39665853e-01 -2.34170680e-02 1.05181530e+02] [ 3.39554277e-01 9.40546146e-01 -8.70866273e-03 1.74187947e+01] [ 2.49828684e-02 2.36994755e-04 9.99687851e-01 2.65876839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.148040942 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:105.24, Y:17.43, Z:2.66 [[ 9.37884183e-01 -3.46157384e-01 -2.34163348e-02 1.05241068e+02] [ 3.46047777e-01 9.38176455e-01 -8.71063391e-03 1.74279862e+01] [ 2.49839042e-02 6.63951589e-05 9.99687851e-01 2.66283171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.208040942 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:105.30, Y:17.44, Z:2.66 [[ 9.35032797e-01 -3.53787303e-01 -2.34139625e-02 1.05298757e+02] [ 3.53679921e-01 9.35325894e-01 -8.71700602e-03 1.74412627e+01] [ 2.49836514e-02 -1.30361871e-04 9.99687851e-01 2.66245908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.268040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:105.36, Y:17.45, Z:2.67 [[ 9.33830683e-01 -3.56948387e-01 -2.34116191e-02 1.05356668e+02] [ 3.56841840e-01 9.34124085e-01 -8.72329501e-03 1.74520534e+01] [ 2.49831234e-02 -2.08164708e-04 9.99687851e-01 2.66589744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.328040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:105.41, Y:17.47, Z:2.67 [[ 9.33141252e-01 -3.58747021e-01 -2.34089443e-02 1.05413651e+02] [ 3.58640859e-01 9.33434793e-01 -8.73046706e-03 1.74652957e+01] [ 2.49827521e-02 -2.48644918e-04 9.99687851e-01 2.66505121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.388040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.47, Y:17.48, Z:2.67 [[ 9.32488507e-01 -3.60440374e-01 -2.34077191e-02 1.05471322e+02] [ 3.60334663e-01 9.32782210e-01 -8.73375086e-03 1.74760789e+01] [ 2.49823004e-02 -2.90490271e-04 9.99687851e-01 2.66989901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.53, Y:17.49, Z:2.67 [[ 9.33109494e-01 -3.58829843e-01 -2.34054829e-02 1.05530126e+02] [ 3.58723474e-01 9.33402960e-01 -8.73973947e-03 1.74875536e+01] [ 2.49828263e-02 -2.40962263e-04 9.99687851e-01 2.67044080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.508040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.59, Y:17.50, Z:2.68 [[ 9.35529742e-01 -3.52471819e-01 -2.34033884e-02 1.05588915e+02] [ 3.52363316e-01 9.35822426e-01 -8.74534449e-03 1.74984610e+01] [ 2.49839032e-02 -6.49656701e-05 9.99687851e-01 2.68046145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.568040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.64, Y:17.52, Z:2.68 [[ 9.36532386e-01 -3.49799202e-01 -2.34010166e-02 1.05644219e+02] [ 3.49689705e-01 9.36824700e-01 -8.75168639e-03 1.75167230e+01] [ 2.49839833e-02 1.31431416e-05 9.99687851e-01 2.67965613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.70, Y:17.54, Z:2.68 [[ 9.38206196e-01 -3.45284786e-01 -2.33997730e-02 1.05698626e+02] [ 3.45173800e-01 9.38497948e-01 -8.75501029e-03 1.75371227e+01] [ 2.49836108e-02 1.37016336e-04 9.99687851e-01 2.68226292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.75, Y:17.56, Z:2.69 [[ 9.39288869e-01 -3.42328776e-01 -2.33972099e-02 1.05753140e+02] [ 3.42216701e-01 9.39580204e-01 -8.76185475e-03 1.75561487e+01] [ 2.49829902e-02 2.22996671e-04 9.99687852e-01 2.68673164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.748040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:105.81, Y:17.58, Z:2.69 [[ 9.38104492e-01 -3.45561362e-01 -2.33946070e-02 1.05806411e+02] [ 3.45450118e-01 9.38396145e-01 -8.76879898e-03 1.75787087e+01] [ 2.49835671e-02 1.44379965e-04 9.99687852e-01 2.68668598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.86, Y:17.60, Z:2.69 [[ 9.37166105e-01 -3.48098292e-01 -2.33938103e-02 1.05860814e+02] [ 3.47987784e-01 9.37458038e-01 -8.77092402e-03 1.75987712e+01] [ 2.49838592e-02 7.90525026e-05 9.99687852e-01 2.68818081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.91, Y:17.62, Z:2.69 [[ 9.34452421e-01 -3.55318784e-01 -2.33930366e-02 1.05914605e+02] [ 3.55210480e-01 9.34745179e-01 -8.77298689e-03 1.76232929e+01] [ 2.49837353e-02 -1.11512930e-04 9.99687852e-01 2.68689040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.97, Y:17.65, Z:2.69 [[ 9.31664413e-01 -3.62566255e-01 -2.33908578e-02 1.05969252e+02] [ 3.62460083e-01 9.31957950e-01 -8.77879246e-03 1.76462869e+01] [ 2.49821898e-02 -2.99363719e-04 9.99687852e-01 2.69075631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.02, Y:17.67, Z:2.69 [[ 9.30224644e-01 -3.66244511e-01 -2.33895343e-02 1.06023426e+02] [ 3.66139410e-01 9.30518567e-01 -8.78231718e-03 1.76669578e+01] [ 2.49808714e-02 -3.94302430e-04 9.99687852e-01 2.69245689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.08, Y:17.69, Z:2.69 [[ 9.28580256e-01 -3.70394073e-01 -2.33867271e-02 1.06076724e+02] [ 3.70290098e-01 9.28874579e-01 -8.78978628e-03 1.76890015e+01] [ 2.49790210e-02 -4.97851469e-04 9.99687852e-01 2.69225978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.13, Y:17.71, Z:2.69 [[ 9.27752094e-01 -3.72463716e-01 -2.33844294e-02 1.06131110e+02] [ 3.72360244e-01 9.28046594e-01 -8.79589491e-03 1.77093754e+01] [ 2.49779917e-02 -5.47021895e-04 9.99687852e-01 2.69431117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.18, Y:17.73, Z:2.69 [[ 9.28018378e-01 -3.71799928e-01 -2.33816896e-02 1.06184308e+02] [ 3.71696062e-01 9.28312739e-01 -8.80317178e-03 1.77315419e+01] [ 2.49785390e-02 -5.21376772e-04 9.99687852e-01 2.69414148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.228040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.24, Y:17.75, Z:2.70 [[ 9.28660579e-01 -3.70193009e-01 -2.33808473e-02 1.06238909e+02] [ 3.70088578e-01 9.28954740e-01 -8.80540832e-03 1.77542774e+01] [ 2.49794496e-02 -4.75748942e-04 9.99687852e-01 2.69579928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.29, Y:17.78, Z:2.70 [[ 9.30835852e-01 -3.64688989e-01 -2.33785837e-02 1.06293961e+02] [ 3.64582667e-01 9.31129335e-01 -8.81141413e-03 1.77764783e+01] [ 2.49819108e-02 -3.21446233e-04 9.99687852e-01 2.69825474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.35, Y:17.80, Z:2.70 [[ 9.32278679e-01 -3.60984789e-01 -2.33762191e-02 1.06348398e+02] [ 3.60877143e-01 9.32571679e-01 -8.81768290e-03 1.77970892e+01] [ 2.49830493e-02 -2.15405408e-04 9.99687852e-01 2.69700444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.408040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.40, Y:17.82, Z:2.70 [[ 9.33206390e-01 -3.58579734e-01 -2.33753742e-02 1.06403109e+02] [ 3.58471277e-01 9.33499091e-01 -8.81992218e-03 1.78177644e+01] [ 2.49835359e-02 -1.48592497e-04 9.99687852e-01 2.70127092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.46, Y:17.84, Z:2.70 [[ 9.32915928e-01 -3.59334908e-01 -2.33729691e-02 1.06457946e+02] [ 3.59226529e-01 9.33208657e-01 -8.82629103e-03 1.78380544e+01] [ 2.49834516e-02 -1.62003091e-04 9.99687852e-01 2.70232902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.51, Y:17.86, Z:2.70 [[ 9.30841932e-01 -3.64674003e-01 -2.33702435e-02 1.06513673e+02] [ 3.64567122e-01 9.31135212e-01 -8.83350203e-03 1.78580403e+01] [ 2.49822052e-02 -2.97428315e-04 9.99687852e-01 2.69940855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.57, Y:17.88, Z:2.71 [[ 9.28727950e-01 -3.70024774e-01 -2.33679507e-02 1.06567721e+02] [ 3.69919430e-01 9.29021785e-01 -8.83956316e-03 1.78775565e+01] [ 2.49801927e-02 -4.34709638e-04 9.99687852e-01 2.70820210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.62, Y:17.90, Z:2.71 [[ 9.26857230e-01 -3.74686067e-01 -2.33672077e-02 1.06621651e+02] [ 3.74582151e-01 9.27151573e-01 -8.84152690e-03 1.78965294e+01] [ 2.49777403e-02 -5.58105789e-04 9.99687852e-01 2.71047840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.68, Y:17.92, Z:2.71 [[ 9.26078422e-01 -3.76606927e-01 -2.33661873e-02 1.06675772e+02] [ 3.76503554e-01 9.26372956e-01 -8.84422288e-03 1.79151457e+01] [ 2.49765996e-02 -6.07008571e-04 9.99687852e-01 2.71275968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.73, Y:17.93, Z:2.71 [[ 9.27775077e-01 -3.72407674e-01 -2.33651842e-02 1.06730972e+02] [ 3.72302900e-01 9.28069116e-01 -8.84687205e-03 1.79321437e+01] [ 2.49791489e-02 -4.91018451e-04 9.99687852e-01 2.71257358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.828040942 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:106.78, Y:17.96, Z:2.71 [[ 9.27711908e-01 -3.72565175e-01 -2.33625056e-02 1.06781796e+02] [ 3.72460273e-01 9.28005901e-01 -8.85394001e-03 1.79588301e+01] [ 2.49792127e-02 -4.87699638e-04 9.99687852e-01 2.71141060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.84, Y:17.98, Z:2.71 [[ 9.28377210e-01 -3.70904310e-01 -2.33612574e-02 1.06835717e+02] [ 3.70798799e-01 9.28670986e-01 -8.85723223e-03 1.79802948e+01] [ 2.49801075e-02 -4.39473625e-04 9.99687852e-01 2.71440698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.89, Y:18.00, Z:2.72 [[ 9.28571387e-01 -3.70418071e-01 -2.33587674e-02 1.06890459e+02] [ 3.70312242e-01 9.28865048e-01 -8.86379393e-03 1.80010045e+01] [ 2.49804521e-02 -4.19372112e-04 9.99687852e-01 2.71678052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.008040942 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:106.94, Y:18.02, Z:2.72 [[ 9.28047546e-01 -3.71728713e-01 -2.33562802e-02 1.06944790e+02] [ 3.71623134e-01 9.28341297e-01 -8.87034293e-03 1.80224186e+01] [ 2.49799606e-02 -4.47634072e-04 9.99687852e-01 2.71655734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.00, Y:18.04, Z:2.72 [[ 9.27100594e-01 -3.74084339e-01 -2.33536985e-02 1.06997705e+02] [ 3.73979335e-01 9.27394551e-01 -8.87713499e-03 1.80441466e+01] [ 2.49788899e-02 -5.03803491e-04 9.99687852e-01 2.71801398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.05, Y:18.06, Z:2.72 [[ 9.26748315e-01 -3.74956327e-01 -2.33519595e-02 1.07052288e+02] [ 3.74851484e-01 9.27042329e-01 -8.88170711e-03 1.80640081e+01] [ 2.49785072e-02 -5.22409564e-04 9.99687852e-01 2.71500363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.11, Y:18.08, Z:2.72 [[ 9.27386444e-01 -3.73375397e-01 -2.33494430e-02 1.07106965e+02] [ 3.73269887e-01 9.27680219e-01 -8.88831776e-03 1.80818518e+01] [ 2.49794956e-02 -4.72738579e-04 9.99687852e-01 2.72334195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.16, Y:18.11, Z:2.72 [[ 9.26557276e-01 -3.75428361e-01 -2.33486671e-02 1.07161221e+02] [ 3.75323451e-01 9.26851266e-01 -8.89035561e-03 1.81052192e+01] [ 2.49784333e-02 -5.25878634e-04 9.99687852e-01 2.72123060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.21, Y:18.13, Z:2.72 [[ 9.25964158e-01 -3.76889002e-01 -2.33464646e-02 1.07214420e+02] [ 3.76784410e-01 9.26258262e-01 -8.89613579e-03 1.81285657e+01] [ 2.49777114e-02 -5.59080986e-04 9.99687852e-01 2.72009909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.27, Y:18.15, Z:2.72 [[ 9.26122351e-01 -3.76500269e-01 -2.33439143e-02 1.07268650e+02] [ 3.76395385e-01 9.26416350e-01 -8.90282289e-03 1.81517809e+01] [ 2.49780991e-02 -5.41438321e-04 9.99687852e-01 2.72017368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.32, Y:18.17, Z:2.73 [[ 9.26633142e-01 -3.75241504e-01 -2.33416906e-02 1.07324838e+02] [ 3.75136074e-01 9.26926945e-01 -8.90864911e-03 1.81705282e+01] [ 2.49789369e-02 -5.01260658e-04 9.99687852e-01 2.72900795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.488040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:107.38, Y:18.20, Z:2.72 [[ 9.23833267e-01 -3.82082929e-01 -2.33394464e-02 1.07378729e+02] [ 3.81979526e-01 9.24127791e-01 -8.91452486e-03 1.81960076e+01] [ 2.49747188e-02 -6.79656029e-04 9.99687852e-01 2.72439944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.548040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:107.43, Y:18.22, Z:2.73 [[ 9.23812221e-01 -3.82133961e-01 -2.33370269e-02 1.07432697e+02] [ 3.82030414e-01 9.24106694e-01 -8.92085413e-03 1.82183558e+01] [ 2.49748641e-02 -6.74259986e-04 9.99687852e-01 2.72559861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.608040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.49, Y:18.24, Z:2.73 [[ 9.23721502e-01 -3.82353366e-01 -2.33343114e-02 1.07486596e+02] [ 3.82249709e-01 9.24015937e-01 -8.92795142e-03 1.82399440e+01] [ 2.49749079e-02 -6.72593073e-04 9.99687852e-01 2.72615188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.54, Y:18.26, Z:2.73 [[ 9.24685059e-01 -3.80017340e-01 -2.33316024e-02 1.07541870e+02] [ 3.79912762e-01 9.24979167e-01 -8.93502546e-03 1.82578424e+01] [ 2.49767107e-02 -6.01888955e-04 9.99687852e-01 2.73073872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.728040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.60, Y:18.28, Z:2.73 [[ 9.24844948e-01 -3.79628104e-01 -2.33307721e-02 1.07596348e+02] [ 3.79523347e-01 9.25138993e-01 -8.93719289e-03 1.82793678e+01] [ 2.49770166e-02 -5.89055031e-04 9.99687852e-01 2.73139646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.788040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.65, Y:18.30, Z:2.73 [[ 9.25377032e-01 -3.78329405e-01 -2.33283263e-02 1.07650476e+02] [ 3.78224075e-01 9.25670871e-01 -8.94357244e-03 1.83003456e+01] [ 2.49779686e-02 -5.47158126e-04 9.99687852e-01 2.73161871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.848040942 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:107.71, Y:18.32, Z:2.74 [[ 9.26208935e-01 -3.76288234e-01 -2.33275264e-02 1.07706176e+02] [ 3.76182204e-01 9.26502523e-01 -8.94565850e-03 1.83188019e+01] [ 2.49791581e-02 -4.89851447e-04 9.99687852e-01 2.73891964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.908040942 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:107.76, Y:18.34, Z:2.75 [[ 9.27606472e-01 -3.72829940e-01 -2.33252787e-02 1.07762280e+02] [ 3.72722668e-01 9.27899608e-01 -8.95151522e-03 1.83397109e+01] [ 2.49809099e-02 -3.90376667e-04 9.99687852e-01 2.74507348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.968040942 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:107.82, Y:18.36, Z:2.74 [[ 9.27997002e-01 -3.71856938e-01 -2.33234144e-02 1.07816731e+02] [ 3.71749236e-01 9.28289981e-01 -8.95637008e-03 1.83630676e+01] [ 2.49813803e-02 -3.58976910e-04 9.99687852e-01 2.74397987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.028040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:107.87, Y:18.38, Z:2.74 [[ 9.27487547e-01 -3.73125840e-01 -2.33229099e-02 1.07871340e+02] [ 3.73018506e-01 9.27780661e-01 -8.95768368e-03 1.83846638e+01] [ 2.49808880e-02 -3.91736959e-04 9.99687852e-01 2.74296223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.088040942 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:107.93, Y:18.41, Z:2.74 [[ 9.26767074e-01 -3.74911917e-01 -2.33204647e-02 1.07926677e+02] [ 3.74804988e-01 9.27060336e-01 -8.96404502e-03 1.84056973e+01] [ 2.49802052e-02 -4.33044726e-04 9.99687852e-01 2.74158717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.148040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:107.98, Y:18.43, Z:2.74 [[ 9.26620295e-01 -3.75274696e-01 -2.33180252e-02 1.07981144e+02] [ 3.75167723e-01 9.26913541e-01 -8.97038635e-03 1.84255053e+01] [ 2.49801523e-02 -4.36028371e-04 9.99687852e-01 2.74154235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.208040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:108.04, Y:18.45, Z:2.74 [[ 9.26878572e-01 -3.74636388e-01 -2.33171691e-02 1.08035537e+02] [ 3.74529156e-01 9.27171723e-01 -8.97261129e-03 1.84494898e+01] [ 2.49804865e-02 -4.16438501e-04 9.99687852e-01 2.73796482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.268040942 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:108.09, Y:18.47, Z:2.74 [[ 9.27423516e-01 -3.73285472e-01 -2.33147688e-02 1.08090058e+02] [ 3.73177656e-01 9.27716453e-01 -8.97884384e-03 1.84714606e+01] [ 2.49811666e-02 -3.73359853e-04 9.99687852e-01 2.73822298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.328040942 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:108.14, Y:18.50, Z:2.73 [[ 9.26893428e-01 -3.74599929e-01 -2.33123587e-02 1.08142306e+02] [ 3.74492371e-01 9.27186460e-01 -8.98509700e-03 1.84951688e+01] [ 2.49807200e-02 -4.02073133e-04 9.99687852e-01 2.73279569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.388040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:108.19, Y:18.52, Z:2.73 [[ 9.27200302e-01 -3.73839832e-01 -2.33104949e-02 1.08194384e+02] [ 3.73731913e-01 9.27493201e-01 -8.98992977e-03 1.85203142e+01] [ 2.49811194e-02 -3.76410256e-04 9.99687852e-01 2.73269854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.448040942 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:108.25, Y:18.54, Z:2.74 [[ 9.28068274e-01 -3.71679997e-01 -2.33079213e-02 1.08249825e+02] [ 3.71571229e-01 9.28360858e-01 -8.99659744e-03 1.85362807e+01] [ 2.49820171e-02 -3.11096297e-04 9.99687852e-01 2.73939618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.508040942 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:108.30, Y:18.56, Z:2.74 [[ 9.29031827e-01 -3.69265003e-01 -2.33071317e-02 1.08303080e+02] [ 3.69155423e-01 9.29324108e-01 -8.99864257e-03 1.85612987e+01] [ 2.49827631e-02 -2.43928695e-04 9.99687852e-01 2.73801120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.568040942 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:108.36, Y:18.58, Z:2.75 [[ 9.31138071e-01 -3.63921396e-01 -2.33047109e-02 1.08356045e+02] [ 3.63809982e-01 9.31429659e-01 -9.00490746e-03 1.85847614e+01] [ 2.49837774e-02 -9.36742854e-05 9.99687852e-01 2.74985994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.628040942 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:108.41, Y:18.61, Z:2.74 [[ 9.32226844e-01 -3.61123333e-01 -2.33034484e-02 1.08410389e+02] [ 3.61010962e-01 9.32518063e-01 -9.00817342e-03 1.86083410e+01] [ 2.49839482e-02 -1.51392488e-05 9.99687852e-01 2.74492985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.46, Y:18.63, Z:2.76 [[ 9.32543079e-01 -3.60306068e-01 -2.33011392e-02 1.08463697e+02] [ 3.60193293e-01 9.32834142e-01 -9.01414261e-03 1.86298549e+01] [ 2.49839485e-02 1.31622485e-05 9.99687852e-01 2.75527534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.52, Y:18.65, Z:2.76 [[ 9.31868345e-01 -3.62047625e-01 -2.33003255e-02 1.08517241e+02] [ 3.61935341e-01 9.32159598e-01 -9.01624546e-03 1.86526061e+01] [ 2.49839323e-02 -3.12575158e-05 9.99687852e-01 2.75639025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.57, Y:18.68, Z:2.76 [[ 9.30239492e-01 -3.66212648e-01 -2.32977223e-02 1.08569523e+02] [ 3.66101500e-01 9.30531180e-01 -9.02296697e-03 1.86754268e+01] [ 2.49835817e-02 -1.35810884e-04 9.99687852e-01 2.75719846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.62, Y:18.70, Z:2.76 [[ 9.28300742e-01 -3.71099717e-01 -2.32966044e-02 1.08622273e+02] [ 3.70990032e-01 9.28592984e-01 -9.02585246e-03 1.86993186e+01] [ 2.49825547e-02 -2.64102457e-04 9.99687852e-01 2.75930407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.67, Y:18.72, Z:2.76 [[ 9.27364543e-01 -3.73433247e-01 -2.32940859e-02 1.08674234e+02] [ 3.73324134e-01 9.27656999e-01 -9.03234766e-03 1.87246293e+01] [ 2.49819007e-02 -3.19965470e-04 9.99687852e-01 2.76299785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.73, Y:18.75, Z:2.76 [[ 9.27564550e-01 -3.72936334e-01 -2.32915378e-02 1.08725612e+02] [ 3.72826900e-01 9.27856886e-01 -9.03891366e-03 1.87513555e+01] [ 2.49821530e-02 -2.99535934e-04 9.99687852e-01 2.76326510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.78, Y:18.78, Z:2.77 [[ 9.27421481e-01 -3.73292082e-01 -2.32898574e-02 1.08778926e+02] [ 3.73182651e-01 9.27713818e-01 -9.04324115e-03 1.87761962e+01] [ 2.49820929e-02 -3.04474627e-04 9.99687852e-01 2.76720190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.83, Y:18.79, Z:2.77 [[ 9.29516255e-01 -3.68045141e-01 -2.32874691e-02 1.08834384e+02] [ 3.67933906e-01 9.29807910e-01 -9.04938721e-03 1.87947363e+01] [ 2.49834560e-02 -1.56696948e-04 9.99687852e-01 2.76813893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.89, Y:18.82, Z:2.77 [[ 9.28981687e-01 -3.69392536e-01 -2.32847593e-02 1.08885090e+02] [ 3.69281550e-01 9.29273436e-01 -9.05635445e-03 1.88232052e+01] [ 2.49832580e-02 -1.85444553e-04 9.99687852e-01 2.76587491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.94, Y:18.86, Z:2.76 [[ 9.27365293e-01 -3.73432039e-01 -2.32835849e-02 1.08935760e+02] [ 3.73322247e-01 9.27657495e-01 -9.05937263e-03 1.88554331e+01] [ 2.49822521e-02 -2.90932497e-04 9.99687852e-01 2.75963087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.99, Y:18.89, Z:2.77 [[ 9.26554839e-01 -3.75438561e-01 -2.32812642e-02 1.08985910e+02] [ 3.75329252e-01 9.26847222e-01 -9.06533259e-03 1.88852775e+01] [ 2.49816505e-02 -3.38611719e-04 9.99687853e-01 2.77124018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.04, Y:18.91, Z:2.77 [[ 9.24875175e-01 -3.79557546e-01 -2.32804515e-02 1.09038147e+02] [ 3.79449487e-01 9.25168022e-01 -9.06741926e-03 1.89126185e+01] [ 2.49799367e-02 -4.47524393e-04 9.99687853e-01 2.76835620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.408040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.09, Y:18.93, Z:2.78 [[ 9.26731331e-01 -3.75002895e-01 -2.32780886e-02 1.09092781e+02] [ 3.74893244e-01 9.27023585e-01 -9.07348121e-03 1.89303956e+01] [ 2.49819189e-02 -3.18118860e-04 9.99687853e-01 2.77758864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.14, Y:18.96, Z:2.78 [[ 9.24501976e-01 -3.80465965e-01 -2.32754279e-02 1.09144371e+02] [ 3.80357869e-01 9.24794809e-01 -9.08030132e-03 1.89576135e+01] [ 2.49797406e-02 -4.58235662e-04 9.99687853e-01 2.77663911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.19, Y:18.99, Z:2.78 [[ 9.20434627e-01 -3.90203117e-01 -2.32728537e-02 1.09194292e+02] [ 3.90097952e-01 9.20728525e-01 -9.08689429e-03 1.89919594e+01] [ 2.49737147e-02 -7.14800410e-04 9.99687853e-01 2.77703805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.25, Y:19.02, Z:2.77 [[ 9.20248037e-01 -3.90643096e-01 -2.32706335e-02 1.09247071e+02] [ 3.90537927e-01 9.20541934e-01 -9.09257641e-03 1.90169408e+01] [ 2.49735462e-02 -7.20639396e-04 9.99687853e-01 2.77422984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.30, Y:19.05, Z:2.77 [[ 9.18542679e-01 -3.94636365e-01 -2.32698600e-02 1.09297765e+02] [ 3.94532424e-01 9.18837013e-01 -9.09455562e-03 1.90465715e+01] [ 2.49702510e-02 -8.26976775e-04 9.99687853e-01 2.77427951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.35, Y:19.08, Z:2.78 [[ 9.17415412e-01 -3.97250049e-01 -2.32671476e-02 1.09349038e+02] [ 3.97146771e-01 9.17709979e-01 -9.10148969e-03 1.90754330e+01] [ 2.49680607e-02 -8.90625603e-04 9.99687853e-01 2.77617406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.768040942 meters Centerline goodness : 0.997469 with order 1 Centerline is valid? [True, True] Translation: X:109.40, Y:19.11, Z:2.78 [[ 9.15194165e-01 -4.02341047e-01 -2.32663172e-02 1.09398621e+02] [ 4.02239353e-01 9.15489283e-01 -9.10361198e-03 1.91115106e+01] [ 2.49628208e-02 -1.02705581e-03 9.99687853e-01 2.77521611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.828040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:109.45, Y:19.14, Z:2.77 [[ 9.17033546e-01 -3.98130987e-01 -2.32635661e-02 1.09449641e+02] [ 3.98027760e-01 9.17328130e-01 -9.11063677e-03 1.91396368e+01] [ 2.49675504e-02 -9.04785558e-04 9.99687853e-01 2.76660522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.50, Y:19.17, Z:2.77 [[ 9.20345417e-01 -3.90414123e-01 -2.32621261e-02 1.09502697e+02] [ 3.90308333e-01 9.20639090e-01 -9.11431183e-03 1.91662113e+01] [ 2.49743787e-02 -6.91086554e-04 9.99687853e-01 2.77247294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.56, Y:19.19, Z:2.78 [[ 9.23411897e-01 -3.83105008e-01 -2.32598783e-02 1.09555757e+02] [ 3.82996748e-01 9.23704669e-01 -9.12004478e-03 1.91927934e+01] [ 2.49791930e-02 -4.86899900e-04 9.99687853e-01 2.77507384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.008040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:109.61, Y:19.23, Z:2.78 [[ 9.21643347e-01 -3.87340454e-01 -2.32575594e-02 1.09605198e+02] [ 3.87233391e-01 9.21936559e-01 -9.12595462e-03 1.92256462e+01] [ 2.49768456e-02 -5.95228214e-04 9.99687853e-01 2.77708098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.068040942 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:109.66, Y:19.25, Z:2.77 [[ 9.19822926e-01 -3.91643854e-01 -2.32567415e-02 1.09656774e+02] [ 3.91538110e-01 9.20116616e-01 -9.12803829e-03 1.92547797e+01] [ 2.49738544e-02 -7.09721727e-04 9.99687853e-01 2.77155630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.71, Y:19.28, Z:2.78 [[ 9.18351124e-01 -3.95082839e-01 -2.32543215e-02 1.09708292e+02] [ 3.94978039e-01 9.18645152e-01 -9.13419928e-03 1.92821100e+01] [ 2.49712351e-02 -7.96544131e-04 9.99687853e-01 2.77580617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.76, Y:19.31, Z:2.78 [[ 9.17291327e-01 -3.97537291e-01 -2.32534804e-02 1.09761883e+02] [ 3.97433222e-01 9.17585615e-01 -9.13634013e-03 1.93078007e+01] [ 2.49690950e-02 -8.61020072e-04 9.99687853e-01 2.77893525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.248040942 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:109.82, Y:19.33, Z:2.79 [[ 9.20111639e-01 -3.90965407e-01 -2.32513065e-02 1.09818014e+02] [ 3.90859096e-01 9.20405125e-01 -9.14186912e-03 1.93256979e+01] [ 2.49747762e-02 -6.76444471e-04 9.99687853e-01 2.79197828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.87, Y:19.35, Z:2.79 [[ 9.21010956e-01 -3.88842152e-01 -2.32507853e-02 1.09869528e+02] [ 3.88735131e-01 9.21304184e-01 -9.14319458e-03 1.93517838e+01] [ 2.49763052e-02 -6.17414686e-04 9.99687853e-01 2.78988129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.92, Y:19.38, Z:2.79 [[ 9.21904343e-01 -3.86719329e-01 -2.32495815e-02 1.09921946e+02] [ 3.86611556e-01 9.22197295e-01 -9.14625462e-03 1.93778699e+01] [ 2.49777346e-02 -5.56585012e-04 9.99687853e-01 2.78644865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.98, Y:19.40, Z:2.78 [[ 9.25606266e-01 -3.77773126e-01 -2.32487689e-02 1.09977046e+02] [ 3.77662469e-01 9.25898141e-01 -9.14831954e-03 1.93966970e+01] [ 2.49819812e-02 -3.12445590e-04 9.99687853e-01 2.78221607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.488040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:110.03, Y:19.41, Z:2.81 [[ 9.29215261e-01 -3.68807012e-01 -2.32462082e-02 1.10033154e+02] [ 3.68693376e-01 9.29505989e-01 -9.15482187e-03 1.94102947e+01] [ 2.49838522e-02 -6.39227938e-05 9.99687853e-01 2.80572978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.09, Y:19.44, Z:2.80 [[ 9.29846699e-01 -3.67212156e-01 -2.32454205e-02 1.10086119e+02] [ 3.67097971e-01 9.30137211e-01 -9.15682138e-03 1.94371186e+01] [ 2.49839268e-02 -1.89065890e-05 9.99687853e-01 2.79642559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.608040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.14, Y:19.46, Z:2.79 [[ 9.29574253e-01 -3.67901429e-01 -2.32431949e-02 1.10140142e+02] [ 3.67787319e-01 9.29864795e-01 -9.16246732e-03 1.94595497e+01] [ 2.49839135e-02 -3.13586180e-05 9.99687853e-01 2.79223872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.20, Y:19.47, Z:2.80 [[ 9.31618571e-01 -3.62693693e-01 -2.32405748e-02 1.10195869e+02] [ 3.62577792e-01 9.31908403e-01 -9.16910832e-03 1.94740883e+01] [ 2.49836648e-02 1.15595264e-04 9.99687853e-01 2.80126945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72804094199999 meters Centerline goodness : 0.996822 with order 1 Centerline is valid? [True, True] Translation: X:110.25, Y:19.50, Z:2.80 [[ 9.29563760e-01 -3.67928158e-01 -2.32397686e-02 1.10249236e+02] [ 3.67813839e-01 9.29854220e-01 -9.17115133e-03 1.94958601e+01] [ 2.49839217e-02 -2.27385893e-05 9.99687853e-01 2.80028764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.788040942 meters Centerline goodness : 0.996691 with order 1 Centerline is valid? [True, True] Translation: X:110.31, Y:19.51, Z:2.80 [[ 9.27488600e-01 -3.73128591e-01 -2.32368589e-02 1.10305243e+02] [ 3.73015716e-01 9.27779624e-01 -9.17851773e-03 1.95146143e+01] [ 2.49834516e-02 -1.54743005e-04 9.99687853e-01 2.80022489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.848040942 meters Centerline goodness : 0.997222 with order 1 Centerline is valid? [True, True] Translation: X:110.36, Y:19.53, Z:2.80 [[ 9.25371826e-01 -3.78347941e-01 -2.32340173e-02 1.10359962e+02] [ 3.78236527e-01 9.25663412e-01 -9.18570524e-03 1.95328941e+01] [ 2.49822724e-02 -2.87761174e-04 9.99687853e-01 2.80194870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.908040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.42, Y:19.55, Z:2.81 [[ 9.25164663e-01 -3.78854435e-01 -2.32306544e-02 1.10416816e+02] [ 3.78742967e-01 9.25456229e-01 -9.19420200e-03 1.95491444e+01] [ 2.49822181e-02 -2.92296181e-04 9.99687853e-01 2.80949522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.47, Y:19.57, Z:2.81 [[ 9.23655938e-01 -3.82518204e-01 -2.32278231e-02 1.10471834e+02] [ 3.82407713e-01 9.23947875e-01 -9.20134941e-03 1.95681977e+01] [ 2.49809815e-02 -3.83617692e-04 9.99687853e-01 2.80784106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.53, Y:19.59, Z:2.81 [[ 9.23853526e-01 -3.82040794e-01 -2.32270240e-02 1.10526579e+02] [ 3.81930101e-01 9.24145387e-01 -9.20336609e-03 1.95893037e+01] [ 2.49812084e-02 -3.68537415e-04 9.99687853e-01 2.80598315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.58, Y:19.61, Z:2.81 [[ 9.23429555e-01 -3.83064571e-01 -2.32248021e-02 1.10581532e+02] [ 3.82954061e-01 9.23721485e-01 -9.20896984e-03 1.96103771e+01] [ 2.49808787e-02 -3.90197343e-04 9.99687853e-01 2.80542044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.64, Y:19.62, Z:2.81 [[ 9.26155777e-01 -3.76425539e-01 -2.32226010e-02 1.10639568e+02] [ 3.76312797e-01 9.26446853e-01 -9.21451706e-03 1.96223757e+01] [ 2.49830851e-02 -2.04883717e-04 9.99687853e-01 2.81442600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.69, Y:19.65, Z:2.81 [[ 9.25582126e-01 -3.77834015e-01 -2.32203466e-02 1.10693162e+02] [ 3.77721574e-01 9.25873318e-01 -9.22019447e-03 1.96454764e+01] [ 2.49828025e-02 -2.36778668e-04 9.99687853e-01 2.80952901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.75, Y:19.66, Z:2.81 [[ 9.27340184e-01 -3.73498483e-01 -2.32177971e-02 1.10748332e+02] [ 3.73384520e-01 9.27630783e-01 -9.22661018e-03 1.96617007e+01] [ 2.49836682e-02 -1.12959616e-04 9.99687853e-01 2.81133822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.81, Y:19.67, Z:2.82 [[ 9.31628154e-01 -3.62670644e-01 -2.32160809e-02 1.10809162e+02] [ 3.62553195e-01 9.31917363e-01 -9.23092633e-03 1.96694678e+01] [ 2.49832549e-02 1.82726546e-04 9.99687853e-01 2.82455921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.388040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.86, Y:19.69, Z:2.83 [[ 9.31495153e-01 -3.63012119e-01 -2.32159593e-02 1.10864758e+02] [ 3.62894769e-01 9.31784402e-01 -9.23123226e-03 1.96913777e+01] [ 2.49833179e-02 1.73897940e-04 9.99687853e-01 2.82523663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.448040942 meters Centerline goodness : 0.996035 with order 1 Centerline is valid? [True, True] Translation: X:110.92, Y:19.71, Z:2.82 [[ 9.30545377e-01 -3.65439922e-01 -2.32156110e-02 1.10918858e+02] [ 3.65323305e-01 9.30834921e-01 -9.23210803e-03 1.97114206e+01] [ 2.49836823e-02 1.09691713e-04 9.99687853e-01 2.81750212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.508040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.97, Y:19.73, Z:2.82 [[ 9.30123605e-01 -3.66512159e-01 -2.32145956e-02 1.10974421e+02] [ 3.66395811e-01 9.30413258e-01 -9.23466062e-03 1.97266097e+01] [ 2.49837829e-02 8.36452300e-05 9.99687853e-01 2.82311843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.568040942 meters Centerline goodness : 0.995750 with order 1 Centerline is valid? [True, True] Translation: X:111.03, Y:19.74, Z:2.82 [[ 9.29759523e-01 -3.67434881e-01 -2.32128735e-02 1.11031294e+02] [ 3.67318713e-01 9.30049248e-01 -9.23898735e-03 1.97439046e+01] [ 2.49838418e-02 6.35136467e-05 9.99687853e-01 2.81868763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.09, Y:19.76, Z:2.82 [[ 9.29442103e-01 -3.68237243e-01 -2.32101298e-02 1.11087591e+02] [ 3.68121154e-01 9.29731859e-01 -9.24587495e-03 1.97575240e+01] [ 2.49838726e-02 4.93657006e-05 9.99687853e-01 2.82441644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.688040942 meters Centerline goodness : 0.995586 with order 1 Centerline is valid? [True, True] Translation: X:111.14, Y:19.77, Z:2.82 [[ 9.28183593e-01 -3.71398106e-01 -2.32091512e-02 1.11144185e+02] [ 3.71282942e-01 9.28473718e-01 -9.24833079e-03 1.97724838e+01] [ 2.49838995e-02 -3.30130340e-05 9.99687853e-01 2.82114973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.748040942 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:111.20, Y:19.79, Z:2.83 [[ 9.27192986e-01 -3.73864370e-01 -2.32077331e-02 1.11201767e+02] [ 3.73749888e-01 9.27483382e-01 -9.25188793e-03 1.97870349e+01] [ 2.49837381e-02 -9.56020586e-05 9.99687853e-01 2.82963117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.808040942 meters Centerline goodness : 0.996178 with order 1 Centerline is valid? [True, True] Translation: X:111.26, Y:19.80, Z:2.83 [[ 9.26421467e-01 -3.75772275e-01 -2.32047893e-02 1.11257648e+02] [ 3.75658206e-01 9.26712026e-01 -9.25926561e-03 1.98049376e+01] [ 2.49835326e-02 -1.39087068e-04 9.99687853e-01 2.82743111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.31, Y:19.82, Z:2.83 [[ 9.25312472e-01 -3.78494979e-01 -2.32030117e-02 1.11311328e+02] [ 3.78381654e-01 9.25603321e-01 -9.26371798e-03 1.98232295e+01] [ 2.49830554e-02 -2.07760141e-04 9.99687853e-01 2.82649737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.37, Y:19.84, Z:2.83 [[ 9.26119202e-01 -3.76516875e-01 -2.32005647e-02 1.11367267e+02] [ 3.76402775e-01 9.26409748e-01 -9.26984236e-03 1.98399665e+01] [ 2.49834813e-02 -1.47777911e-04 9.99687853e-01 2.82931001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.988040942 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:111.43, Y:19.85, Z:2.83 [[ 9.28049111e-01 -3.71734754e-01 -2.31974059e-02 1.11425391e+02] [ 3.71618960e-01 9.28338986e-01 -9.27774024e-03 1.98502327e+01] [ 2.49839148e-02 -1.03972660e-05 9.99687853e-01 2.83103249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.48, Y:19.87, Z:2.84 [[ 9.29766736e-01 -3.67417667e-01 -2.31964442e-02 1.11480694e+02] [ 3.67300466e-01 9.30056045e-01 -9.28014422e-03 1.98670795e+01] [ 2.49836820e-02 1.08304654e-04 9.99687853e-01 2.83759286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.54, Y:19.89, Z:2.84 [[ 9.30397104e-01 -3.65818635e-01 -2.31938528e-02 1.11536728e+02] [ 3.65700776e-01 9.30686146e-01 -9.28661621e-03 1.98858903e+01] [ 2.49834148e-02 1.58230857e-04 9.99687853e-01 2.83515209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.168040942 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:111.59, Y:19.90, Z:2.84 [[ 9.29893944e-01 -3.67095860e-01 -2.31922999e-02 1.11593383e+02] [ 3.66978301e-01 9.30183107e-01 -9.29049286e-03 1.98997530e+01] [ 2.49835871e-02 1.28102234e-04 9.99687853e-01 2.84087194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.65, Y:19.91, Z:2.84 [[ 9.27820224e-01 -3.72306080e-01 -2.31908372e-02 1.11650632e+02] [ 3.72190053e-01 9.28110006e-01 -9.29414256e-03 1.99135455e+01] [ 2.49839139e-02 -8.10551044e-06 9.99687853e-01 2.84461392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.71, Y:19.93, Z:2.85 [[ 9.25645248e-01 -3.77681212e-01 -2.31900115e-02 1.11706938e+02] [ 3.77566817e-01 9.25935678e-01 -9.29620247e-03 1.99278714e+01] [ 2.49834600e-02 -1.50793180e-04 9.99687853e-01 2.84605781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.76, Y:19.94, Z:2.85 [[ 9.24404781e-01 -3.80707427e-01 -2.31873947e-02 1.11763838e+02] [ 3.80593819e-01 9.24695520e-01 -9.30272478e-03 1.99413335e+01] [ 2.49828964e-02 -2.25495845e-04 9.99687853e-01 2.84813763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.408040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:111.82, Y:19.95, Z:2.84 [[ 9.25639433e-01 -3.77695784e-01 -2.31848006e-02 1.11822405e+02] [ 3.77581068e-01 9.25929736e-01 -9.30918563e-03 1.99517482e+01] [ 2.49835364e-02 -1.37192465e-04 9.99687853e-01 2.84121514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.88, Y:19.97, Z:2.85 [[ 9.23839837e-01 -3.82076617e-01 -2.31821898e-02 1.11876727e+02] [ 3.81963114e-01 9.24130617e-01 -9.31568262e-03 1.99739564e+01] [ 2.49826758e-02 -2.48542684e-04 9.99687853e-01 2.84796354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.528040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:111.93, Y:19.99, Z:2.84 [[ 9.27212008e-01 -3.73818920e-01 -2.31798736e-02 1.11933133e+02] [ 3.73702684e-01 9.27501706e-01 -9.32144233e-03 1.99898208e+01] [ 2.49839038e-02 -1.94277213e-05 9.99687853e-01 2.84438390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.588040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:111.99, Y:20.01, Z:2.85 [[ 9.28138133e-01 -3.71513692e-01 -2.31771891e-02 1.11988941e+02] [ 3.71396570e-01 9.28427474e-01 -9.32811237e-03 2.00092131e+01] [ 2.49838606e-02 4.98482677e-05 9.99687853e-01 2.84973451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.04, Y:20.03, Z:2.85 [[ 9.26764779e-01 -3.74926622e-01 -2.31748401e-02 1.12043233e+02] [ 3.74810420e-01 9.27054490e-01 -9.33394460e-03 2.00283631e+01] [ 2.49838839e-02 -3.58004490e-05 9.99687853e-01 2.85425247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.10, Y:20.06, Z:2.85 [[ 9.24675758e-01 -3.80049611e-01 -2.31740149e-02 1.12095330e+02] [ 3.79934962e-01 9.24966088e-01 -9.33599282e-03 2.00590194e+01] [ 2.49833184e-02 -1.71852251e-04 9.99687853e-01 2.85214171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.15, Y:20.08, Z:2.86 [[ 9.25866284e-01 -3.77140113e-01 -2.31723786e-02 1.12151133e+02] [ 3.77024451e-01 9.26156211e-01 -9.34005264e-03 2.00776560e+01] [ 2.49837508e-02 -8.89134761e-05 9.99687853e-01 2.85713290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.21, Y:20.10, Z:2.86 [[ 9.25927631e-01 -3.76989608e-01 -2.31701908e-02 1.12206980e+02] [ 3.76873762e-01 9.26217485e-01 -9.34547663e-03 2.00978058e+01] [ 2.49837835e-02 -7.90019606e-05 9.99687853e-01 2.85950254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.26, Y:20.12, Z:2.86 [[ 9.26118384e-01 -3.76520832e-01 -2.31690047e-02 1.12261156e+02] [ 3.76404766e-01 9.26408149e-01 -9.34841645e-03 2.01203378e+01] [ 2.49838283e-02 -6.31834551e-05 9.99687853e-01 2.86110849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.32, Y:20.14, Z:2.86 [[ 9.27254793e-01 -3.73713608e-01 -2.31665125e-02 1.12315064e+02] [ 3.73596511e-01 9.27544144e-01 -9.35458838e-03 2.01440293e+01] [ 2.49838999e-02 1.91586893e-05 9.99687853e-01 2.85953487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.008040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.37, Y:20.17, Z:2.86 [[ 9.28023680e-01 -3.71800317e-01 -2.31640695e-02 1.12369895e+02] [ 3.71682472e-01 9.28312727e-01 -9.36063368e-03 2.01657875e+01] [ 2.49837871e-02 7.72110783e-05 9.99687853e-01 2.86051924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.068040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:112.42, Y:20.19, Z:2.86 [[ 9.28537327e-01 -3.70515817e-01 -2.31616406e-02 1.12424859e+02] [ 3.70397423e-01 9.28826149e-01 -9.36663990e-03 2.01876845e+01] [ 2.49836257e-02 1.18262783e-04 9.99687854e-01 2.86217077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.48, Y:20.21, Z:2.87 [[ 9.31033272e-01 -3.64198694e-01 -2.31593782e-02 1.12479788e+02] [ 3.64078201e-01 9.31321225e-01 -9.37223052e-03 2.02091674e+01] [ 2.49821746e-02 2.94033704e-04 9.99687854e-01 2.86890581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.53, Y:20.24, Z:2.87 [[ 9.30094128e-01 -3.66590608e-01 -2.31568296e-02 1.12529055e+02] [ 3.66470699e-01 9.30382325e-01 -9.37852331e-03 2.02432377e+01] [ 2.49827835e-02 2.36609927e-04 9.99687854e-01 2.87197744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.58, Y:20.27, Z:2.87 [[ 9.29219805e-01 -3.68801340e-01 -2.31543687e-02 1.12582748e+02] [ 3.68681966e-01 9.29508224e-01 -9.38459494e-03 2.02666275e+01] [ 2.49832273e-02 1.83753308e-04 9.99687854e-01 2.86537495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.64, Y:20.29, Z:2.87 [[ 9.28675499e-01 -3.70169871e-01 -2.31534821e-02 1.12636005e+02] [ 3.70050867e-01 9.28964070e-01 -9.38678195e-03 2.02878296e+01] [ 2.49834568e-02 1.49308289e-04 9.99687854e-01 2.87460910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.69, Y:20.31, Z:2.88 [[ 9.24971668e-01 -3.79330185e-01 -2.31521885e-02 1.12690067e+02] [ 3.79213959e-01 9.25261369e-01 -9.38997146e-03 2.03089709e+01] [ 2.49837252e-02 -9.41754951e-05 9.99687854e-01 2.87654351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.428040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:112.74, Y:20.33, Z:2.87 [[ 9.20850239e-01 -3.89228644e-01 -2.31495107e-02 1.12744143e+02] [ 3.89115366e-01 9.21141106e-01 -9.39656844e-03 2.03314655e+01] [ 2.49813795e-02 -3.54998042e-04 9.99687854e-01 2.86808047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.80, Y:20.35, Z:2.88 [[ 9.17838771e-01 -3.96277848e-01 -2.31485878e-02 1.12797556e+02] [ 3.96166746e-01 9.18130476e-01 -9.39884151e-03 2.03522235e+01] [ 2.49779766e-02 -5.44079553e-04 9.99687854e-01 2.87790916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.85, Y:20.37, Z:2.88 [[ 9.16584063e-01 -3.99171443e-01 -2.31476647e-02 1.12852664e+02] [ 3.99061205e-01 9.16876095e-01 -9.40111450e-03 2.03736781e+01] [ 2.49761968e-02 -6.20423221e-04 9.99687854e-01 2.88091743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.608040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.91, Y:20.39, Z:2.88 [[ 9.17076240e-01 -3.98039522e-01 -2.31453779e-02 1.12907758e+02] [ 3.97928781e-01 9.17368082e-01 -9.40674107e-03 2.03932537e+01] [ 2.49770857e-02 -5.83513286e-04 9.99687854e-01 2.88297968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.96, Y:20.42, Z:2.89 [[ 9.16865978e-01 -3.98523756e-01 -2.31429237e-02 1.12960450e+02] [ 3.98413017e-01 9.17157820e-01 -9.41277517e-03 2.04173610e+01] [ 2.49769280e-02 -5.90188757e-04 9.99687854e-01 2.88641911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.01, Y:20.44, Z:2.89 [[ 9.18626237e-01 -3.94449341e-01 -2.31420589e-02 1.13014424e+02] [ 3.94337254e-01 9.18917564e-01 -9.41490093e-03 2.04394309e+01] [ 2.49793458e-02 -4.77000940e-04 9.99687854e-01 2.88965033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.788040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.07, Y:20.46, Z:2.89 [[ 9.20773742e-01 -3.89410177e-01 -2.31393468e-02 1.13068389e+02] [ 3.89296328e-01 9.21064386e-01 -9.42156176e-03 2.04602351e+01] [ 2.49816803e-02 -3.32936073e-04 9.99687854e-01 2.88854491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.12, Y:20.48, Z:2.89 [[ 9.21698026e-01 -3.87217567e-01 -2.31366614e-02 1.13119965e+02] [ 3.87102861e-01 9.21988332e-01 -9.42815179e-03 2.04834264e+01] [ 2.49824778e-02 -2.66358926e-04 9.99687854e-01 2.89103952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.908040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.17, Y:20.51, Z:2.89 [[ 9.21437359e-01 -3.87837520e-01 -2.31355058e-02 1.13174014e+02] [ 3.87722938e-01 9.21727715e-01 -9.43098668e-03 2.05057468e+01] [ 2.49823273e-02 -2.80102806e-04 9.99687854e-01 2.89011178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.23, Y:20.53, Z:2.89 [[ 9.20266988e-01 -3.90606560e-01 -2.31340957e-02 1.13228217e+02] [ 3.90492765e-01 9.20557653e-01 -9.43444419e-03 2.05274531e+01] [ 2.49814247e-02 -3.51489472e-04 9.99687854e-01 2.89475503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.28, Y:20.55, Z:2.90 [[ 9.18315424e-01 -3.95173021e-01 -2.31314923e-02 1.13282671e+02] [ 3.95060511e-01 9.18606588e-01 -9.44082309e-03 2.05485622e+01] [ 2.49794998e-02 -4.68685692e-04 9.99687854e-01 2.89605897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.088040942 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:113.34, Y:20.57, Z:2.90 [[ 9.17226880e-01 -3.97693231e-01 -2.31288789e-02 1.13335632e+02] [ 3.97581359e-01 9.17518290e-01 -9.44722113e-03 2.05705829e+01] [ 2.49782654e-02 -5.30365971e-04 9.99687854e-01 2.89615879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.148040942 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:113.39, Y:20.59, Z:2.90 [[ 9.17243351e-01 -3.97655306e-01 -2.31277556e-02 1.13388543e+02] [ 3.97543353e-01 9.17534730e-01 -9.44997026e-03 2.05941654e+01] [ 2.49783498e-02 -5.26363142e-04 9.99687854e-01 2.89674778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.44, Y:20.62, Z:2.90 [[ 9.17495971e-01 -3.97072250e-01 -2.31251105e-02 1.13441806e+02] [ 3.96959949e-01 9.17787216e-01 -9.45643871e-03 2.06158995e+01] [ 2.49788202e-02 -5.03498276e-04 9.99687854e-01 2.89904500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.50, Y:20.64, Z:2.90 [[ 9.17588418e-01 -3.96858616e-01 -2.31242983e-02 1.13495068e+02] [ 3.96746197e-01 9.17879618e-01 -9.45842439e-03 2.06393324e+01] [ 2.49789793e-02 -4.95536747e-04 9.99687854e-01 2.90047627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.55, Y:20.66, Z:2.90 [[ 9.18620766e-01 -3.94463279e-01 -2.31216295e-02 1.13546622e+02] [ 3.94349937e-01 9.18911607e-01 -9.46494410e-03 2.06638940e+01] [ 2.49803066e-02 -4.23318911e-04 9.99687854e-01 2.90193126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.388040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.60, Y:20.69, Z:2.90 [[ 9.19539304e-01 -3.92317362e-01 -2.31204847e-02 1.13597940e+02] [ 3.92203270e-01 9.19829852e-01 -9.46773978e-03 2.06879609e+01] [ 2.49812707e-02 -3.61970852e-04 9.99687854e-01 2.90359572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.65, Y:20.71, Z:2.91 [[ 9.20957065e-01 -3.88977608e-01 -2.31193574e-02 1.13649439e+02] [ 3.88862394e-01 9.21247170e-01 -9.47049174e-03 2.07117108e+01] [ 2.49824518e-02 -2.68332355e-04 9.99687854e-01 2.90540449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.508040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.70, Y:20.74, Z:2.90 [[ 9.23068317e-01 -3.83940696e-01 -2.31176183e-02 1.13702577e+02] [ 3.83823793e-01 9.23357745e-01 -9.47473482e-03 2.07365739e+01] [ 2.49835682e-02 -1.27264430e-04 9.99687854e-01 2.90350083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.568040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.75, Y:20.76, Z:2.91 [[ 9.23777767e-01 -3.82230727e-01 -2.31151052e-02 1.13754281e+02] [ 3.82113135e-01 9.24066916e-01 -9.48086204e-03 2.07615406e+01] [ 2.49837808e-02 -7.43757365e-05 9.99687854e-01 2.90927108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.81, Y:20.78, Z:2.91 [[ 9.24295955e-01 -3.80976059e-01 -2.31134018e-02 1.13807943e+02] [ 3.80857970e-01 9.24584902e-01 -9.48501297e-03 2.07848362e+01] [ 2.49838652e-02 -3.59641676e-05 9.99687854e-01 2.90832925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.86, Y:20.81, Z:2.91 [[ 9.23669237e-01 -3.82493151e-01 -2.31112507e-02 1.13860743e+02] [ 3.82375405e-01 9.23958324e-01 -9.49025145e-03 2.08113049e+01] [ 2.49837886e-02 -7.13205430e-05 9.99687854e-01 2.91342769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.91, Y:20.84, Z:2.92 [[ 9.22341609e-01 -3.85683722e-01 -2.31089191e-02 1.13911353e+02] [ 3.85566835e-01 9.22631044e-01 -9.49592557e-03 2.08392511e+01] [ 2.49834301e-02 -1.51545518e-04 9.99687854e-01 2.91705713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.96, Y:20.86, Z:2.92 [[ 9.21096369e-01 -3.88648311e-01 -2.31077737e-02 1.13964018e+02] [ 3.88532285e-01 9.21386150e-01 -9.49871208e-03 2.08646083e+01] [ 2.49828410e-02 -2.28886905e-04 9.99687854e-01 2.91643082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.01, Y:20.89, Z:2.92 [[ 9.18631666e-01 -3.94438872e-01 -2.31049268e-02 1.14013282e+02] [ 3.94324499e-01 9.18922104e-01 -9.50563177e-03 2.08937193e+01] [ 2.49810186e-02 -3.78664336e-04 9.99687854e-01 2.91766237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.07, Y:20.92, Z:2.92 [[ 9.17087596e-01 -3.98015779e-01 -2.31037045e-02 1.14066813e+02] [ 3.97902464e-01 9.17378447e-01 -9.50860174e-03 2.09176322e+01] [ 2.49794141e-02 -4.72800237e-04 9.99687854e-01 2.91692871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.12, Y:20.95, Z:2.92 [[ 9.13973692e-01 -4.05115340e-01 -2.31009099e-02 1.14117475e+02] [ 4.05004112e-01 9.14265348e-01 -9.51538621e-03 2.09469954e+01] [ 2.49751904e-02 -6.59150855e-04 9.99687854e-01 2.91510971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.17, Y:20.98, Z:2.92 [[ 9.12209521e-01 -4.09072447e-01 -2.30981041e-02 1.14168469e+02] [ 4.08962312e-01 9.12501592e-01 -9.52219245e-03 2.09759361e+01] [ 2.49723233e-02 -7.60019428e-04 9.99687854e-01 2.92052495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.22, Y:21.01, Z:2.91 [[ 9.08154852e-01 -4.17996856e-01 -2.30953190e-02 1.14217146e+02] [ 4.17889418e-01 9.08447925e-01 -9.52894263e-03 2.10134626e+01] [ 2.49639627e-02 -9.97533938e-04 9.99687854e-01 2.90916533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.27, Y:21.04, Z:2.91 [[ 9.08665503e-01 -4.16885647e-01 -2.30946101e-02 1.14268666e+02] [ 4.16777807e-01 9.08958429e-01 -9.53066039e-03 2.10433194e+01] [ 2.49652360e-02 -9.65138636e-04 9.99687854e-01 2.91397660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.32, Y:21.06, Z:2.93 [[ 9.11073241e-01 -4.11597257e-01 -2.30921562e-02 1.14323219e+02] [ 4.11487566e-01 9.11365479e-01 -9.53660233e-03 2.10628267e+01] [ 2.49706334e-02 -8.13591972e-04 9.99687854e-01 2.92520799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.37, Y:21.10, Z:2.91 [[ 9.09982893e-01 -4.14002352e-01 -2.30908563e-02 1.14370862e+02] [ 4.13893354e-01 9.10275390e-01 -9.53974869e-03 2.11020228e+01] [ 2.49685166e-02 -8.76143857e-04 9.99687854e-01 2.91375429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.348040942 meters Centerline goodness : 0.996413 with order 1 Centerline is valid? [True, True] Translation: X:114.42, Y:21.13, Z:2.92 [[ 9.12868650e-01 -4.07599989e-01 -2.30884726e-02 1.14423583e+02] [ 4.07488793e-01 9.13160318e-01 -9.54551436e-03 2.11279027e+01] [ 2.49742285e-02 -6.94493030e-04 9.99687854e-01 2.92453246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.408040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.48, Y:21.16, Z:2.93 [[ 9.13965343e-01 -4.05134977e-01 -2.30868216e-02 1.14475131e+02] [ 4.05022894e-01 9.14256672e-01 -9.54950571e-03 2.11558445e+01] [ 2.49761195e-02 -6.22774048e-04 9.99687854e-01 2.92871485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.468040942 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:114.53, Y:21.18, Z:2.93 [[ 9.13533792e-01 -4.06107347e-01 -2.30831740e-02 1.14525238e+02] [ 4.05995351e-01 9.13825155e-01 -9.55831484e-03 2.11845438e+01] [ 2.49756869e-02 -6.39817710e-04 9.99687854e-01 2.92687176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.58, Y:21.21, Z:2.92 [[ 9.12259467e-01 -4.08961966e-01 -2.30819356e-02 1.14576796e+02] [ 4.08850806e-01 9.12551149e-01 -9.56130426e-03 2.12135839e+01] [ 2.49736567e-02 -7.14677665e-04 9.99687854e-01 2.92022272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.63, Y:21.24, Z:2.92 [[ 9.10147394e-01 -4.13641220e-01 -2.30794704e-02 1.14628650e+02] [ 4.13531409e-01 9.10439587e-01 -9.56725129e-03 2.12427434e+01] [ 2.49698730e-02 -8.36477083e-04 9.99687854e-01 2.91580637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.68, Y:21.27, Z:2.92 [[ 9.10042614e-01 -4.13871834e-01 -2.30769672e-02 1.14680193e+02] [ 4.13761944e-01 9.10334777e-01 -9.57328535e-03 2.12689493e+01] [ 2.49698790e-02 -8.36273189e-04 9.99687854e-01 2.91754184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.73, Y:21.29, Z:2.92 [[ 9.09990586e-01 -4.13986264e-01 -2.30760873e-02 1.14733317e+02] [ 4.13876357e-01 9.10282743e-01 -9.57540598e-03 2.12924040e+01] [ 2.49698506e-02 -8.37117636e-04 9.99687854e-01 2.91973846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.768040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:114.78, Y:21.32, Z:2.91 [[ 9.09984547e-01 -4.13999694e-01 -2.30733022e-02 1.14784860e+02] [ 4.13889622e-01 9.10276642e-01 -9.58211230e-03 2.13187133e+01] [ 2.49700796e-02 -8.30226188e-04 9.99687854e-01 2.91470228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.84, Y:21.35, Z:2.92 [[ 9.10079459e-01 -4.13791060e-01 -2.30724451e-02 1.14837495e+02] [ 4.13680869e-01 9.10371508e-01 -9.58417555e-03 2.13450822e+01] [ 2.49703428e-02 -8.22267837e-04 9.99687854e-01 2.91777734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.89, Y:21.37, Z:2.92 [[ 9.08891735e-01 -4.16393535e-01 -2.30702680e-02 1.14891268e+02] [ 4.16284047e-01 9.09184049e-01 -9.58941337e-03 2.13693249e+01] [ 2.49680894e-02 -8.88045954e-04 9.99687854e-01 2.92042048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.94, Y:21.39, Z:2.92 [[ 9.08424387e-01 -4.17412282e-01 -2.30676997e-02 1.14944111e+02] [ 4.17302966e-01 9.08716765e-01 -9.59558738e-03 2.13930494e+01] [ 2.49673215e-02 -9.09353923e-04 9.99687854e-01 2.92084625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.008040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.00, Y:21.41, Z:2.93 [[ 9.09877161e-01 -4.14236104e-01 -2.30651711e-02 1.14999035e+02] [ 4.14125613e-01 9.10169097e-01 -9.60166168e-03 2.14125621e+01] [ 2.49705609e-02 -8.15545443e-04 9.99687854e-01 2.93278000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.068040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.05, Y:21.44, Z:2.93 [[ 9.10159354e-01 -4.13615844e-01 -2.30625920e-02 1.15050690e+02] [ 4.13504997e-01 9.10451155e-01 -9.60785240e-03 2.14392030e+01] [ 2.49713236e-02 -7.91820327e-04 9.99687854e-01 2.92635517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.128040942 meters Centerline goodness : 0.997632 with order 1 Centerline is valid? [True, True] Translation: X:115.11, Y:21.46, Z:2.94 [[ 9.11561188e-01 -4.10517185e-01 -2.30616719e-02 1.15105588e+02] [ 4.10405290e-01 9.11852589e-01 -9.61006064e-03 2.14605397e+01] [ 2.49739402e-02 -7.04473839e-04 9.99687854e-01 2.93546408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.16, Y:21.48, Z:2.94 [[ 9.13428143e-01 -4.06346310e-01 -2.30587315e-02 1.15159573e+02] [ 4.06232906e-01 9.13718960e-01 -9.61711064e-03 2.14824499e+01] [ 2.49770776e-02 -5.82676003e-04 9.99687854e-01 2.94259135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.21, Y:21.50, Z:2.94 [[ 9.16143447e-01 -4.00187002e-01 -2.30553125e-02 1.15212522e+02] [ 4.00071437e-01 9.16433412e-01 -9.62530020e-03 2.15038809e+01] [ 2.49805787e-02 -4.05616277e-04 9.99687854e-01 2.94339780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.27, Y:21.53, Z:2.94 [[ 9.18637774e-01 -3.94427619e-01 -2.30541312e-02 1.15266995e+02] [ 3.94310165e-01 9.18926979e-01 -9.62812862e-03 2.15251961e+01] [ 2.49826630e-02 -2.45715644e-04 9.99687854e-01 2.93902690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.32, Y:21.55, Z:2.94 [[ 9.21196363e-01 -3.88414590e-01 -2.30513819e-02 1.15321351e+02] [ 3.88295084e-01 9.21484726e-01 -9.63470658e-03 2.15459026e+01] [ 2.49837569e-02 -7.52815853e-05 9.99687854e-01 2.94265283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.38, Y:21.56, Z:2.95 [[ 9.22876238e-01 -3.84406320e-01 -2.30484450e-02 1.15375791e+02] [ 3.84285386e-01 9.23164005e-01 -9.64172711e-03 2.15647468e+01] [ 2.49838356e-02 4.09402592e-05 9.99687854e-01 2.94553715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.488040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:115.43, Y:21.58, Z:2.96 [[ 9.25403162e-01 -3.78282696e-01 -2.30475449e-02 1.15433075e+02] [ 3.78159804e-01 9.25690098e-01 -9.64387833e-03 2.15798847e+01] [ 2.49829964e-02 2.08820444e-04 9.99687854e-01 2.95536271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.49, Y:21.60, Z:2.95 [[ 9.24811872e-01 -3.79726122e-01 -2.30450360e-02 1.15488539e+02] [ 3.79603528e-01 9.25098936e-01 -9.64986986e-03 2.15996399e+01] [ 2.49832459e-02 1.76337240e-04 9.99687854e-01 2.95292375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.608040942 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:115.54, Y:21.62, Z:2.95 [[ 9.23308141e-01 -3.83368124e-01 -2.30425291e-02 1.15544706e+02] [ 3.83246514e-01 9.23595623e-01 -9.65585225e-03 2.16173304e+01] [ 2.49837250e-02 8.43580556e-05 9.99687854e-01 2.95471392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.60, Y:21.64, Z:2.95 [[ 9.20720937e-01 -3.89540903e-01 -2.30399766e-02 1.15600003e+02] [ 3.89421068e-01 9.21009163e-01 -9.66193886e-03 2.16363164e+01] [ 2.49837500e-02 -7.63028976e-05 9.99687854e-01 2.95078669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.66, Y:21.66, Z:2.95 [[ 9.20632053e-01 -3.89750976e-01 -2.30390818e-02 1.15655459e+02] [ 3.89631153e-01 9.20920284e-01 -9.66407220e-03 2.16551403e+01] [ 2.49837393e-02 -7.96893761e-05 9.99687854e-01 2.95004873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.788040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.71, Y:21.67, Z:2.95 [[ 9.20992163e-01 -3.88899430e-01 -2.30362638e-02 1.15711429e+02] [ 3.88779172e-01 9.21280213e-01 -9.67078468e-03 2.16730498e+01] [ 2.49838167e-02 -4.93026923e-05 9.99687855e-01 2.94814016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.77, Y:21.69, Z:2.95 [[ 9.22281829e-01 -3.85831164e-01 -2.30334788e-02 1.15767625e+02] [ 3.85709783e-01 9.22569407e-01 -9.67741336e-03 2.16900575e+01] [ 2.49838306e-02 4.10643769e-05 9.99687855e-01 2.95048804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.908040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.82, Y:21.70, Z:2.96 [[ 9.22309896e-01 -3.85764224e-01 -2.30308453e-02 1.15823618e+02] [ 3.85642665e-01 9.22597399e-01 -9.68367668e-03 2.17022623e+01] [ 2.49838140e-02 4.96742569e-05 9.99687855e-01 2.95888421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.88, Y:21.72, Z:2.96 [[ 9.21478853e-01 -3.87745227e-01 -2.30296180e-02 1.15880204e+02] [ 3.87624213e-01 9.21766586e-01 -9.68659463e-03 2.17207578e+01] [ 2.49838632e-02 -8.45443290e-07 9.99687855e-01 2.95872578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.94, Y:21.74, Z:2.96 [[ 9.22039440e-01 -3.86410369e-01 -2.30281874e-02 1.15936754e+02] [ 3.86288855e-01 9.22326962e-01 -9.68999439e-03 2.17362110e+01] [ 2.49838324e-02 3.90248699e-05 9.99687855e-01 2.96081743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.088040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:115.99, Y:21.75, Z:2.96 [[ 9.21499708e-01 -3.87695825e-01 -2.30268634e-02 1.15992547e+02] [ 3.87574632e-01 9.21787366e-01 -9.69313959e-03 2.17522121e+01] [ 2.49838615e-02 7.59718096e-06 9.99687855e-01 2.96277888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.05, Y:21.77, Z:2.96 [[ 9.22079650e-01 -3.86314665e-01 -2.30238958e-02 1.16047148e+02] [ 3.86192866e-01 9.22367051e-01 -9.70018337e-03 2.17708200e+01] [ 2.49838060e-02 5.26773836e-05 9.99687855e-01 2.96375909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.10, Y:21.79, Z:2.97 [[ 9.21910733e-01 -3.86717652e-01 -2.30229700e-02 1.16103379e+02] [ 3.86595924e-01 9.22198165e-01 -9.70238025e-03 2.17865081e+01] [ 2.49838224e-02 4.41421314e-05 9.99687855e-01 2.96672557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.16, Y:21.80, Z:2.97 [[ 9.22605286e-01 -3.85057804e-01 -2.30211766e-02 1.16160652e+02] [ 3.84935452e-01 9.22892452e-01 -9.70663367e-03 2.18018582e+01] [ 2.49836852e-02 9.37244991e-05 9.99687855e-01 2.97170354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.22, Y:21.82, Z:2.97 [[ 9.21993246e-01 -3.86521153e-01 -2.30185501e-02 1.16216797e+02] [ 3.86399101e-01 9.22280540e-01 -9.71285814e-03 2.18191499e+01] [ 2.49837860e-02 6.08425215e-05 9.99687855e-01 2.97488990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.388040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.27, Y:21.83, Z:2.98 [[ 9.20561332e-01 -3.89919362e-01 -2.30157407e-02 1.16273818e+02] [ 3.89798205e-01 9.20849005e-01 -9.71951082e-03 2.18341920e+01] [ 2.49838474e-02 -2.40885918e-05 9.99687855e-01 2.97539913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.33, Y:21.85, Z:2.97 [[ 9.18818631e-01 -3.94008538e-01 -2.30129361e-02 1.16331818e+02] [ 3.93888495e-01 9.19106770e-01 -9.72614681e-03 2.18479365e+01] [ 2.49835303e-02 -1.27965866e-04 9.99687855e-01 2.97228969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.508040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.39, Y:21.86, Z:2.98 [[ 9.17748672e-01 -3.96494517e-01 -2.30103005e-02 1.16388953e+02] [ 3.96375098e-01 9.18037070e-01 -9.73237825e-03 2.18598763e+01] [ 2.49831434e-02 -1.88832895e-04 9.99687855e-01 2.97763199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.568040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.44, Y:21.88, Z:2.98 [[ 9.17284808e-01 -3.97566546e-01 -2.30091889e-02 1.16444727e+02] [ 3.97447398e-01 9.17573319e-01 -9.73500540e-03 2.18757068e+01] [ 2.49829303e-02 -2.15169724e-04 9.99687855e-01 2.97788992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.628040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.50, Y:21.90, Z:2.98 [[ 9.15622754e-01 -4.01379631e-01 -2.30079390e-02 1.16498106e+02] [ 4.01261610e-01 9.15911727e-01 -9.73795861e-03 2.18953548e+01] [ 2.49818594e-02 -3.15906185e-04 9.99687855e-01 2.98143638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.55, Y:21.91, Z:2.98 [[ 9.15409113e-01 -4.01866794e-01 -2.30051269e-02 1.16554968e+02] [ 4.01748760e-01 9.15698082e-01 -9.74459737e-03 2.19136809e+01] [ 2.49817807e-02 -3.21987987e-04 9.99687855e-01 2.97625346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.61, Y:21.93, Z:2.98 [[ 9.17218500e-01 -3.97719877e-01 -2.30026576e-02 1.16611189e+02] [ 3.97600391e-01 9.17506871e-01 -9.75042280e-03 2.19283567e+01] [ 2.49830334e-02 -2.02597505e-04 9.99687855e-01 2.98349626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.67, Y:21.94, Z:2.99 [[ 9.17702298e-01 -3.96602361e-01 -2.30012880e-02 1.16667139e+02] [ 3.96482443e-01 9.17990490e-01 -9.75365271e-03 2.19424040e+01] [ 2.49832853e-02 -1.68657341e-04 9.99687855e-01 2.99028069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.72, Y:21.97, Z:2.99 [[ 9.14985106e-01 -4.02831547e-01 -2.30000269e-02 1.16718368e+02] [ 4.02713515e-01 9.15274075e-01 -9.75662572e-03 2.19713507e+01] [ 2.49816049e-02 -3.35254452e-04 9.99687855e-01 2.99233770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.928040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:116.77, Y:21.99, Z:2.99 [[ 9.15476862e-01 -4.01712890e-01 -2.29971473e-02 1.16772097e+02] [ 4.01594335e-01 9.15765617e-01 -9.76340825e-03 2.19917362e+01] [ 2.49820838e-02 -2.97349750e-04 9.99687855e-01 2.99481654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.83, Y:22.00, Z:3.00 [[ 9.19030213e-01 -3.93515762e-01 -2.29959284e-02 1.16830505e+02] [ 3.93394560e-01 9.19317867e-01 -9.76627829e-03 2.20025309e+01] [ 2.49837523e-02 -7.09683314e-05 9.99687855e-01 2.99872442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.88, Y:22.02, Z:3.00 [[ 9.18732935e-01 -3.94209477e-01 -2.29930886e-02 1.16884106e+02] [ 3.94088325e-01 9.19020610e-01 -9.77295960e-03 2.20232990e+01] [ 2.49837156e-02 -8.25679256e-05 9.99687855e-01 3.00164004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.108040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:116.94, Y:22.05, Z:3.00 [[ 9.18208280e-01 -3.95430036e-01 -2.29922064e-02 1.16936547e+02] [ 3.95309214e-01 9.18496094e-01 -9.77503464e-03 2.20472875e+01] [ 2.49835941e-02 -1.13513311e-04 9.99687855e-01 3.00150327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.168040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.99, Y:22.07, Z:3.00 [[ 9.16681233e-01 -3.98957416e-01 -2.29890926e-02 1.16988789e+02] [ 3.98837518e-01 9.16969432e-01 -9.78235240e-03 2.20709899e+01] [ 2.49830372e-02 -2.01613767e-04 9.99687855e-01 3.00186706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.04, Y:22.09, Z:3.01 [[ 9.16377626e-01 -3.99654353e-01 -2.29879470e-02 1.17042694e+02] [ 3.99534607e-01 9.16665888e-01 -9.78504362e-03 2.20921241e+01] [ 2.49829022e-02 -2.17685345e-04 9.99687855e-01 3.00698897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.288040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:117.10, Y:22.12, Z:3.01 [[ 9.13778681e-01 -4.05561488e-01 -2.29870144e-02 1.17096379e+02] [ 4.05443550e-01 9.14067688e-01 -9.78723410e-03 2.21176395e+01] [ 2.49810123e-02 -3.76570848e-04 9.99687855e-01 3.00532595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.15, Y:22.14, Z:3.00 [[ 9.12104411e-01 -4.09313156e-01 -2.29844451e-02 1.17148953e+02] [ 4.09196255e-01 9.12393839e-01 -9.79326402e-03 2.21409743e+01] [ 2.49793779e-02 -4.72669560e-04 9.99687855e-01 3.00482547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.408040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:117.20, Y:22.17, Z:3.01 [[ 9.13376601e-01 -4.06466428e-01 -2.29831877e-02 1.17201016e+02] [ 4.06348551e-01 9.13665633e-01 -9.79621406e-03 2.21657184e+01] [ 2.49807809e-02 -3.91552336e-04 9.99687855e-01 3.00559437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.25, Y:22.19, Z:3.01 [[ 9.13571356e-01 -4.06028666e-01 -2.29804145e-02 1.17254215e+02] [ 4.05910487e-01 9.13860265e-01 -9.80271539e-03 2.21901641e+01] [ 2.49810711e-02 -3.72511229e-04 9.99687855e-01 3.00531762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.528040942 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:117.31, Y:22.21, Z:3.01 [[ 9.14379759e-01 -4.04205014e-01 -2.29774461e-02 1.17307339e+02] [ 4.04086084e-01 9.14668359e-01 -9.80966830e-03 2.22136029e+01] [ 2.49818600e-02 -3.15104075e-04 9.99687855e-01 3.00928085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.588040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:117.36, Y:22.24, Z:3.01 [[ 9.13723176e-01 -4.05687118e-01 -2.29765351e-02 1.17359848e+02] [ 4.05568602e-01 9.14011946e-01 -9.81180166e-03 2.22396295e+01] [ 2.49813491e-02 -3.53290633e-04 9.99687855e-01 3.00905163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.648040942 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:117.41, Y:22.27, Z:3.01 [[ 9.10653294e-01 -4.12532149e-01 -2.29739813e-02 1.17409213e+02] [ 4.12415652e-01 9.10942886e-01 -9.81777752e-03 2.22717490e+01] [ 2.49781337e-02 -5.34238050e-04 9.99687855e-01 3.01076012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.47, Y:22.29, Z:3.01 [[ 9.11911830e-01 -4.09742691e-01 -2.29726406e-02 1.17465900e+02] [ 4.09625230e-01 9.12201031e-01 -9.82091373e-03 2.22878012e+01] [ 2.49797140e-02 -4.54365773e-04 9.99687855e-01 3.01233364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.52, Y:22.31, Z:3.01 [[ 9.11934774e-01 -4.09691780e-01 -2.29698407e-02 1.17518592e+02] [ 4.09574138e-01 9.12223902e-01 -9.82745788e-03 2.23114343e+01] [ 2.49798664e-02 -4.45852129e-04 9.99687855e-01 3.01405859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.828040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:117.57, Y:22.33, Z:3.02 [[ 9.14433021e-01 -4.04085097e-01 -2.29670191e-02 1.17571959e+02] [ 4.03965517e-01 9.14721352e-01 -9.83404767e-03 2.23344828e+01] [ 2.49822149e-02 -2.85305819e-04 9.99687855e-01 3.01773280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.62, Y:22.36, Z:3.02 [[ 9.15302867e-01 -4.02110951e-01 -2.29661506e-02 1.17624825e+02] [ 4.01990698e-01 9.15590919e-01 -9.83607564e-03 2.23611402e+01] [ 2.49827926e-02 -2.29190662e-04 9.99687855e-01 3.01590039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.948040942 meters Centerline goodness : 0.997195 with order 1 Centerline is valid? [True, True] Translation: X:117.67, Y:22.40, Z:3.02 [[ 9.11658797e-01 -4.10305883e-01 -2.29634640e-02 1.17672859e+02] [ 4.10188061e-01 9.11947851e-01 -9.84234376e-03 2.23954779e+01] [ 2.49798532e-02 -4.46479489e-04 9.99687855e-01 3.01681159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.008040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.73, Y:22.41, Z:3.02 [[ 9.16454296e-01 -3.99480136e-01 -2.29596276e-02 1.17732113e+02] [ 3.99358675e-01 9.16741840e-01 -9.85128490e-03 2.24050566e+01] [ 2.49834439e-02 -1.40874099e-04 9.99687855e-01 3.02390482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.068040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:117.79, Y:22.43, Z:3.02 [[ 9.17017213e-01 -3.98186438e-01 -2.29562729e-02 1.17786022e+02] [ 3.98064376e-01 9.17304503e-01 -9.85909617e-03 2.24279338e+01] [ 2.49836509e-02 -9.71135423e-05 9.99687855e-01 3.02361935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.128040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.84, Y:22.45, Z:3.02 [[ 9.16308550e-01 -3.99814674e-01 -2.29536019e-02 1.17838495e+02] [ 3.99692967e-01 9.16595989e-01 -9.86531073e-03 2.24520617e+01] [ 2.49834754e-02 -1.34724677e-04 9.99687855e-01 3.02068840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.188040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:117.89, Y:22.48, Z:3.02 [[ 9.16590980e-01 -3.99166820e-01 -2.29526594e-02 1.17892194e+02] [ 3.99044855e-01 9.16878311e-01 -9.86750310e-03 2.24770797e+01] [ 2.49835754e-02 -1.14676290e-04 9.99687855e-01 3.02052734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.94, Y:22.50, Z:3.02 [[ 9.15548935e-01 -4.01551301e-01 -2.29499481e-02 1.17943993e+02] [ 4.01429925e-01 9.15836515e-01 -9.87380507e-03 2.25016769e+01] [ 2.49832397e-02 -1.72844217e-04 9.99687855e-01 3.01560266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.308040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:118.00, Y:22.52, Z:3.02 [[ 9.15434420e-01 -4.01812406e-01 -2.29480538e-02 1.17998060e+02] [ 4.01691002e-01 9.15721988e-01 -9.87820565e-03 2.25237081e+01] [ 2.49832230e-02 -1.75177273e-04 9.99687855e-01 3.01906979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.05, Y:22.55, Z:3.02 [[ 9.14575180e-01 -4.03764477e-01 -2.29452956e-02 1.18050312e+02] [ 4.03643527e-01 9.14862939e-01 -9.88460828e-03 2.25474828e+01] [ 2.49828543e-02 -2.21502648e-04 9.99687855e-01 3.01947058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.10, Y:22.57, Z:3.02 [[ 9.13351048e-01 -4.06526090e-01 -2.29434331e-02 1.18104400e+02] [ 4.06405901e-01 9.13639126e-01 -9.88892952e-03 2.25696075e+01] [ 2.49821260e-02 -2.92282460e-04 9.99687855e-01 3.02264262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.16, Y:22.59, Z:3.03 [[ 9.11663329e-01 -4.10297084e-01 -2.29407280e-02 1.18159646e+02] [ 4.10177928e-01 9.11951836e-01 -9.89520097e-03 2.25888215e+01] [ 2.49808111e-02 -3.88688421e-04 9.99687855e-01 3.02648036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.548040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.21, Y:22.61, Z:3.02 [[ 9.08868375e-01 -4.16451834e-01 -2.29379077e-02 1.18212487e+02] [ 4.16334467e-01 9.09157614e-01 -9.90173439e-03 2.26136421e+01] [ 2.49777689e-02 -5.50468330e-04 9.99687855e-01 3.02428107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.608040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.27, Y:22.64, Z:3.03 [[ 9.08524252e-01 -4.17202187e-01 -2.29351025e-02 1.18265722e+02] [ 4.17084896e-01 9.08813522e-01 -9.90822773e-03 2.26361803e+01] [ 2.49774655e-02 -5.64019641e-04 9.99687855e-01 3.02776977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.668040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.32, Y:22.66, Z:3.03 [[ 9.08614854e-01 -4.17004985e-01 -2.29322923e-02 1.18318952e+02] [ 4.16887467e-01 9.08904031e-01 -9.91472744e-03 2.26589222e+01] [ 2.49777437e-02 -5.51516643e-04 9.99687855e-01 3.03162430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.37, Y:22.68, Z:3.03 [[ 9.09104124e-01 -4.15937414e-01 -2.29294285e-02 1.18370428e+02] [ 4.15819389e-01 9.09393096e-01 -9.92134603e-03 2.26834200e+01] [ 2.49785230e-02 -5.14964370e-04 9.99687855e-01 3.03208311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.788040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.42, Y:22.71, Z:3.04 [[ 9.08821994e-01 -4.16553575e-01 -2.29281995e-02 1.18420819e+02] [ 4.16435675e-01 9.09111016e-01 -9.92418561e-03 2.27133180e+01] [ 2.49782337e-02 -5.28802064e-04 9.99687855e-01 3.03708605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.848040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.47, Y:22.73, Z:3.04 [[ 9.11928106e-01 -4.09709111e-01 -2.29253841e-02 1.18474146e+02] [ 4.09588877e-01 9.12216166e-01 -9.93068498e-03 2.27324765e+01] [ 2.49815981e-02 -3.33911591e-04 9.99687855e-01 3.03880369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.908040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.53, Y:22.76, Z:3.04 [[ 9.12514025e-01 -4.08402543e-01 -2.29241708e-02 1.18526889e+02] [ 4.08281827e-01 9.12801882e-01 -9.93348505e-03 2.27575899e+01] [ 2.49820868e-02 -2.95077894e-04 9.99687855e-01 3.03776868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.58, Y:22.78, Z:3.04 [[ 9.15232224e-01 -4.02274267e-01 -2.29213776e-02 1.18580684e+02] [ 4.02151462e-01 9.15519197e-01 -9.93992619e-03 2.27804337e+01] [ 2.49835377e-02 -1.20524737e-04 9.99687855e-01 3.04280960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.63, Y:22.81, Z:3.04 [[ 9.17444885e-01 -3.97202249e-01 -2.29184653e-02 1.18632595e+02] [ 3.97077690e-01 9.17731100e-01 -9.94663654e-03 2.28057348e+01] [ 2.49838148e-02 2.50795820e-05 9.99687855e-01 3.04398167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.68, Y:22.83, Z:3.04 [[ 9.17765608e-01 -3.96460710e-01 -2.29171096e-02 1.18684830e+02] [ 3.96335842e-01 9.18051689e-01 -9.94975909e-03 2.28329086e+01] [ 2.49837797e-02 4.86747949e-05 9.99687855e-01 3.04271928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.74, Y:22.86, Z:3.05 [[ 9.18321610e-01 -3.95171289e-01 -2.29144565e-02 1.18737900e+02] [ 3.95045867e-01 9.18607448e-01 -9.95586534e-03 2.28556406e+01] [ 2.49836626e-02 9.04249531e-05 9.99687855e-01 3.04523471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.79, Y:22.88, Z:3.05 [[ 9.18596847e-01 -3.94531238e-01 -2.29114394e-02 1.18790419e+02] [ 3.94405444e-01 9.18882522e-01 -9.96280379e-03 2.28791562e+01] [ 2.49835585e-02 1.15403724e-04 9.99687856e-01 3.04735624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.84, Y:22.90, Z:3.05 [[ 9.18038858e-01 -3.95828064e-01 -2.29084740e-02 1.18843968e+02] [ 3.95702503e-01 9.18324635e-01 -9.96961772e-03 2.29023709e+01] [ 2.49836706e-02 8.75559610e-05 9.99687856e-01 3.04810691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.328040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.90, Y:22.93, Z:3.05 [[ 9.16333342e-01 -3.99760492e-01 -2.29075520e-02 1.18897073e+02] [ 3.99636105e-01 9.16619631e-01 -9.97173589e-03 2.29251888e+01] [ 2.49838179e-02 -1.72507763e-05 9.99687856e-01 3.04828092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.388040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.95, Y:22.95, Z:3.05 [[ 9.14240255e-01 -4.04524464e-01 -2.29066456e-02 1.18952062e+02] [ 4.04401516e-01 9.14527166e-01 -9.97381756e-03 2.29458370e+01] [ 2.49834029e-02 -1.45016700e-04 9.99687856e-01 3.04976671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.448040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.01, Y:22.97, Z:3.05 [[ 9.12166767e-01 -4.09178689e-01 -2.29039416e-02 1.19005550e+02] [ 4.09057048e-01 9.12454235e-01 -9.98002323e-03 2.29675025e+01] [ 2.49824113e-02 -2.65573219e-04 9.99687856e-01 3.05134767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.508040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.06, Y:22.99, Z:3.05 [[ 9.10172399e-01 -4.13596123e-01 -2.29008923e-02 1.19057683e+02] [ 4.13475702e-01 9.10460380e-01 -9.98701543e-03 2.29913374e+01] [ 2.49809460e-02 -3.79056726e-04 9.99687856e-01 3.05079849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.568040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:119.11, Y:23.01, Z:3.05 [[ 9.09138177e-01 -4.15864622e-01 -2.28995850e-02 1.19110917e+02] [ 4.15744844e-01 9.09426426e-01 -9.99001219e-03 2.30143048e+01] [ 2.49799804e-02 -4.38082906e-04 9.99687856e-01 3.05064426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.628040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:119.16, Y:23.04, Z:3.05 [[ 9.09490704e-01 -4.15093249e-01 -2.28966134e-02 1.19163870e+02] [ 4.14973055e-01 9.09778779e-01 -9.99681825e-03 2.30357637e+01] [ 2.49804647e-02 -4.09464352e-04 9.99687856e-01 3.05440697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.688040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:119.22, Y:23.06, Z:3.05 [[ 9.09495003e-01 -4.15083900e-01 -2.28953406e-02 1.19217341e+02] [ 4.14963630e-01 9.09783046e-01 -9.99973251e-03 2.30587268e+01] [ 2.49805207e-02 -4.06026877e-04 9.99687856e-01 3.05456955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.27, Y:23.08, Z:3.05 [[ 9.10654675e-01 -4.12533633e-01 -2.28924688e-02 1.19268692e+02] [ 4.12412391e-01 9.10942311e-01 -1.00063026e-02 2.30825914e+01] [ 2.49816548e-02 -3.28851582e-04 9.99687856e-01 3.05396212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.808040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:119.32, Y:23.10, Z:3.06 [[ 9.12934899e-01 -4.07462752e-01 -2.28905327e-02 1.19322565e+02] [ 4.07339801e-01 9.13221809e-01 -1.00107296e-02 2.31042860e+01] [ 2.49831331e-02 -1.85080592e-04 9.99687856e-01 3.05961081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.868040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:119.38, Y:23.13, Z:3.06 [[ 9.12582957e-01 -4.08250538e-01 -2.28876773e-02 1.19375553e+02] [ 4.08127671e-01 9.12869902e-01 -1.00172536e-02 2.31292057e+01] [ 2.49830210e-02 -1.99519530e-04 9.99687856e-01 3.05885281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.928040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:119.43, Y:23.15, Z:3.06 [[ 9.11750126e-01 -4.10107295e-01 -2.28848084e-02 1.19428415e+02] [ 4.09984849e-01 9.12037251e-01 -1.00238035e-02 2.31544725e+01] [ 2.49826327e-02 -2.43220582e-04 9.99687856e-01 3.05928898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.48, Y:23.18, Z:3.06 [[ 9.12407573e-01 -4.08642657e-01 -2.28822947e-02 1.19481981e+02] [ 4.08519606e-01 9.12694440e-01 -1.00295385e-02 2.31773802e+01] [ 2.49830404e-02 -1.96839118e-04 9.99687856e-01 3.05895735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.048040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.54, Y:23.20, Z:3.06 [[ 9.13099393e-01 -4.07094533e-01 -2.28809740e-02 1.19535176e+02] [ 4.06970920e-01 9.13386018e-01 -1.00325505e-02 2.32008003e+01] [ 2.49833583e-02 -1.51175242e-04 9.99687856e-01 3.06482593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.108040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.58, Y:23.23, Z:3.06 [[ 9.11303272e-01 -4.11099688e-01 -2.28778054e-02 1.19584977e+02] [ 4.10977153e-01 9.11590359e-01 -1.00397711e-02 2.32289517e+01] [ 2.49825336e-02 -2.52979102e-04 9.99687856e-01 3.05869955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.168040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:119.64, Y:23.25, Z:3.07 [[ 9.14062345e-01 -4.04928016e-01 -2.28764471e-02 1.19639025e+02] [ 4.04803466e-01 9.14348563e-01 -1.00428650e-02 2.32507430e+01] [ 2.49836840e-02 -8.06602984e-05 9.99687856e-01 3.06600862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22804094199999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:119.69, Y:23.28, Z:3.06 [[ 9.13942054e-01 -4.05199610e-01 -2.28735445e-02 1.19690320e+02] [ 4.05074979e-01 9.14228237e-01 -1.00494716e-02 2.32776244e+01] [ 2.49836822e-02 -8.08658415e-05 9.99687856e-01 3.06486169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.288040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.74, Y:23.30, Z:3.06 [[ 9.12876881e-01 -4.07593832e-01 -2.28706827e-02 1.19742769e+02] [ 4.07469789e-01 9.13163320e-01 -1.00559803e-02 2.33017290e+01] [ 2.49834241e-02 -1.39240352e-04 9.99687856e-01 3.06371467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.348040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.80, Y:23.32, Z:3.07 [[ 9.13522469e-01 -4.06145001e-01 -2.28678300e-02 1.19797204e+02] [ 4.06020340e-01 9.13808640e-01 -1.00624633e-02 2.33238649e+01] [ 2.49836398e-02 -9.25177876e-05 9.99687856e-01 3.06755779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.408040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.85, Y:23.35, Z:3.07 [[ 9.13946471e-01 -4.05190111e-01 -2.28653146e-02 1.19848999e+02] [ 4.05065009e-01 9.14232449e-01 -1.00681758e-02 2.33494281e+01] [ 2.49837379e-02 -6.01651076e-05 9.99687856e-01 3.06847693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.90, Y:23.37, Z:3.07 [[ 9.13617328e-01 -4.05931874e-01 -2.28624475e-02 1.19902049e+02] [ 4.05806841e-01 9.13903336e-01 -1.00746822e-02 2.33736379e+01] [ 2.49837017e-02 -7.33334198e-05 9.99687856e-01 3.06690169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.96, Y:23.40, Z:3.07 [[ 9.14698380e-01 -4.03490078e-01 -2.28611256e-02 1.19956043e+02] [ 4.03364207e-01 9.14984020e-01 -1.00776809e-02 2.33970482e+01] [ 2.49838089e-02 -3.32147742e-06 9.99687856e-01 3.07032384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.01, Y:23.42, Z:3.07 [[ 9.15773083e-01 -4.01045067e-01 -2.28585996e-02 1.20010573e+02] [ 4.00918290e-01 9.16058322e-01 -1.00834073e-02 2.34196343e+01] [ 2.49837111e-02 6.96823229e-05 9.99687856e-01 3.07220371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.06, Y:23.45, Z:3.07 [[ 9.15012500e-01 -4.02777513e-01 -2.28560657e-02 1.20062598e+02] [ 4.02651133e-01 9.15297915e-01 -1.00891475e-02 2.34474727e+01] [ 2.49837911e-02 2.86753121e-05 9.99687856e-01 3.06525341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.12, Y:23.47, Z:3.07 [[ 9.14921268e-01 -4.02984849e-01 -2.28535631e-02 1.20115920e+02] [ 4.02858392e-01 9.15206649e-01 -1.00948133e-02 2.34680398e+01] [ 2.49837897e-02 2.92097338e-05 9.99687856e-01 3.06988220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.17, Y:23.49, Z:3.07 [[ 9.13884888e-01 -4.05329722e-01 -2.28523330e-02 1.20169810e+02] [ 4.05203927e-01 9.14170562e-01 -1.00975972e-02 2.34895498e+01] [ 2.49837863e-02 -3.18135930e-05 9.99687856e-01 3.06706453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.828040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.22, Y:23.51, Z:3.07 [[ 9.10666472e-01 -4.12509864e-01 -2.28514710e-02 1.20223379e+02] [ 4.12386273e-01 9.10953106e-01 -1.00995474e-02 2.35139575e+01] [ 2.49827814e-02 -2.26313736e-04 9.99687856e-01 3.06887184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.888040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.27, Y:23.54, Z:3.07 [[ 9.07837653e-01 -4.18698837e-01 -2.28490640e-02 1.20274912e+02] [ 4.18577063e-01 9.08125064e-01 -1.01049901e-02 2.35423537e+01] [ 2.49807553e-02 -3.90403632e-04 9.99687856e-01 3.06585747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.948040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.33, Y:23.57, Z:3.07 [[ 9.07365439e-01 -4.19721330e-01 -2.28465664e-02 1.20328861e+02] [ 4.19599738e-01 9.07652927e-01 -1.01106338e-02 2.35654832e+01] [ 2.49804015e-02 -4.12373572e-04 9.99687856e-01 3.06654824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.38, Y:23.59, Z:3.07 [[ 9.06632786e-01 -4.21301718e-01 -2.28441067e-02 1.20381971e+02] [ 4.21180487e-01 9.06920426e-01 -1.01161884e-02 2.35916850e+01] [ 2.49797545e-02 -4.49823914e-04 9.99687856e-01 3.06811534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.43, Y:23.62, Z:3.07 [[ 9.08107234e-01 -4.18114235e-01 -2.28415807e-02 1.20433198e+02] [ 4.17991851e-01 9.08394386e-01 -1.01218885e-02 2.36180058e+01] [ 2.49812694e-02 -3.55834459e-04 9.99687856e-01 3.06616243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.49, Y:23.64, Z:3.07 [[ 9.09197765e-01 -4.15737580e-01 -2.28405165e-02 1.20486650e+02] [ 4.15614385e-01 9.09484569e-01 -1.01242894e-02 2.36432398e+01] [ 2.49821449e-02 -2.87865904e-04 9.99687856e-01 3.06664985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.188040942 meters Centerline goodness : 0.995743 with order 1 Centerline is valid? [True, True] Translation: X:120.54, Y:23.67, Z:3.07 [[ 9.10290419e-01 -4.13339784e-01 -2.28380523e-02 1.20539806e+02] [ 4.13215694e-01 9.10576837e-01 -1.01298449e-02 2.36671477e+01] [ 2.49828694e-02 -2.15940866e-04 9.99687856e-01 3.07498802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.59, Y:23.71, Z:3.05 [[ 9.02172960e-01 -4.30769705e-01 -2.28344485e-02 1.20585113e+02] [ 4.30650941e-01 9.02461627e-01 -1.01379622e-02 2.37122128e+01] [ 2.49743405e-02 -6.87481321e-04 9.99687856e-01 3.05093099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.65, Y:23.72, Z:3.07 [[ 9.09862410e-01 -4.14281323e-01 -2.28337415e-02 1.20646448e+02] [ 4.14157286e-01 9.10148852e-01 -1.01395543e-02 2.37193905e+01] [ 2.49827316e-02 -2.31161058e-04 9.99687856e-01 3.07315801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.70, Y:23.74, Z:3.08 [[ 9.11538918e-01 -4.10579413e-01 -2.28330380e-02 1.20701388e+02] [ 4.10454173e-01 9.11824835e-01 -1.01411381e-02 2.37382035e+01] [ 2.49834737e-02 -1.27873694e-04 9.99687856e-01 3.08239298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.75, Y:23.76, Z:3.08 [[ 9.10125448e-01 -4.13703230e-01 -2.28321196e-02 1.20753563e+02] [ 4.13578919e-01 9.10411771e-01 -1.01432055e-02 2.37632661e+01] [ 2.49829073e-02 -2.11293908e-04 9.99687856e-01 3.08123594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.81, Y:23.79, Z:3.08 [[ 9.08894886e-01 -4.16399943e-01 -2.28292067e-02 1.20806324e+02] [ 4.16276318e-01 9.09181505e-01 -1.01497574e-02 2.37868919e+01] [ 2.49822509e-02 -2.78195492e-04 9.99687856e-01 3.08178967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.86, Y:23.82, Z:3.07 [[ 9.05644798e-01 -4.23422329e-01 -2.28261199e-02 1.20856239e+02] [ 4.23300750e-01 9.05932291e-01 -1.01566946e-02 2.38187393e+01] [ 2.49794904e-02 -4.63956077e-04 9.99687856e-01 3.07178006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.91, Y:23.85, Z:3.07 [[ 9.03437478e-01 -4.28111815e-01 -2.28253635e-02 1.20909075e+02] [ 4.27991686e-01 9.03725580e-01 -1.01583942e-02 2.38467220e+01] [ 2.49767934e-02 -5.91591824e-04 9.99687856e-01 3.06697525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.96, Y:23.88, Z:3.06 [[ 9.02001335e-01 -4.31129569e-01 -2.28229438e-02 1.20960018e+02] [ 4.31010267e-01 9.02289780e-01 -1.01638277e-02 2.38764014e+01] [ 2.49748356e-02 -6.69136939e-04 9.99687856e-01 3.06399964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72804094199998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:121.02, Y:23.90, Z:3.07 [[ 9.02753853e-01 -4.29551652e-01 -2.28223449e-02 1.21015079e+02] [ 4.29431811e-01 9.03042075e-01 -1.01651723e-02 2.38969483e+01] [ 2.49760042e-02 -6.23992435e-04 9.99687856e-01 3.06577832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78804094199998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:121.07, Y:23.91, Z:3.07 [[ 9.04781233e-01 -4.25264828e-01 -2.28198587e-02 1.21072093e+02] [ 4.25143481e-01 9.05068824e-01 -1.01707505e-02 2.39144996e+01] [ 2.49788051e-02 -4.99409920e-04 9.99687856e-01 3.07093230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.13, Y:23.94, Z:3.08 [[ 9.05752823e-01 -4.23191575e-01 -2.28191823e-02 1.21126596e+02] [ 4.23069531e-01 9.06040119e-01 -1.01722678e-02 2.39359224e+01] [ 2.49799127e-02 -4.40540514e-04 9.99687856e-01 3.07884759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.18, Y:23.95, Z:3.09 [[ 9.08226715e-01 -4.17855997e-01 -2.28166337e-02 1.21184014e+02] [ 4.17732122e-01 9.08513227e-01 -1.01779811e-02 2.39506378e+01] [ 2.49821440e-02 -2.87326453e-04 9.99687856e-01 3.09023498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.24, Y:23.97, Z:3.09 [[ 9.08104626e-01 -4.18121413e-01 -2.28138757e-02 1.21237463e+02] [ 4.17997466e-01 9.08391106e-01 -1.01841594e-02 2.39723974e+01] [ 2.49821369e-02 -2.87860023e-04 9.99687856e-01 3.09439761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.29, Y:24.00, Z:3.10 [[ 9.08341394e-01 -4.17606853e-01 -2.28129074e-02 1.21291297e+02] [ 4.17482689e-01 9.08627780e-01 -1.01863279e-02 2.39967834e+01] [ 2.49823218e-02 -2.71330646e-04 9.99687856e-01 3.09955262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.35, Y:24.02, Z:3.10 [[ 9.08411924e-01 -4.17453546e-01 -2.28103858e-02 1.21345042e+02] [ 4.17329192e-01 9.08698228e-01 -1.01919716e-02 2.40214376e+01] [ 2.49824318e-02 -2.60931337e-04 9.99687856e-01 3.10240984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.40, Y:24.05, Z:3.11 [[ 9.08651418e-01 -4.16932132e-01 -2.28078650e-02 1.21398392e+02] [ 4.16807473e-01 9.08937588e-01 -1.01976096e-02 2.40453433e+01] [ 2.49826369e-02 -2.40416173e-04 9.99687856e-01 3.10732989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.45, Y:24.07, Z:3.10 [[ 9.08756536e-01 -4.16703126e-01 -2.28048825e-02 1.21450606e+02] [ 4.16578227e-01 9.09042603e-01 -1.02042749e-02 2.40741604e+01] [ 2.49827630e-02 -2.26816055e-04 9.99687856e-01 3.10445755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.50, Y:24.10, Z:3.10 [[ 9.09174394e-01 -4.15790786e-01 -2.28022608e-02 1.21501842e+02] [ 4.15665454e-01 9.09460271e-01 -1.02101299e-02 2.41027646e+01] [ 2.49830283e-02 -1.95323424e-04 9.99687856e-01 3.10396551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.55, Y:24.13, Z:3.11 [[ 9.10452442e-01 -4.12984806e-01 -2.28013171e-02 1.21552955e+02] [ 4.12858540e-01 9.10737908e-01 -1.02122371e-02 2.41290575e+01] [ 2.49835226e-02 -1.15962255e-04 9.99687856e-01 3.10638408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.61, Y:24.15, Z:3.11 [[ 9.12496395e-01 -4.08448887e-01 -2.27999057e-02 1.21605540e+02] [ 4.08321123e-01 9.12781193e-01 -1.02153871e-02 2.41539949e+01] [ 2.49837886e-02 1.18207824e-05 9.99687856e-01 3.10897424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.66, Y:24.18, Z:3.11 [[ 9.14389606e-01 -4.04192957e-01 -2.27969841e-02 1.21656951e+02] [ 4.04063705e-01 9.14673732e-01 -1.02219030e-02 2.41805983e+01] [ 2.49834237e-02 1.35367973e-04 9.99687856e-01 3.10919128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.71, Y:24.21, Z:3.11 [[ 9.14295267e-01 -4.04406475e-01 -2.27940078e-02 1.21709461e+02] [ 4.04277124e-01 9.14579348e-01 -1.02285356e-02 2.42052855e+01] [ 2.49834148e-02 1.36805810e-04 9.99687856e-01 3.11010379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.76, Y:24.23, Z:3.11 [[ 9.13452591e-01 -4.06306450e-01 -2.27910564e-02 1.21762322e+02] [ 4.06177526e-01 9.13736866e-01 -1.02351076e-02 2.42277416e+01] [ 2.49836187e-02 9.20706994e-05 9.99687856e-01 3.11302899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.81, Y:24.25, Z:3.11 [[ 9.13580741e-01 -4.06018293e-01 -2.27897885e-02 1.21814665e+02] [ 4.05889209e-01 9.13864943e-01 -1.02379301e-02 2.42525787e+01] [ 2.49835756e-02 1.03046544e-04 9.99687856e-01 3.10613599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.87, Y:24.28, Z:3.11 [[ 9.10779439e-01 -4.12263846e-01 -2.27889052e-02 1.21866554e+02] [ 4.12136661e-01 9.11064497e-01 -1.02398957e-02 2.42781221e+01] [ 2.49837012e-02 -6.58568668e-05 9.99687856e-01 3.11366990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.92, Y:24.30, Z:3.11 [[ 9.08757401e-01 -4.16702267e-01 -2.27861144e-02 1.21919280e+02] [ 4.16576319e-01 9.09043006e-01 -1.02461021e-02 2.43024888e+01] [ 2.49831319e-02 -1.80934619e-04 9.99687856e-01 3.11451926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.97, Y:24.33, Z:3.11 [[ 9.07452161e-01 -4.19537250e-01 -2.27831524e-02 1.21972854e+02] [ 4.19412029e-01 9.07738086e-01 -1.02526842e-02 2.43255431e+01] [ 2.49825181e-02 -2.51707785e-04 9.99687856e-01 3.11398902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.03, Y:24.35, Z:3.12 [[ 9.06186181e-01 -4.22264816e-01 -2.27822441e-02 1.22026317e+02] [ 4.22140405e-01 9.06472459e-01 -1.02547022e-02 2.43489849e+01] [ 2.49816767e-02 -3.24636335e-04 9.99687856e-01 3.11651919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.08, Y:24.38, Z:3.11 [[ 9.04941222e-01 -4.24926447e-01 -2.27793404e-02 1.22078183e+02] [ 4.24802716e-01 9.05227795e-01 -1.02611482e-02 2.43754214e+01] [ 2.49807254e-02 -3.90989654e-04 9.99687857e-01 3.11343564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.13, Y:24.40, Z:3.11 [[ 9.03128288e-01 -4.28766288e-01 -2.27764388e-02 1.22130054e+02] [ 4.28643613e-01 9.03415314e-01 -1.02675847e-02 2.44013067e+01] [ 2.49789778e-02 -4.90028793e-04 9.99687857e-01 3.11390959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.18, Y:24.42, Z:3.12 [[ 9.02479441e-01 -4.30130478e-01 -2.27734534e-02 1.22181856e+02] [ 4.30008069e-01 9.02766582e-01 -1.02742022e-02 2.44247562e+01] [ 2.49783602e-02 -5.20512416e-04 9.99687857e-01 3.11863472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.23, Y:24.45, Z:3.12 [[ 9.01451284e-01 -4.32281172e-01 -2.27721707e-02 1.22234305e+02] [ 4.32159376e-01 9.01738685e-01 -1.02770443e-02 2.44489560e+01] [ 2.49771200e-02 -5.76952280e-04 9.99687857e-01 3.12122188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.29, Y:24.48, Z:3.12 [[ 9.00419520e-01 -4.34426344e-01 -2.27692788e-02 1.22286614e+02] [ 4.34305072e-01 9.00707142e-01 -1.02834475e-02 2.44759823e+01] [ 2.49758525e-02 -6.29396462e-04 9.99687857e-01 3.12331005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.34, Y:24.50, Z:3.13 [[ 9.00190045e-01 -4.34901783e-01 -2.27666775e-02 1.22338729e+02] [ 4.34780517e-01 9.00477670e-01 -1.02892033e-02 2.45035018e+01] [ 2.49756776e-02 -6.36269399e-04 9.99687857e-01 3.12709202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.39, Y:24.53, Z:3.12 [[ 8.97652236e-01 -4.40116189e-01 -2.27641008e-02 1.22389078e+02] [ 4.39996449e-01 8.97940499e-01 -1.02949009e-02 2.45330047e+01] [ 2.49717606e-02 -7.74882709e-04 9.99687857e-01 3.12279346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.44, Y:24.56, Z:3.13 [[ 9.00999917e-01 -4.33221744e-01 -2.27611471e-02 1.22442786e+02] [ 4.33099633e-01 9.01287184e-01 -1.03014272e-02 2.45571753e+01] [ 2.49771324e-02 -5.76259446e-04 9.99687857e-01 3.12884883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.49, Y:24.59, Z:3.13 [[ 9.01733696e-01 -4.31692471e-01 -2.27585413e-02 1.22493747e+02] [ 4.31569728e-01 9.02020694e-01 -1.03071810e-02 2.45856420e+01] [ 2.49782076e-02 -5.27565046e-04 9.99687857e-01 3.12973134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.55, Y:24.61, Z:3.13 [[ 9.03272773e-01 -4.28462928e-01 -2.27555875e-02 1.22547328e+02] [ 4.28338994e-01 9.03559259e-01 -1.03136979e-02 2.46088554e+01] [ 2.49800590e-02 -4.31022949e-04 9.99687857e-01 3.13454578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.60, Y:24.64, Z:3.13 [[ 9.01105351e-01 -4.33002826e-01 -2.27530106e-02 1.22597237e+02] [ 4.32880192e-01 9.01392395e-01 -1.03193798e-02 2.46404638e+01] [ 2.49777113e-02 -5.50479212e-04 9.99687857e-01 3.12801974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.65, Y:24.67, Z:3.12 [[ 8.99730716e-01 -4.35852042e-01 -2.27516358e-02 1.22648574e+02] [ 4.35730240e-01 9.00018114e-01 -1.03224100e-02 2.46690305e+01] [ 2.49759278e-02 -6.26186377e-04 9.99687857e-01 3.12445406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.648040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:122.70, Y:24.69, Z:3.13 [[ 8.99665545e-01 -4.35986700e-01 -2.27487311e-02 1.22699594e+02] [ 4.35864779e-01 8.99952893e-01 -1.03288074e-02 2.46948583e+01] [ 2.49760090e-02 -6.22898579e-04 9.99687857e-01 3.12820969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.75, Y:24.72, Z:3.13 [[ 8.99815559e-01 -4.35677110e-01 -2.27467757e-02 1.22751849e+02] [ 4.35554982e-01 9.00102819e-01 -1.03331120e-02 2.47215379e+01] [ 2.49763373e-02 -6.09576508e-04 9.99687857e-01 3.13196628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.80, Y:24.75, Z:3.13 [[ 9.00196344e-01 -4.34889917e-01 -2.27442942e-02 1.22804861e+02] [ 4.34767400e-01 9.00483438e-01 -1.03385711e-02 2.47461834e+01] [ 2.49770006e-02 -5.81733768e-04 9.99687857e-01 3.13477435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.86, Y:24.77, Z:3.13 [[ 9.01894416e-01 -4.31357475e-01 -2.27418367e-02 1.22859054e+02] [ 4.31233698e-01 9.02180969e-01 -1.03439741e-02 2.47693534e+01] [ 2.49792028e-02 -4.77873799e-04 9.99687857e-01 3.12984343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.91, Y:24.79, Z:3.14 [[ 9.02585279e-01 -4.29910148e-01 -2.27393656e-02 1.22914817e+02] [ 4.29785774e-01 9.02871574e-01 -1.03494036e-02 2.47884735e+01] [ 2.49800404e-02 -4.31836488e-04 9.99687857e-01 3.14149719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.97, Y:24.82, Z:3.14 [[ 9.02309659e-01 -4.30488460e-01 -2.27368572e-02 1.22966052e+02] [ 4.30364131e-01 9.02595973e-01 -1.03549114e-02 2.48150007e+01] [ 2.49798656e-02 -4.41791246e-04 9.99687857e-01 3.13836742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.02, Y:24.84, Z:3.13 [[ 9.01846626e-01 -4.31457714e-01 -2.27355374e-02 1.23019071e+02] [ 4.31333620e-01 9.02133041e-01 -1.03578084e-02 2.48387631e+01] [ 2.49794358e-02 -4.65447037e-04 9.99687857e-01 3.13438691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.08, Y:24.85, Z:3.15 [[ 9.05595815e-01 -4.23532110e-01 -2.27326235e-02 1.23075605e+02] [ 4.23405348e-01 9.05881060e-01 -1.03641997e-02 2.48529846e+01] [ 2.49826244e-02 -2.39338521e-04 9.99687857e-01 3.15039877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.13, Y:24.88, Z:3.15 [[ 9.04571600e-01 -4.25715267e-01 -2.27317275e-02 1.23129136e+02] [ 4.25589144e-01 9.04857128e-01 -1.03661645e-02 2.48779460e+01] [ 2.49820001e-02 -2.97438405e-04 9.99687857e-01 3.14658480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.19, Y:24.89, Z:3.15 [[ 9.05565037e-01 -4.23598089e-01 -2.27293302e-02 1.23185038e+02] [ 4.23471167e-01 9.05850211e-01 -1.03714182e-02 2.48937051e+01] [ 2.49826815e-02 -2.33222249e-04 9.99687857e-01 3.14674298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.24, Y:24.91, Z:3.15 [[ 9.06348378e-01 -4.21919518e-01 -2.27274878e-02 1.23239672e+02] [ 4.21791966e-01 9.06633271e-01 -1.03754541e-02 2.49147683e+01] [ 2.49831031e-02 -1.82495755e-04 9.99687857e-01 3.15421749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.29, Y:24.94, Z:3.15 [[ 9.06632034e-01 -4.21309777e-01 -2.27250214e-02 1.23293149e+02] [ 4.21181898e-01 9.06916780e-01 -1.03808532e-02 2.49361078e+01] [ 2.49832582e-02 -1.59753665e-04 9.99687857e-01 3.15464644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.35, Y:24.95, Z:3.15 [[ 9.07844220e-01 -4.18691395e-01 -2.27241541e-02 1.23349804e+02] [ 4.18562648e-01 9.08128575e-01 -1.03827514e-02 2.49527166e+01] [ 2.49836224e-02 -8.55612616e-05 9.99687857e-01 3.15490735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.40, Y:24.97, Z:3.15 [[ 9.08899348e-01 -4.16396107e-01 -2.27212947e-02 1.23404779e+02] [ 4.16266485e-01 9.09183305e-01 -1.03890052e-02 2.49701218e+01] [ 2.49837631e-02 -1.55534366e-05 9.99687857e-01 3.15322663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.46, Y:24.99, Z:3.15 [[ 9.09332588e-01 -4.15449207e-01 -2.27200657e-02 1.23460873e+02] [ 4.15319222e-01 9.09616379e-01 -1.03916922e-02 2.49892000e+01] [ 2.49837642e-02 1.34243246e-05 9.99687857e-01 3.15347016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54804094199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:123.52, Y:25.01, Z:3.16 [[ 9.10968934e-01 -4.11848888e-01 -2.27177003e-02 1.23517505e+02] [ 4.11717653e-01 9.11252149e-01 -1.03968606e-02 2.50064286e+01] [ 2.49834887e-02 1.17938765e-04 9.99687857e-01 3.16030106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.57, Y:25.02, Z:3.16 [[ 9.12719935e-01 -4.07953857e-01 -2.27149712e-02 1.23572818e+02] [ 4.07821265e-01 9.13002518e-01 -1.04028198e-02 2.50239344e+01] [ 2.49826964e-02 2.31212776e-04 9.99687857e-01 3.16350602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.63, Y:25.04, Z:3.17 [[ 9.13550699e-01 -4.06090156e-01 -2.27135373e-02 1.23627206e+02] [ 4.05956910e-01 9.13832974e-01 -1.04059497e-02 2.50441769e+01] [ 2.49821330e-02 2.85645209e-04 9.99687857e-01 3.16716259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.68, Y:25.07, Z:3.17 [[ 9.14968025e-01 -4.02886647e-01 -2.27126129e-02 1.23679831e+02] [ 4.02752363e-01 9.15249807e-01 -1.04079670e-02 2.50697622e+01] [ 2.49809454e-02 3.75398505e-04 9.99687857e-01 3.16821250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.73, Y:25.10, Z:3.17 [[ 9.14012524e-01 -4.05049863e-01 -2.27093414e-02 1.23731164e+02] [ 4.04916068e-01 9.14294539e-01 -1.04151001e-02 2.50961883e+01] [ 2.49816617e-02 3.24154732e-04 9.99687857e-01 3.16526513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.78, Y:25.12, Z:3.17 [[ 9.12360685e-01 -4.08757033e-01 -2.27083414e-02 1.23784199e+02] [ 4.08624330e-01 9.12643215e-01 -1.04172799e-02 2.51225939e+01] [ 2.49827502e-02 2.25135828e-04 9.99687857e-01 3.16757642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.84, Y:25.15, Z:3.17 [[ 9.09349520e-01 -4.15412924e-01 -2.27057874e-02 1.23837668e+02] [ 4.15282150e-01 9.09632948e-01 -1.04228439e-02 2.51461450e+01] [ 2.49837164e-02 4.86999111e-05 9.99687857e-01 3.17083687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.89, Y:25.17, Z:3.17 [[ 9.05019611e-01 -4.24763549e-01 -2.27030913e-02 1.23889726e+02] [ 4.24635556e-01 9.05304306e-01 -1.04287132e-02 2.51703481e+01] [ 2.49829435e-02 -2.02349795e-04 9.99687857e-01 3.17044065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.94, Y:25.20, Z:3.17 [[ 9.01345413e-01 -4.32505570e-01 -2.27019553e-02 1.23940403e+02] [ 4.32379960e-01 9.01631167e-01 -1.04311856e-02 2.51995095e+01] [ 2.49803363e-02 -4.13769208e-04 9.99687857e-01 3.16549030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.99, Y:25.22, Z:3.17 [[ 8.99679812e-01 -4.35959744e-01 -2.27010543e-02 1.23993624e+02] [ 4.35835181e-01 8.99966024e-01 -1.04331460e-02 2.52245069e+01] [ 2.49786092e-02 -5.07427248e-04 9.99687857e-01 3.17025728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.05, Y:25.25, Z:3.18 [[ 8.98030090e-01 -4.39348074e-01 -2.26986002e-02 1.24045765e+02] [ 4.39224457e-01 8.98316712e-01 -1.04384823e-02 2.52474892e+01] [ 2.49766590e-02 -5.95709136e-04 9.99687857e-01 3.17523881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.10, Y:25.27, Z:3.18 [[ 8.99266039e-01 -4.36812833e-01 -2.26967077e-02 1.24098842e+02] [ 4.36688303e-01 8.99552265e-01 -1.04425957e-02 2.52722547e+01] [ 2.49783347e-02 -5.20715081e-04 9.99687857e-01 3.17782405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.15, Y:25.30, Z:3.17 [[ 8.98976205e-01 -4.37409134e-01 -2.26943134e-02 1.24150918e+02] [ 4.37284663e-01 8.99262457e-01 -1.04477965e-02 2.53010145e+01] [ 2.49781057e-02 -5.31554724e-04 9.99687857e-01 3.17399186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.21, Y:25.32, Z:3.18 [[ 8.99278032e-01 -4.36788390e-01 -2.26919144e-02 1.24205275e+02] [ 4.36663590e-01 8.99564141e-01 -1.04530043e-02 2.53248619e+01] [ 2.49785835e-02 -5.08575658e-04 9.99687857e-01 3.17914658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.26, Y:25.35, Z:3.18 [[ 8.98787798e-01 -4.37796393e-01 -2.26894613e-02 1.24258808e+02] [ 4.37671780e-01 8.99073988e-01 -1.04583265e-02 2.53484148e+01] [ 2.49781221e-02 -5.30720640e-04 9.99687857e-01 3.18167066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.31, Y:25.37, Z:3.19 [[ 8.99034327e-01 -4.37290053e-01 -2.26867484e-02 1.24312769e+02] [ 4.37165130e-01 8.99320382e-01 -1.04642082e-02 2.53701951e+01] [ 2.49785494e-02 -5.10172918e-04 9.99687857e-01 3.18721789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.37, Y:25.39, Z:3.19 [[ 8.99751437e-01 -4.35812814e-01 -2.26835213e-02 1.24365288e+02] [ 4.35687245e-01 9.00037209e-01 -1.04711989e-02 2.53944015e+01] [ 2.49794959e-02 -4.61444651e-04 9.99687857e-01 3.18569667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.42, Y:25.42, Z:3.19 [[ 9.01987526e-01 -4.31165867e-01 -2.26825325e-02 1.24419325e+02] [ 4.31038773e-01 9.02272623e-01 -1.04733405e-02 2.54166821e+01] [ 2.49815750e-02 -3.30228484e-04 9.99687857e-01 3.18897626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.47, Y:25.44, Z:3.19 [[ 9.02872894e-01 -4.29308932e-01 -2.26799186e-02 1.24471401e+02] [ 4.29181109e-01 9.03157664e-01 -1.04789977e-02 2.54415502e+01] [ 2.49822696e-02 -2.72589650e-04 9.99687857e-01 3.18786767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.53, Y:25.46, Z:3.19 [[ 9.05187595e-01 -4.24406739e-01 -2.26790001e-02 1.24525234e+02] [ 4.24277324e-01 9.05471646e-01 -1.04809852e-02 2.54644905e+01] [ 2.49833923e-02 -1.34927646e-04 9.99687857e-01 3.19114287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.58, Y:25.48, Z:3.20 [[ 9.06494257e-01 -4.21608790e-01 -2.26757474e-02 1.24581348e+02] [ 4.21478322e-01 9.06777826e-01 -1.04880177e-02 2.54840937e+01] [ 2.49837054e-02 -5.00081796e-05 9.99687857e-01 3.19503301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.63, Y:25.51, Z:3.19 [[ 9.05008786e-01 -4.24788224e-01 -2.26729326e-02 1.24632889e+02] [ 4.24658600e-01 9.05292741e-01 -1.04940993e-02 2.55102979e+01] [ 2.49834111e-02 -1.31003712e-04 9.99687857e-01 3.19010230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.69, Y:25.53, Z:3.19 [[ 9.07581711e-01 -4.19262949e-01 -2.26719444e-02 1.24689475e+02] [ 4.19131543e-01 9.07864846e-01 -1.04962337e-02 2.55283314e+01] [ 2.49837432e-02 2.36627319e-05 9.99687857e-01 3.19315875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.74, Y:25.56, Z:3.19 [[ 9.05099990e-01 -4.24594051e-01 -2.26693693e-02 1.24741732e+02] [ 4.24464173e-01 9.05383829e-01 -1.05017925e-02 2.55567154e+01] [ 2.49834790e-02 -1.17162815e-04 9.99687857e-01 3.19019083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.79, Y:25.58, Z:3.20 [[ 9.02639184e-01 -4.29800799e-01 -2.26666598e-02 1.24792481e+02] [ 4.29672411e-01 9.02923700e-01 -1.05076373e-02 2.55832405e+01] [ 2.49824552e-02 -2.54633230e-04 9.99687857e-01 3.19758615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.84, Y:25.61, Z:3.20 [[ 8.99106164e-01 -4.37143432e-01 -2.26655188e-02 1.24844146e+02] [ 4.37017306e-01 8.99391690e-01 -1.05100978e-02 2.56116540e+01] [ 2.49795995e-02 -4.55530242e-04 9.99687857e-01 3.19570301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.90, Y:25.64, Z:3.20 [[ 9.00757123e-01 -4.33731484e-01 -2.26628730e-02 1.24896224e+02] [ 4.33604133e-01 9.01042105e-01 -1.05157999e-02 2.56388489e+01] [ 2.49812363e-02 -3.54533730e-04 9.99687857e-01 3.19602856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.95, Y:25.67, Z:3.20 [[ 8.99951507e-01 -4.35400732e-01 -2.26602527e-02 1.24947444e+02] [ 4.35273767e-01 9.00236661e-01 -1.05214432e-02 2.56658459e+01] [ 2.49806343e-02 -3.94624859e-04 9.99687857e-01 3.19682246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.00, Y:25.69, Z:3.20 [[ 8.99879133e-01 -4.35550465e-01 -2.26569663e-02 1.24999187e+02] [ 4.35423370e-01 9.00164229e-01 -1.05285156e-02 2.56908599e+01] [ 2.49806904e-02 -3.90981132e-04 9.99687857e-01 3.19751409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.05, Y:25.71, Z:3.20 [[ 9.00022997e-01 -4.35253158e-01 -2.26559598e-02 1.25051494e+02] [ 4.35125914e-01 9.00308027e-01 -1.05306808e-02 2.57149490e+01] [ 2.49808546e-02 -3.80340311e-04 9.99687857e-01 3.19841543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.10, Y:25.74, Z:3.20 [[ 9.00251750e-01 -4.34779894e-01 -2.26545683e-02 1.25104138e+02] [ 4.34652425e-01 9.00536679e-01 -1.05336736e-02 2.57408026e+01] [ 2.49810992e-02 -3.63904902e-04 9.99687857e-01 3.20345372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40804094199999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:125.16, Y:25.77, Z:3.20 [[ 9.02062689e-01 -4.31010202e-01 -2.26519506e-02 1.25156366e+02] [ 4.30881400e-01 9.02347019e-01 -1.05392996e-02 2.57652720e+01] [ 2.49824658e-02 -2.53195235e-04 9.99687857e-01 3.20320657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.21, Y:25.79, Z:3.21 [[ 9.03352374e-01 -4.28300731e-01 -2.26488955e-02 1.25209199e+02] [ 4.28170912e-01 9.03636240e-01 -1.05458611e-02 2.57901854e+01] [ 2.49831628e-02 -1.70969615e-04 9.99687857e-01 3.20640605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.26, Y:25.81, Z:3.21 [[ 9.06212812e-01 -4.22214980e-01 -2.26462031e-02 1.25261908e+02] [ 4.22083111e-01 9.06495731e-01 -1.05516396e-02 2.58133303e+01] [ 2.49837467e-02 3.45112653e-06 9.99687857e-01 3.20897538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.31, Y:25.84, Z:3.21 [[ 9.07029937e-01 -4.20456870e-01 -2.26431597e-02 1.25314930e+02] [ 4.20324290e-01 9.07312524e-01 -1.05581666e-02 2.58374601e+01] [ 2.49836760e-02 5.91031553e-05 9.99687858e-01 3.20953697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.37, Y:25.87, Z:3.21 [[ 9.04035853e-01 -4.26856541e-01 -2.26422267e-02 1.25366316e+02] [ 4.26725910e-01 9.04319347e-01 -1.05601669e-02 2.58671177e+01] [ 2.49834800e-02 -1.15255256e-04 9.99687858e-01 3.20526970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.42, Y:25.89, Z:3.21 [[ 9.02716284e-01 -4.29640266e-01 -2.26396049e-02 1.25417473e+02] [ 4.29510369e-01 9.03000115e-01 -1.05657848e-02 2.58938728e+01] [ 2.49830524e-02 -1.86039050e-04 9.99687858e-01 3.20862987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.768040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.47, Y:25.92, Z:3.21 [[ 9.00187538e-01 -4.34913761e-01 -2.26366398e-02 1.25468231e+02] [ 4.34785367e-01 9.00472051e-01 -1.05721336e-02 2.59215663e+01] [ 2.49816278e-02 -3.25176843e-04 9.99687858e-01 3.20522015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.52, Y:25.95, Z:3.21 [[ 8.97023107e-01 -4.41403738e-01 -2.26337205e-02 1.25517937e+02] [ 4.41277244e-01 8.97308471e-01 -1.05783796e-02 2.59505719e+01] [ 2.49787655e-02 -4.98694849e-04 9.99687858e-01 3.21040346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.57, Y:25.98, Z:3.21 [[ 8.97557054e-01 -4.40317052e-01 -2.26324670e-02 1.25569803e+02] [ 4.40190145e-01 8.97842234e-01 -1.05810608e-02 2.59781365e+01] [ 2.49794063e-02 -4.65483197e-04 9.99687858e-01 3.21401302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.62, Y:26.01, Z:3.22 [[ 8.98183566e-01 -4.39037773e-01 -2.26299983e-02 1.25619945e+02] [ 4.38910327e-01 8.98468505e-01 -1.05863381e-02 2.60069901e+01] [ 2.49801430e-02 -4.24065029e-04 9.99687858e-01 3.22032109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.67, Y:26.04, Z:3.22 [[ 8.99935655e-01 -4.35435226e-01 -2.26269927e-02 1.25670655e+02] [ 4.35306478e-01 9.00220008e-01 -1.05927584e-02 2.60355197e+01] [ 2.49817317e-02 -3.16875523e-04 9.99687858e-01 3.22107276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.72, Y:26.06, Z:3.22 [[ 9.02461917e-01 -4.30175141e-01 -2.26238157e-02 1.25721255e+02] [ 4.30044566e-01 9.02745435e-01 -1.05995393e-02 2.60631171e+01] [ 2.49832047e-02 -1.63568426e-04 9.99687858e-01 3.22289953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.77, Y:26.09, Z:3.23 [[ 9.03356284e-01 -4.28293860e-01 -2.26228409e-02 1.25771623e+02] [ 4.28162642e-01 9.03639506e-01 -1.06016194e-02 2.60923814e+01] [ 2.49835013e-02 -1.09215822e-04 9.99687858e-01 3.22804079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.82, Y:26.12, Z:3.23 [[ 9.04401802e-01 -4.26081836e-01 -2.26196704e-02 1.25823700e+02] [ 4.25949757e-01 9.04684623e-01 -1.06083798e-02 2.61210264e+01] [ 2.49837059e-02 -4.06053360e-05 9.99687858e-01 3.22558824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.87, Y:26.15, Z:3.23 [[ 9.02395187e-01 -4.30315467e-01 -2.26169095e-02 1.25872893e+02] [ 4.30184567e-01 9.02678556e-01 -1.06142627e-02 2.61528949e+01] [ 2.49832806e-02 -1.51185792e-04 9.99687858e-01 3.22720025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.92, Y:26.18, Z:3.23 [[ 9.04486346e-01 -4.25902535e-01 -2.26159411e-02 1.25923793e+02] [ 4.25770200e-01 9.04769048e-01 -1.06163257e-02 2.61803719e+01] [ 2.49837235e-02 -2.68721228e-05 9.99687858e-01 3.23176887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.97, Y:26.21, Z:3.23 [[ 9.04463013e-01 -4.25952158e-01 -2.26145369e-02 1.25973052e+02] [ 4.25819764e-01 9.04745687e-01 -1.06193160e-02 2.62116825e+01] [ 2.49837253e-02 -2.49382345e-05 9.99687858e-01 3.23131231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.02, Y:26.24, Z:3.23 [[ 9.03130666e-01 -4.28770005e-01 -2.26115648e-02 1.26024170e+02] [ 4.28638335e-01 9.03413678e-01 -1.06256408e-02 2.62405341e+01] [ 2.49835529e-02 -9.58413997e-05 9.99687858e-01 3.23101710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.08, Y:26.26, Z:3.24 [[ 9.04277378e-01 -4.26346424e-01 -2.26086339e-02 1.26078563e+02] [ 4.26213839e-01 9.04559963e-01 -1.06318733e-02 2.62618406e+01] [ 2.49837262e-02 -2.19501799e-05 9.99687858e-01 3.23937354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.13, Y:26.29, Z:3.24 [[ 9.03214812e-01 -4.28593015e-01 -2.26059871e-02 1.26131348e+02] [ 4.28460993e-01 9.03497660e-01 -1.06374980e-02 2.62884293e+01] [ 2.49836138e-02 -7.78379408e-05 9.99687858e-01 3.24353652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60804094199997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:126.18, Y:26.32, Z:3.24 [[ 9.01299781e-01 -4.32605820e-01 -2.26032945e-02 1.26181561e+02] [ 4.32474914e-01 9.01583147e-01 -1.06432165e-02 2.63194628e+01] [ 2.49830667e-02 -1.82629146e-04 9.99687858e-01 3.24402880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.23, Y:26.35, Z:3.24 [[ 8.99506752e-01 -4.36321924e-01 -2.26004731e-02 1.26231609e+02] [ 4.36192037e-01 8.99790587e-01 -1.06492042e-02 2.63467990e+01] [ 2.49821742e-02 -2.79115274e-04 9.99687858e-01 3.24498174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.28, Y:26.38, Z:3.24 [[ 8.97369063e-01 -4.40701765e-01 -2.25990856e-02 1.26283387e+02] [ 4.40573190e-01 8.97653495e-01 -1.06521478e-02 2.63763698e+01] [ 2.49805685e-02 -3.97643374e-04 9.99687858e-01 3.24237364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.33, Y:26.41, Z:3.24 [[ 8.94868678e-01 -4.45757170e-01 -2.25963296e-02 1.26332675e+02] [ 4.45630054e-01 8.95153765e-01 -1.06579909e-02 2.64081649e+01] [ 2.49780654e-02 -5.32101386e-04 9.99687858e-01 3.23630714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.38, Y:26.43, Z:3.24 [[ 8.95739746e-01 -4.44004231e-01 -2.25953617e-02 1.26383343e+02] [ 4.43876505e-01 8.96024560e-01 -1.06600425e-02 2.64334629e+01] [ 2.49791030e-02 -4.80926435e-04 9.99687858e-01 3.23683536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.44, Y:26.46, Z:3.24 [[ 8.98457634e-01 -4.38478493e-01 -2.25940447e-02 1.26436650e+02] [ 4.38348945e-01 8.98741624e-01 -1.06628331e-02 2.64572906e+01] [ 2.49816314e-02 -3.23971826e-04 9.99687858e-01 3.23972987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.49, Y:26.48, Z:3.24 [[ 9.03326250e-01 -4.28358866e-01 -2.25913319e-02 1.26490712e+02] [ 4.28225993e-01 9.03608699e-01 -1.06685777e-02 2.64799840e+01] [ 2.49837039e-02 -3.69892441e-05 9.99687858e-01 3.23658934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.54, Y:26.50, Z:3.24 [[ 9.04624354e-01 -4.25610774e-01 -2.25886345e-02 1.26544158e+02] [ 4.25476901e-01 9.04906330e-01 -1.06742859e-02 2.65030305e+01] [ 2.49836894e-02 4.52768044e-05 9.99687858e-01 3.23915515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.60, Y:26.53, Z:3.24 [[ 9.04193162e-01 -4.26526222e-01 -2.25855798e-02 1.26597638e+02] [ 4.26392472e-01 9.04475197e-01 -1.06807453e-02 2.65259229e+01] [ 2.49837147e-02 2.71356612e-05 9.99687858e-01 3.24467567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.65, Y:26.54, Z:3.25 [[ 9.07354102e-01 -4.19760125e-01 -2.25825244e-02 1.26654272e+02] [ 4.19624112e-01 9.07635052e-01 -1.06872015e-02 2.65424069e+01] [ 2.49827518e-02 2.20904372e-04 9.99687858e-01 3.24610477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.71, Y:26.56, Z:3.25 [[ 9.06934489e-01 -4.20666152e-01 -2.25792458e-02 1.26709154e+02] [ 4.20530247e-01 9.07215491e-01 -1.06941239e-02 2.65623325e+01] [ 2.49828975e-02 2.03614005e-04 9.99687858e-01 3.25047768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.76, Y:26.58, Z:3.25 [[ 9.07047801e-01 -4.20421945e-01 -2.25759966e-02 1.26763189e+02] [ 4.20285793e-01 9.07328684e-01 -1.07009788e-02 2.65834646e+01] [ 2.49827756e-02 2.17928630e-04 9.99687858e-01 3.25215082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.82, Y:26.60, Z:3.25 [[ 9.08030157e-01 -4.18296071e-01 -2.25749976e-02 1.26820137e+02] [ 4.18159210e-01 9.08310695e-01 -1.07030859e-02 2.65993314e+01] [ 2.49821705e-02 2.78781610e-04 9.99687858e-01 3.25476667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.88, Y:26.62, Z:3.26 [[ 9.06789969e-01 -4.20977869e-01 -2.25740128e-02 1.26877089e+02] [ 4.20841786e-01 9.07070885e-01 -1.07051624e-02 2.66173468e+01] [ 2.49828663e-02 2.07245990e-04 9.99687858e-01 3.25737132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.93, Y:26.64, Z:3.26 [[ 9.03329006e-01 -4.28354118e-01 -2.25711320e-02 1.26932815e+02] [ 4.28220177e-01 9.03610950e-01 -1.07112330e-02 2.66354086e+01] [ 2.49837228e-02 1.03533420e-05 9.99687858e-01 3.25647462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.99, Y:26.65, Z:3.26 [[ 9.00912968e-01 -4.33412641e-01 -2.25678257e-02 1.26989495e+02] [ 4.33280109e-01 9.01195577e-01 -1.07181945e-02 2.66504533e+01] [ 2.49834257e-02 -1.22029550e-04 9.99687858e-01 3.26277309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.04, Y:26.67, Z:3.26 [[ 8.98354852e-01 -4.38690437e-01 -2.25668116e-02 1.27044016e+02] [ 4.38559511e-01 8.98638209e-01 -1.07203294e-02 2.66709747e+01] [ 2.49823051e-02 -2.66229869e-04 9.99687858e-01 3.26080480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.10, Y:26.69, Z:3.27 [[ 8.97842904e-01 -4.39737311e-01 -2.25658220e-02 1.27100497e+02] [ 4.39606663e-01 8.98126389e-01 -1.07224119e-02 2.66855732e+01] [ 2.49820049e-02 -2.93044248e-04 9.99687858e-01 3.26507834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.16, Y:26.71, Z:3.27 [[ 8.95910135e-01 -4.43661882e-01 -2.25646584e-02 1.27156637e+02] [ 4.43532415e-01 8.96194161e-01 -1.07248602e-02 2.67055268e+01] [ 2.49805268e-02 -3.99646437e-04 9.99687858e-01 3.26525664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.21, Y:26.72, Z:3.27 [[ 8.96474114e-01 -4.42521319e-01 -2.25620219e-02 1.27212625e+02] [ 4.42391351e-01 8.96757911e-01 -1.07304038e-02 2.67234655e+01] [ 2.49811041e-02 -3.61714082e-04 9.99687858e-01 3.26645733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.27, Y:26.74, Z:3.27 [[ 8.97196012e-01 -4.41056022e-01 -2.25588507e-02 1.27269259e+02] [ 4.40925422e-01 8.97479519e-01 -1.07370665e-02 2.67414871e+01] [ 2.49817543e-02 -3.13517585e-04 9.99687858e-01 3.26846838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.32, Y:26.76, Z:3.27 [[ 8.97441048e-01 -4.40557361e-01 -2.25560832e-02 1.27324884e+02] [ 4.40426458e-01 8.97724415e-01 -1.07428773e-02 2.67597105e+01] [ 2.49820003e-02 -2.93196807e-04 9.99687858e-01 3.27257025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.928040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:127.38, Y:26.78, Z:3.27 [[ 8.98314193e-01 -4.38774404e-01 -2.25529002e-02 1.27381235e+02] [ 4.38642771e-01 8.98597222e-01 -1.07495552e-02 2.67766554e+01] [ 2.49826032e-02 -2.36188599e-04 9.99687858e-01 3.27439634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.44, Y:26.79, Z:3.28 [[ 8.98183251e-01 -4.39042459e-01 -2.25514377e-02 1.27437487e+02] [ 4.38910833e-01 8.98466283e-01 -1.07526226e-02 2.67928901e+01] [ 2.49825643e-02 -2.40244818e-04 9.99687858e-01 3.28067071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04804094199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:127.49, Y:26.82, Z:3.28 [[ 9.00594177e-01 -4.34075690e-01 -2.25482518e-02 1.27490823e+02] [ 4.33942337e-01 9.00876399e-01 -1.07592992e-02 2.68161355e+01] [ 2.49835382e-02 -9.48788959e-05 9.99687858e-01 3.28217888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.54, Y:26.84, Z:3.28 [[ 9.03026815e-01 -4.28992183e-01 -2.25450525e-02 1.27543409e+02] [ 4.28857073e-01 9.03308200e-01 -1.07659990e-02 2.68406227e+01] [ 2.49836602e-02 5.33805786e-05 9.99687858e-01 3.28435558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.59, Y:26.86, Z:3.29 [[ 9.05586287e-01 -4.23562680e-01 -2.25417888e-02 1.27594901e+02] [ 4.23425713e-01 9.05866774e-01 -1.07728281e-02 2.68643011e+01] [ 2.49828254e-02 2.10952451e-04 9.99687858e-01 3.28586885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22804094199998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:127.65, Y:26.89, Z:3.29 [[ 9.05468487e-01 -4.23814524e-01 -2.25403892e-02 1.27646754e+02] [ 4.23677562e-01 9.05748975e-01 -1.07757557e-02 2.68907836e+01] [ 2.49828562e-02 2.07250057e-04 9.99687858e-01 3.28656399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28804094199998 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:127.70, Y:26.92, Z:3.29 [[ 9.04281527e-01 -4.26341405e-01 -2.25372234e-02 1.27697958e+02] [ 4.26205062e-01 9.04562317e-01 -1.07823729e-02 2.69177334e+01] [ 2.49832950e-02 1.44821970e-04 9.99687858e-01 3.28778683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.75, Y:26.94, Z:3.29 [[ 9.02753917e-01 -4.29566738e-01 -2.25340556e-02 1.27750180e+02] [ 4.29431233e-01 9.03035112e-01 -1.07889892e-02 2.69436307e+01] [ 2.49836343e-02 6.29750155e-05 9.99687858e-01 3.28731281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.80, Y:26.97, Z:3.30 [[ 9.01139986e-01 -4.32942243e-01 -2.25330839e-02 1.27803200e+02] [ 4.32807741e-01 9.01421662e-01 -1.07910183e-02 2.69684662e+01] [ 2.49836976e-02 -2.82750339e-05 9.99687858e-01 3.29713152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.86, Y:26.99, Z:3.29 [[ 8.99203953e-01 -4.36949230e-01 -2.25304370e-02 1.27856432e+02] [ 4.36815845e-01 8.99486160e-01 -1.07965418e-02 2.69939435e+01] [ 2.49833569e-02 -1.33358839e-04 9.99687858e-01 3.28930995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.91, Y:27.02, Z:3.29 [[ 8.98809539e-01 -4.37760115e-01 -2.25276098e-02 1.27908167e+02] [ 4.37626837e-01 8.99091797e-01 -1.08024378e-02 2.70184285e+01] [ 2.49832656e-02 -1.49352499e-04 9.99687858e-01 3.29052677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.96, Y:27.05, Z:3.30 [[ 8.95824488e-01 -4.43836744e-01 -2.25262169e-02 1.27960475e+02] [ 4.43705307e-01 8.96107608e-01 -1.08053416e-02 2.70459361e+01] [ 2.49817220e-02 -3.15312312e-04 9.99687858e-01 3.29787206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.648040942 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:128.01, Y:27.07, Z:3.30 [[ 8.96636363e-01 -4.42194442e-01 -2.25234930e-02 1.28013110e+02] [ 4.42062343e-01 8.96919175e-01 -1.08110165e-02 2.70710344e+01] [ 2.49823242e-02 -2.63237631e-04 9.99687858e-01 3.29944801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.06, Y:27.10, Z:3.30 [[ 8.93446512e-01 -4.48604580e-01 -2.25224546e-02 1.28064256e+02] [ 4.48474456e-01 8.93730238e-01 -1.08131794e-02 2.71003893e+01] [ 2.49798405e-02 -4.39748156e-04 9.99687858e-01 3.29565962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.768040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:128.11, Y:27.13, Z:3.30 [[ 8.92670749e-01 -4.50146428e-01 -2.25194754e-02 1.28114863e+02] [ 4.50016638e-01 8.92954628e-01 -1.08193802e-02 2.71284880e+01] [ 2.49791752e-02 -4.75994396e-04 9.99687858e-01 3.29553514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.16, Y:27.16, Z:3.30 [[ 8.91065169e-01 -4.53316530e-01 -2.25164045e-02 1.28164817e+02] [ 4.53187588e-01 8.91349434e-01 -1.08257675e-02 2.71575884e+01] [ 2.49774837e-02 -5.57690680e-04 9.99687858e-01 3.29610706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88804094199998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:128.22, Y:27.18, Z:3.30 [[ 8.91861225e-01 -4.51748500e-01 -2.25132964e-02 1.28217466e+02] [ 4.51618895e-01 8.92145188e-01 -1.08322271e-02 2.71814686e+01] [ 2.49785714e-02 -5.06586714e-04 9.99687858e-01 3.30292805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.27, Y:27.20, Z:3.31 [[ 8.93284719e-01 -4.48927292e-01 -2.25099421e-02 1.28271279e+02] [ 4.48796615e-01 8.93568190e-01 -1.08391932e-02 2.72046827e+01] [ 2.49801778e-02 -4.19900186e-04 9.99687858e-01 3.30854628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.32, Y:27.23, Z:3.31 [[ 8.93704575e-01 -4.48091024e-01 -2.25070506e-02 1.28322751e+02] [ 4.47959931e-01 8.93987853e-01 -1.08451937e-02 2.72313220e+01] [ 2.49806639e-02 -3.89857587e-04 9.99687859e-01 3.30515510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.38, Y:27.26, Z:3.32 [[ 8.94813023e-01 -4.45873448e-01 -2.25060372e-02 1.28375548e+02] [ 4.45741600e-01 8.95095951e-01 -1.08472965e-02 2.72561695e+01] [ 2.49815843e-02 -3.25574855e-04 9.99687859e-01 3.31524203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.43, Y:27.28, Z:3.32 [[ 8.94237516e-01 -4.47026695e-01 -2.25032959e-02 1.28426760e+02] [ 4.46895069e-01 8.94520548e-01 -1.08529805e-02 2.72810888e+01] [ 2.49812326e-02 -3.51469585e-04 9.99687859e-01 3.31557541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.48, Y:27.31, Z:3.32 [[ 8.92727000e-01 -4.50035739e-01 -2.25019520e-02 1.28479119e+02] [ 4.49904996e-01 8.93010440e-01 -1.08557662e-02 2.73050992e+01] [ 2.49799608e-02 -4.32505058e-04 9.99687859e-01 3.31798670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.53, Y:27.33, Z:3.31 [[ 8.90477236e-01 -4.54471223e-01 -2.24988801e-02 1.28532089e+02] [ 4.54341732e-01 8.90761250e-01 -1.08621290e-02 2.73302097e+01] [ 2.49776556e-02 -5.49701559e-04 9.99687859e-01 3.31383807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.58, Y:27.36, Z:3.31 [[ 8.88119822e-01 -4.59061118e-01 -2.24960343e-02 1.28582994e+02] [ 4.58932945e-01 8.88404434e-01 -1.08680195e-02 2.73558832e+01] [ 2.49746618e-02 -6.72067692e-04 9.99687859e-01 3.31118151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.64, Y:27.38, Z:3.32 [[ 8.88513078e-01 -4.58299615e-01 -2.24938405e-02 1.28636099e+02] [ 4.58171083e-01 8.88797528e-01 -1.08725583e-02 2.73783669e+01] [ 2.49753591e-02 -6.45617031e-04 9.99687859e-01 3.32200145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.69, Y:27.41, Z:3.31 [[ 8.86502155e-01 -4.62177455e-01 -2.24928585e-02 1.28687663e+02] [ 4.62050116e-01 8.86787141e-01 -1.08745893e-02 2.74070050e+01] [ 2.49723677e-02 -7.52481030e-04 9.99687859e-01 3.30917900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.74, Y:27.43, Z:3.32 [[ 8.88245409e-01 -4.58818356e-01 -2.24901989e-02 1.28741928e+02] [ 4.58689800e-01 8.88529848e-01 -1.08800870e-02 2.74297761e+01] [ 2.49751967e-02 -6.51837522e-04 9.99687859e-01 3.32380017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.79, Y:27.46, Z:3.33 [[ 8.88805692e-01 -4.57732129e-01 -2.24886843e-02 1.28793968e+02] [ 4.57603146e-01 8.89089937e-01 -1.08832167e-02 2.74553111e+01] [ 2.49760609e-02 -6.17827757e-04 9.99687859e-01 3.32623635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.85, Y:27.48, Z:3.32 [[ 8.88192834e-01 -4.58920275e-01 -2.24871216e-02 1.28846000e+02] [ 4.58791590e-01 8.88477215e-01 -1.08864447e-02 2.74836238e+01] [ 2.49753054e-02 -6.47640093e-04 9.99687859e-01 3.31641750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.90, Y:27.51, Z:3.33 [[ 8.88991592e-01 -4.57371187e-01 -2.24843823e-02 1.28899980e+02] [ 4.57241864e-01 8.89275683e-01 -1.08920993e-02 2.75062692e+01] [ 2.49765468e-02 -5.97816188e-04 9.99687859e-01 3.33121862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.95, Y:27.53, Z:3.33 [[ 8.89173774e-01 -4.57017038e-01 -2.24817049e-02 1.28953032e+02] [ 4.56887463e-01 8.89457750e-01 -1.08976228e-02 2.75313486e+01] [ 2.49769260e-02 -5.81728767e-04 9.99687859e-01 3.32643341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.00, Y:27.56, Z:3.34 [[ 8.89672507e-01 -4.56045549e-01 -2.24785813e-02 1.29003911e+02] [ 4.55915501e-01 8.89956267e-01 -1.09040622e-02 2.75576107e+01] [ 2.49777033e-02 -5.47289264e-04 9.99687859e-01 3.33762330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.06, Y:27.58, Z:3.34 [[ 8.90393265e-01 -4.54636832e-01 -2.24763017e-02 1.29055067e+02] [ 4.54506216e-01 8.90676764e-01 -1.09087589e-02 2.75826907e+01] [ 2.49786433e-02 -5.02533386e-04 9.99687859e-01 3.33998780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.11, Y:27.61, Z:3.34 [[ 8.90738992e-01 -4.53959204e-01 -2.24741963e-02 1.29106558e+02] [ 4.53828263e-01 8.91022341e-01 -1.09130949e-02 2.76098960e+01] [ 2.49791108e-02 -4.78706329e-04 9.99687859e-01 3.34181059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.16, Y:27.64, Z:3.34 [[ 8.90498912e-01 -4.54430125e-01 -2.24710561e-02 1.29158434e+02] [ 4.54299171e-01 8.90782255e-01 -1.09195568e-02 2.76363629e+01] [ 2.49789937e-02 -4.84728705e-04 9.99687859e-01 3.34297255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.21, Y:27.66, Z:3.33 [[ 8.89599154e-01 -4.56189147e-01 -2.24679418e-02 1.29210891e+02] [ 4.56058591e-01 8.89882680e-01 -1.09259612e-02 2.76644955e+01] [ 2.49781372e-02 -5.26972057e-04 9.99687859e-01 3.33291318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.26, Y:27.69, Z:3.34 [[ 8.89807546e-01 -4.55782671e-01 -2.24652402e-02 1.29262296e+02] [ 4.55651846e-01 8.90090949e-01 -1.09315132e-02 2.76915906e+01] [ 2.49785012e-02 -5.09385221e-04 9.99687859e-01 3.34424980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.148040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:129.31, Y:27.72, Z:3.34 [[ 8.89991952e-01 -4.55422530e-01 -2.24642863e-02 1.29313466e+02] [ 4.55291541e-01 8.90275279e-01 -1.09334731e-02 2.77193489e+01] [ 2.49787487e-02 -4.97096489e-04 9.99687859e-01 3.34398834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.37, Y:27.75, Z:3.34 [[ 8.90082291e-01 -4.55246094e-01 -2.24612857e-02 1.29365565e+02] [ 4.55114893e-01 8.90365520e-01 -1.09396339e-02 2.77450195e+01] [ 2.49789799e-02 -4.85291184e-04 9.99687859e-01 3.33656230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.268040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.42, Y:27.77, Z:3.34 [[ 8.89406632e-01 -4.56564754e-01 -2.24603619e-02 1.29417772e+02] [ 4.56433926e-01 8.89690033e-01 -1.09415303e-02 2.77700562e+01] [ 2.49782772e-02 -5.20201545e-04 9.99687859e-01 3.34170132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.47, Y:27.80, Z:3.35 [[ 8.88241351e-01 -4.58827819e-01 -2.24574169e-02 1.29470157e+02] [ 4.58697559e-01 8.88525014e-01 -1.09475715e-02 2.77950539e+01] [ 2.49770270e-02 -5.77076672e-04 9.99687859e-01 3.34569334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.52, Y:27.83, Z:3.34 [[ 8.83668662e-01 -4.67574049e-01 -2.24544844e-02 1.29519376e+02] [ 4.67446444e-01 8.83953529e-01 -1.09535830e-02 2.78294324e+01] [ 2.49703319e-02 -8.16930825e-04 9.99687859e-01 3.34021441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.57, Y:27.86, Z:3.34 [[ 8.81114311e-01 -4.72370078e-01 -2.24517470e-02 1.29569227e+02] [ 4.72243880e-01 8.81399804e-01 -1.09591910e-02 2.78589564e+01] [ 2.49657593e-02 -9.46400147e-04 9.99687859e-01 3.33666469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.62, Y:27.89, Z:3.34 [[ 8.82618859e-01 -4.69552884e-01 -2.24507912e-02 1.29620144e+02] [ 4.69425725e-01 8.82903926e-01 -1.09611488e-02 2.78878075e+01] [ 2.49687307e-02 -8.64462240e-04 9.99687859e-01 3.34071877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56804094199998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:129.67, Y:27.92, Z:3.34 [[ 8.84317750e-01 -4.66345487e-01 -2.24500213e-02 1.29669624e+02] [ 4.66217254e-01 8.84602335e-01 -1.09627255e-02 2.79180144e+01] [ 2.49717588e-02 -7.72054563e-04 9.99687859e-01 3.34078467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.72, Y:27.95, Z:3.35 [[ 8.88782050e-01 -4.57779976e-01 -2.24490739e-02 1.29720085e+02] [ 4.57648950e-01 8.89065360e-01 -1.09646651e-02 2.79467828e+01] [ 2.49780981e-02 -5.28597577e-04 9.99687859e-01 3.34559325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.77, Y:27.97, Z:3.35 [[ 8.90039628e-01 -4.55330233e-01 -2.24463767e-02 1.29771008e+02] [ 4.55198288e-01 8.90322511e-01 -1.09701839e-02 2.79741362e+01] [ 2.49795709e-02 -4.53653816e-04 9.99687859e-01 3.34994568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.82, Y:28.00, Z:3.35 [[ 8.89879783e-01 -4.55642728e-01 -2.24427234e-02 1.29821130e+02] [ 4.55510694e-01 8.90162625e-01 -1.09776527e-02 2.80026003e+01] [ 2.49795612e-02 -4.54109299e-04 9.99687859e-01 3.35246162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.87, Y:28.03, Z:3.35 [[ 8.89467928e-01 -4.56446361e-01 -2.24393517e-02 1.29872219e+02] [ 4.56314409e-01 8.89750808e-01 -1.09845405e-02 2.80325366e+01] [ 2.49792848e-02 -4.69003068e-04 9.99687859e-01 3.35257475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.868040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:129.92, Y:28.06, Z:3.36 [[ 8.89445987e-01 -4.56489265e-01 -2.24362854e-02 1.29923378e+02] [ 4.56357169e-01 8.89728799e-01 -1.09907999e-02 2.80593448e+01] [ 2.49793914e-02 -4.63236851e-04 9.99687859e-01 3.35676829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.97, Y:28.09, Z:3.37 [[ 8.89123786e-01 -4.57116591e-01 -2.24346788e-02 1.29972971e+02] [ 4.56984612e-01 8.89406653e-01 -1.09940784e-02 2.80888040e+01] [ 2.49791282e-02 -4.77206403e-04 9.99687859e-01 3.36628142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.03, Y:28.11, Z:3.36 [[ 8.89732589e-01 -4.55930532e-01 -2.24336734e-02 1.30026241e+02] [ 4.55798124e-01 8.90015255e-01 -1.09961295e-02 2.81148834e+01] [ 2.49797828e-02 -4.41611447e-04 9.99687859e-01 3.35845765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.08, Y:28.14, Z:3.36 [[ 8.88790092e-01 -4.57765254e-01 -2.24309135e-02 1.30077737e+02] [ 4.57633287e-01 8.89072964e-01 -1.10017565e-02 2.81408581e+01] [ 2.49789406e-02 -4.86880486e-04 9.99687859e-01 3.35942424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.13, Y:28.17, Z:3.36 [[ 8.88271753e-01 -4.58770414e-01 -2.24276505e-02 1.30130046e+02] [ 4.58638600e-01 8.88554697e-01 -1.10084043e-02 2.81655518e+01] [ 2.49785244e-02 -5.07731609e-04 9.99687859e-01 3.36000492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.18, Y:28.19, Z:3.36 [[ 8.87160621e-01 -4.60915589e-01 -2.24243834e-02 1.30183406e+02] [ 4.60784291e-01 8.87443804e-01 -1.10150554e-02 2.81912176e+01] [ 2.49773909e-02 -5.60680249e-04 9.99687859e-01 3.36085108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.24, Y:28.22, Z:3.36 [[ 8.88246530e-01 -4.58819554e-01 -2.24213900e-02 1.30236072e+02] [ 4.58687434e-01 8.88529331e-01 -1.10211453e-02 2.82153139e+01] [ 2.49787796e-02 -4.94915724e-04 9.99687859e-01 3.36372083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28804094199998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:130.29, Y:28.24, Z:3.37 [[ 8.89926299e-01 -4.55552972e-01 -2.24203401e-02 1.30286943e+02] [ 4.55419760e-01 8.90208588e-01 -1.10232806e-02 2.82440012e+01] [ 2.49804675e-02 -4.00758571e-04 9.99687859e-01 3.37075023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.34, Y:28.27, Z:3.36 [[ 8.89691420e-01 -4.56011595e-01 -2.24187833e-02 1.30340816e+02] [ 4.55878450e-01 8.89973739e-01 -1.10264459e-02 2.82671374e+01] [ 2.49803156e-02 -4.10105906e-04 9.99687859e-01 3.36114514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.39, Y:28.29, Z:3.36 [[ 8.90393662e-01 -4.54639054e-01 -2.24155550e-02 1.30393021e+02] [ 4.54505308e-01 8.90675698e-01 -1.10330048e-02 2.82903791e+01] [ 2.49810249e-02 -3.64271120e-04 9.99687859e-01 3.36261679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.45, Y:28.32, Z:3.36 [[ 8.89675740e-01 -4.56042412e-01 -2.24142063e-02 1.30446573e+02] [ 4.55909042e-01 8.89957953e-01 -1.10357440e-02 2.83157095e+01] [ 2.49804685e-02 -4.00605605e-04 9.99687859e-01 3.36477353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.528040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:130.50, Y:28.34, Z:3.37 [[ 8.90964921e-01 -4.53518729e-01 -2.24114026e-02 1.30500879e+02] [ 4.53384417e-01 8.91246687e-01 -1.10414349e-02 2.83377278e+01] [ 2.49815858e-02 -3.23449480e-04 9.99687859e-01 3.36728971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.55, Y:28.36, Z:3.37 [[ 8.89812167e-01 -4.55776461e-01 -2.24081517e-02 1.30554275e+02] [ 4.55642697e-01 8.90094194e-01 -1.10480286e-02 2.83614199e+01] [ 2.49807971e-02 -3.79440423e-04 9.99687859e-01 3.36655813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.61, Y:28.38, Z:3.37 [[ 8.90039620e-01 -4.55332180e-01 -2.24071544e-02 1.30608569e+02] [ 4.55198225e-01 8.90321556e-01 -1.10500508e-02 2.83814679e+01] [ 2.49810163e-02 -3.64713865e-04 9.99687859e-01 3.37106699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.66, Y:28.41, Z:3.37 [[ 8.88803411e-01 -4.57740709e-01 -2.24040122e-02 1.30660897e+02] [ 4.57607357e-01 8.89085633e-01 -1.10564180e-02 2.84060895e+01] [ 2.49800580e-02 -4.25258720e-04 9.99687859e-01 3.36898482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.71, Y:28.43, Z:3.37 [[ 8.87555095e-01 -4.60156665e-01 -2.24008277e-02 1.30714370e+02] [ 4.60023919e-01 8.87837602e-01 -1.10628663e-02 2.84282016e+01] [ 2.49789488e-02 -4.86013194e-04 9.99687859e-01 3.37107963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.77, Y:28.45, Z:3.38 [[ 8.86705779e-01 -4.61791195e-01 -2.23998510e-02 1.30768304e+02] [ 4.61658920e-01 8.86988507e-01 -1.10648434e-02 2.84498470e+01] [ 2.49780577e-02 -5.29830420e-04 9.99687859e-01 3.37668619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.82, Y:28.47, Z:3.38 [[ 8.85754971e-01 -4.63612361e-01 -2.23989027e-02 1.30821795e+02] [ 4.63480618e-01 8.86037947e-01 -1.10667627e-02 2.84721315e+01] [ 2.49769658e-02 -5.79017159e-04 9.99687859e-01 3.37947202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.87, Y:28.50, Z:3.38 [[ 8.85684345e-01 -4.63747430e-01 -2.23955996e-02 1.30873196e+02] [ 4.63615562e-01 8.85967262e-01 -1.10734431e-02 2.84979727e+01] [ 2.49770489e-02 -5.75373316e-04 9.99687859e-01 3.37807956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.93, Y:28.52, Z:3.38 [[ 8.86326041e-01 -4.62519871e-01 -2.23945865e-02 1.30925532e+02] [ 4.62387559e-01 8.86608752e-01 -1.10754916e-02 2.85224537e+01] [ 2.49778713e-02 -5.38481610e-04 9.99687859e-01 3.37750386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.98, Y:28.55, Z:3.38 [[ 8.86895489e-01 -4.61427154e-01 -2.23913484e-02 1.30978403e+02] [ 4.61294329e-01 8.87177959e-01 -1.10820343e-02 2.85462033e+01] [ 2.49786623e-02 -5.00395754e-04 9.99687859e-01 3.38151067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.03, Y:28.57, Z:3.38 [[ 8.86449954e-01 -4.62282662e-01 -2.23879410e-02 1.31030531e+02] [ 4.62149936e-01 8.86732470e-01 -1.10889137e-02 2.85705271e+01] [ 2.49783267e-02 -5.16818456e-04 9.99687859e-01 3.38233967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.188040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:131.09, Y:28.59, Z:3.39 [[ 8.86960700e-01 -4.61302034e-01 -2.23863714e-02 1.31085299e+02] [ 4.61168915e-01 8.87243032e-01 -1.10920814e-02 2.85921749e+01] [ 2.49789518e-02 -4.85658314e-04 9.99687859e-01 3.38845199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.14, Y:28.62, Z:3.39 [[ 8.86408772e-01 -4.62361838e-01 -2.23834792e-02 1.31138253e+02] [ 4.62228909e-01 8.86691193e-01 -1.10979147e-02 2.86187868e+01] [ 2.49784861e-02 -5.09002255e-04 9.99687859e-01 3.38906527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.19, Y:28.64, Z:3.39 [[ 8.86392848e-01 -4.62392510e-01 -2.23804854e-02 1.31192362e+02] [ 4.62259439e-01 8.86675202e-01 -1.11039488e-02 2.86397955e+01] [ 2.49786042e-02 -5.03129813e-04 9.99687859e-01 3.39391592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.25, Y:28.66, Z:3.39 [[ 8.86352232e-01 -4.62470411e-01 -2.23794347e-02 1.31245403e+02] [ 4.62337311e-01 8.86634573e-01 -1.11060660e-02 2.86628693e+01] [ 2.49786075e-02 -5.02961293e-04 9.99687859e-01 3.39273859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.30, Y:28.69, Z:3.40 [[ 8.89038282e-01 -4.57285646e-01 -2.23779097e-02 1.31298460e+02] [ 4.57150822e-01 8.89319803e-01 -1.11091381e-02 2.86866365e+01] [ 2.49811676e-02 -3.53630746e-04 9.99687859e-01 3.39708117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.35, Y:28.71, Z:3.39 [[ 8.89264036e-01 -4.56846648e-01 -2.23744051e-02 1.31349915e+02] [ 4.56711507e-01 8.89545406e-01 -1.11161920e-02 2.87139351e+01] [ 2.49814443e-02 -3.33418560e-04 9.99687859e-01 3.39440931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.40, Y:28.74, Z:3.40 [[ 8.89491008e-01 -4.56404624e-01 -2.23733327e-02 1.31401080e+02] [ 4.56269289e-01 8.89772284e-01 -1.11183501e-02 2.87400011e+01] [ 2.49816377e-02 -3.18592189e-04 9.99687859e-01 3.40186895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.46, Y:28.75, Z:3.41 [[ 8.94002910e-01 -4.47502265e-01 -2.23722971e-02 1.31459939e+02] [ 4.47364078e-01 8.94282795e-01 -1.11204334e-02 2.87538752e+01] [ 2.49835795e-02 -6.68621855e-05 9.99687859e-01 3.40828280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.51, Y:28.79, Z:3.41 [[ 8.90193940e-01 -4.55032263e-01 -2.23693746e-02 1.31507961e+02] [ 4.54896295e-01 8.90474910e-01 -1.11263090e-02 2.87868085e+01] [ 2.49821964e-02 -2.71172775e-04 9.99687859e-01 3.40582038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72804094199998 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:131.56, Y:28.81, Z:3.41 [[ 8.89504778e-01 -4.56378032e-01 -2.23683368e-02 1.31562127e+02] [ 4.56242436e-01 8.89785928e-01 -1.11283950e-02 2.88086471e+01] [ 2.49817864e-02 -3.06623966e-04 9.99687859e-01 3.40733733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78804094199998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:131.61, Y:28.83, Z:3.41 [[ 8.89161912e-01 -4.57045834e-01 -2.23651499e-02 1.31614641e+02] [ 4.56910288e-01 8.89443087e-01 -1.11347962e-02 2.88329569e+01] [ 2.49816402e-02 -3.18230435e-04 9.99687859e-01 3.40788038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84804094199998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:131.67, Y:28.85, Z:3.41 [[ 8.91673828e-01 -4.52125789e-01 -2.23619117e-02 1.31668412e+02] [ 4.51988529e-01 8.91954170e-01 -1.11412957e-02 2.88531799e+01] [ 2.49830675e-02 -1.72925729e-04 9.99687859e-01 3.40600800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.72, Y:28.88, Z:3.41 [[ 8.93123707e-01 -4.49254995e-01 -2.23605201e-02 1.31720452e+02] [ 4.49116764e-01 8.93403571e-01 -1.11440879e-02 2.88791025e+01] [ 2.49835057e-02 -8.94352989e-05 9.99687860e-01 3.40970027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.77, Y:28.91, Z:3.41 [[ 8.91995998e-01 -4.51490077e-01 -2.23573083e-02 1.31770918e+02] [ 4.51352386e-01 8.92276128e-01 -1.11505276e-02 2.89098038e+01] [ 2.49832451e-02 -1.44798441e-04 9.99687860e-01 3.40631374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.82, Y:28.94, Z:3.41 [[ 8.91091764e-01 -4.53272260e-01 -2.23545363e-02 1.31822262e+02] [ 4.53134990e-01 8.91372101e-01 -1.11560823e-02 2.89362031e+01] [ 2.49829526e-02 -1.88529570e-04 9.99687860e-01 3.40852266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.87, Y:28.97, Z:3.41 [[ 8.88297979e-01 -4.58723248e-01 -2.23535623e-02 1.31870121e+02] [ 4.58587649e-01 8.88579128e-01 -1.11580334e-02 2.89696178e+01] [ 2.49813583e-02 -3.39409033e-04 9.99687860e-01 3.41405499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.92, Y:28.99, Z:3.41 [[ 8.89469151e-01 -4.56448337e-01 -2.23504936e-02 1.31924839e+02] [ 4.56311864e-01 8.89749877e-01 -1.11641771e-02 2.89907632e+01] [ 2.49822190e-02 -2.68604276e-04 9.99687860e-01 3.41475197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.98, Y:29.02, Z:3.42 [[ 8.89902578e-01 -4.55602896e-01 -2.23473067e-02 1.31977641e+02] [ 4.55465997e-01 8.90183096e-01 -1.11705525e-02 2.90164030e+01] [ 2.49825308e-02 -2.37734833e-04 9.99687860e-01 3.42046652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.02, Y:29.05, Z:3.42 [[ 8.84867034e-01 -4.65307483e-01 -2.23445509e-02 1.32024526e+02] [ 4.65173521e-01 8.85148966e-01 -1.11760623e-02 2.90538185e+01] [ 2.49785615e-02 -5.04764269e-04 9.99687860e-01 3.41820929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32804094199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:132.08, Y:29.08, Z:3.41 [[ 8.84665739e-01 -4.65690217e-01 -2.23417213e-02 1.32078171e+02] [ 4.65556234e-01 8.84947661e-01 -1.11817160e-02 2.90797765e+01] [ 2.49784698e-02 -5.09246648e-04 9.99687860e-01 3.41106544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38804094199998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:132.13, Y:29.11, Z:3.42 [[ 8.86212457e-01 -4.62740150e-01 -2.23390864e-02 1.32131062e+02] [ 4.62605096e-01 8.86493867e-01 -1.11869777e-02 2.91065490e+01] [ 2.49801268e-02 -4.20136191e-04 9.99687860e-01 3.41599234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.18, Y:29.13, Z:3.42 [[ 8.88254076e-01 -4.58809103e-01 -2.23361701e-02 1.32184646e+02] [ 4.58672656e-01 8.88534814e-01 -1.11927973e-02 2.91299527e+01] [ 2.49818220e-02 -3.02942686e-04 9.99687860e-01 3.42375909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50804094199998 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:132.23, Y:29.16, Z:3.42 [[ 8.85817520e-01 -4.63496005e-01 -2.23332723e-02 1.32232028e+02] [ 4.63360898e-01 8.86098905e-01 -1.11985764e-02 2.91645473e+01] [ 2.49799836e-02 -4.28469950e-04 9.99687860e-01 3.42432879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.29, Y:29.18, Z:3.42 [[ 8.87901787e-01 -4.59490732e-01 -2.23312284e-02 1.32286131e+02] [ 4.59354253e-01 8.88182510e-01 -1.12026506e-02 2.91846726e+01] [ 2.49817206e-02 -3.11091271e-04 9.99687860e-01 3.42111772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.34, Y:29.21, Z:3.43 [[ 8.88805525e-01 -4.57740270e-01 -2.23289814e-02 1.32339314e+02] [ 4.57603126e-01 8.89085924e-01 -1.12071276e-02 2.92070277e+01] [ 2.49823367e-02 -2.56854796e-04 9.99687860e-01 3.42701479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.39, Y:29.23, Z:3.43 [[ 8.88299871e-01 -4.58720928e-01 -2.23259564e-02 1.32392526e+02] [ 4.58583943e-01 8.88580347e-01 -1.12131506e-02 2.92335526e+01] [ 2.49821129e-02 -2.77684858e-04 9.99687860e-01 3.42621962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.748040942 meters Centerline goodness : 0.996078 with order 1 Centerline is valid? [True, True] Translation: X:132.44, Y:29.27, Z:3.43 [[ 8.85173218e-01 -4.64725783e-01 -2.23231272e-02 1.32441126e+02] [ 4.64590557e-01 8.85454546e-01 -1.12187801e-02 2.92681073e+01] [ 2.49797708e-02 -4.40550425e-04 9.99687860e-01 3.42511572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.50, Y:29.28, Z:3.43 [[ 8.87788565e-01 -4.59710002e-01 -2.23198986e-02 1.32498042e+02] [ 4.59573026e-01 8.88069045e-01 -1.12251997e-02 2.92843517e+01] [ 2.49819476e-02 -2.92019423e-04 9.99687860e-01 3.42870104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.55, Y:29.31, Z:3.43 [[ 8.86899029e-01 -4.61423873e-01 -2.23186578e-02 1.32548577e+02] [ 4.61287377e-01 8.87179742e-01 -1.12276662e-02 2.93131803e+01] [ 2.49813743e-02 -3.37508899e-04 9.99687860e-01 3.42639175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.60, Y:29.34, Z:3.43 [[ 8.86884011e-01 -4.61452905e-01 -2.23151647e-02 1.32599968e+02] [ 4.61316244e-01 8.87164645e-01 -1.12346046e-02 2.93420947e+01] [ 2.49814661e-02 -3.30556755e-04 9.99687860e-01 3.42693203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.65, Y:29.37, Z:3.43 [[ 8.86933004e-01 -4.61358882e-01 -2.23120594e-02 1.32652947e+02] [ 4.61222036e-01 8.87213548e-01 -1.12407683e-02 2.93665080e+01] [ 2.49815897e-02 -3.21005020e-04 9.99687860e-01 3.43163784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.70, Y:29.39, Z:3.43 [[ 8.86643583e-01 -4.61915013e-01 -2.23087083e-02 1.32703974e+02] [ 4.61778175e-01 8.86924130e-01 -1.12474150e-02 2.93932569e+01] [ 2.49814816e-02 -3.29226244e-04 9.99687860e-01 3.43402758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.76, Y:29.42, Z:3.44 [[ 8.88280911e-01 -4.58758644e-01 -2.23053570e-02 1.32758123e+02] [ 4.58620643e-01 8.88560888e-01 -1.12540573e-02 2.94170143e+01] [ 2.49825639e-02 -2.32932900e-04 9.99687860e-01 3.44093189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.80, Y:29.45, Z:3.44 [[ 8.84888931e-01 -4.65267860e-01 -2.23024275e-02 1.32804491e+02] [ 4.65131771e-01 8.85169843e-01 -1.12598598e-02 2.94528687e+01] [ 2.49802871e-02 -4.09842261e-04 9.99687860e-01 3.43684256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.86, Y:29.47, Z:3.44 [[ 8.86901413e-01 -4.61420162e-01 -2.23006175e-02 1.32858326e+02] [ 4.61282765e-01 8.87181687e-01 -1.12634434e-02 2.94748521e+01] [ 2.49818793e-02 -2.97326653e-04 9.99687860e-01 3.43880936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.91, Y:29.50, Z:3.44 [[ 8.87787752e-01 -4.59712669e-01 -2.22972795e-02 1.32910153e+02] [ 4.59574567e-01 8.88067679e-01 -1.12700474e-02 2.95005187e+01] [ 2.49824769e-02 -2.41852543e-04 9.99687860e-01 3.44163216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.96, Y:29.54, Z:3.44 [[ 8.85638862e-01 -4.63839071e-01 -2.22962503e-02 1.32957901e+02] [ 4.63702222e-01 8.85919403e-01 -1.12720832e-02 2.95378127e+01] [ 2.49811134e-02 -3.55825930e-04 9.99687860e-01 3.43832030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40804094199999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:133.01, Y:29.56, Z:3.44 [[ 8.88132720e-01 -4.59046055e-01 -2.22932961e-02 1.33013889e+02] [ 4.58907545e-01 8.88412445e-01 -1.12779228e-02 2.95583464e+01] [ 2.49827277e-02 -2.14269585e-04 9.99687860e-01 3.44380914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.468040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:133.07, Y:29.59, Z:3.44 [[ 8.85749323e-01 -4.63628414e-01 -2.22897082e-02 1.33065892e+02] [ 4.63491173e-01 8.86029673e-01 -1.12850095e-02 2.95866364e+01] [ 2.49813939e-02 -3.35393472e-04 9.99687860e-01 3.44278246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.12, Y:29.61, Z:3.44 [[ 8.83810910e-01 -4.67313152e-01 -2.22866262e-02 1.33115922e+02] [ 4.67176927e-01 8.84091755e-01 -1.12910929e-02 2.96131729e+01] [ 2.49798987e-02 -4.32606450e-04 9.99687860e-01 3.44287826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.17, Y:29.64, Z:3.45 [[ 8.82769813e-01 -4.69276923e-01 -2.22851165e-02 1.33166858e+02] [ 4.69141247e-01 8.83050924e-01 -1.12940717e-02 2.96414300e+01] [ 2.49789400e-02 -4.84801766e-04 9.99687860e-01 3.44538107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.22, Y:29.67, Z:3.45 [[ 8.83204735e-01 -4.68458022e-01 -2.22817639e-02 1.33217546e+02] [ 4.68321919e-01 8.83485639e-01 -1.13006822e-02 2.96691070e+01] [ 2.49795136e-02 -4.54222378e-04 9.99687860e-01 3.44570362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.27, Y:29.70, Z:3.45 [[ 8.85329063e-01 -4.64430855e-01 -2.22807353e-02 1.33269696e+02] [ 4.64293423e-01 8.85609319e-01 -1.13027098e-02 2.96965324e+01] [ 2.49813540e-02 -3.38181365e-04 9.99687860e-01 3.44822340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.32, Y:29.73, Z:3.44 [[ 8.85703074e-01 -4.63717342e-01 -2.22776151e-02 1.33319153e+02] [ 4.63579529e-01 8.85983143e-01 -1.13088563e-02 2.97264249e+01] [ 2.49817043e-02 -3.11157541e-04 9.99687860e-01 3.44379504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.37, Y:29.75, Z:3.45 [[ 8.86612461e-01 -4.61976299e-01 -2.22765182e-02 1.33369691e+02] [ 4.61837882e-01 8.86892232e-01 -1.13110166e-02 2.97542227e+01] [ 2.49822926e-02 -2.59651750e-04 9.99687860e-01 3.44578101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.42, Y:29.79, Z:3.45 [[ 8.83993115e-01 -4.66969041e-01 -2.22730082e-02 1.33419195e+02] [ 4.66832030e-01 8.84273578e-01 -1.13179241e-02 2.97850161e+01] [ 2.49805528e-02 -3.92786632e-04 9.99687860e-01 3.44681342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.47, Y:29.81, Z:3.45 [[ 8.82763876e-01 -4.69288717e-01 -2.22719317e-02 1.33471363e+02] [ 4.69152390e-01 8.83044672e-01 -1.13200422e-02 2.98105788e+01] [ 2.49794787e-02 -4.56005623e-04 9.99687860e-01 3.44876644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.52, Y:29.84, Z:3.45 [[ 8.80881995e-01 -4.72811818e-01 -2.22686951e-02 1.33522915e+02] [ 4.72676453e-01 8.81163256e-01 -1.13264055e-02 2.98373953e+01] [ 2.49776143e-02 -5.48661160e-04 9.99687860e-01 3.44892510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.57, Y:29.86, Z:3.45 [[ 8.80048120e-01 -4.74362263e-01 -2.22654272e-02 1.33574108e+02] [ 4.74227231e-01 8.80329541e-01 -1.13328259e-02 2.98643981e+01] [ 2.49767783e-02 -5.85439724e-04 9.99687860e-01 3.44860238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.63, Y:29.89, Z:3.45 [[ 8.80196576e-01 -4.74086894e-01 -2.22621854e-02 1.33626400e+02] [ 4.73951612e-01 8.80477877e-01 -1.13391905e-02 2.98905116e+01] [ 2.49771234e-02 -5.70481986e-04 9.99687860e-01 3.45097180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.68, Y:29.92, Z:3.45 [[ 8.81295122e-01 -4.72041787e-01 -2.22589130e-02 1.33677371e+02] [ 4.71905691e-01 8.81576030e-01 -1.13456107e-02 2.99188354e+01] [ 2.49785265e-02 -5.05276323e-04 9.99687860e-01 3.45048851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.73, Y:29.94, Z:3.45 [[ 8.84122619e-01 -4.66724630e-01 -2.22556477e-02 1.33732239e+02] [ 4.66586683e-01 8.84402623e-01 -1.13520123e-02 2.99405608e+01] [ 2.49812169e-02 -3.47617948e-04 9.99687860e-01 3.45234587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.78, Y:29.97, Z:3.45 [[ 8.83942451e-01 -4.67065891e-01 -2.22529963e-02 1.33783692e+02] [ 4.66927922e-01 8.84222444e-01 -1.13572073e-02 2.99695470e+01] [ 2.49811630e-02 -3.51427631e-04 9.99687860e-01 3.45059410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.83, Y:30.00, Z:3.45 [[ 8.82076013e-01 -4.70581386e-01 -2.22500969e-02 1.33833655e+02] [ 4.70444389e-01 8.82356482e-01 -1.13628848e-02 3.00006837e+01] [ 2.49796793e-02 -4.44505139e-04 9.99687860e-01 3.45453664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.89, Y:30.03, Z:3.46 [[ 8.80920682e-01 -4.72740742e-01 -2.22472937e-02 1.33885265e+02] [ 4.72604295e-01 8.81201419e-01 -1.13683706e-02 3.00288133e+01] [ 2.49786387e-02 -4.99533733e-04 9.99687860e-01 3.45715390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.94, Y:30.06, Z:3.46 [[ 8.79270200e-01 -4.75803633e-01 -2.22444903e-02 1.33935382e+02] [ 4.75668025e-01 8.79551343e-01 -1.13738533e-02 3.00577527e+01] [ 2.49768921e-02 -5.80302500e-04 9.99687860e-01 3.45893383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.99, Y:30.09, Z:3.46 [[ 8.79131372e-01 -4.76060243e-01 -2.22413179e-02 1.33985896e+02] [ 4.75924560e-01 8.79412479e-01 -1.13800534e-02 3.00870133e+01] [ 2.49768835e-02 -5.80627471e-04 9.99687860e-01 3.46034757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.04, Y:30.11, Z:3.47 [[ 8.85575866e-01 -4.63962016e-01 -2.22403435e-02 1.34042671e+02] [ 4.63822443e-01 8.85855063e-01 -1.13819574e-02 3.01058264e+01] [ 2.49825168e-02 -2.35983647e-04 9.99687860e-01 3.47471187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.09, Y:30.14, Z:3.47 [[ 8.85655816e-01 -4.63809512e-01 -2.22376521e-02 1.34092995e+02] [ 4.63669759e-01 8.85934922e-01 -1.13872134e-02 3.01381854e+01] [ 2.49826105e-02 -2.25775055e-04 9.99687860e-01 3.47320101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.14, Y:30.17, Z:3.47 [[ 8.87184528e-01 -4.60878745e-01 -2.22350072e-02 1.34143489e+02] [ 4.60737941e-01 8.87463105e-01 -1.13923755e-02 3.01677362e+01] [ 2.49832523e-02 -1.37372147e-04 9.99687860e-01 3.47375691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.19, Y:30.20, Z:3.47 [[ 8.84511502e-01 -4.65988253e-01 -2.22339967e-02 1.34194148e+02] [ 4.65849008e-01 8.84790862e-01 -1.13943474e-02 3.01976297e+01] [ 2.49820691e-02 -2.79253943e-04 9.99687860e-01 3.46922270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.24, Y:30.23, Z:3.47 [[ 8.84481230e-01 -4.66045742e-01 -2.22332974e-02 1.34244287e+02] [ 4.65906482e-01 8.84760582e-01 -1.13957118e-02 3.02299273e+01] [ 2.49820681e-02 -2.79344160e-04 9.99687860e-01 3.46949791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.29, Y:30.26, Z:3.47 [[ 8.83785790e-01 -4.67363240e-01 -2.22324100e-02 1.34291823e+02] [ 4.67224352e-01 8.84065327e-01 -1.13974427e-02 3.02649770e+01] [ 2.49816486e-02 -3.14625412e-04 9.99687860e-01 3.46764567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.34, Y:30.29, Z:3.47 [[ 8.83292255e-01 -4.68295370e-01 -2.22315022e-02 1.34341494e+02] [ 4.68156733e-01 8.83571917e-01 -1.13992132e-02 3.02943707e+01] [ 2.49813298e-02 -3.38990755e-04 9.99687860e-01 3.46730918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.39, Y:30.33, Z:3.46 [[ 8.80557955e-01 -4.73416916e-01 -2.22286269e-02 1.34390062e+02] [ 4.73279763e-01 8.80838348e-01 -1.14048173e-02 3.03308952e+01] [ 2.49790604e-02 -4.77756726e-04 9.99687860e-01 3.46114391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.44, Y:30.36, Z:3.47 [[ 8.81748741e-01 -4.71195383e-01 -2.22276600e-02 1.34440372e+02] [ 4.71057477e-01 8.82028764e-01 -1.14067016e-02 3.03593650e+01] [ 2.49802205e-02 -4.12660694e-04 9.99687860e-01 3.47328093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.148040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:134.49, Y:30.39, Z:3.47 [[ 8.82810266e-01 -4.69203585e-01 -2.22268085e-02 1.34491888e+02] [ 4.69065005e-01 8.83089956e-01 -1.14083605e-02 3.03876537e+01] [ 2.49811150e-02 -3.54400229e-04 9.99687860e-01 3.46870079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.54, Y:30.42, Z:3.47 [[ 8.81874561e-01 -4.70960034e-01 -2.22239749e-02 1.34541335e+02] [ 4.70821872e-01 8.82154458e-01 -1.14138777e-02 3.04176873e+01] [ 2.49804588e-02 -3.97925096e-04 9.99687860e-01 3.46505872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.59, Y:30.45, Z:3.47 [[ 8.83003872e-01 -4.68839312e-01 -2.22229903e-02 1.34591535e+02] [ 4.68700430e-01 8.83283412e-01 -1.14157945e-02 3.04475650e+01] [ 2.49813719e-02 -3.35734355e-04 9.99687860e-01 3.47074359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.64, Y:30.48, Z:3.47 [[ 8.82423311e-01 -4.69931254e-01 -2.22197513e-02 1.34641357e+02] [ 4.69792559e-01 8.82702944e-01 -1.14220954e-02 3.04793818e+01] [ 2.49810395e-02 -3.59550611e-04 9.99687860e-01 3.46926500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38804094199998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:134.69, Y:30.51, Z:3.47 [[ 8.81575113e-01 -4.71520665e-01 -2.22167177e-02 1.34689341e+02] [ 4.71382325e-01 8.81854923e-01 -1.14279928e-02 3.05121429e+01] [ 2.49804567e-02 -3.97934006e-04 9.99687860e-01 3.46981755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44804094199998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:134.74, Y:30.55, Z:3.47 [[ 8.79858003e-01 -4.74717248e-01 -2.22132626e-02 1.34736850e+02] [ 4.74579756e-01 8.80138229e-01 -1.14347048e-02 3.05490407e+01] [ 2.49789932e-02 -4.81048231e-04 9.99687861e-01 3.46785167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.78, Y:30.58, Z:3.47 [[ 8.77948778e-01 -4.78239015e-01 -2.22123597e-02 1.34784487e+02] [ 4.78102602e-01 8.78229531e-01 -1.14364585e-02 3.05838024e+01] [ 2.49769109e-02 -5.79162250e-04 9.99687861e-01 3.46539913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.83, Y:30.62, Z:3.48 [[ 8.77717737e-01 -4.78662966e-01 -2.22112326e-02 1.34833343e+02] [ 4.78526634e-01 8.77998530e-01 -1.14386471e-02 3.06151712e+01] [ 2.49766863e-02 -5.88762948e-04 9.99687861e-01 3.47844488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.88, Y:30.65, Z:3.48 [[ 8.77719520e-01 -4.78659735e-01 -2.22103856e-02 1.34882609e+02] [ 4.78523360e-01 8.78000292e-01 -1.14402915e-02 3.06488131e+01] [ 2.49767319e-02 -5.86821196e-04 9.99687861e-01 3.47619064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.93, Y:30.68, Z:3.48 [[ 8.78483830e-01 -4.77255684e-01 -2.22074905e-02 1.34930242e+02] [ 4.77118718e-01 8.78764314e-01 -1.14459085e-02 3.06843565e+01] [ 2.49777751e-02 -5.40563814e-04 9.99687861e-01 3.47761152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.98, Y:30.72, Z:3.48 [[ 8.78547596e-01 -4.77138429e-01 -2.22045562e-02 1.34978708e+02] [ 4.77001282e-01 8.78827991e-01 -1.14515981e-02 3.07167410e+01] [ 2.49779831e-02 -5.30827759e-04 9.99687861e-01 3.47819123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.03, Y:30.76, Z:3.47 [[ 8.75618192e-01 -4.82493406e-01 -2.22012330e-02 1.35026083e+02] [ 4.82357810e-01 8.75899342e-01 -1.14580371e-02 3.07561726e+01] [ 2.49744727e-02 -6.76072375e-04 9.99687861e-01 3.46550246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.08, Y:30.79, Z:3.48 [[ 8.78150792e-01 -4.77868520e-01 -2.22005258e-02 1.35076926e+02] [ 4.77731409e-01 8.78431205e-01 -1.14594073e-02 3.07850722e+01] [ 2.49777246e-02 -5.42800821e-04 9.99687861e-01 3.48034934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.13, Y:30.82, Z:3.48 [[ 8.77954560e-01 -4.78228988e-01 -2.21996642e-02 1.35126302e+02] [ 4.78091950e-01 8.78235009e-01 -1.14610761e-02 3.08153994e+01] [ 2.49775411e-02 -5.51176791e-04 9.99687861e-01 3.48086070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.17, Y:30.85, Z:3.48 [[ 8.77548016e-01 -4.78974737e-01 -2.21964200e-02 1.35174573e+02] [ 4.78837779e-01 8.77828503e-01 -1.14673556e-02 3.08490373e+01] [ 2.49772238e-02 -5.65329328e-04 9.99687861e-01 3.48296659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.22, Y:30.88, Z:3.48 [[ 8.77077539e-01 -4.79835860e-01 -2.21932072e-02 1.35222440e+02] [ 4.79699020e-01 8.77358084e-01 -1.14735701e-02 3.08817083e+01] [ 2.49768202e-02 -5.82849075e-04 9.99687861e-01 3.48394750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.27, Y:30.91, Z:3.48 [[ 8.77567308e-01 -4.78939585e-01 -2.21922200e-02 1.35272188e+02] [ 4.78802410e-01 8.77847689e-01 -1.14754793e-02 3.09115918e+01] [ 2.49774503e-02 -5.55182997e-04 9.99687861e-01 3.48236915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16804094199998 meters Centerline goodness : 0.998259 with order 1 Centerline is valid? [True, True] Translation: X:135.32, Y:30.95, Z:3.48 [[ 8.76530078e-01 -4.80835387e-01 -2.21890185e-02 1.35318695e+02] [ 4.80698662e-01 8.76810680e-01 -1.14816663e-02 3.09498480e+01] [ 2.49763599e-02 -6.02205644e-04 9.99687861e-01 3.48429093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22804094199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:135.37, Y:30.98, Z:3.49 [[ 8.78214864e-01 -4.77751449e-01 -2.21857051e-02 1.35369201e+02] [ 4.77613576e-01 8.78494904e-01 -1.14880652e-02 3.09779272e+01] [ 2.49784687e-02 -5.07204368e-04 9.99687861e-01 3.48944438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28804094199998 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:135.42, Y:31.01, Z:3.49 [[ 8.78659445e-01 -4.76933356e-01 -2.21845231e-02 1.35418627e+02] [ 4.76795166e-01 8.78939328e-01 -1.14903473e-02 3.10083051e+01] [ 2.49789797e-02 -4.81371148e-04 9.99687861e-01 3.49278191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34804094199998 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:135.47, Y:31.04, Z:3.49 [[ 8.80367091e-01 -4.73773961e-01 -2.21815070e-02 1.35469731e+02] [ 4.73634619e-01 8.80646402e-01 -1.14961668e-02 3.10370889e+01] [ 2.49806488e-02 -3.85082656e-04 9.99687861e-01 3.49168317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40804094199999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:135.52, Y:31.07, Z:3.49 [[ 8.81342704e-01 -4.71956717e-01 -2.21787202e-02 1.35517839e+02] [ 4.71816664e-01 8.81621659e-01 -1.15015406e-02 3.10686512e+01] [ 2.49814695e-02 -3.27490944e-04 9.99687861e-01 3.49056514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.468040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:135.57, Y:31.10, Z:3.49 [[ 8.80860205e-01 -4.72856744e-01 -2.21765455e-02 1.35567771e+02] [ 4.72716871e-01 8.81139250e-01 -1.15057323e-02 3.11008599e+01] [ 2.49811878e-02 -3.48285452e-04 9.99687861e-01 3.49376420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.528040942 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:135.62, Y:31.12, Z:3.49 [[ 8.86871954e-01 -4.61482887e-01 -2.21739108e-02 1.35622345e+02] [ 4.61339308e-01 8.87149110e-01 -1.15108077e-02 3.11227198e+01] [ 2.49836060e-02 -2.10841669e-05 9.99687861e-01 3.48677110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.588040942 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:135.67, Y:31.15, Z:3.50 [[ 8.84895100e-01 -4.65262436e-01 -2.21704155e-02 1.35670186e+02] [ 4.65119872e-01 8.85172780e-01 -1.15175358e-02 3.11544647e+01] [ 2.49833251e-02 -1.20089814e-04 9.99687861e-01 3.49708991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.648040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:135.72, Y:31.18, Z:3.50 [[ 8.87717355e-01 -4.59854797e-01 -2.21689828e-02 1.35721709e+02] [ 4.59710472e-01 8.87994124e-01 -1.15202928e-02 3.11800357e+01] [ 2.49835884e-02 3.54503101e-05 9.99687861e-01 3.50017716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.708040942 meters Centerline goodness : 0.997226 with order 1 Centerline is valid? [True, True] Translation: X:135.77, Y:31.21, Z:3.49 [[ 8.89254564e-01 -4.56875254e-01 -2.21658012e-02 1.35772697e+02] [ 4.56729850e-01 8.89530767e-01 -1.15264112e-02 3.12075309e+01] [ 2.49832942e-02 1.26130752e-04 9.99687861e-01 3.49392750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76804094199997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:135.82, Y:31.24, Z:3.49 [[ 8.85812309e-01 -4.63514188e-01 -2.21619169e-02 1.35821635e+02] [ 4.63370667e-01 8.86089496e-01 -1.15338748e-02 3.12413029e+01] [ 2.49835563e-02 -5.23339438e-05 9.99687861e-01 3.49492028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82804094199997 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:135.87, Y:31.27, Z:3.50 [[ 8.84307032e-01 -4.66379764e-01 -2.21582476e-02 1.35874328e+02] [ 4.66236965e-01 8.84584592e-01 -1.15409197e-02 3.12672461e+01] [ 2.49832958e-02 -1.25277622e-04 9.99687861e-01 3.49574388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88804094199998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:135.93, Y:31.29, Z:3.50 [[ 8.84159803e-01 -4.66658957e-01 -2.21553818e-02 1.35930337e+02] [ 4.66516108e-01 8.84437336e-01 -1.15464186e-02 3.12869823e+01] [ 2.49832865e-02 -1.26963245e-04 9.99687861e-01 3.50172448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94804094199998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:135.98, Y:31.32, Z:3.50 [[ 8.81404028e-01 -4.71843415e-01 -2.21524626e-02 1.35981482e+02] [ 4.71702057e-01 8.81682324e-01 -1.15520166e-02 3.13174872e+01] [ 2.49821776e-02 -2.67368160e-04 9.99687861e-01 3.49918932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00804094199998 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:136.04, Y:31.34, Z:3.51 [[ 8.85413006e-01 -4.64277071e-01 -2.21497001e-02 1.36036259e+02] [ 4.64133202e-01 8.85690013e-01 -1.15573110e-02 3.13365582e+01] [ 2.49835626e-02 -4.74177887e-05 9.99687861e-01 3.50762063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06804094199998 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:136.09, Y:31.36, Z:3.50 [[ 8.84173853e-01 -4.66632656e-01 -2.21486525e-02 1.36089091e+02] [ 4.66489475e-01 8.84451215e-01 -1.15593182e-02 3.13625392e+01] [ 2.49833580e-02 -1.11666399e-04 9.99687861e-01 3.49669997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12804094199998 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:136.14, Y:31.39, Z:3.50 [[ 8.82077058e-01 -4.70584353e-01 -2.21456556e-02 1.36140185e+02] [ 4.70442271e-01 8.82354985e-01 -1.15650568e-02 3.13905533e+01] [ 2.49826644e-02 -2.16981205e-04 9.99687861e-01 3.49718353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.188040942 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:136.19, Y:31.41, Z:3.51 [[ 8.87907560e-01 -4.59488609e-01 -2.21446044e-02 1.36194905e+02] [ 4.59343003e-01 8.88183657e-01 -1.15670693e-02 3.14115905e+01] [ 2.49834123e-02 9.85191330e-05 9.99687861e-01 3.50881856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.248040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:136.25, Y:31.43, Z:3.51 [[ 8.90656648e-01 -4.54137090e-01 -2.21413375e-02 1.36249692e+02] [ 4.53989670e-01 8.90931781e-01 -1.15733194e-02 3.14321979e+01] [ 2.49822948e-02 2.55915387e-04 9.99687861e-01 3.51438721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.308040942 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:136.30, Y:31.46, Z:3.50 [[ 8.87818152e-01 -4.59661660e-01 -2.21379270e-02 1.36299802e+02] [ 4.59515789e-01 8.88094109e-01 -1.15798394e-02 3.14635317e+01] [ 2.49833708e-02 1.08064571e-04 9.99687861e-01 3.50441773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.368040942 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:136.36, Y:31.47, Z:3.51 [[ 8.94091747e-01 -4.47336557e-01 -2.21348612e-02 1.36358848e+02] [ 4.47186738e-01 8.94365581e-01 -1.15856967e-02 3.14743755e+01] [ 2.49793637e-02 4.60259417e-04 9.99687861e-01 3.50949540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.428040942 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:136.41, Y:31.50, Z:3.50 [[ 8.87776911e-01 -4.59741544e-01 -2.21329908e-02 1.36409994e+02] [ 4.59595463e-01 8.88052757e-01 -1.15892688e-02 3.15046838e+01] [ 2.49833318e-02 1.16463129e-04 9.99687861e-01 3.50458107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.488040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:136.47, Y:31.52, Z:3.52 [[ 8.92452389e-01 -4.50598486e-01 -2.21300177e-02 1.36467751e+02] [ 4.50449439e-01 8.92726644e-01 -1.15949433e-02 3.15195275e+01] [ 2.49807203e-02 3.79480800e-04 9.99687861e-01 3.52097161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.52, Y:31.54, Z:3.53 [[ 8.91952582e-01 -4.51587206e-01 -2.21266295e-02 1.36523430e+02] [ 4.51438302e-01 8.92226914e-01 -1.16014054e-02 3.15389991e+01] [ 2.49810206e-02 3.59095459e-04 9.99687861e-01 3.52633236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.58, Y:31.56, Z:3.53 [[ 8.90803908e-01 -4.53849050e-01 -2.21232212e-02 1.36578145e+02] [ 4.53700682e-01 8.91078531e-01 -1.16079011e-02 3.15581040e+01] [ 2.49817624e-02 3.03043081e-04 9.99687861e-01 3.53055969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66804094199998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:136.63, Y:31.58, Z:3.53 [[ 8.90137346e-01 -4.55155044e-01 -2.21221801e-02 1.36631491e+02] [ 4.55007029e-01 8.90412160e-01 -1.16098850e-02 3.15820205e+01] [ 2.49821558e-02 2.68644765e-04 9.99687861e-01 3.53149948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72804094199998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:136.69, Y:31.60, Z:3.53 [[ 8.89750167e-01 -4.55911499e-01 -2.21211552e-02 1.36687420e+02] [ 4.55763670e-01 8.90025080e-01 -1.16118375e-02 3.16001419e+01] [ 2.49823531e-02 2.49615502e-04 9.99687861e-01 3.53428119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78804094199998 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:136.74, Y:31.63, Z:3.53 [[ 8.87358450e-01 -4.60549440e-01 -2.21177547e-02 1.36738799e+02] [ 4.60402886e-01 8.87634045e-01 -1.16183110e-02 3.16284582e+01] [ 2.49832787e-02 1.26528363e-04 9.99687861e-01 3.52698284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84804094199998 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:136.79, Y:31.65, Z:3.52 [[ 8.84106382e-01 -4.66762084e-01 -2.21147657e-02 1.36791744e+02] [ 4.66617325e-01 8.84382923e-01 -1.16239975e-02 3.16526782e+01] [ 2.49835625e-02 -4.22824641e-05 9.99687861e-01 3.52040366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90804094199999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:136.85, Y:31.67, Z:3.53 [[ 8.84786374e-01 -4.65471973e-01 -2.21114086e-02 1.36848537e+02] [ 4.65326651e-01 8.85062620e-01 -1.16303800e-02 3.16693243e+01] [ 2.49835972e-02 1.37399114e-06 9.99687861e-01 3.53158541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.968040942 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:136.90, Y:31.69, Z:3.53 [[ 8.83638655e-01 -4.67647152e-01 -2.21103773e-02 1.36903650e+02] [ 4.67502460e-01 8.83915233e-01 -1.16323403e-02 3.16896357e+01] [ 2.49835301e-02 -5.78702504e-05 9.99687861e-01 3.53171290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.96, Y:31.71, Z:3.54 [[ 8.83593560e-01 -4.67732505e-01 -2.21071043e-02 1.36958887e+02] [ 4.67587685e-01 8.83870070e-01 -1.16385572e-02 3.17087347e+01] [ 2.49835394e-02 -5.32555381e-05 9.99687861e-01 3.53508485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.02, Y:31.72, Z:3.55 [[ 8.85161309e-01 -4.64758945e-01 -2.21038444e-02 1.37016858e+02] [ 4.64613042e-01 8.85437249e-01 -1.16447452e-02 3.17249371e+01] [ 2.49835666e-02 3.77435617e-05 9.99687861e-01 3.54540725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.07, Y:31.75, Z:3.54 [[ 8.80712395e-01 -4.73135427e-01 -2.21030411e-02 1.37068848e+02] [ 4.72992109e-01 8.80989687e-01 -1.16462696e-02 3.17522219e+01] [ 2.49828140e-02 -1.97550010e-04 9.99687861e-01 3.53636345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.12, Y:31.77, Z:3.54 [[ 8.82415206e-01 -4.69952028e-01 -2.21019492e-02 1.37123659e+02] [ 4.69807658e-01 8.82691951e-01 -1.16483415e-02 3.17698309e+01] [ 2.49833744e-02 -1.04991373e-04 9.99687861e-01 3.54156335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26804094199997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:137.18, Y:31.79, Z:3.55 [[ 8.83937229e-01 -4.67083018e-01 -2.21004487e-02 1.37178149e+02] [ 4.66937679e-01 8.84213466e-01 -1.16511877e-02 3.17910868e+01] [ 2.49835863e-02 -2.06136643e-05 9.99687861e-01 3.54618232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32804094199997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:137.23, Y:31.81, Z:3.55 [[ 8.86476950e-01 -4.62244884e-01 -2.20971632e-02 1.37232769e+02] [ 4.62097882e-01 8.86752306e-01 -1.16574154e-02 3.18115388e+01] [ 2.49832911e-02 1.22977768e-04 9.99687861e-01 3.54830867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.29, Y:31.83, Z:3.55 [[ 8.88285275e-01 -4.58760439e-01 -2.20936731e-02 1.37288346e+02] [ 4.58612192e-01 8.88559963e-01 -1.16640263e-02 3.18302386e+01] [ 2.49825472e-02 2.28554927e-04 9.99687861e-01 3.55238814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.34, Y:31.85, Z:3.56 [[ 8.87887801e-01 -4.59529293e-01 -2.20925985e-02 1.37342589e+02] [ 4.59381233e-01 8.88162590e-01 -1.16660614e-02 3.18507032e+01] [ 2.49827164e-02 2.09228407e-04 9.99687861e-01 3.55657012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50804094199998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:137.40, Y:31.87, Z:3.56 [[ 8.86362027e-01 -4.62465591e-01 -2.20892293e-02 1.37396580e+02] [ 4.62318283e-01 8.86637220e-01 -1.16724374e-02 3.18713460e+01] [ 2.49832335e-02 1.33750746e-04 9.99687861e-01 3.55939415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56804094199998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:137.45, Y:31.89, Z:3.55 [[ 8.83247389e-01 -4.68386785e-01 -2.20877793e-02 1.37451396e+02] [ 4.68241254e-01 8.83523525e-01 -1.16751806e-02 3.18948710e+01] [ 2.49835729e-02 -3.03366656e-05 9.99687861e-01 3.55485035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62804094199998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:137.51, Y:31.92, Z:3.56 [[ 8.80043771e-01 -4.74378760e-01 -2.20851141e-02 1.37505459e+02] [ 4.74234982e-01 8.80320824e-01 -1.16802200e-02 3.19180946e+01] [ 2.49828341e-02 -1.94428836e-04 9.99687861e-01 3.55600419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.688040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:137.56, Y:31.94, Z:3.57 [[ 8.82115957e-01 -4.70514416e-01 -2.20821597e-02 1.37561548e+02] [ 4.70369285e-01 8.82392304e-01 -1.16858028e-02 3.19361015e+01] [ 2.49834664e-02 -7.85365196e-05 9.99687861e-01 3.56668642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.62, Y:31.96, Z:3.57 [[ 8.81840971e-01 -4.71029669e-01 -2.20806057e-02 1.37615043e+02] [ 4.70884626e-01 8.82117363e-01 -1.16887383e-02 3.19612947e+01] [ 2.49834282e-02 -8.98094221e-05 9.99687861e-01 3.56784846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.67, Y:31.98, Z:3.58 [[ 8.82647992e-01 -4.69515812e-01 -2.20777182e-02 1.37670887e+02] [ 4.69370158e-01 8.82924063e-01 -1.16941897e-02 3.19817292e+01] [ 2.49835556e-02 -4.07690746e-05 9.99687861e-01 3.57751403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.868040942 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:137.73, Y:32.00, Z:3.58 [[ 8.84661978e-01 -4.65710094e-01 -2.20747224e-02 1.37727069e+02] [ 4.65563111e-01 8.84937344e-01 -1.16998420e-02 3.20031208e+01] [ 2.49834807e-02 7.32289699e-05 9.99687861e-01 3.58467917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.928040942 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:137.78, Y:32.03, Z:3.58 [[ 8.84268589e-01 -4.66456665e-01 -2.20735534e-02 1.37780806e+02] [ 4.66309860e-01 8.84544050e-01 -1.17020471e-02 3.20299208e+01] [ 2.49835282e-02 5.46370408e-05 9.99687861e-01 3.58305655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.988040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:137.83, Y:32.06, Z:3.58 [[ 8.83519715e-01 -4.67873672e-01 -2.20712686e-02 1.37831298e+02] [ 4.67727201e-01 8.83795353e-01 -1.17063549e-02 3.20596405e+01] [ 2.49835799e-02 1.94626812e-05 9.99687861e-01 3.57644420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04804094199997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:137.88, Y:32.09, Z:3.58 [[ 8.85150473e-01 -4.64781177e-01 -2.20702921e-02 1.37883454e+02] [ 4.64633697e-01 8.85425573e-01 -1.17081955e-02 3.20875601e+01] [ 2.49833500e-02 1.08913393e-04 9.99687861e-01 3.58479513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.93, Y:32.12, Z:3.58 [[ 8.84110238e-01 -4.66756928e-01 -2.20693660e-02 1.37933008e+02] [ 4.66610019e-01 8.84385644e-01 -1.17099410e-02 3.21203592e+01] [ 2.49835266e-02 5.50913788e-05 9.99687861e-01 3.58340107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.99, Y:32.15, Z:3.59 [[ 8.83880612e-01 -4.67191760e-01 -2.20663150e-02 1.37985206e+02] [ 4.67044844e-01 8.84156014e-01 -1.17156875e-02 3.21466307e+01] [ 2.49835378e-02 4.93104184e-05 9.99687861e-01 3.58756268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22804094199998 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:138.04, Y:32.17, Z:3.59 [[ 8.83185946e-01 -4.68503786e-01 -2.20632516e-02 1.38038659e+02] [ 4.68357135e-01 8.83461489e-01 -1.17214538e-02 3.21697386e+01] [ 2.49835786e-02 1.87419120e-05 9.99687862e-01 3.59146970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28804094199998 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:138.09, Y:32.20, Z:3.59 [[ 8.83879817e-01 -4.67193447e-01 -2.20624640e-02 1.38091661e+02] [ 4.67046350e-01 8.84155122e-01 -1.17229361e-02 3.21970372e+01] [ 2.49835194e-02 5.74733502e-05 9.99687862e-01 3.58816821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.14, Y:32.23, Z:3.60 [[ 8.76209427e-01 -4.81425386e-01 -2.20598678e-02 1.38137465e+02] [ 4.81282638e-01 8.76487011e-01 -1.17278195e-02 3.22334221e+01] [ 2.49812576e-02 -3.41005370e-04 9.99687862e-01 3.59806183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40804094199999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:138.19, Y:32.26, Z:3.60 [[ 8.75809186e-01 -4.82153170e-01 -2.20588087e-02 1.38188031e+02] [ 4.82010602e-01 8.76086863e-01 -1.17298111e-02 3.22628329e+01] [ 2.49809981e-02 -3.59503326e-04 9.99687862e-01 3.60005146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.468040942 meters Centerline goodness : 0.998112 with order 1 Centerline is valid? [True, True] Translation: X:138.24, Y:32.29, Z:3.59 [[ 8.72773664e-01 -4.87626566e-01 -2.20559362e-02 1.38238563e+02] [ 4.87485602e-01 8.73052159e-01 -1.17352098e-02 3.22948837e+01] [ 2.49783828e-02 -5.09769263e-04 9.99687862e-01 3.58912233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.29, Y:32.31, Z:3.60 [[ 8.79334555e-01 -4.75693613e-01 -2.20528124e-02 1.38294171e+02] [ 4.75548722e-01 8.79611028e-01 -1.17410772e-02 3.23127140e+01] [ 2.49830524e-02 -1.62851886e-04 9.99687862e-01 3.59876018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.588040942 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:138.34, Y:32.35, Z:3.59 [[ 8.77078531e-01 -4.79840577e-01 -2.20515638e-02 1.38342001e+02] [ 4.79696935e-01 8.77355654e-01 -1.17434219e-02 3.23493224e+01] [ 2.49820345e-02 -2.78164321e-04 9.99687862e-01 3.59252093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.648040942 meters Centerline goodness : 0.997140 with order 1 Centerline is valid? [True, True] Translation: X:138.39, Y:32.38, Z:3.59 [[ 8.79278114e-01 -4.75798125e-01 -2.20486164e-02 1.38393354e+02] [ 4.75653070e-01 8.79554500e-01 -1.17489530e-02 3.23765782e+01] [ 2.49830896e-02 -1.56894862e-04 9.99687862e-01 3.59259363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.708040942 meters Centerline goodness : 0.995251 with order 1 Centerline is valid? [True, True] Translation: X:138.45, Y:32.40, Z:3.59 [[ 8.80338047e-01 -4.73834186e-01 -2.20473836e-02 1.38448101e+02] [ 4.73688456e-01 8.80614078e-01 -1.17512661e-02 3.23998280e+01] [ 2.49833879e-02 -9.85044683e-05 9.99687862e-01 3.59011267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76804094199997 meters Centerline goodness : 0.996325 with order 1 Centerline is valid? [True, True] Translation: X:138.50, Y:32.43, Z:3.60 [[ 8.75434467e-01 -4.82833882e-01 -2.20439681e-02 1.38496006e+02] [ 4.82690828e-01 8.75711894e-01 -1.17576695e-02 3.24339131e+01] [ 2.49811663e-02 -3.47352070e-04 9.99687862e-01 3.59567996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82804094199997 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:138.55, Y:32.46, Z:3.59 [[ 8.77732674e-01 -4.78643506e-01 -2.20396572e-02 1.38549957e+02] [ 4.78498925e-01 8.78009309e-01 -1.17657448e-02 3.24556999e+01] [ 2.49826215e-02 -2.18773648e-04 9.99687862e-01 3.59101019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88804094199998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:138.60, Y:32.48, Z:3.60 [[ 8.75065640e-01 -4.83502393e-01 -2.20354751e-02 1.38600655e+02] [ 4.83359150e-01 8.75342970e-01 -1.17735721e-02 3.24828796e+01] [ 2.49811485e-02 -3.48400127e-04 9.99687862e-01 3.59794872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94804094199998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:138.65, Y:32.51, Z:3.60 [[ 8.76346031e-01 -4.81177845e-01 -2.20344399e-02 1.38652989e+02] [ 4.81033818e-01 8.76622954e-01 -1.17755091e-02 3.25085541e+01] [ 2.49820099e-02 -2.79890078e-04 9.99687862e-01 3.59636594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.70, Y:32.54, Z:3.60 [[ 8.76780159e-01 -4.80386497e-01 -2.20310472e-02 1.38702953e+02] [ 4.80242061e-01 8.77056869e-01 -1.17818532e-02 3.25379309e+01] [ 2.49823244e-02 -2.50140337e-04 9.99687862e-01 3.59663519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06804094199998 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:138.75, Y:32.57, Z:3.59 [[ 8.72995550e-01 -4.87230410e-01 -2.20294819e-02 1.38750564e+02] [ 4.87088069e-01 8.73273344e-01 -1.17847793e-02 3.25739184e+01] [ 2.49796621e-02 -4.42237878e-04 9.99687862e-01 3.58980107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12804094199998 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:138.80, Y:32.60, Z:3.60 [[ 8.79326486e-01 -4.75709748e-01 -2.20264990e-02 1.38803065e+02] [ 4.75563627e-01 8.79602310e-01 -1.17903519e-02 3.25980414e+01] [ 2.49833447e-02 -1.07433066e-04 9.99687862e-01 3.59693642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.85, Y:32.63, Z:3.60 [[ 8.78394190e-01 -4.77429079e-01 -2.20254502e-02 1.38853840e+02] [ 4.77283449e-01 8.78670274e-01 -1.17923108e-02 3.26294021e+01] [ 2.49831004e-02 -1.54085536e-04 9.99687862e-01 3.59553719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.248040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:138.91, Y:32.66, Z:3.59 [[ 8.80351067e-01 -4.73811144e-01 -2.20226911e-02 1.38905262e+02] [ 4.73664250e-01 8.80626480e-01 -1.17974613e-02 3.26561750e+01] [ 2.49835336e-02 -4.54538377e-05 9.99687862e-01 3.59337842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.96, Y:32.68, Z:3.60 [[ 8.78305076e-01 -4.77593281e-01 -2.20193173e-02 1.38958561e+02] [ 4.77447416e-01 8.78581036e-01 -1.18037549e-02 3.26817224e+01] [ 2.49831486e-02 -1.45768327e-04 9.99687862e-01 3.60017387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.01, Y:32.71, Z:3.60 [[ 8.76668280e-01 -4.80591314e-01 -2.20162686e-02 1.39012029e+02] [ 4.80446250e-01 8.76944661e-01 -1.18094386e-02 3.27060539e+01] [ 2.49825628e-02 -2.24673432e-04 9.99687862e-01 3.60312794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.06, Y:32.73, Z:3.60 [[ 8.74910323e-01 -4.83784399e-01 -2.20132432e-02 1.39062246e+02] [ 4.83640201e-01 8.75187157e-01 -1.18150753e-02 3.27333085e+01] [ 2.49816569e-02 -3.09358065e-04 9.99687862e-01 3.60493723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.11, Y:32.76, Z:3.61 [[ 8.72072629e-01 -4.88881185e-01 -2.20117554e-02 1.39113691e+02] [ 4.88738535e-01 8.72350264e-01 -1.18178466e-02 3.27604031e+01] [ 2.49794834e-02 -4.51972542e-04 9.99687862e-01 3.60773116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.17, Y:32.79, Z:3.61 [[ 8.69488879e-01 -4.93461973e-01 -2.20084131e-02 1.39165990e+02] [ 4.93320628e-01 8.69767181e-01 -1.18240676e-02 3.27862658e+01] [ 2.49769231e-02 -5.76308894e-04 9.99687862e-01 3.60990182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.22, Y:32.82, Z:3.61 [[ 8.70660029e-01 -4.91392805e-01 -2.20051100e-02 1.39216616e+02] [ 4.91250643e-01 8.70937915e-01 -1.18302116e-02 3.28159356e+01] [ 2.49783655e-02 -5.09932126e-04 9.99687862e-01 3.60635076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66804094199998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:139.27, Y:32.85, Z:3.61 [[ 8.70355252e-01 -4.91932575e-01 -2.20017370e-02 1.39266762e+02] [ 4.91790428e-01 8.70633145e-01 -1.18364814e-02 3.28459260e+01] [ 2.49781922e-02 -5.18299838e-04 9.99687862e-01 3.61181528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72804094199998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:139.32, Y:32.87, Z:3.61 [[ 8.72694074e-01 -4.87771595e-01 -2.19982879e-02 1.39318525e+02] [ 4.87627961e-01 8.72971201e-01 -1.18428882e-02 3.28744971e+01] [ 2.49804962e-02 -3.91761900e-04 9.99687862e-01 3.61051903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.37, Y:32.90, Z:3.62 [[ 8.71078092e-01 -4.90651785e-01 -2.19950798e-02 1.39368677e+02] [ 4.90508917e-01 8.71355615e-01 -1.18488433e-02 3.29042096e+01] [ 2.49791924e-02 -4.67515020e-04 9.99687862e-01 3.61633067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.42, Y:32.94, Z:3.62 [[ 8.69907923e-01 -4.92723614e-01 -2.19919254e-02 1.39416708e+02] [ 4.92581259e-01 8.70185710e-01 -1.18546952e-02 3.29368615e+01] [ 2.49781474e-02 -5.20317054e-04 9.99687862e-01 3.61724286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.47, Y:32.97, Z:3.62 [[ 8.69991664e-01 -4.92575789e-01 -2.19908317e-02 1.39465440e+02] [ 4.92433336e-01 8.70269400e-01 -1.18567237e-02 3.29695760e+01] [ 2.49782829e-02 -5.13767804e-04 9.99687862e-01 3.61632620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.968040942 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:139.51, Y:33.00, Z:3.62 [[ 8.67178841e-01 -4.97511113e-01 -2.19897803e-02 1.39514994e+02] [ 4.97370190e-01 8.67457357e-01 -1.18586733e-02 3.30026176e+01] [ 2.49750184e-02 -6.53470578e-04 9.99687862e-01 3.61629290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.028040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:139.56, Y:33.04, Z:3.62 [[ 8.66912695e-01 -4.97974857e-01 -2.19868175e-02 1.39562973e+02] [ 4.97833945e-01 8.67191216e-01 -1.18641639e-02 3.30350774e+01] [ 2.49748304e-02 -6.60589789e-04 9.99687862e-01 3.61792164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.088040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:139.61, Y:33.07, Z:3.62 [[ 8.68336063e-01 -4.95488756e-01 -2.19857781e-02 1.39612909e+02] [ 4.95346998e-01 8.68614154e-01 -1.18660897e-02 3.30664046e+01] [ 2.49766721e-02 -5.86835570e-04 9.99687862e-01 3.62149697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.148040942 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:139.66, Y:33.10, Z:3.62 [[ 8.68980120e-01 -4.94358477e-01 -2.19828762e-02 1.39662529e+02] [ 4.94216221e-01 8.69257957e-01 -1.18714634e-02 3.30978787e+01] [ 2.49775486e-02 -5.48228329e-04 9.99687862e-01 3.62322701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.71, Y:33.13, Z:3.62 [[ 8.69440236e-01 -4.93548941e-01 -2.19799832e-02 1.39711928e+02] [ 4.93406291e-01 8.69717870e-01 -1.18768173e-02 3.31308737e+01] [ 2.49781748e-02 -5.18879190e-04 9.99687862e-01 3.62336024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.76, Y:33.16, Z:3.62 [[ 8.71547138e-01 -4.89818940e-01 -2.19770845e-02 1.39760878e+02] [ 4.89674966e-01 8.71824088e-01 -1.18821788e-02 3.31634244e+01] [ 2.49802679e-02 -4.05749209e-04 9.99687862e-01 3.62274901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.81, Y:33.19, Z:3.62 [[ 8.71625899e-01 -4.89678913e-01 -2.19739597e-02 1.39809242e+02] [ 4.89534749e-01 8.71902750e-01 -1.18879546e-02 3.31948569e+01] [ 2.49804366e-02 -3.95167764e-04 9.99687862e-01 3.62305578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.86, Y:33.23, Z:3.62 [[ 8.72055806e-01 -4.88912941e-01 -2.19728640e-02 1.39857922e+02] [ 4.88768483e-01 8.72332504e-01 -1.18899795e-02 3.32259478e+01] [ 2.49808084e-02 -3.70917739e-04 9.99687862e-01 3.62332138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.91, Y:33.26, Z:3.63 [[ 8.74816340e-01 -4.83956322e-01 -2.19692932e-02 1.39907429e+02] [ 4.83810131e-01 8.75092126e-01 -1.18965737e-02 3.32551232e+01] [ 2.49825776e-02 -2.21649555e-04 9.99687862e-01 3.63042681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.96, Y:33.29, Z:3.63 [[ 8.74754550e-01 -4.84068161e-01 -2.19657255e-02 1.39957380e+02] [ 4.83921839e-01 8.75030267e-01 -1.19031574e-02 3.32854951e+01] [ 2.49826142e-02 -2.17353204e-04 9.99687862e-01 3.63038994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.01, Y:33.31, Z:3.63 [[ 8.77993229e-01 -4.78168958e-01 -2.19621812e-02 1.40008738e+02] [ 4.78020620e-01 8.78267867e-01 -1.19096933e-02 3.33134459e+01] [ 2.49835237e-02 -4.17454483e-05 9.99687862e-01 3.63331586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.06, Y:33.35, Z:3.62 [[ 8.75989844e-01 -4.81829420e-01 -2.19591153e-02 1.40056698e+02] [ 4.81682088e-01 8.76265023e-01 -1.19153436e-02 3.33493657e+01] [ 2.49831678e-02 -1.39592467e-04 9.99687862e-01 3.62260155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.11, Y:33.38, Z:3.62 [[ 8.76186023e-01 -4.81472726e-01 -2.19560261e-02 1.40107529e+02] [ 4.81325139e-01 8.76461066e-01 -1.19210332e-02 3.33783095e+01] [ 2.49832544e-02 -1.22944671e-04 9.99687862e-01 3.62322017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.16, Y:33.41, Z:3.63 [[ 8.77285409e-01 -4.79466789e-01 -2.19524641e-02 1.40157959e+02] [ 4.79318409e-01 8.77560024e-01 -1.19275890e-02 3.34061279e+01] [ 2.49834877e-02 -5.83204088e-05 9.99687862e-01 3.62743416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.21, Y:33.43, Z:3.63 [[ 8.75754306e-01 -4.82257744e-01 -2.19513698e-02 1.40210786e+02] [ 4.82110190e-01 8.76029366e-01 -1.19296025e-02 3.34326255e+01] [ 2.49831878e-02 -1.35578275e-04 9.99687862e-01 3.62588769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.26, Y:33.46, Z:3.63 [[ 8.73914692e-01 -4.85583550e-01 -2.19482638e-02 1.40263940e+02] [ 4.85436899e-01 8.74190234e-01 -1.19353143e-02 3.34583113e+01] [ 2.49825502e-02 -2.24050621e-04 9.99687862e-01 3.62825926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.32, Y:33.48, Z:3.63 [[ 8.70796494e-01 -4.91153617e-01 -2.19451526e-02 1.40316255e+02] [ 4.91008584e-01 8.71072891e-01 -1.19410320e-02 3.34839028e+01] [ 2.49807086e-02 -3.77049527e-04 9.99687862e-01 3.62779727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.37, Y:33.51, Z:3.63 [[ 8.72023736e-01 -4.88971543e-01 -2.19416012e-02 1.40369396e+02] [ 4.88825654e-01 8.72299683e-01 -1.19475542e-02 3.35083221e+01] [ 2.49816658e-02 -3.07066734e-04 9.99687862e-01 3.63169667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.42, Y:33.53, Z:3.64 [[ 8.73417219e-01 -4.86478246e-01 -2.19380447e-02 1.40422052e+02] [ 4.86331406e-01 8.73692660e-01 -1.19540812e-02 3.35332554e+01] [ 2.49825090e-02 -2.28259784e-04 9.99687862e-01 3.63666449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.47, Y:33.56, Z:3.63 [[ 8.73041723e-01 -4.87151846e-01 -2.19369536e-02 1.40473781e+02] [ 4.87005167e-01 8.73317250e-01 -1.19560830e-02 3.35605581e+01] [ 2.49823479e-02 -2.45250413e-04 9.99687862e-01 3.63466723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.53, Y:33.59, Z:3.63 [[ 8.71728866e-01 -4.89497382e-01 -2.19339281e-02 1.40526858e+02] [ 4.89351306e-01 8.72004713e-01 -1.19616309e-02 3.35869793e+01] [ 2.49816757e-02 -3.06097383e-04 9.99687862e-01 3.63488971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.58, Y:33.61, Z:3.64 [[ 8.72420830e-01 -4.88263184e-01 -2.19307809e-02 1.40580150e+02] [ 4.88116572e-01 8.72696393e-01 -1.19673982e-02 3.36120067e+01] [ 2.49821533e-02 -2.64170136e-04 9.99687862e-01 3.63881370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.63, Y:33.64, Z:3.64 [[ 8.70569156e-01 -4.91557247e-01 -2.19275606e-02 1.40631710e+02] [ 4.91411530e-01 8.70845192e-01 -1.19732957e-02 3.36404950e+01] [ 2.49810710e-02 -3.51874160e-04 9.99687862e-01 3.63816693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.68, Y:33.67, Z:3.64 [[ 8.69629241e-01 -4.93218313e-01 -2.19243861e-02 1.40682883e+02] [ 4.93072976e-01 8.69905479e-01 -1.19791058e-02 3.36672943e+01] [ 2.49804579e-02 -3.92941663e-04 9.99687862e-01 3.63884094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.74, Y:33.69, Z:3.64 [[ 8.68902756e-01 -4.94497115e-01 -2.19227022e-02 1.40735702e+02] [ 4.94352106e-01 8.69179166e-01 -1.19821868e-02 3.36933261e+01] [ 2.49799128e-02 -4.26178891e-04 9.99687862e-01 3.63991056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.79, Y:33.72, Z:3.65 [[ 8.71180050e-01 -4.90474110e-01 -2.19195891e-02 1.40787999e+02] [ 4.90327682e-01 8.71455710e-01 -1.19878790e-02 3.37174674e+01] [ 2.49816953e-02 -3.04180328e-04 9.99687862e-01 3.64554444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.84, Y:33.75, Z:3.64 [[ 8.69801209e-01 -4.92915243e-01 -2.19185005e-02 1.40837649e+02] [ 4.92769539e-01 8.70077252e-01 -1.19898689e-02 3.37471317e+01] [ 2.49807779e-02 -3.71966922e-04 9.99687862e-01 3.64330540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.89, Y:33.78, Z:3.64 [[ 8.68882333e-01 -4.94533343e-01 -2.19149346e-02 1.40887843e+02] [ 4.94387988e-01 8.69158561e-01 -1.19963832e-02 3.37757346e+01] [ 2.49801645e-02 -4.11035027e-04 9.99687862e-01 3.64155635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.94, Y:33.80, Z:3.64 [[ 8.68207498e-01 -4.95717182e-01 -2.19138452e-02 1.40938479e+02] [ 4.95572154e-01 8.68483897e-01 -1.19983729e-02 3.38049183e+01] [ 2.49796213e-02 -4.42814129e-04 9.99687863e-01 3.63884744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.99, Y:33.83, Z:3.64 [[ 8.68408238e-01 -4.95365585e-01 -2.19104926e-02 1.40990480e+02] [ 4.95220291e-01 8.68684497e-01 -1.20044920e-02 3.38334476e+01] [ 2.49799174e-02 -4.25720821e-04 9.99687863e-01 3.64079047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.04, Y:33.86, Z:3.64 [[ 8.69059415e-01 -4.94222411e-01 -2.19075470e-02 1.41042149e+02] [ 4.94076618e-01 8.69335412e-01 -1.20098651e-02 3.38598566e+01] [ 2.49805509e-02 -3.86720419e-04 9.99687863e-01 3.64337564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.10, Y:33.89, Z:3.64 [[ 8.71708658e-01 -4.89534596e-01 -2.19065125e-02 1.41095264e+02] [ 4.89387271e-01 8.71983840e-01 -1.20117519e-02 3.38850691e+01] [ 2.49822930e-02 -2.50020214e-04 9.99687863e-01 3.64405347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.15, Y:33.91, Z:3.64 [[ 8.71359671e-01 -4.90155660e-01 -2.19032731e-02 1.41145905e+02] [ 4.90008383e-01 8.71634878e-01 -1.20176559e-02 3.39127310e+01] [ 2.49821789e-02 -2.61086703e-04 9.99687863e-01 3.64345104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.20, Y:33.94, Z:3.65 [[ 8.73335987e-01 -4.86625678e-01 -2.19021345e-02 1.41196472e+02] [ 4.86477236e-01 8.73610568e-01 -1.20197307e-02 3.39382497e+01] [ 2.49830457e-02 -1.57626420e-04 9.99687863e-01 3.64587356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.25, Y:33.97, Z:3.64 [[ 8.73678755e-01 -4.86010077e-01 -2.19006593e-02 1.41248554e+02] [ 4.85861374e-01 8.73953195e-01 -1.20224179e-02 3.39652931e+01] [ 2.49831674e-02 -1.36953332e-04 9.99687863e-01 3.64348046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.30, Y:33.99, Z:3.65 [[ 8.74754743e-01 -4.84070894e-01 -2.18976760e-02 1.41302402e+02] [ 4.83921448e-01 8.75028779e-01 -1.20278492e-02 3.39895880e+01] [ 2.49834285e-02 -7.53369366e-05 9.99687863e-01 3.64867754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.36, Y:34.01, Z:3.65 [[ 8.74748185e-01 -4.84082889e-01 -2.18945153e-02 1.41356211e+02] [ 4.83933301e-01 8.75022144e-01 -1.20336001e-02 3.40127529e+01] [ 2.49834456e-02 -6.91152478e-05 9.99687863e-01 3.65242426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.41, Y:34.04, Z:3.66 [[ 8.73617389e-01 -4.86120728e-01 -2.18928315e-02 1.41407057e+02] [ 4.85971703e-01 8.73891654e-01 -1.20366627e-02 3.40407735e+01] [ 2.49832339e-02 -1.23858794e-04 9.99687863e-01 3.65906586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.46, Y:34.06, Z:3.66 [[ 8.75202584e-01 -4.83260996e-01 -2.18917261e-02 1.41462529e+02] [ 4.83111025e-01 8.75476332e-01 -1.20386727e-02 3.40596595e+01] [ 2.49835090e-02 -3.98567819e-05 9.99687863e-01 3.65785494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.51, Y:34.09, Z:3.66 [[ 8.74735418e-01 -4.84106241e-01 -2.18882606e-02 1.41514557e+02] [ 4.83956377e-01 8.75009225e-01 -1.20449702e-02 3.40859733e+01] [ 2.49834752e-02 -5.68012373e-05 9.99687863e-01 3.65845112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.56, Y:34.12, Z:3.66 [[ 8.74665529e-01 -4.84232665e-01 -2.18846884e-02 1.41564606e+02] [ 4.84082678e-01 8.74939269e-01 -1.20514571e-02 3.41152090e+01] [ 2.49834825e-02 -5.30045113e-05 9.99687863e-01 3.65858145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.428040942 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:141.62, Y:34.14, Z:3.66 [[ 8.77649095e-01 -4.78804017e-01 -2.18810112e-02 1.41615504e+02] [ 4.78652170e-01 8.77921808e-01 -1.20581299e-02 3.41443427e+01] [ 2.49832980e-02 1.09413335e-04 9.99687863e-01 3.66434347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.66, Y:34.18, Z:3.66 [[ 8.73883108e-01 -4.85643574e-01 -2.18776876e-02 1.41660751e+02] [ 4.85493711e-01 8.74156915e-01 -1.20641570e-02 3.41809556e+01] [ 2.49834123e-02 -7.88167257e-05 9.99687863e-01 3.66476968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.71, Y:34.21, Z:3.66 [[ 8.73285154e-01 -4.86718059e-01 -2.18762867e-02 1.41712383e+02] [ 4.86568469e-01 8.73559111e-01 -1.20666968e-02 3.42085340e+01] [ 2.49833088e-02 -1.06644126e-04 9.99687863e-01 3.65935124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.76, Y:34.24, Z:3.66 [[ 8.71201404e-01 -4.90438277e-01 -2.18725827e-02 1.41764994e+02] [ 4.90289688e-01 8.71475906e-01 -1.20734071e-02 3.42357696e+01] [ 2.49826898e-02 -2.05532579e-04 9.99687863e-01 3.65774318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.82, Y:34.27, Z:3.66 [[ 8.70163392e-01 -4.92277781e-01 -2.18691196e-02 1.41815342e+02] [ 4.92129615e-01 8.70438122e-01 -1.20796768e-02 3.42670502e+01] [ 2.49822718e-02 -2.51148867e-04 9.99687863e-01 3.66104542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.86, Y:34.30, Z:3.66 [[ 8.69319713e-01 -4.93766252e-01 -2.18660948e-02 1.41864992e+02] [ 4.93618419e-01 8.69594622e-01 -1.20851496e-02 3.42969087e+01] [ 2.49818775e-02 -2.87648367e-04 9.99687863e-01 3.66447263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78804094199998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:141.91, Y:34.33, Z:3.66 [[ 8.70563163e-01 -4.91570646e-01 -2.18650337e-02 1.41914911e+02] [ 4.91422071e-01 8.70837672e-01 -1.20870692e-02 3.43250828e+01] [ 2.49825434e-02 -2.22402960e-04 9.99687863e-01 3.66209247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.97, Y:34.35, Z:3.67 [[ 8.71119498e-01 -4.90584145e-01 -2.18635783e-02 1.41965478e+02] [ 4.90435194e-01 8.71393803e-01 -1.20897011e-02 3.43534818e+01] [ 2.49828023e-02 -1.91093885e-04 9.99687863e-01 3.66989307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.01, Y:34.39, Z:3.67 [[ 8.70013894e-01 -4.92542353e-01 -2.18598722e-02 1.42014391e+02] [ 4.92393850e-01 8.70288443e-01 -1.20963986e-02 3.43863994e+01] [ 2.49823827e-02 -2.39631817e-04 9.99687863e-01 3.66544627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.07, Y:34.41, Z:3.67 [[ 8.71448337e-01 -4.90000086e-01 -2.18566228e-02 1.42065173e+02] [ 4.89850635e-01 8.71722370e-01 -1.21022670e-02 3.44137474e+01] [ 2.49830189e-02 -1.59980117e-04 9.99687863e-01 3.66642630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.12, Y:34.44, Z:3.67 [[ 8.73081398e-01 -4.87084511e-01 -2.18529374e-02 1.42115368e+02] [ 4.86933979e-01 8.73354839e-01 -1.21089181e-02 3.44413380e+01] [ 2.49834350e-02 -6.88666369e-05 9.99687863e-01 3.66948226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.17, Y:34.47, Z:3.68 [[ 8.77786451e-01 -4.78553554e-01 -2.18504616e-02 1.42169414e+02] [ 4.78400253e-01 8.78058349e-01 -1.21133838e-02 3.44655147e+01] [ 2.49828832e-02 1.79697834e-04 9.99687863e-01 3.67691614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.22, Y:34.49, Z:3.68 [[ 8.79330799e-01 -4.75710036e-01 -2.18473664e-02 1.42221945e+02] [ 4.75555717e-01 8.79602121e-01 -1.21189637e-02 3.44905508e+01] [ 2.49821025e-02 2.66938055e-04 9.99687863e-01 3.67856916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.28, Y:34.51, Z:3.68 [[ 8.81181441e-01 -4.72273349e-01 -2.18438243e-02 1.42275443e+02] [ 4.72117814e-01 8.81452067e-01 -1.21253449e-02 3.45136191e+01] [ 2.49807613e-02 3.71770281e-04 9.99687863e-01 3.67585153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.33, Y:34.54, Z:3.68 [[ 8.78382724e-01 -4.77458569e-01 -2.18427373e-02 1.42326595e+02] [ 4.77304583e-01 8.78654235e-01 -1.21273027e-02 3.45424606e+01] [ 2.49824982e-02 2.26774551e-04 9.99687863e-01 3.68080306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.38, Y:34.57, Z:3.68 [[ 8.76243666e-01 -4.81373104e-01 -2.18397226e-02 1.42377160e+02] [ 4.81220196e-01 8.76515784e-01 -1.21327294e-02 3.45702355e+01] [ 2.49832312e-02 1.21511693e-04 9.99687863e-01 3.68195323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.43, Y:34.60, Z:3.69 [[ 8.73978737e-01 -4.85473212e-01 -2.18386634e-02 1.42428294e+02] [ 4.85321533e-01 8.74251543e-01 -1.21346356e-02 3.45974796e+01] [ 2.49835257e-02 6.63992578e-06 9.99687863e-01 3.68701692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44804094199998 meters Centerline goodness : 0.997878 with order 1 Centerline is valid? [True, True] Translation: X:142.48, Y:34.63, Z:3.69 [[ 8.67125294e-01 -4.97611259e-01 -2.18348240e-02 1.42475783e+02] [ 4.97463225e-01 8.67400094e-01 -1.21415402e-02 3.46325822e+01] [ 2.49812955e-02 -3.33785402e-04 9.99687863e-01 3.68749261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50804094199998 meters Centerline goodness : 0.998116 with order 1 Centerline is valid? [True, True] Translation: X:142.53, Y:34.66, Z:3.69 [[ 8.65966430e-01 -4.99625435e-01 -2.18304014e-02 1.42525856e+02] [ 4.99477839e-01 8.66241467e-01 -1.21494868e-02 3.46607921e+01] [ 2.49805916e-02 -3.82753941e-04 9.99687863e-01 3.68695402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56804094199998 meters Centerline goodness : 0.998379 with order 1 Centerline is valid? [True, True] Translation: X:142.58, Y:34.69, Z:3.69 [[ 8.64967301e-01 -5.01353234e-01 -2.18289309e-02 1.42575708e+02] [ 5.01206121e-01 8.65242596e-01 -1.21521283e-02 3.46898927e+01] [ 2.49798297e-02 -4.29600107e-04 9.99687863e-01 3.68874694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62804094199998 meters Centerline goodness : 0.996595 with order 1 Centerline is valid? [True, True] Translation: X:142.62, Y:34.72, Z:3.69 [[ 8.64796864e-01 -5.01647374e-01 -2.18242175e-02 1.42623408e+02] [ 5.01500141e-01 8.65072094e-01 -1.21605872e-02 3.47214318e+01] [ 2.49798482e-02 -4.28410465e-04 9.99687863e-01 3.68770529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.688040942 meters Centerline goodness : 0.995907 with order 1 Centerline is valid? [True, True] Translation: X:142.67, Y:34.75, Z:3.69 [[ 8.66609586e-01 -4.98509514e-01 -2.18194921e-02 1.42671964e+02] [ 4.98361071e-01 8.66884166e-01 -1.21690600e-02 3.47528888e+01] [ 2.49813644e-02 -3.28161449e-04 9.99687863e-01 3.69015325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.748040942 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:142.72, Y:34.78, Z:3.69 [[ 8.68922470e-01 -4.94467259e-01 -2.18144515e-02 1.42722394e+02] [ 4.94317312e-01 8.69196232e-01 -1.21780892e-02 3.47811819e+01] [ 2.49827054e-02 -2.01445695e-04 9.99687863e-01 3.69353272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.78, Y:34.80, Z:3.69 [[ 8.72660284e-01 -4.87840368e-01 -2.18129141e-02 1.42776292e+02] [ 4.87688274e-01 8.72932858e-01 -1.21808423e-02 3.48032800e+01] [ 2.49835161e-02 -8.16515937e-06 9.99687863e-01 3.69295124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.868040942 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:142.82, Y:34.84, Z:3.70 [[ 8.71761829e-01 -4.89444262e-01 -2.18088865e-02 1.42823539e+02] [ 4.89292488e-01 8.72034582e-01 -1.21880492e-02 3.48399390e+01] [ 2.49834740e-02 -4.58483093e-05 9.99687863e-01 3.70263680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.928040942 meters Centerline goodness : 0.998632 with order 1 Centerline is valid? [True, True] Translation: X:142.87, Y:34.87, Z:3.70 [[ 8.72272114e-01 -4.88534409e-01 -2.18057430e-02 1.42873429e+02] [ 4.88382211e-01 8.72544630e-01 -1.21936706e-02 3.48701348e+01] [ 2.49835116e-02 -1.33381042e-05 9.99687863e-01 3.70442344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.93, Y:34.89, Z:3.71 [[ 8.75275721e-01 -4.83132526e-01 -2.18031103e-02 1.42926455e+02] [ 4.82978528e-01 8.75547224e-01 -1.21983763e-02 3.48932056e+01] [ 2.49830850e-02 1.46508535e-04 9.99687863e-01 3.70555327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04804094199997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:142.97, Y:34.93, Z:3.70 [[ 8.70460510e-01 -4.91755275e-01 -2.18002167e-02 1.42972020e+02] [ 4.91603838e-01 8.70733450e-01 -1.22035454e-02 3.49302487e+01] [ 2.49833357e-02 -9.43658542e-05 9.99687863e-01 3.70319061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.02, Y:34.96, Z:3.71 [[ 8.67531665e-01 -4.96904151e-01 -2.17961868e-02 1.43023098e+02] [ 4.96754153e-01 8.67805398e-01 -1.22107388e-02 3.49588647e+01] [ 2.49824153e-02 -2.34143718e-04 9.99687863e-01 3.70760616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16804094199998 meters Centerline goodness : 0.997054 with order 1 Centerline is valid? [True, True] Translation: X:143.07, Y:34.99, Z:3.70 [[ 8.66490532e-01 -4.98717593e-01 -2.17926482e-02 1.43071998e+02] [ 4.98568009e-01 8.66764492e-01 -1.22170508e-02 3.49889128e+01] [ 2.49819518e-02 -2.79158386e-04 9.99687863e-01 3.70444897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22804094199998 meters Centerline goodness : 0.996470 with order 1 Centerline is valid? [True, True] Translation: X:143.12, Y:35.02, Z:3.71 [[ 8.65009468e-01 -5.01282239e-01 -2.17884590e-02 1.43120553e+02] [ 5.01133279e-01 8.65283767e-01 -1.22245175e-02 3.50215498e+01] [ 2.49811334e-02 -3.44598488e-04 9.99687863e-01 3.70681523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28804094199998 meters Centerline goodness : 0.995902 with order 1 Centerline is valid? [True, True] Translation: X:143.17, Y:35.05, Z:3.71 [[ 8.64660025e-01 -5.01884810e-01 -2.17871130e-02 1.43169249e+02] [ 5.01735980e-01 8.64934395e-01 -1.22269159e-02 3.50530837e+01] [ 2.49809268e-02 -3.59253064e-04 9.99687863e-01 3.71073928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.21, Y:35.09, Z:3.69 [[ 8.57161837e-01 -5.14586335e-01 -2.17827725e-02 1.43213738e+02] [ 5.14441374e-01 8.57438270e-01 -1.22346439e-02 3.50949206e+01] [ 2.49731633e-02 -7.18889583e-04 9.99687863e-01 3.69026704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.26, Y:35.13, Z:3.69 [[ 8.55576023e-01 -5.17218750e-01 -2.17815171e-02 1.43261927e+02] [ 5.17074582e-01 8.55852871e-01 -1.22368785e-02 3.51299570e+01] [ 2.49709169e-02 -7.93089025e-04 9.99687863e-01 3.68923159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.31, Y:35.16, Z:3.69 [[ 8.57890044e-01 -5.13371480e-01 -2.17806504e-02 1.43313744e+02] [ 5.13226031e-01 8.58166221e-01 -1.22384209e-02 3.51599183e+01] [ 2.49742747e-02 -6.79177307e-04 9.99687863e-01 3.69353725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.36, Y:35.19, Z:3.69 [[ 8.58351467e-01 -5.12599727e-01 -2.17779474e-02 1.43361716e+02] [ 5.12453908e-01 8.58627449e-01 -1.22432289e-02 3.51949966e+01] [ 2.49750192e-02 -6.51200736e-04 9.99687863e-01 3.68982490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.41, Y:35.23, Z:3.69 [[ 8.57090823e-01 -5.14704839e-01 -2.17772813e-02 1.43411179e+02] [ 5.14559667e-01 8.57367146e-01 -1.22444136e-02 3.52254639e+01] [ 2.49733845e-02 -7.11136136e-04 9.99687863e-01 3.68979073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.46, Y:35.26, Z:3.69 [[ 8.56835978e-01 -5.15129113e-01 -2.17739148e-02 1.43461663e+02] [ 5.14983926e-01 8.57112293e-01 -1.22503973e-02 3.52550940e+01] [ 2.49732263e-02 -7.16635007e-04 9.99687863e-01 3.69242113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.708040942 meters Centerline goodness : 0.994285 with order 1 Centerline is valid? [True, True] Translation: X:143.51, Y:35.28, Z:3.71 [[ 8.56493345e-01 -5.15698725e-01 -2.17709577e-02 1.43514847e+02] [ 5.15553589e-01 8.56769687e-01 -1.22556502e-02 3.52776920e+01] [ 2.49729198e-02 -7.27212524e-04 9.99687864e-01 3.71117660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76804094199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:143.56, Y:35.31, Z:3.72 [[ 8.55393862e-01 -5.17520562e-01 -2.17671471e-02 1.43564835e+02] [ 5.17375842e-01 8.55670422e-01 -1.22624144e-02 3.53089484e+01] [ 2.49715556e-02 -7.72602042e-04 9.99687864e-01 3.72266579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.60, Y:35.36, Z:3.70 [[ 8.47551952e-01 -5.30266046e-01 -2.17625831e-02 1.43604370e+02] [ 5.30125274e-01 8.47830542e-01 -1.22705091e-02 3.53584882e+01] [ 2.49576169e-02 -1.13700140e-03 9.99687864e-01 3.69558738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88804094199998 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:143.66, Y:35.38, Z:3.72 [[ 8.57575990e-01 -5.13896725e-01 -2.17618224e-02 1.43662435e+02] [ 5.13750597e-01 8.57851808e-01 -1.22718581e-02 3.53759364e+01] [ 2.49748864e-02 -6.56098418e-04 9.99687864e-01 3.72464745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94804094199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:143.71, Y:35.41, Z:3.72 [[ 8.61485184e-01 -5.07316217e-01 -2.17608372e-02 1.43713573e+02] [ 5.07167937e-01 8.61759852e-01 -1.22736047e-02 3.54058399e+01] [ 2.49792146e-02 -4.62870349e-04 9.99687864e-01 3.72187524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00804094199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:143.76, Y:35.44, Z:3.72 [[ 8.63857324e-01 -5.03266462e-01 -2.17575682e-02 1.43762075e+02] [ 5.03116749e-01 8.64131213e-01 -1.22793970e-02 3.54384726e+01] [ 2.49812025e-02 -3.38949943e-04 9.99687864e-01 3.72368268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06804094199998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:143.81, Y:35.47, Z:3.73 [[ 8.68413912e-01 -4.95362542e-01 -2.17538323e-02 1.43811809e+02] [ 4.95210170e-01 8.68686331e-01 -1.22860118e-02 3.54682905e+01] [ 2.49832868e-02 -1.03375413e-04 9.99687864e-01 3.73190542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12804094199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:143.86, Y:35.50, Z:3.73 [[ 8.68285999e-01 -4.95586878e-01 -2.17501594e-02 1.43859833e+02] [ 4.95434414e-01 8.68558366e-01 -1.22925106e-02 3.55015873e+01] [ 2.49832899e-02 -1.02362637e-04 9.99687864e-01 3.72904634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.91, Y:35.53, Z:3.73 [[ 8.69212579e-01 -4.93960099e-01 -2.17465483e-02 1.43909763e+02] [ 4.93806965e-01 8.69484570e-01 -1.22988957e-02 3.55303538e+01] [ 2.49834519e-02 -4.82421887e-05 9.99687864e-01 3.72840896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.248040942 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:143.96, Y:35.56, Z:3.73 [[ 8.68848273e-01 -4.94600771e-01 -2.17429736e-02 1.43959814e+02] [ 4.94447679e-01 8.69120287e-01 -1.23052121e-02 3.55602404e+01] [ 2.49834268e-02 -5.94005336e-05 9.99687864e-01 3.73237860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.308040942 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:144.01, Y:35.59, Z:3.73 [[ 8.67775673e-01 -4.96480399e-01 -2.17392397e-02 1.44009368e+02] [ 4.96327732e-01 8.68047926e-01 -1.23118051e-02 3.55875854e+01] [ 2.49832719e-02 -1.05902553e-04 9.99687864e-01 3.73142269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.368040942 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:144.06, Y:35.61, Z:3.73 [[ 8.66026914e-01 -4.99524672e-01 -2.17367354e-02 1.44061166e+02] [ 4.99372851e-01 8.66299640e-01 -1.23162249e-02 3.56136725e+01] [ 2.49827843e-02 -1.88553329e-04 9.99687864e-01 3.73278609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.11, Y:35.64, Z:3.73 [[ 8.64284450e-01 -5.02533642e-01 -2.17331174e-02 1.44112184e+02] [ 5.02382610e-01 8.64557613e-01 -1.23226060e-02 3.56417996e+01] [ 2.49820561e-02 -2.68103476e-04 9.99687864e-01 3.73164740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.16, Y:35.67, Z:3.73 [[ 8.61104497e-01 -5.07963456e-01 -2.17295317e-02 1.44161390e+02] [ 5.07813986e-01 8.61378519e-01 -1.23289257e-02 3.56728252e+01] [ 2.49799955e-02 -4.18066740e-04 9.99687864e-01 3.72781876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.21, Y:35.70, Z:3.73 [[ 8.60545196e-01 -5.08910445e-01 -2.17284350e-02 1.44212633e+02] [ 5.08761228e-01 8.60819355e-01 -1.23308582e-02 3.56993291e+01] [ 2.49795599e-02 -4.43324482e-04 9.99687864e-01 3.73334821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60804094199997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:144.27, Y:35.72, Z:3.74 [[ 8.60378960e-01 -5.09191587e-01 -2.17249336e-02 1.44265317e+02] [ 5.09042304e-01 8.60653084e-01 -1.23370241e-02 3.57246050e+01] [ 2.49795399e-02 -4.44394303e-04 9.99687864e-01 3.73648728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66804094199998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:144.32, Y:35.75, Z:3.74 [[ 8.61986621e-01 -5.06465442e-01 -2.17214351e-02 1.44317371e+02] [ 5.06315137e-01 8.62260186e-01 -1.23431806e-02 3.57502356e+01] [ 2.49809231e-02 -3.58234887e-04 9.99687864e-01 3.73918096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72804094199998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:144.37, Y:35.77, Z:3.74 [[ 8.64919955e-01 -5.01439733e-01 -2.17178484e-02 1.44370767e+02] [ 5.01287680e-01 8.65192552e-01 -1.23494881e-02 3.57742296e+01] [ 2.49826447e-02 -2.05571156e-04 9.99687864e-01 3.73775977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.42, Y:35.80, Z:3.74 [[ 8.65781506e-01 -4.99950877e-01 -2.17141575e-02 1.44421403e+02] [ 4.99798193e-01 8.66053749e-01 -1.23559744e-02 3.58020623e+01] [ 2.49830078e-02 -1.55122544e-04 9.99687864e-01 3.73849321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.48, Y:35.82, Z:3.74 [[ 8.69500624e-01 -4.93454364e-01 -2.17130271e-02 1.44477110e+02] [ 4.93299596e-01 8.69771688e-01 -1.23579606e-02 3.58216245e+01] [ 2.49834658e-02 3.42269077e-05 9.99687864e-01 3.74282690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90804094199999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:144.53, Y:35.85, Z:3.74 [[ 8.70769712e-01 -4.91211462e-01 -2.17119382e-02 1.44530188e+02] [ 4.91055948e-01 8.71040349e-01 -1.23598734e-02 3.58466080e+01] [ 2.49832857e-02 1.00827025e-04 9.99687864e-01 3.74416737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.58, Y:35.87, Z:3.74 [[ 8.70443298e-01 -4.91789807e-01 -2.17083248e-02 1.44582326e+02] [ 4.91634314e-01 8.70713947e-01 -1.23662166e-02 3.58699454e+01] [ 2.49833204e-02 9.15329799e-05 9.99687864e-01 3.74345143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.64, Y:35.90, Z:3.74 [[ 8.67207659e-01 -4.97473347e-01 -2.17058907e-02 1.44636075e+02] [ 4.97319522e-01 8.67479259e-01 -1.23704876e-02 3.58958829e+01] [ 2.49833979e-02 -6.69816476e-05 9.99687864e-01 3.73869137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.69, Y:35.92, Z:3.74 [[ 8.67039334e-01 -4.97766797e-01 -2.17027604e-02 1.44692679e+02] [ 4.97612926e-01 8.67310908e-01 -1.23759769e-02 3.59151810e+01] [ 2.49833912e-02 -6.91153876e-05 9.99687864e-01 3.74417532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.148040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:144.75, Y:35.94, Z:3.75 [[ 8.66227422e-01 -4.99178516e-01 -2.16993416e-02 1.44746485e+02] [ 4.99024938e-01 8.66499162e-01 -1.23819684e-02 3.59355926e+01] [ 2.49832739e-02 -1.02912057e-04 9.99687864e-01 3.74628710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.208040942 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:144.80, Y:35.96, Z:3.75 [[ 8.63376284e-01 -5.04093844e-01 -2.16976641e-02 1.44800214e+02] [ 5.03941738e-01 8.63648851e-01 -1.23849073e-02 3.59612414e+01] [ 2.49823182e-02 -2.41523368e-04 9.99687864e-01 3.74883271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26804094199997 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:144.86, Y:35.98, Z:3.75 [[ 8.64692462e-01 -5.01832923e-01 -2.16947704e-02 1.44859137e+02] [ 5.01679977e-01 8.64964559e-01 -1.23899741e-02 3.59769470e+01] [ 2.49829044e-02 -1.70314739e-04 9.99687864e-01 3.75039316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32804094199997 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:144.91, Y:36.00, Z:3.75 [[ 8.65344689e-01 -5.00707538e-01 -2.16917119e-02 1.44913509e+02] [ 5.00554105e-01 8.65616511e-01 -1.23953265e-02 3.59997894e+01] [ 2.49831374e-02 -1.31645440e-04 9.99687864e-01 3.75466917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38804094199998 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:144.96, Y:36.03, Z:3.75 [[ 8.66458417e-01 -4.98777932e-01 -2.16883822e-02 1.44962513e+02] [ 4.98623748e-01 8.66729813e-01 -1.24011498e-02 3.60300182e+01] [ 2.49833873e-02 -6.92618097e-05 9.99687864e-01 3.75499958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44804094199998 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:145.01, Y:36.06, Z:3.76 [[ 8.69504223e-01 -4.93449157e-01 -2.16872139e-02 1.45013041e+02] [ 4.93293258e-01 8.69774639e-01 -1.24031926e-02 3.60604613e+01] [ 2.49833336e-02 8.64719627e-05 9.99687864e-01 3.75750653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50804094199998 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:145.06, Y:36.09, Z:3.76 [[ 8.71543323e-01 -4.89838790e-01 -2.16840036e-02 1.45062777e+02] [ 4.89681632e-01 8.71813008e-01 -1.24088024e-02 3.60898929e+01] [ 2.49827092e-02 1.96550606e-04 9.99687864e-01 3.75849394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56804094199998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:145.11, Y:36.12, Z:3.76 [[ 8.70066015e-01 -4.92458101e-01 -2.16828753e-02 1.45113009e+02] [ 4.92301706e-01 8.70336144e-01 -1.24107737e-02 3.61197874e+01] [ 2.49831762e-02 1.23675937e-04 9.99687864e-01 3.76100563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62804094199998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.16, Y:36.15, Z:3.76 [[ 8.69637603e-01 -4.93214418e-01 -2.16789621e-02 1.45164254e+02] [ 4.93058087e-01 8.69907768e-01 -1.24176056e-02 3.61476176e+01] [ 2.49832396e-02 1.09829186e-04 9.99687864e-01 3.76112545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.688040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.21, Y:36.18, Z:3.76 [[ 8.69247871e-01 -4.93901133e-01 -2.16751047e-02 1.45214900e+02] [ 4.93744847e-01 8.69518063e-01 -1.24243350e-02 3.61755043e+01] [ 2.49832882e-02 9.78554750e-05 9.99687864e-01 3.76101084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.27, Y:36.20, Z:3.76 [[ 8.68067851e-01 -4.95972224e-01 -2.16739240e-02 1.45266590e+02] [ 4.95816532e-01 8.68338385e-01 -1.24263944e-02 3.62030071e+01] [ 2.49834466e-02 4.06636139e-05 9.99687864e-01 3.76272263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.808040942 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:145.32, Y:36.23, Z:3.76 [[ 8.66871539e-01 -4.98060367e-01 -2.16703656e-02 1.45316926e+02] [ 4.97905172e-01 8.67142359e-01 -1.24325967e-02 3.62320674e+01] [ 2.49834757e-02 -1.23229126e-05 9.99687864e-01 3.76212495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.868040942 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:145.37, Y:36.26, Z:3.77 [[ 8.65667875e-01 -5.00149657e-01 -2.16668095e-02 1.45367459e+02] [ 4.99994961e-01 8.65938979e-01 -1.24387911e-02 3.62625346e+01] [ 2.49833920e-02 -6.54337198e-05 9.99687864e-01 3.76547912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.928040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.42, Y:36.29, Z:3.77 [[ 8.65811326e-01 -4.99901430e-01 -2.16635164e-02 1.45419571e+02] [ 4.99746512e-01 8.66082304e-01 -1.24445237e-02 3.62905660e+01] [ 2.49834234e-02 -5.16572047e-05 9.99687864e-01 3.77457595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.47, Y:36.32, Z:3.77 [[ 8.64371418e-01 -5.02387190e-01 -2.16601841e-02 1.45468710e+02] [ 5.02232906e-01 8.64642757e-01 -1.24503210e-02 3.63227850e+01] [ 2.49832031e-02 -1.16755616e-04 9.99687864e-01 3.77499973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04804094199997 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:145.52, Y:36.36, Z:3.78 [[ 8.60958856e-01 -5.08213367e-01 -2.16568967e-02 1.45515546e+02] [ 5.08060775e-01 8.61231151e-01 -1.24560367e-02 3.63579401e+01] [ 2.49819184e-02 -2.78884624e-04 9.99687864e-01 3.77604832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.57, Y:36.38, Z:3.77 [[ 8.58303612e-01 -5.12685052e-01 -2.16551816e-02 1.45568628e+02] [ 5.12533804e-01 8.58576655e-01 -1.24590176e-02 3.63836690e+01] [ 2.49801855e-02 -4.05392771e-04 9.99687864e-01 3.77400018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16804094199998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.62, Y:36.41, Z:3.78 [[ 8.58576768e-01 -5.12227609e-01 -2.16520412e-02 1.45620999e+02] [ 5.12076078e-01 8.58849654e-01 -1.24644729e-02 3.64104931e+01] [ 2.49804953e-02 -3.85785492e-04 9.99687864e-01 3.78090537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22804094199998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.67, Y:36.44, Z:3.78 [[ 8.57196022e-01 -5.14535040e-01 -2.16488622e-02 1.45671079e+02] [ 5.14384104e-01 8.57469237e-01 -1.24699918e-02 3.64407647e+01] [ 2.49794811e-02 -4.46603208e-04 9.99687864e-01 3.77810260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.72, Y:36.47, Z:3.78 [[ 8.57070008e-01 -5.14744963e-01 -2.16477439e-02 1.45720350e+02] [ 5.14594044e-01 8.57343234e-01 -1.24719330e-02 3.64703308e+01] [ 2.49794114e-02 -4.50480371e-04 9.99687864e-01 3.77695083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34804094199998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:145.77, Y:36.50, Z:3.78 [[ 8.57452789e-01 -5.14107181e-01 -2.16453339e-02 1.45771098e+02] [ 5.13955954e-01 8.57725844e-01 -1.24761141e-02 3.64983931e+01] [ 2.49798222e-02 -4.27069378e-04 9.99687864e-01 3.77944994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40804094199999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.82, Y:36.52, Z:3.78 [[ 8.59534232e-01 -5.10619773e-01 -2.16414258e-02 1.45822626e+02] [ 5.10467267e-01 8.59806575e-01 -1.24828897e-02 3.65246553e+01] [ 2.49814505e-02 -3.17768493e-04 9.99687864e-01 3.78393695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.87, Y:36.56, Z:3.78 [[ 8.60054259e-01 -5.09743462e-01 -2.16396647e-02 1.45870703e+02] [ 5.09590602e-01 8.60326403e-01 -1.24859418e-02 3.65586634e+01] [ 2.49818021e-02 -2.88782385e-04 9.99687864e-01 3.78411598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.92, Y:36.59, Z:3.79 [[ 8.61590898e-01 -5.07141979e-01 -2.16364884e-02 1.45920552e+02] [ 5.06988159e-01 8.61862501e-01 -1.24914435e-02 3.65883520e+01] [ 2.49826134e-02 -2.06929364e-04 9.99687864e-01 3.78684412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.588040942 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:145.97, Y:36.62, Z:3.79 [[ 8.59733356e-01 -5.10284692e-01 -2.16353751e-02 1.45970446e+02] [ 5.10131817e-01 8.60005491e-01 -1.24933714e-02 3.66183353e+01] [ 2.49817176e-02 -2.95925129e-04 9.99687864e-01 3.78581231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.648040942 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:146.02, Y:36.65, Z:3.79 [[ 8.58695767e-01 -5.12028952e-01 -2.16317134e-02 1.46019340e+02] [ 5.11876470e-01 8.58968123e-01 -1.24997082e-02 3.66502551e+01] [ 2.49811648e-02 -3.39318567e-04 9.99687864e-01 3.78697784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.708040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:146.07, Y:36.68, Z:3.79 [[ 8.59255605e-01 -5.11088962e-01 -2.16305111e-02 1.46069069e+02] [ 5.10936129e-01 8.59527764e-01 -1.25017885e-02 3.66792187e+01] [ 2.49815510e-02 -3.09577720e-04 9.99687864e-01 3.78794555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76804094199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:146.12, Y:36.71, Z:3.79 [[ 8.58314751e-01 -5.12667554e-01 -2.16279183e-02 1.46118884e+02] [ 5.12515109e-01 8.58587128e-01 -1.25062725e-02 3.67093575e+01] [ 2.49810123e-02 -3.50316724e-04 9.99687864e-01 3.78890317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82804094199997 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:146.17, Y:36.74, Z:3.79 [[ 8.57357510e-01 -5.14266955e-01 -2.16240449e-02 1.46168483e+02] [ 5.14114849e-01 8.57630076e-01 -1.25129662e-02 3.67421764e+01] [ 2.49804363e-02 -3.89157009e-04 9.99687864e-01 3.78604244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88804094199998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:146.22, Y:36.77, Z:3.79 [[ 8.57544686e-01 -5.13954920e-01 -2.16206235e-02 1.46216825e+02] [ 5.13802566e-01 8.57817114e-01 -1.25188751e-02 3.67716415e+01] [ 2.49806783e-02 -3.73236961e-04 9.99687864e-01 3.78725879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94804094199998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:146.27, Y:36.80, Z:3.79 [[ 8.57429105e-01 -5.14147792e-01 -2.16189457e-02 1.46267037e+02] [ 5.13995426e-01 8.57701526e-01 -1.25217717e-02 3.68015611e+01] [ 2.49806440e-02 -3.75507683e-04 9.99687864e-01 3.78820524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.32, Y:36.83, Z:3.79 [[ 8.59302472e-01 -5.11010800e-01 -2.16153698e-02 1.46317869e+02] [ 5.10857284e-01 8.59574247e-01 -1.25279415e-02 3.68313573e+01] [ 2.49819286e-02 -2.77078061e-04 9.99687865e-01 3.79142542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06804094199998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:146.37, Y:36.86, Z:3.79 [[ 8.61263053e-01 -5.07699593e-01 -2.16119579e-02 1.46368458e+02] [ 5.07544885e-01 8.61534151e-01 -1.25338246e-02 3.68614513e+01] [ 2.49828575e-02 -1.74118638e-04 9.99687865e-01 3.79174198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12804094199998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:146.42, Y:36.89, Z:3.79 [[ 8.62989655e-01 -5.04759274e-01 -2.16085828e-02 1.46419528e+02] [ 5.04603497e-01 8.63260139e-01 -1.25396407e-02 3.68904705e+01] [ 2.49833281e-02 -8.21862963e-05 9.99687865e-01 3.79452143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.188040942 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:146.47, Y:36.92, Z:3.80 [[ 8.64103902e-01 -5.02849544e-01 -2.16051728e-02 1.46467618e+02] [ 5.02693022e-01 8.64373956e-01 -1.25455132e-02 3.69216223e+01] [ 2.49834543e-02 -2.01426605e-05 9.99687865e-01 3.79750180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.52, Y:36.95, Z:3.81 [[ 8.65892458e-01 -4.99763484e-01 -2.16034947e-02 1.46518620e+02] [ 4.99605927e-01 8.66161910e-01 -1.25484023e-02 3.69503521e+01] [ 2.49833575e-02 7.23328780e-05 9.99687865e-01 3.80514669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.57, Y:36.98, Z:3.81 [[ 8.65513400e-01 -5.00419812e-01 -2.16001371e-02 1.46566794e+02] [ 5.00262315e-01 8.65782888e-01 -1.25541792e-02 3.69826140e+01] [ 2.49833891e-02 6.00757813e-05 9.99687865e-01 3.80570074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.61, Y:37.01, Z:3.82 [[ 8.66718758e-01 -4.98329313e-01 -2.15983906e-02 1.46614967e+02] [ 4.98171092e-01 8.66987820e-01 -1.25571831e-02 3.70145141e+01] [ 2.49831541e-02 1.23852296e-04 9.99687865e-01 3.82028278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.66, Y:37.05, Z:3.82 [[ 8.67082463e-01 -4.97696254e-01 -2.15972402e-02 1.46662716e+02] [ 4.97537787e-01 8.67351381e-01 -1.25591614e-02 3.70478872e+01] [ 2.49830437e-02 1.44385515e-04 9.99687865e-01 3.81636554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.71, Y:37.08, Z:3.82 [[ 8.64900909e-01 -5.01477955e-01 -2.15934750e-02 1.46711236e+02] [ 5.01320502e-01 8.65170422e-01 -1.25656318e-02 3.70825154e+01] [ 2.49834232e-02 4.27746783e-05 9.99687865e-01 3.81584929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.76, Y:37.12, Z:3.81 [[ 8.61836124e-01 -5.06727105e-01 -2.15902019e-02 1.46758130e+02] [ 5.06571153e-01 8.62106508e-01 -1.25712531e-02 3.71170602e+01] [ 2.49832482e-02 -1.02613452e-04 9.99687865e-01 3.81483197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.80, Y:37.15, Z:3.82 [[ 8.60964134e-01 -5.08207312e-01 -2.15890582e-02 1.46804960e+02] [ 5.08051775e-01 8.61234758e-01 -1.25732169e-02 3.71531022e+01] [ 2.49830481e-02 -1.43270541e-04 9.99687865e-01 3.81861626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.85, Y:37.19, Z:3.81 [[ 8.57534953e-01 -5.13972622e-01 -2.15858238e-02 1.46852121e+02] [ 5.13818765e-01 8.57806535e-01 -1.25787674e-02 3.71891684e+01] [ 2.49816027e-02 -3.04468616e-04 9.99687865e-01 3.81349740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.90, Y:37.22, Z:3.82 [[ 8.56391092e-01 -5.15876433e-01 -2.15824555e-02 1.46899848e+02] [ 5.15723035e-01 8.56662933e-01 -1.25845439e-02 3.72221140e+01] [ 2.49809593e-02 -3.53278202e-04 9.99687865e-01 3.81788199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.95, Y:37.26, Z:3.81 [[ 8.53594021e-01 -5.20491590e-01 -2.15812784e-02 1.46945350e+02] [ 5.20339610e-01 8.53866658e-01 -1.25865622e-02 3.72616309e+01] [ 2.49787338e-02 -4.85779743e-04 9.99687865e-01 3.81436037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.99, Y:37.30, Z:3.81 [[ 8.50822442e-01 -5.25010057e-01 -2.15780564e-02 1.46993488e+02] [ 5.24859384e-01 8.51095803e-01 -1.25920835e-02 3.72964297e+01] [ 2.49759637e-02 -6.11818119e-04 9.99687865e-01 3.81469953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.04, Y:37.33, Z:3.82 [[ 8.49708179e-01 -5.26811670e-01 -2.15748627e-02 1.47039868e+02] [ 5.26661439e-01 8.49981783e-01 -1.25975532e-02 3.73325035e+01] [ 2.49747783e-02 -6.58404226e-04 9.99687865e-01 3.81809704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.09, Y:37.37, Z:3.82 [[ 8.51677306e-01 -5.23622430e-01 -2.15712053e-02 1.47087012e+02] [ 5.23471015e-01 8.51950257e-01 -1.26038126e-02 3.73659619e+01] [ 2.49772329e-02 -5.57519549e-04 9.99687865e-01 3.82392695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.13, Y:37.40, Z:3.82 [[ 8.52358938e-01 -5.22512174e-01 -2.15700821e-02 1.47134355e+02] [ 5.22360355e-01 8.52631664e-01 -1.26057347e-02 3.74007605e+01] [ 2.49779848e-02 -5.22745108e-04 9.99687865e-01 3.82396001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.18, Y:37.44, Z:3.83 [[ 8.52979488e-01 -5.21498692e-01 -2.15663210e-02 1.47182530e+02] [ 5.21346387e-01 8.53251943e-01 -1.26121660e-02 3.74355916e+01] [ 2.49787334e-02 -4.85604629e-04 9.99687865e-01 3.82661920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.23, Y:37.47, Z:3.82 [[ 8.53962805e-01 -5.19887068e-01 -2.15630241e-02 1.47228729e+02] [ 5.19734106e-01 8.54234892e-01 -1.26178002e-02 3.74718636e+01] [ 2.49797187e-02 -4.31907035e-04 9.99687865e-01 3.82430625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.27, Y:37.51, Z:3.82 [[ 8.53955768e-01 -5.19898675e-01 -2.15618655e-02 1.47274880e+02] [ 5.19745667e-01 8.54227828e-01 -1.26197797e-02 3.75107016e+01] [ 2.49797523e-02 -4.29952507e-04 9.99687865e-01 3.82205361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.32, Y:37.55, Z:3.82 [[ 8.55420555e-01 -5.17485158e-01 -2.15588972e-02 1.47322358e+02] [ 5.17331254e-01 8.55692110e-01 -1.26248485e-02 3.75464015e+01] [ 2.49809500e-02 -3.53536445e-04 9.99687865e-01 3.82271582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.37, Y:37.58, Z:3.82 [[ 8.56091102e-01 -5.16375237e-01 -2.15554818e-02 1.47371966e+02] [ 5.16220835e-01 8.56362374e-01 -1.26306773e-02 3.75768640e+01] [ 2.49814725e-02 -3.14378299e-04 9.99687865e-01 3.82323373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38804094199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:147.42, Y:37.61, Z:3.83 [[ 8.56825571e-01 -5.15155772e-01 -2.15515871e-02 1.47421673e+02] [ 5.15000817e-01 8.57096527e-01 -1.26373192e-02 3.76063748e+01] [ 2.49819784e-02 -2.71106749e-04 9.99687865e-01 3.82591982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.47, Y:37.63, Z:3.83 [[ 8.57408812e-01 -5.14184534e-01 -2.15497968e-02 1.47472966e+02] [ 5.14029195e-01 8.57679548e-01 -1.26403715e-02 3.76346880e+01] [ 2.49823035e-02 -2.39258792e-04 9.99687865e-01 3.82855565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.52, Y:37.66, Z:3.83 [[ 8.58010208e-01 -5.13180506e-01 -2.15464949e-02 1.47524194e+02] [ 5.13024708e-01 8.58280681e-01 -1.26459973e-02 3.76631896e+01] [ 2.49826196e-02 -2.03489438e-04 9.99687865e-01 3.82951788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.58, Y:37.69, Z:3.83 [[ 8.58098179e-01 -5.13033532e-01 -2.15432371e-02 1.47575065e+02] [ 5.12877549e-01 8.58368545e-01 -1.26515446e-02 3.76917093e+01] [ 2.49827037e-02 -1.92775252e-04 9.99687865e-01 3.83122822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.63, Y:37.72, Z:3.84 [[ 8.58118542e-01 -5.12999518e-01 -2.15420872e-02 1.47629242e+02] [ 5.12843475e-01 8.58388874e-01 -1.26535023e-02 3.77158820e+01] [ 2.49827286e-02 -1.89513936e-04 9.99687865e-01 3.83762552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.68, Y:37.75, Z:3.83 [[ 8.51904782e-01 -5.23253592e-01 -2.15388037e-02 1.47679018e+02] [ 5.23100661e-01 8.52176886e-01 -1.26590890e-02 3.77468592e+01] [ 2.49787845e-02 -4.82624025e-04 9.99687865e-01 3.83302380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.73, Y:37.77, Z:3.84 [[ 8.53379506e-01 -5.20845122e-01 -2.15354812e-02 1.47733489e+02] [ 5.20691281e-01 8.53651096e-01 -1.26647388e-02 3.77711995e+01] [ 2.49801545e-02 -4.05508738e-04 9.99687865e-01 3.83773802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.79, Y:37.79, Z:3.85 [[ 8.56310779e-01 -5.16011828e-01 -2.15323824e-02 1.47788275e+02] [ 5.15856322e-01 8.56581418e-01 -1.26700050e-02 3.77923748e+01] [ 2.49821112e-02 -2.58153727e-04 9.99687865e-01 3.84623085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.868040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:147.84, Y:37.82, Z:3.85 [[ 8.57392617e-01 -5.14212312e-01 -2.15313251e-02 1.47840265e+02] [ 5.14056192e-01 8.57662904e-01 -1.26718016e-02 3.78179238e+01] [ 2.49826152e-02 -2.03601901e-04 9.99687865e-01 3.85115792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.89, Y:37.85, Z:3.85 [[ 8.55317933e-01 -5.17656057e-01 -2.15276583e-02 1.47890431e+02] [ 5.17500869e-01 8.55588755e-01 -1.26780280e-02 3.78487396e+01] [ 2.49816803e-02 -2.96837194e-04 9.99687865e-01 3.84686799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.95, Y:37.87, Z:3.85 [[ 8.56757736e-01 -5.15269622e-01 -2.15267115e-02 1.47945859e+02] [ 5.15113639e-01 8.57028101e-01 -1.26796354e-02 3.78707958e+01] [ 2.49824276e-02 -2.25326943e-04 9.99687865e-01 3.85466040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.00, Y:37.90, Z:3.86 [[ 8.55862736e-01 -5.16754992e-01 -2.15233691e-02 1.47998269e+02] [ 5.16599336e-01 8.56133289e-01 -1.26853064e-02 3.78959285e+01] [ 2.49820682e-02 -2.62077181e-04 9.99687865e-01 3.85766142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.05, Y:37.92, Z:3.86 [[ 8.55689992e-01 -5.17041035e-01 -2.15221999e-02 1.48049346e+02] [ 5.16885420e-01 8.55960569e-01 -1.26872898e-02 3.79211284e+01] [ 2.49820040e-02 -2.68124456e-04 9.99687865e-01 3.85782761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.10, Y:37.94, Z:3.86 [[ 8.56990974e-01 -5.14881864e-01 -2.15205934e-02 1.48103851e+02] [ 5.14725498e-01 8.57261118e-01 -1.26900142e-02 3.79428568e+01] [ 2.49826262e-02 -2.01970540e-04 9.99687865e-01 3.86167446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.15, Y:37.98, Z:3.85 [[ 8.54425197e-01 -5.19128701e-01 -2.15168489e-02 1.48152969e+02] [ 5.18973518e-01 8.54696022e-01 -1.26963602e-02 3.79751041e+01] [ 2.49814101e-02 -3.18584744e-04 9.99687865e-01 3.85243010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.21, Y:38.00, Z:3.86 [[ 8.55859658e-01 -5.16760506e-01 -2.15133877e-02 1.48205625e+02] [ 5.16604426e-01 8.56129967e-01 -1.27022223e-02 3.79986359e+01] [ 2.49822627e-02 -2.42591686e-04 9.99687865e-01 3.85773332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34804094199998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:148.26, Y:38.02, Z:3.87 [[ 8.58740220e-01 -5.11959433e-01 -2.15121841e-02 1.48261493e+02] [ 5.11801791e-01 8.59009621e-01 -1.27042604e-02 3.80189493e+01] [ 2.49832390e-02 -1.00315010e-04 9.99687865e-01 3.86928702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.31, Y:38.05, Z:3.87 [[ 8.55520880e-01 -5.17321359e-01 -2.15089553e-02 1.48312543e+02] [ 5.17165267e-01 8.55791183e-01 -1.27097246e-02 3.80477932e+01] [ 2.49821863e-02 -2.50249798e-04 9.99687865e-01 3.86597059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.37, Y:38.07, Z:3.86 [[ 8.50094482e-01 -5.26190913e-01 -2.15057040e-02 1.48365090e+02] [ 5.26037502e-01 8.50366315e-01 -1.27152236e-02 3.80738721e+01] [ 2.49783614e-02 -5.03665350e-04 9.99687865e-01 3.86080309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.42, Y:38.10, Z:3.87 [[ 8.50760235e-01 -5.25113973e-01 -2.15020489e-02 1.48419012e+02] [ 5.24960062e-01 8.51031785e-01 -1.27214016e-02 3.80971532e+01] [ 2.49791128e-02 -4.64854348e-04 9.99687865e-01 3.87005496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.47, Y:38.12, Z:3.87 [[ 8.51319720e-01 -5.24206577e-01 -2.14988119e-02 1.48472585e+02] [ 5.24052238e-01 8.51591028e-01 -1.27268696e-02 3.81208564e+01] [ 2.49797041e-02 -4.31865490e-04 9.99687865e-01 3.87136475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.53, Y:38.14, Z:3.87 [[ 8.52749281e-01 -5.21877872e-01 -2.14976782e-02 1.48527068e+02] [ 5.21722745e-01 8.53020138e-01 -1.27287843e-02 3.81433486e+01] [ 2.49808233e-02 -3.61365987e-04 9.99687865e-01 3.87259981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.58, Y:38.17, Z:3.88 [[ 8.54413126e-01 -5.19149519e-01 -2.14938641e-02 1.48579666e+02] [ 5.18993365e-01 8.54683392e-01 -1.27352215e-02 3.81677736e+01] [ 2.49819328e-02 -2.74032431e-04 9.99687865e-01 3.87621564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.64, Y:38.19, Z:3.88 [[ 8.57222937e-01 -5.14496746e-01 -2.14926915e-02 1.48635729e+02] [ 5.14339074e-01 8.57492321e-01 -1.27372003e-02 3.81883312e+01] [ 2.49830660e-02 -1.35910810e-04 9.99687865e-01 3.88415048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.69, Y:38.22, Z:3.88 [[ 8.54732920e-01 -5.18623031e-01 -2.14892448e-02 1.48687901e+02] [ 5.18466514e-01 8.55002976e-01 -1.27430126e-02 3.82150928e+01] [ 2.49821881e-02 -2.49581441e-04 9.99687865e-01 3.87908112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.74, Y:38.24, Z:3.88 [[ 8.55474083e-01 -5.17399611e-01 -2.14880262e-02 1.48740509e+02] [ 5.17242657e-01 8.55743885e-01 -1.27450672e-02 3.82406978e+01] [ 2.49825398e-02 -2.11449085e-04 9.99687865e-01 3.88109885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.80, Y:38.26, Z:3.89 [[ 8.57551508e-01 -5.13949260e-01 -2.14841666e-02 1.48795476e+02] [ 5.13791056e-01 8.57820580e-01 -1.27515699e-02 3.82614752e+01] [ 2.49832202e-02 -1.03244590e-04 9.99687865e-01 3.88930316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.84, Y:38.29, Z:3.89 [[ 8.54885146e-01 -5.18372327e-01 -2.14829812e-02 1.48843174e+02] [ 5.18215465e-01 8.55155002e-01 -1.27535666e-02 3.82922866e+01] [ 2.49823749e-02 -2.29978488e-04 9.99687865e-01 3.89089455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.90, Y:38.31, Z:3.89 [[ 8.55881663e-01 -5.16725391e-01 -2.14813530e-02 1.48899066e+02] [ 5.16567942e-01 8.56151177e-01 -1.27563085e-02 3.83135255e+01] [ 2.49827942e-02 -1.78687773e-04 9.99687865e-01 3.88826380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.95, Y:38.34, Z:3.89 [[ 8.55046465e-01 -5.18106389e-01 -2.14781813e-02 1.48952025e+02] [ 5.17949241e-01 8.55316155e-01 -1.27616466e-02 3.83380699e+01] [ 2.49825260e-02 -2.12806911e-04 9.99687865e-01 3.89042291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.188040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:149.00, Y:38.37, Z:3.89 [[ 8.53430152e-01 -5.20764651e-01 -2.14744945e-02 1.49002294e+02] [ 5.20608187e-01 8.53700239e-01 -1.27678475e-02 3.83674557e+01] [ 2.49818247e-02 -2.83331652e-04 9.99687865e-01 3.88963105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.06, Y:38.39, Z:3.90 [[ 8.52999357e-01 -5.21470136e-01 -2.14707868e-02 1.49057267e+02] [ 5.21313738e-01 8.53269482e-01 -1.27740794e-02 3.83900656e+01] [ 2.49816681e-02 -2.96734644e-04 9.99687865e-01 3.89563234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.308040942 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:149.11, Y:38.41, Z:3.90 [[ 8.53043158e-01 -5.21398612e-01 -2.14675912e-02 1.49109883e+02] [ 5.21242056e-01 8.53313192e-01 -1.27794476e-02 3.84146967e+01] [ 2.49817650e-02 -2.88391046e-04 9.99687865e-01 3.90154751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.368040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:149.16, Y:38.44, Z:3.90 [[ 8.52305289e-01 -5.22604056e-01 -2.14637989e-02 1.49161317e+02] [ 5.22447722e-01 8.52575451e-01 -1.27858137e-02 3.84441395e+01] [ 2.49814262e-02 -3.16296189e-04 9.99687865e-01 3.89983267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.428040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:149.22, Y:38.47, Z:3.91 [[ 8.54748068e-01 -5.18599257e-01 -2.14604622e-02 1.49215192e+02] [ 5.18441517e-01 8.55017411e-01 -1.27914118e-02 3.84676892e+01] [ 2.49826855e-02 -1.92560066e-04 9.99687865e-01 3.90670066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.26, Y:38.50, Z:3.90 [[ 8.54281413e-01 -5.19367747e-01 -2.14571709e-02 1.49264402e+02] [ 5.19210111e-01 8.54550817e-01 -1.27969305e-02 3.84991954e+01] [ 2.49825559e-02 -2.08600252e-04 9.99687865e-01 3.90339467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.32, Y:38.52, Z:3.91 [[ 8.57569378e-01 -5.13920618e-01 -2.14560110e-02 1.49318520e+02] [ 5.13761221e-01 8.57837745e-01 -1.27988749e-02 3.85234068e+01] [ 2.49833818e-02 -4.73432295e-05 9.99687865e-01 3.90846506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.37, Y:38.55, Z:3.90 [[ 8.55305120e-01 -5.17680333e-01 -2.14528345e-02 1.49368983e+02] [ 5.17521982e-01 8.55574106e-01 -1.28041971e-02 3.85535067e+01] [ 2.49829707e-02 -1.50818106e-04 9.99687865e-01 3.90491561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66804094199998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:149.42, Y:38.58, Z:3.91 [[ 8.58258471e-01 -5.12769255e-01 -2.14496673e-02 1.49419219e+02] [ 5.12609233e-01 8.58526465e-01 -1.28095005e-02 3.85822861e+01] [ 2.49834251e-02 -1.43523367e-06 9.99687866e-01 3.90682523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.47, Y:38.61, Z:3.91 [[ 8.52533054e-01 -5.22233065e-01 -2.14480030e-02 1.49467975e+02] [ 5.22075948e-01 8.52802761e-01 -1.28122865e-02 3.86133151e+01] [ 2.49819159e-02 -2.74588769e-04 9.99687866e-01 3.90775814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.52, Y:38.64, Z:3.91 [[ 8.51036359e-01 -5.24668715e-01 -2.14442142e-02 1.49517472e+02] [ 5.24512210e-01 8.51306422e-01 -1.28186249e-02 3.86431330e+01] [ 2.49811287e-02 -3.38636346e-04 9.99687866e-01 3.91048849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84804094199998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:149.57, Y:38.67, Z:3.91 [[ 8.47763868e-01 -5.29940317e-01 -2.14402649e-02 1.49566500e+02] [ 5.29785324e-01 8.48034801e-01 -1.28252271e-02 3.86735260e+01] [ 2.49786956e-02 -4.85973562e-04 9.99687866e-01 3.90845011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.62, Y:38.71, Z:3.91 [[ 8.47975260e-01 -5.29602044e-01 -2.14390578e-02 1.49615478e+02] [ 5.29446891e-01 8.48246103e-01 -1.28272445e-02 3.87050696e+01] [ 2.49789321e-02 -4.73656497e-04 9.99687866e-01 3.91351755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.66, Y:38.74, Z:3.91 [[ 8.46942696e-01 -5.31251838e-01 -2.14372103e-02 1.49664222e+02] [ 5.31097135e-01 8.47213796e-01 -1.28303313e-02 3.87370923e+01] [ 2.49780374e-02 -5.18685572e-04 9.99687866e-01 3.91477666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.71, Y:38.77, Z:3.91 [[ 8.47358611e-01 -5.30588349e-01 -2.14333239e-02 1.49711418e+02] [ 5.30433270e-01 8.47629496e-01 -1.28368204e-02 3.87702488e+01] [ 2.49785849e-02 -4.91557741e-04 9.99687866e-01 3.91370843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.088040942 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:149.76, Y:38.80, Z:3.91 [[ 8.47828785e-01 -5.29836839e-01 -2.14307095e-02 1.49758380e+02] [ 5.29681409e-01 8.48099469e-01 -1.28411835e-02 3.88026286e+01] [ 2.49791054e-02 -4.64323384e-04 9.99687866e-01 3.91299031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.148040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:149.81, Y:38.83, Z:3.92 [[ 8.49449393e-01 -5.27234790e-01 -2.14290708e-02 1.49808875e+02] [ 5.27078462e-01 8.49719559e-01 -1.28439176e-02 3.88305956e+01] [ 2.49804608e-02 -3.84543691e-04 9.99687866e-01 3.91698714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.86, Y:38.87, Z:3.91 [[ 8.49067256e-01 -5.27850120e-01 -2.14253728e-02 1.49856742e+02] [ 5.27693832e-01 8.49337444e-01 -1.28500835e-02 3.88653357e+01] [ 2.49802895e-02 -3.95451937e-04 9.99687866e-01 3.91405370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.91, Y:38.89, Z:3.92 [[ 8.51425784e-01 -5.24037428e-01 -2.14221478e-02 1.49907370e+02] [ 5.23879796e-01 8.51695190e-01 -1.28554574e-02 3.88931509e+01] [ 2.49818811e-02 -2.77162523e-04 9.99687866e-01 3.92074403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32804094199997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:149.95, Y:38.93, Z:3.93 [[ 8.49838961e-01 -5.26607050e-01 -2.14185911e-02 1.49952720e+02] [ 5.26450083e-01 8.50108755e-01 -1.28613807e-02 3.89288896e+01] [ 2.49810255e-02 -3.45716618e-04 9.99687866e-01 3.92914924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.00, Y:38.96, Z:3.93 [[ 8.49675347e-01 -5.26871046e-01 -2.14174073e-02 1.50003688e+02] [ 5.26714113e-01 8.49945161e-01 -1.28633517e-02 3.89572488e+01] [ 2.49809492e-02 -3.51177886e-04 9.99687866e-01 3.93144343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.06, Y:38.98, Z:3.93 [[ 8.52331952e-01 -5.22562617e-01 -2.14138883e-02 1.50059446e+02] [ 5.22404173e-01 8.52600882e-01 -1.28692071e-02 3.89798146e+01] [ 2.49824666e-02 -2.17868183e-04 9.99687866e-01 3.92826627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50804094199998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:150.11, Y:39.01, Z:3.93 [[ 8.50874175e-01 -5.24933083e-01 -2.14102314e-02 1.50108664e+02] [ 5.24775234e-01 8.51143455e-01 -1.28752882e-02 3.90108501e+01] [ 2.49818430e-02 -2.80308956e-04 9.99687866e-01 3.92641763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56804094199998 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:150.16, Y:39.04, Z:3.93 [[ 8.50587456e-01 -5.25397716e-01 -2.14060458e-02 1.50158663e+02] [ 5.25239840e-01 8.50856720e-01 -1.28822433e-02 3.90382118e+01] [ 2.49817791e-02 -2.85833483e-04 9.99687866e-01 3.92912810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.21, Y:39.07, Z:3.93 [[ 8.49978806e-01 -5.26381885e-01 -2.14042195e-02 1.50209157e+02] [ 5.26224245e-01 8.50248207e-01 -1.28852770e-02 3.90662115e+01] [ 2.49814757e-02 -3.11206930e-04 9.99687866e-01 3.92827164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.26, Y:39.10, Z:3.93 [[ 8.50780425e-01 -5.25085429e-01 -2.14000045e-02 1.50259471e+02] [ 5.24927202e-01 8.51049483e-01 -1.28922735e-02 3.90951491e+01] [ 2.49820077e-02 -2.64950558e-04 9.99687866e-01 3.93283532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.748040942 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:150.31, Y:39.13, Z:3.93 [[ 8.51637718e-01 -5.23693885e-01 -2.13988730e-02 1.50308705e+02] [ 5.23535171e-01 8.51906489e-01 -1.28941514e-02 3.91258335e+01] [ 2.49824270e-02 -2.21916960e-04 9.99687866e-01 3.93396385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.36, Y:39.16, Z:3.94 [[ 8.51949259e-01 -5.23187064e-01 -2.13952519e-02 1.50357738e+02] [ 5.23028039e-01 8.52217845e-01 -1.29001571e-02 3.91565953e+01] [ 2.49826108e-02 -2.00037376e-04 9.99687866e-01 3.93602537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.41, Y:39.19, Z:3.94 [[ 8.53318362e-01 -5.20951218e-01 -2.13916339e-02 1.50409100e+02] [ 5.20791339e-01 8.53586441e-01 -1.29061537e-02 3.91860483e+01] [ 2.49830852e-02 -1.27519714e-04 9.99687866e-01 3.93930201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.928040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:150.46, Y:39.22, Z:3.94 [[ 8.48393440e-01 -5.28933931e-01 -2.13884736e-02 1.50457946e+02] [ 5.28776443e-01 8.48662931e-01 -1.29113891e-02 3.92195544e+01] [ 2.49808764e-02 -3.55783170e-04 9.99687866e-01 3.93967080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.51, Y:39.25, Z:3.94 [[ 8.47460108e-01 -5.30428162e-01 -2.13853041e-02 1.50507100e+02] [ 5.30271016e-01 8.47729798e-01 -1.29166365e-02 3.92509699e+01] [ 2.49803073e-02 -3.93672806e-04 9.99687866e-01 3.94330780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.56, Y:39.28, Z:3.94 [[ 8.45873697e-01 -5.32954527e-01 -2.13813246e-02 1.50555625e+02] [ 5.32798020e-01 8.46143759e-01 -1.29232205e-02 3.92819549e+01] [ 2.49791633e-02 -4.60515102e-04 9.99687866e-01 3.94202727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.60, Y:39.31, Z:3.94 [[ 8.44516971e-01 -5.35101856e-01 -2.13796297e-02 1.50604844e+02] [ 5.34945965e-01 8.44787389e-01 -1.29260239e-02 3.93128008e+01] [ 2.49779810e-02 -5.20700123e-04 9.99687866e-01 3.94330504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.66, Y:39.34, Z:3.95 [[ 8.44309326e-01 -5.35429576e-01 -2.13759476e-02 1.50656075e+02] [ 5.35273636e-01 8.44579715e-01 -1.29321102e-02 3.93423498e+01] [ 2.49779260e-02 -5.23279970e-04 9.99687866e-01 3.94767464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.71, Y:39.37, Z:3.95 [[ 8.43344872e-01 -5.36947513e-01 -2.13727767e-02 1.50705125e+02] [ 5.36791927e-01 8.43615465e-01 -1.29373487e-02 3.93740463e+01] [ 2.49770821e-02 -5.62087291e-04 9.99687866e-01 3.94773838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.75, Y:39.41, Z:3.94 [[ 8.41846981e-01 -5.39293083e-01 -2.13689026e-02 1.50751653e+02] [ 5.39138089e-01 8.42117914e-01 -1.29437443e-02 3.94072067e+01] [ 2.49756075e-02 -6.24137229e-04 9.99687866e-01 3.94439532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.80, Y:39.44, Z:3.95 [[ 8.42622993e-01 -5.38079858e-01 -2.13672376e-02 1.50801626e+02] [ 5.37924403e-01 8.42893662e-01 -1.29464923e-02 3.94364150e+01] [ 2.49765559e-02 -5.84946496e-04 9.99687866e-01 3.94788924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40804094199999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:150.85, Y:39.47, Z:3.95 [[ 8.44212094e-01 -5.35583262e-01 -2.13660786e-02 1.50850716e+02] [ 5.35426959e-01 8.44482274e-01 -1.29484047e-02 3.94667948e+01] [ 2.49782235e-02 -5.08774617e-04 9.99687866e-01 3.94989498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.90, Y:39.50, Z:3.95 [[ 8.46599372e-01 -5.31801799e-01 -2.13623709e-02 1.50898306e+02] [ 5.31644134e-01 8.46868759e-01 -1.29545189e-02 3.94989033e+01] [ 2.49803610e-02 -3.89891610e-04 9.99687866e-01 3.94925098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.95, Y:39.53, Z:3.95 [[ 8.50373166e-01 -5.25746322e-01 -2.13607740e-02 1.50947550e+02] [ 5.25586673e-01 8.50641382e-01 -1.29571515e-02 3.95290135e+01] [ 2.49825331e-02 -2.08524193e-04 9.99687866e-01 3.95245897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.00, Y:39.56, Z:3.95 [[ 8.52473879e-01 -5.22333378e-01 -2.13571616e-02 1.50995714e+02] [ 5.22172506e-01 8.52741363e-01 -1.29631031e-02 3.95616006e+01] [ 2.49831965e-02 -1.01415863e-04 9.99687866e-01 3.95258874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.04, Y:39.59, Z:3.95 [[ 8.53437579e-01 -5.20757457e-01 -2.13534302e-02 1.51044919e+02] [ 5.20595938e-01 8.53704673e-01 -1.29692467e-02 3.95927549e+01] [ 2.49833551e-02 -4.80665162e-05 9.99687866e-01 3.95364863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.708040942 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:151.09, Y:39.63, Z:3.95 [[ 8.52536702e-01 -5.22231138e-01 -2.13496928e-02 1.51093310e+02] [ 5.22069926e-01 8.52803982e-01 -1.29753962e-02 3.96251684e+01] [ 2.49832590e-02 -8.40310966e-05 9.99687866e-01 3.95341358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.14, Y:39.65, Z:3.96 [[ 8.54424278e-01 -5.19137280e-01 -2.13456743e-02 1.51144663e+02] [ 5.18974935e-01 8.54690871e-01 -1.29820037e-02 3.96510722e+01] [ 2.49833950e-02 1.42692414e-05 9.99687866e-01 3.96146590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.20, Y:39.68, Z:3.95 [[ 8.57712451e-01 -5.13686509e-01 -2.13429713e-02 1.51197217e+02] [ 5.13522359e-01 8.57977936e-01 -1.29864460e-02 3.96769248e+01] [ 2.49827606e-02 1.78543469e-04 9.99687866e-01 3.95003723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.25, Y:39.71, Z:3.97 [[ 8.53221445e-01 -5.21112084e-01 -2.13392238e-02 1.51245647e+02] [ 5.20950091e-01 8.53488251e-01 -1.29926009e-02 3.97079508e+01] [ 2.49833781e-02 -3.11048410e-05 9.99687866e-01 3.96727080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.30, Y:39.74, Z:3.97 [[ 8.53685445e-01 -5.20351767e-01 -2.13354125e-02 1.51296217e+02] [ 5.20189380e-01 8.53952012e-01 -1.29988565e-02 3.97385139e+01] [ 2.49833964e-02 -1.52040315e-06 9.99687866e-01 3.96939752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.34, Y:39.77, Z:3.97 [[ 8.52464129e-01 -5.22350317e-01 -2.13320434e-02 1.51344784e+02] [ 5.22188417e-01 8.52730991e-01 -1.30043831e-02 3.97677309e+01] [ 2.49833381e-02 -5.35759040e-05 9.99687866e-01 3.96901932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.39, Y:39.80, Z:3.96 [[ 8.48531605e-01 -5.28714640e-01 -2.13294483e-02 1.51393312e+02] [ 5.28554634e-01 8.48799608e-01 -1.30086381e-02 3.97999434e+01] [ 2.49822848e-02 -2.35538221e-04 9.99687866e-01 3.96432952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.44, Y:39.83, Z:3.98 [[ 8.46993496e-01 -5.31175333e-01 -2.13256560e-02 1.51441510e+02] [ 5.31015950e-01 8.47261869e-01 -1.30148521e-02 3.98301197e+01] [ 2.49815835e-02 -3.00768371e-04 9.99687866e-01 3.97610666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.49, Y:39.86, Z:3.98 [[ 8.44984486e-01 -5.34365516e-01 -2.13240253e-02 1.51491046e+02] [ 5.34207078e-01 8.45253419e-01 -1.30175233e-02 3.98601747e+01] [ 2.49803208e-02 -3.91840052e-04 9.99687866e-01 3.97821847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.54, Y:39.89, Z:3.98 [[ 8.44760875e-01 -5.34719092e-01 -2.13203458e-02 1.51539636e+02] [ 5.34560614e-01 8.45029785e-01 -1.30235468e-02 3.98912154e+01] [ 2.49802664e-02 -3.95234353e-04 9.99687866e-01 3.97619403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.308040942 meters Centerline goodness : 0.997699 with order 1 Centerline is valid? [True, True] Translation: X:151.59, Y:39.92, Z:3.98 [[ 8.43479586e-01 -5.36738050e-01 -2.13179114e-02 1.51586948e+02] [ 5.36580116e-01 8.43748815e-01 -1.30275305e-02 3.99228825e+01] [ 2.49793338e-02 -4.50311298e-04 9.99687866e-01 3.98198844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.64, Y:39.95, Z:3.98 [[ 8.43548018e-01 -5.36630664e-01 -2.13136402e-02 1.51635304e+02] [ 5.36472519e-01 8.43817123e-01 -1.30345146e-02 3.99543831e+01] [ 2.49795348e-02 -4.38943254e-04 9.99687866e-01 3.98499152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.69, Y:39.98, Z:3.99 [[ 8.46170585e-01 -5.32485917e-01 -2.13093600e-02 1.51690314e+02] [ 5.32326278e-01 8.46438806e-01 -1.30415083e-02 3.99780473e+01] [ 2.49814887e-02 -3.08191597e-04 9.99687866e-01 3.99086785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.488040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.74, Y:40.01, Z:3.99 [[ 8.45742446e-01 -5.33165793e-01 -2.13061467e-02 1.51738478e+02] [ 5.33006237e-01 8.46010717e-01 -1.30467557e-02 4.00111125e+01] [ 2.49813124e-02 -3.22114004e-04 9.99687866e-01 3.99455402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.78, Y:40.05, Z:3.98 [[ 8.41905523e-01 -5.39204320e-01 -2.13023894e-02 1.51782252e+02] [ 5.39046533e-01 8.42174838e-01 -1.30528878e-02 4.00506228e+01] [ 2.49785098e-02 -4.93680810e-04 9.99687866e-01 3.98406049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.83, Y:40.09, Z:3.98 [[ 8.41875615e-01 -5.39251061e-01 -2.13012371e-02 1.51829508e+02] [ 5.39093241e-01 8.42144911e-01 -1.30547679e-02 4.00852719e+01] [ 2.49785259e-02 -4.92862143e-04 9.99687866e-01 3.98067240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.88, Y:40.11, Z:4.00 [[ 8.43439981e-01 -5.36801094e-01 -2.12975082e-02 1.51879013e+02] [ 5.36642338e-01 8.43708726e-01 -1.30608485e-02 4.01144866e+01] [ 2.49799712e-02 -4.13102806e-04 9.99687866e-01 3.99621906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.92, Y:40.15, Z:4.00 [[ 8.45545582e-01 -5.33478450e-01 -2.12934843e-02 1.51923380e+02] [ 5.33318474e-01 8.45813602e-01 -1.30674055e-02 4.01511797e+01] [ 2.49814978e-02 -3.07121572e-04 9.99687867e-01 3.99747185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.97, Y:40.19, Z:3.99 [[ 8.44469857e-01 -5.35179710e-01 -2.12917531e-02 1.51968471e+02] [ 5.35020202e-01 8.44738156e-01 -1.30702256e-02 4.01875852e+01] [ 2.49808758e-02 -3.54106522e-04 9.99687867e-01 3.99364027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.02, Y:40.22, Z:4.00 [[ 8.45312890e-01 -5.33847206e-01 -2.12903320e-02 1.52015580e+02] [ 5.33687217e-01 8.45580903e-01 -1.30725400e-02 4.02213519e+01] [ 2.49814371e-02 -3.11991447e-04 9.99687867e-01 3.99782633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.06, Y:40.26, Z:4.00 [[ 8.44550120e-01 -5.35053249e-01 -2.12864973e-02 1.52062481e+02] [ 5.34893486e-01 8.44818267e-01 -1.30787813e-02 4.02555895e+01] [ 2.49810662e-02 -3.40322430e-04 9.99687867e-01 3.99929813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.11, Y:40.29, Z:4.00 [[ 8.43565505e-01 -5.36604403e-01 -2.12826888e-02 1.52106900e+02] [ 5.36444977e-01 8.43833852e-01 -1.30849757e-02 4.02928159e+01] [ 2.49805089e-02 -3.78957328e-04 9.99687867e-01 3.99588675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.16, Y:40.33, Z:4.00 [[ 8.43636646e-01 -5.36492652e-01 -2.12801229e-02 1.52155294e+02] [ 5.36333084e-01 8.43904910e-01 -1.30891474e-02 4.03250880e+01] [ 2.49806316e-02 -3.70749562e-04 9.99687867e-01 3.99671223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.20, Y:40.36, Z:3.99 [[ 8.43671515e-01 -5.36437957e-01 -2.12765892e-02 1.52201606e+02] [ 5.36278227e-01 8.43939682e-01 -1.30948890e-02 4.03605369e+01] [ 2.49807534e-02 -3.62386712e-04 9.99687867e-01 3.99467033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.25, Y:40.40, Z:4.00 [[ 8.43653229e-01 -5.36466863e-01 -2.12728599e-02 1.52248226e+02] [ 5.36306989e-01 8.43921311e-01 -1.31009444e-02 4.03961018e+01] [ 2.49808424e-02 -3.56129383e-04 9.99687867e-01 3.99578472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.30, Y:40.43, Z:4.00 [[ 8.43630035e-01 -5.36503485e-01 -2.12691053e-02 1.52295881e+02] [ 5.36343469e-01 8.43898032e-01 -1.31070372e-02 4.04306676e+01] [ 2.49809272e-02 -3.50055478e-04 9.99687867e-01 3.99590347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.35, Y:40.46, Z:4.00 [[ 8.45087668e-01 -5.34204642e-01 -2.12657687e-02 1.52345534e+02] [ 5.34043762e-01 8.45355147e-01 -1.31124484e-02 4.04631669e+01] [ 2.49818578e-02 -2.75682689e-04 9.99687867e-01 3.99519945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.39, Y:40.50, Z:4.00 [[ 8.41099509e-01 -5.40462326e-01 -2.12624184e-02 1.52391885e+02] [ 5.40303298e-01 8.41368092e-01 -1.31178789e-02 4.04973246e+01] [ 2.49792397e-02 -4.54713305e-04 9.99687867e-01 3.99609424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.44, Y:40.53, Z:4.00 [[ 8.39162310e-01 -5.43465341e-01 -2.12612445e-02 1.52441862e+02] [ 5.43307226e-01 8.39431432e-01 -1.31197812e-02 4.05279862e+01] [ 2.49775033e-02 -5.41761921e-04 9.99687867e-01 3.99831565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.49, Y:40.56, Z:4.00 [[ 8.36792646e-01 -5.47107086e-01 -2.12580182e-02 1.52490741e+02] [ 5.46950009e-01 8.37062376e-01 -1.31250066e-02 4.05617687e+01] [ 2.49750714e-02 -6.44164221e-04 9.99687867e-01 3.99765331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.54, Y:40.60, Z:4.00 [[ 8.35003926e-01 -5.49833319e-01 -2.12547549e-02 1.52538752e+02] [ 5.49676988e-01 8.35274089e-01 -1.31302892e-02 4.05961339e+01] [ 2.49730165e-02 -7.19406627e-04 9.99687867e-01 3.99659520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.59, Y:40.63, Z:4.00 [[ 8.38207075e-01 -5.44937861e-01 -2.12515079e-02 1.52586822e+02] [ 5.44779820e-01 8.38476240e-01 -1.31355424e-02 4.06295936e+01] [ 2.49769388e-02 -5.67088025e-04 9.99687867e-01 3.99993685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.64, Y:40.66, Z:4.01 [[ 8.41108886e-01 -5.40448290e-01 -2.12482478e-02 1.52637616e+02] [ 5.40288678e-01 8.41377123e-01 -1.31408138e-02 4.06581723e+01] [ 2.49797200e-02 -4.27332432e-04 9.99687867e-01 4.00645202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.68, Y:40.69, Z:4.00 [[ 8.39861549e-01 -5.42384707e-01 -2.12463735e-02 1.52683810e+02] [ 5.42225637e-01 8.40130108e-01 -1.31438435e-02 4.06932597e+01] [ 2.49787378e-02 -4.81319687e-04 9.99687867e-01 4.00366743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.73, Y:40.73, Z:4.01 [[ 8.41319481e-01 -5.40120519e-01 -2.12451442e-02 1.52732829e+02] [ 5.39960676e-01 8.41587580e-01 -1.31458302e-02 4.07252934e+01] [ 2.49799822e-02 -4.11699443e-04 9.99687867e-01 4.00555231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.78, Y:40.76, Z:4.01 [[ 8.42236562e-01 -5.38689483e-01 -2.12418209e-02 1.52781837e+02] [ 5.38529049e-01 8.42504308e-01 -1.31511980e-02 4.07575856e+01] [ 2.49807377e-02 -3.62917780e-04 9.99687867e-01 4.00538603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.83, Y:40.79, Z:4.01 [[ 8.44336792e-01 -5.35391730e-01 -2.12385481e-02 1.52831134e+02] [ 5.35230118e-01 8.44603829e-01 -1.31564813e-02 4.07905836e+01] [ 2.49820304e-02 -2.59009349e-04 9.99687867e-01 4.00696216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.88, Y:40.82, Z:4.01 [[ 8.46698807e-01 -5.31648564e-01 -2.12352282e-02 1.52879922e+02] [ 5.31485637e-01 8.46965043e-01 -1.31618377e-02 4.08210092e+01] [ 2.49829680e-02 -1.42106472e-04 9.99687867e-01 4.00834569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.988040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.93, Y:40.85, Z:4.00 [[ 8.45422009e-01 -5.33676649e-01 -2.12334890e-02 1.52929280e+02] [ 5.33514289e-01 8.45688592e-01 -1.31646429e-02 4.08541823e+01] [ 2.49825819e-02 -1.98690948e-04 9.99687867e-01 4.00348433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.98, Y:40.88, Z:4.01 [[ 8.50277455e-01 -5.25906383e-01 -2.12303162e-02 1.52983316e+02] [ 5.25741459e-01 8.50542459e-01 -1.31697575e-02 4.08776834e+01] [ 2.49833449e-02 3.62905032e-05 9.99687867e-01 4.01470719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.03, Y:40.91, Z:4.01 [[ 8.51037750e-01 -5.24675198e-01 -2.12293466e-02 1.53033408e+02] [ 5.24509852e-01 8.51302491e-01 -1.31713203e-02 4.09071603e+01] [ 2.49832607e-02 7.42893068e-05 9.99687867e-01 4.00958597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.08, Y:40.94, Z:4.01 [[ 8.49728260e-01 -5.26793384e-01 -2.12276869e-02 1.53083534e+02] [ 5.26628631e-01 8.49993371e-01 -1.31739947e-02 4.09375966e+01] [ 2.49833664e-02 1.52079337e-05 9.99687867e-01 4.01332416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.14, Y:40.96, Z:4.02 [[ 8.50234199e-01 -5.25976556e-01 -2.12242643e-02 1.53136620e+02] [ 5.25811412e-01 8.50499065e-01 -1.31795063e-02 4.09606130e+01] [ 2.49833283e-02 4.57066187e-05 9.99687867e-01 4.01843999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.19, Y:40.99, Z:4.02 [[ 8.47971191e-01 -5.29617269e-01 -2.12228221e-02 1.53187460e+02] [ 5.29453203e-01 8.48236727e-01 -1.31818283e-02 4.09897919e+01] [ 2.49833011e-02 -5.86805498e-05 9.99687867e-01 4.01776822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.24, Y:41.01, Z:4.02 [[ 8.46568693e-01 -5.31856354e-01 -2.12194851e-02 1.53239705e+02] [ 5.31692856e-01 8.46834579e-01 -1.31871979e-02 4.10143568e+01] [ 2.49830887e-02 -1.18379755e-04 9.99687867e-01 4.01865920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.29, Y:41.04, Z:4.01 [[ 8.41864056e-01 -5.39272385e-01 -2.12180843e-02 1.53290308e+02] [ 5.39111172e-01 8.42131333e-01 -1.31894515e-02 4.10440944e+01] [ 2.49811205e-02 -3.35181150e-04 9.99687867e-01 4.01456777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.34, Y:41.07, Z:4.02 [[ 8.43077596e-01 -5.37373346e-01 -2.12145003e-02 1.53342712e+02] [ 5.37211386e-01 8.43344421e-01 -1.31952136e-02 4.10682896e+01] [ 2.49818865e-02 -2.72082111e-04 9.99687867e-01 4.01887517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.40, Y:41.09, Z:4.02 [[ 8.41949702e-01 -5.39138884e-01 -2.12123148e-02 1.53395360e+02] [ 5.38977395e-01 8.42216814e-01 -1.31987259e-02 4.10945366e+01] [ 2.49813146e-02 -3.20294814e-04 9.99687867e-01 4.02034129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.45, Y:41.12, Z:4.03 [[ 8.43354494e-01 -5.36938890e-01 -2.12090785e-02 1.53450306e+02] [ 5.36776574e-01 8.43621103e-01 -1.32039243e-02 4.11173687e+01] [ 2.49821267e-02 -2.48947599e-04 9.99687867e-01 4.02787933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.50, Y:41.14, Z:4.02 [[ 8.47027778e-01 -5.31125465e-01 -2.12057405e-02 1.53502892e+02] [ 5.30961184e-01 8.47293182e-01 -1.32092831e-02 4.11427351e+01] [ 2.49832659e-02 -7.07954142e-05 9.99687867e-01 4.02329445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.55, Y:41.17, Z:4.03 [[ 8.44097217e-01 -5.35770823e-01 -2.12017288e-02 1.53552246e+02] [ 5.35607842e-01 8.44363420e-01 -1.32157189e-02 4.11713857e+01] [ 2.49825609e-02 -2.00460639e-04 9.99687867e-01 4.03271112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.61, Y:41.20, Z:4.04 [[ 8.44192375e-01 -5.35620981e-01 -2.11990234e-02 1.53605852e+02] [ 5.35457843e-01 8.44458482e-01 -1.32200572e-02 4.11954421e+01] [ 2.49826351e-02 -1.90911894e-04 9.99687867e-01 4.03569954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.66, Y:41.22, Z:4.03 [[ 8.44938420e-01 -5.34443480e-01 -2.11951445e-02 1.53657504e+02] [ 5.34279815e-01 8.45204203e-01 -1.32262732e-02 4.12215994e+01] [ 2.49829207e-02 -1.48751453e-04 9.99687867e-01 4.03476874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.71, Y:41.25, Z:4.03 [[ 8.45986341e-01 -5.32783295e-01 -2.11912970e-02 1.53709359e+02] [ 5.32618955e-01 8.46251707e-01 -1.32324348e-02 4.12478035e+01] [ 2.49831915e-02 -9.24273268e-05 9.99687867e-01 4.03392456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.76, Y:41.28, Z:4.03 [[ 8.44595838e-01 -5.34985013e-01 -2.11873990e-02 1.53757970e+02] [ 5.34821207e-01 8.44861535e-01 -1.32386732e-02 4.12785708e+01] [ 2.49829102e-02 -1.50142011e-04 9.99687867e-01 4.03247087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00804094199998 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:153.81, Y:41.30, Z:4.04 [[ 8.48847641e-01 -5.28212919e-01 -2.11847770e-02 1.53808930e+02] [ 5.28046889e-01 8.49111953e-01 -1.32428677e-02 4.13043768e+01] [ 2.49833012e-02 5.46214035e-05 9.99687867e-01 4.03838139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.86, Y:41.34, Z:4.04 [[ 8.51074406e-01 -5.24617604e-01 -2.11831320e-02 1.53858460e+02] [ 5.24450392e-01 8.51337972e-01 -1.32454985e-02 4.13369379e+01] [ 2.49828263e-02 1.63402906e-04 9.99687867e-01 4.04106002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.91, Y:41.37, Z:4.04 [[ 8.52009856e-01 -5.23097146e-01 -2.11797477e-02 1.53906072e+02] [ 5.22929329e-01 8.52273037e-01 -1.32509079e-02 4.13697263e+01] [ 2.49824400e-02 2.14392878e-04 9.99687867e-01 4.04276895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.95, Y:41.40, Z:4.04 [[ 8.50720247e-01 -5.25192004e-01 -2.11759292e-02 1.53954229e+02] [ 5.25024684e-01 8.50983744e-01 -1.32570073e-02 4.14044198e+01] [ 2.49828457e-02 1.60119012e-04 9.99687867e-01 4.03743614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.00, Y:41.43, Z:4.05 [[ 8.48111591e-01 -5.29394418e-01 -2.11725961e-02 1.54004517e+02] [ 5.29228271e-01 8.48375830e-01 -1.32623283e-02 4.14340513e+01] [ 2.49833214e-02 4.27979505e-05 9.99687867e-01 4.04641012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.05, Y:41.46, Z:4.05 [[ 8.43415819e-01 -5.36844132e-01 -2.11691789e-02 1.54054110e+02] [ 5.36680181e-01 8.43681426e-01 -1.32677806e-02 4.14642769e+01] [ 2.49827732e-02 -1.70822759e-04 9.99687867e-01 4.04698545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.368040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:154.10, Y:41.50, Z:4.04 [[ 8.42198079e-01 -5.38752552e-01 -2.11679774e-02 1.54103754e+02] [ 5.38589155e-01 8.42464027e-01 -1.32696973e-02 4.14962938e+01] [ 2.49823428e-02 -2.25129495e-04 9.99687867e-01 4.03630531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.15, Y:41.53, Z:4.04 [[ 8.40503520e-01 -5.41392547e-01 -2.11646684e-02 1.54149908e+02] [ 5.41229852e-01 8.40769898e-01 -1.32749729e-02 4.15319970e+01] [ 2.49815875e-02 -2.97288874e-04 9.99687867e-01 4.03887513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.488040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:154.19, Y:41.58, Z:4.03 [[ 8.35465343e-01 -5.49135571e-01 -2.11609485e-02 1.54192068e+02] [ 5.48975195e-01 8.35733123e-01 -1.32808999e-02 4.15752424e+01] [ 2.49779202e-02 -5.21104270e-04 9.99687867e-01 4.02840453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.25, Y:41.60, Z:4.04 [[ 8.40804860e-01 -5.40924727e-01 -2.11571877e-02 1.54247247e+02] [ 5.40761585e-01 8.41070964e-01 -1.32868884e-02 4.15957557e+01] [ 2.49819028e-02 -2.69314040e-04 9.99687867e-01 4.04498881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.30, Y:41.63, Z:4.05 [[ 8.38189281e-01 -5.44969050e-01 -2.11533314e-02 1.54295691e+02] [ 5.44807037e-01 8.38456074e-01 -1.32930250e-02 4.16298275e+01] [ 2.49804264e-02 -3.82412696e-04 9.99687867e-01 4.04984431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.33, Y:41.68, Z:4.03 [[ 8.30131637e-01 -5.57166173e-01 -2.11499847e-02 1.54333559e+02] [ 5.57007942e-01 8.30400690e-01 -1.32983477e-02 4.16792334e+01] [ 2.49723514e-02 -7.41330333e-04 9.99687867e-01 4.02869106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72804094199998 meters Centerline goodness : 0.997328 with order 1 Centerline is valid? [True, True] Translation: X:154.39, Y:41.70, Z:4.05 [[ 8.39116375e-01 -5.43540648e-01 -2.11488320e-02 1.54390169e+02] [ 5.43378000e-01 8.39382782e-01 -1.33001805e-02 4.16981723e+01] [ 2.49811542e-02 -3.31410800e-04 9.99687867e-01 4.04851264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78804094199998 meters Centerline goodness : 0.994890 with order 1 Centerline is valid? [True, True] Translation: X:154.44, Y:41.73, Z:4.05 [[ 8.39504120e-01 -5.42941726e-01 -2.11450903e-02 1.54437578e+02] [ 5.42778739e-01 8.39770319e-01 -1.33061266e-02 4.17334616e+01] [ 2.49814706e-02 -3.06557298e-04 9.99687867e-01 4.04855578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.48, Y:41.77, Z:4.04 [[ 8.37150553e-01 -5.46563814e-01 -2.11411687e-02 1.54484458e+02] [ 5.46401821e-01 8.37417358e-01 -1.33123545e-02 4.17665250e+01] [ 2.49800329e-02 -4.07128085e-04 9.99687867e-01 4.03960218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90804094199999 meters Centerline goodness : 0.996827 with order 1 Centerline is valid? [True, True] Translation: X:154.54, Y:41.79, Z:4.06 [[ 8.36716786e-01 -5.47227721e-01 -2.11386266e-02 1.54536911e+02] [ 5.47065838e-01 8.36983658e-01 -1.33163898e-02 4.17908743e+01] [ 2.49797827e-02 -4.22173591e-04 9.99687867e-01 4.05593808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.58, Y:41.83, Z:4.04 [[ 8.26382587e-01 -5.62712335e-01 -2.11340457e-02 1.54580222e+02] [ 5.62555263e-01 8.26652319e-01 -1.33236561e-02 4.18331522e+01] [ 2.49678935e-02 -8.78631299e-04 9.99687867e-01 4.03881532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.64, Y:41.85, Z:4.05 [[ 8.32956383e-01 -5.52935037e-01 -2.11307692e-02 1.54637489e+02] [ 5.52774666e-01 8.33224166e-01 -1.33288504e-02 4.18512823e+01] [ 2.49766559e-02 -5.78202898e-04 9.99687867e-01 4.04851997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.69, Y:41.88, Z:4.06 [[ 8.32512513e-01 -5.53603233e-01 -2.11276219e-02 1.54688049e+02] [ 5.53442950e-01 8.32780349e-01 -1.33338374e-02 4.18788829e+01] [ 2.49763238e-02 -5.92346958e-04 9.99687867e-01 4.05595764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.73, Y:41.92, Z:4.06 [[ 8.29018564e-01 -5.58821983e-01 -2.11237539e-02 1.54733802e+02] [ 5.58663230e-01 8.29287309e-01 -1.33399623e-02 4.19167449e+01] [ 2.49723252e-02 -7.41988201e-04 9.99687867e-01 4.05691575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.78, Y:41.95, Z:4.06 [[ 8.31364834e-01 -5.55325526e-01 -2.11204379e-02 1.54780351e+02] [ 5.55165509e-01 8.31632829e-01 -1.33452103e-02 4.19499682e+01] [ 2.49753855e-02 -6.30600135e-04 9.99687868e-01 4.05740981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.83, Y:41.98, Z:4.06 [[ 8.35548961e-01 -5.49009989e-01 -2.11178842e-02 1.54828694e+02] [ 5.48847845e-01 8.35815674e-01 -1.33492501e-02 4.19825011e+01] [ 2.49795303e-02 -4.36553155e-04 9.99687868e-01 4.06285683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.88, Y:42.01, Z:4.07 [[ 8.38935525e-01 -5.43821093e-01 -2.11140660e-02 1.54878709e+02] [ 5.43657146e-01 8.39201134e-01 -1.33552865e-02 4.20126469e+01] [ 2.49818347e-02 -2.74588593e-04 9.99687868e-01 4.06864360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.93, Y:42.04, Z:4.07 [[ 8.40334678e-01 -5.41656707e-01 -2.11102006e-02 1.54929270e+02] [ 5.41491923e-01 8.40599768e-01 -1.33613937e-02 4.20435282e+01] [ 2.49825182e-02 -2.02960606e-04 9.99687868e-01 4.07325362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.98, Y:42.07, Z:4.08 [[ 8.43162534e-01 -5.37244304e-01 -2.11068566e-02 1.54978087e+02] [ 5.37078001e-01 8.43426673e-01 -1.33666741e-02 4.20747538e+01] [ 2.49832553e-02 -6.57495195e-05 9.99687868e-01 4.07560173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50804094199998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:155.03, Y:42.11, Z:4.07 [[ 8.41052791e-01 -5.40541272e-01 -2.11029951e-02 1.55025108e+02] [ 5.40375851e-01 8.41317484e-01 -1.33727677e-02 4.21113644e+01] [ 2.49828516e-02 -1.56345302e-04 9.99687868e-01 4.06801268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.07, Y:42.14, Z:4.08 [[ 8.37086002e-01 -5.46664278e-01 -2.10995679e-02 1.55074380e+02] [ 5.46500657e-01 8.37351812e-01 -1.33781729e-02 4.21404895e+01] [ 2.49811307e-02 -3.32246418e-04 9.99687868e-01 4.07818475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.12, Y:42.18, Z:4.08 [[ 8.33711424e-01 -5.51797173e-01 -2.10983658e-02 1.55122482e+02] [ 5.51635140e-01 8.33978205e-01 -1.33800684e-02 4.21752079e+01] [ 2.49786612e-02 -4.83484108e-04 9.99687868e-01 4.07728934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.17, Y:42.21, Z:4.07 [[ 8.31689841e-01 -5.54839622e-01 -2.10950807e-02 1.55169981e+02] [ 5.54678434e-01 8.31957133e-01 -1.33852458e-02 4.22083171e+01] [ 2.49768676e-02 -5.68613407e-04 9.99687868e-01 4.07407836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.22, Y:42.24, Z:4.08 [[ 8.29609739e-01 -5.57945196e-01 -2.10912235e-02 1.55218385e+02] [ 5.57784854e-01 8.29877539e-01 -1.33913208e-02 4.22410458e+01] [ 2.49747558e-02 -6.54794899e-04 9.99687868e-01 4.08078350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.27, Y:42.27, Z:4.08 [[ 8.29171130e-01 -5.58596956e-01 -2.10873943e-02 1.55266960e+02] [ 5.58436671e-01 8.29438964e-01 -1.33973480e-02 4.22733867e+01] [ 2.49744243e-02 -6.67280074e-04 9.99687868e-01 4.08132200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.31, Y:42.31, Z:4.08 [[ 8.27507216e-01 -5.61059081e-01 -2.10835167e-02 1.55312017e+02] [ 5.60899437e-01 8.27775434e-01 -1.34034475e-02 4.23108223e+01] [ 2.49725431e-02 -7.34283082e-04 9.99687868e-01 4.07835449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.36, Y:42.34, Z:4.08 [[ 8.28828474e-01 -5.59105557e-01 -2.10793045e-02 1.55359043e+02] [ 5.58945113e-01 8.29096213e-01 -1.34100687e-02 4.23445535e+01] [ 2.49744154e-02 -6.67527492e-04 9.99687868e-01 4.08337090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.41, Y:42.38, Z:4.09 [[ 8.29656624e-01 -5.57875974e-01 -2.10780153e-02 1.55405784e+02] [ 5.57715082e-01 8.29924095e-01 -1.34120947e-02 4.23788257e+01] [ 2.49754381e-02 -6.28093804e-04 9.99687868e-01 4.08514632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.45, Y:42.41, Z:4.09 [[ 8.32689534e-01 -5.53338973e-01 -2.10741872e-02 1.55452656e+02] [ 5.53176471e-01 8.32956029e-01 -1.34181070e-02 4.24126701e+01] [ 2.49786328e-02 -4.84627311e-04 9.99687868e-01 4.08740225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10804094199997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:155.50, Y:42.45, Z:4.08 [[ 8.34203488e-01 -5.51054066e-01 -2.10703109e-02 1.55498122e+02] [ 5.50890680e-01 8.34469442e-01 -1.34241911e-02 4.24500272e+01] [ 2.49799857e-02 -4.08930834e-04 9.99687868e-01 4.08291686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.54, Y:42.48, Z:4.09 [[ 8.36446323e-01 -5.47643821e-01 -2.10664425e-02 1.55543502e+02] [ 5.47479198e-01 8.36711513e-01 -1.34302590e-02 4.24841883e+01] [ 2.49815334e-02 -2.99748270e-04 9.99687868e-01 4.08767039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.59, Y:42.52, Z:4.09 [[ 8.35014828e-01 -5.49824109e-01 -2.10638379e-02 1.55590678e+02] [ 5.49660076e-01 8.35280384e-01 -1.34343428e-02 4.25190822e+01] [ 2.49807362e-02 -3.60075329e-04 9.99687868e-01 4.08808418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28804094199998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:155.64, Y:42.55, Z:4.09 [[ 8.33445695e-01 -5.52199915e-01 -2.10601043e-02 1.55637464e+02] [ 5.52036491e-01 8.33711625e-01 -1.34401931e-02 4.25534664e+01] [ 2.49797273e-02 -4.24274994e-04 9.99687868e-01 4.08820509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34804094199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:155.69, Y:42.58, Z:4.10 [[ 8.35322904e-01 -5.49356243e-01 -2.10562241e-02 1.55688513e+02] [ 5.49191761e-01 8.35588181e-01 -1.34462695e-02 4.25804812e+01] [ 2.49811240e-02 -3.31927893e-04 9.99687868e-01 4.10301792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.73, Y:42.62, Z:4.09 [[ 8.34192069e-01 -5.51071935e-01 -2.10550322e-02 1.55734590e+02] [ 5.50907951e-01 8.34457655e-01 -1.34481355e-02 4.26187371e+01] [ 2.49804228e-02 -3.81056703e-04 9.99687868e-01 4.08728853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.78, Y:42.65, Z:4.09 [[ 8.35229738e-01 -5.49498060e-01 -2.10515269e-02 1.55782175e+02] [ 5.49333437e-01 8.35494928e-01 -1.34536203e-02 4.26527568e+01] [ 2.49811823e-02 -3.27443865e-04 9.99687868e-01 4.08522290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.83, Y:42.69, Z:4.09 [[ 8.36487748e-01 -5.47581271e-01 -2.10475188e-02 1.55831350e+02] [ 5.47415883e-01 8.36752462e-01 -1.34598880e-02 4.26852266e+01] [ 2.49819457e-02 -2.62714655e-04 9.99687868e-01 4.09190493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.88, Y:42.72, Z:4.10 [[ 8.33429833e-01 -5.52224466e-01 -2.10440661e-02 1.55879120e+02] [ 5.52060417e-01 8.33695378e-01 -1.34652840e-02 4.27187843e+01] [ 2.49801999e-02 -3.95226450e-04 9.99687868e-01 4.09849975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.93, Y:42.75, Z:4.09 [[ 8.31268823e-01 -5.55472263e-01 -2.10406439e-02 1.55927318e+02] [ 5.55309116e-01 8.31534923e-01 -1.34706293e-02 4.27534877e+01] [ 2.49785912e-02 -4.86347174e-04 9.99687868e-01 4.09166708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.97, Y:42.79, Z:4.09 [[ 8.27725824e-01 -5.60738261e-01 -2.10371796e-02 1.55971462e+02] [ 5.60576669e-01 8.27992871e-01 -1.34760375e-02 4.27897305e+01] [ 2.49751645e-02 -6.38487833e-04 9.99687868e-01 4.09251830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76804094199997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:156.02, Y:42.82, Z:4.09 [[ 8.30574394e-01 -5.56510274e-01 -2.10354795e-02 1.56018757e+02] [ 5.56347255e-01 8.30840572e-01 -1.34786906e-02 4.28236508e+01] [ 2.49781597e-02 -5.07976005e-04 9.99687868e-01 4.09264818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82804094199997 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:156.07, Y:42.86, Z:4.09 [[ 8.32763065e-01 -5.53229931e-01 -2.10314330e-02 1.56066810e+02] [ 5.53065704e-01 8.33028500e-01 -1.34850016e-02 4.28556817e+01] [ 2.49800896e-02 -4.01953007e-04 9.99687868e-01 4.09219957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.12, Y:42.89, Z:4.09 [[ 8.34452298e-01 -5.50678865e-01 -2.10273650e-02 1.56115221e+02] [ 5.50513667e-01 8.34717130e-01 -1.34913420e-02 4.28880673e+01] [ 2.49812986e-02 -3.17970426e-04 9.99687868e-01 4.09240398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94804094199998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:156.16, Y:42.92, Z:4.10 [[ 8.37010465e-01 -5.46782757e-01 -2.10261157e-02 1.56163270e+02] [ 5.46616277e-01 8.37274493e-01 -1.34932888e-02 4.29201074e+01] [ 2.49825280e-02 -1.99193153e-04 9.99687868e-01 4.09602698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.21, Y:42.95, Z:4.11 [[ 8.38054821e-01 -5.45180884e-01 -2.10219154e-02 1.56210556e+02] [ 5.45013736e-01 8.38318426e-01 -1.34998294e-02 4.29515456e+01] [ 2.49829080e-02 -1.43635481e-04 9.99687868e-01 4.10627906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.26, Y:42.98, Z:4.10 [[ 8.39729035e-01 -5.42598657e-01 -2.10201131e-02 1.56259081e+02] [ 5.42430627e-01 8.39992079e-01 -1.35026351e-02 4.29839712e+01] [ 2.49832402e-02 -6.33983986e-05 9.99687868e-01 4.10323317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.31, Y:43.01, Z:4.10 [[ 8.41223979e-01 -5.40278208e-01 -2.10160720e-02 1.56310343e+02] [ 5.40109296e-01 8.41486457e-01 -1.35089219e-02 4.30132130e+01] [ 2.49833161e-02 1.30531126e-05 9.99687868e-01 4.10491915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.36, Y:43.04, Z:4.10 [[ 8.40686474e-01 -5.41114335e-01 -2.10125667e-02 1.56360832e+02] [ 5.40945548e-01 8.40949033e-01 -1.35143721e-02 4.30425968e+01] [ 2.49833181e-02 -5.30461800e-06 9.99687868e-01 4.10460303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.41, Y:43.07, Z:4.11 [[ 8.42209995e-01 -5.38740056e-01 -2.10113355e-02 1.56412440e+02] [ 5.38570480e-01 8.42472046e-01 -1.35162860e-02 4.30689232e+01] [ 2.49832275e-02 6.74660969e-05 9.99687868e-01 4.10537450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.308040942 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:156.46, Y:43.10, Z:4.11 [[ 8.41276746e-01 -5.40196368e-01 -2.10076314e-02 1.56464138e+02] [ 5.40027102e-01 8.41538997e-01 -1.35220406e-02 4.30957484e+01] [ 2.49832983e-02 3.10880157e-05 9.99687868e-01 4.10978222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.51, Y:43.13, Z:4.11 [[ 8.41170336e-01 -5.40362210e-01 -2.10035091e-02 1.56513314e+02] [ 5.40192837e-01 8.41432517e-01 -1.35284407e-02 4.31254497e+01] [ 2.49832936e-02 3.37779132e-05 9.99687868e-01 4.11193221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.57, Y:43.15, Z:4.11 [[ 8.37996505e-01 -5.45271275e-01 -2.10022438e-02 1.56565432e+02] [ 5.45103388e-01 8.38259641e-01 -1.35304047e-02 4.31530408e+01] [ 2.49830744e-02 -1.09962370e-04 9.99687868e-01 4.11318446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.62, Y:43.18, Z:4.11 [[ 8.36465457e-01 -5.47617189e-01 -2.09988790e-02 1.56619005e+02] [ 5.47449909e-01 8.36728979e-01 -1.35356248e-02 4.31789480e+01] [ 2.49827114e-02 -1.73751759e-04 9.99687868e-01 4.11002876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.67, Y:43.21, Z:4.11 [[ 8.35992824e-01 -5.48338573e-01 -2.09954052e-02 1.56670838e+02] [ 5.48171385e-01 8.36256404e-01 -1.35410109e-02 4.32051658e+01] [ 2.49826007e-02 -1.88892442e-04 9.99687868e-01 4.11069964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.73, Y:43.23, Z:4.11 [[ 8.38620085e-01 -5.44312064e-01 -2.09935699e-02 1.56725048e+02] [ 5.44143539e-01 8.38882812e-01 -1.35438558e-02 4.32288155e+01] [ 2.49832290e-02 -6.53658902e-05 9.99687868e-01 4.11466719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.78, Y:43.25, Z:4.12 [[ 8.37685626e-01 -5.45749214e-01 -2.09901787e-02 1.56777927e+02] [ 5.45581008e-01 8.37948558e-01 -1.35491094e-02 4.32549077e+01] [ 2.49831057e-02 -1.01948668e-04 9.99687868e-01 4.11815560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.83, Y:43.28, Z:4.12 [[ 8.35216481e-01 -5.49520686e-01 -2.09867846e-02 1.56828748e+02] [ 5.49353536e-01 8.35480085e-01 -1.35543645e-02 4.32835976e+01] [ 2.49824443e-02 -2.08335689e-04 9.99687868e-01 4.11714721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.88, Y:43.31, Z:4.12 [[ 8.36277838e-01 -5.47904164e-01 -2.09858380e-02 1.56880465e+02] [ 5.47736467e-01 8.36541094e-01 -1.35558300e-02 4.33127113e+01] [ 2.49828116e-02 -1.58268541e-04 9.99687868e-01 4.11725549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.94, Y:43.33, Z:4.13 [[ 8.37728113e-01 -5.45684189e-01 -2.09851015e-02 1.56937479e+02] [ 5.45515766e-01 8.37990906e-01 -1.35569701e-02 4.33333908e+01] [ 2.49831484e-02 -9.06487535e-05 9.99687868e-01 4.12567478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.99, Y:43.36, Z:4.13 [[ 8.37919138e-01 -5.45390940e-01 -2.09819160e-02 1.56991983e+02] [ 5.45222301e-01 8.38181792e-01 -1.35618985e-02 4.33554909e+01] [ 2.49831965e-02 -7.60342000e-05 9.99687868e-01 4.12862804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.04, Y:43.38, Z:4.13 [[ 8.33520968e-01 -5.52089395e-01 -2.09784756e-02 1.57044306e+02] [ 5.51922733e-01 8.33784881e-01 -1.35672182e-02 4.33836865e+01] [ 2.49818531e-02 -2.69936773e-04 9.99687868e-01 4.12763893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.10, Y:43.41, Z:4.13 [[ 8.35556951e-01 -5.49003319e-01 -2.09746851e-02 1.57099458e+02] [ 5.48835535e-01 8.35820152e-01 -1.35730757e-02 4.34054546e+01] [ 2.49827281e-02 -1.70574749e-04 9.99687868e-01 4.13109094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.088040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:157.15, Y:43.43, Z:4.14 [[ 8.36813071e-01 -5.47086834e-01 -2.09733186e-02 1.57150106e+02] [ 5.46918395e-01 8.37075853e-01 -1.35751868e-02 4.34342847e+01] [ 2.49830646e-02 -1.10799970e-04 9.99687868e-01 4.13527490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.20, Y:43.47, Z:4.14 [[ 8.38285989e-01 -5.44827418e-01 -2.09686675e-02 1.57197559e+02] [ 5.44658091e-01 8.38548200e-01 -1.35823673e-02 4.34682383e+01] [ 2.49832845e-02 -3.48461606e-05 9.99687868e-01 4.13559752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.24, Y:43.50, Z:4.14 [[ 8.37455771e-01 -5.46102744e-01 -2.09672254e-02 1.57243201e+02] [ 5.45933760e-01 8.37718203e-01 -1.35845932e-02 4.35034633e+01] [ 2.49832100e-02 -7.02202700e-05 9.99687868e-01 4.13711960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.29, Y:43.53, Z:4.13 [[ 8.38538482e-01 -5.44438830e-01 -2.09660098e-02 1.57294489e+02] [ 5.44269279e-01 8.38800548e-01 -1.35864690e-02 4.35325867e+01] [ 2.49833018e-02 -1.83779246e-05 9.99687868e-01 4.13337458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32804094199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:157.34, Y:43.57, Z:4.13 [[ 8.34492747e-01 -5.50620028e-01 -2.09628063e-02 1.57341841e+02] [ 5.50452294e-01 8.34755980e-01 -1.35914099e-02 4.35667121e+01] [ 2.49825305e-02 -1.97091824e-04 9.99687868e-01 4.13156220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38804094199998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:157.39, Y:43.60, Z:4.14 [[ 8.31574358e-01 -5.55017744e-01 -2.09616742e-02 1.57390471e+02] [ 5.54851358e-01 8.31838444e-01 -1.35931558e-02 4.35999300e+01] [ 2.49811691e-02 -3.26893549e-04 9.99687868e-01 4.13923785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.44, Y:43.63, Z:4.14 [[ 8.28953708e-01 -5.58924425e-01 -2.09579814e-02 1.57439690e+02] [ 5.58759139e-01 8.29218485e-01 -1.35988469e-02 4.36326939e+01] [ 2.49794733e-02 -4.37649113e-04 9.99687868e-01 4.13988414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.49, Y:43.67, Z:4.14 [[ 8.26599690e-01 -5.62400098e-01 -2.09542954e-02 1.57485082e+02] [ 5.62235782e-01 8.26865069e-01 -1.36045243e-02 4.36666456e+01] [ 2.49775607e-02 -5.35759074e-04 9.99687868e-01 4.14070265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.53, Y:43.70, Z:4.14 [[ 8.27209939e-01 -5.61502190e-01 -2.09524844e-02 1.57532941e+02] [ 5.61337515e-01 8.27475096e-01 -1.36073128e-02 4.36996060e+01] [ 2.49781950e-02 -5.05311138e-04 9.99687869e-01 4.14163142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.58, Y:43.73, Z:4.15 [[ 8.28979373e-01 -5.58886716e-01 -2.09484606e-02 1.57582152e+02] [ 5.58721048e-01 8.29243911e-01 -1.36135046e-02 4.37301126e+01] [ 2.49797903e-02 -4.19031325e-04 9.99687869e-01 4.14532442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.63, Y:43.76, Z:4.15 [[ 8.30363766e-01 -5.56827930e-01 -2.09444966e-02 1.57629668e+02] [ 5.56661453e-01 8.30627795e-01 -1.36196007e-02 4.37633730e+01] [ 2.49808550e-02 -3.49770962e-04 9.99687869e-01 4.15443535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.68, Y:43.79, Z:4.16 [[ 8.31155423e-01 -5.55645608e-01 -2.09432801e-02 1.57678739e+02] [ 5.55478708e-01 8.31419185e-01 -1.36214710e-02 4.37944281e+01] [ 2.49813554e-02 -3.11986704e-04 9.99687869e-01 4.15570109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.73, Y:43.82, Z:4.16 [[ 8.30476591e-01 -5.56659836e-01 -2.09394091e-02 1.57728155e+02] [ 5.56493108e-01 8.30740461e-01 -1.36274190e-02 4.38242790e+01] [ 2.49810512e-02 -3.35384399e-04 9.99687869e-01 4.15745841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.78, Y:43.85, Z:4.15 [[ 8.29593314e-01 -5.57975483e-01 -2.09354846e-02 1.57777290e+02] [ 5.57809021e-01 8.29857353e-01 -1.36334454e-02 4.38546515e+01] [ 2.49805942e-02 -3.67787022e-04 9.99687869e-01 4.15492693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.83, Y:43.88, Z:4.16 [[ 8.30825476e-01 -5.56139266e-01 -2.09319082e-02 1.57829320e+02] [ 5.55972082e-01 8.31089059e-01 -1.36389343e-02 4.38827156e+01] [ 2.49814268e-02 -3.05982525e-04 9.99687869e-01 4.15582909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.88, Y:43.91, Z:4.16 [[ 8.30932667e-01 -5.55979250e-01 -2.09278926e-02 1.57878125e+02] [ 5.55811861e-01 8.31196118e-01 -1.36450931e-02 4.39117910e+01] [ 2.49815717e-02 -2.93817316e-04 9.99687869e-01 4.15726410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.93, Y:43.94, Z:4.16 [[ 8.30052911e-01 -5.57291903e-01 -2.09260691e-02 1.57927487e+02] [ 5.57124860e-01 8.30316582e-01 -1.36478890e-02 4.39432992e+01] [ 2.49811202e-02 -3.29963307e-04 9.99687869e-01 4.15854757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.98, Y:43.98, Z:4.16 [[ 8.28977594e-01 -5.58890345e-01 -2.09220125e-02 1.57975621e+02] [ 5.58723653e-01 8.29241488e-01 -1.36541049e-02 4.39755426e+01] [ 2.49805482e-02 -3.70676234e-04 9.99687869e-01 4.16062684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.02, Y:44.01, Z:4.17 [[ 8.29341228e-01 -5.58350754e-01 -2.09180007e-02 1.58023253e+02] [ 5.58183736e-01 8.29604915e-01 -1.36602483e-02 4.40072032e+01] [ 2.49808861e-02 -3.47080670e-04 9.99687869e-01 4.16851271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.07, Y:44.04, Z:4.17 [[ 8.30157031e-01 -5.57137158e-01 -2.09162781e-02 1.58072148e+02] [ 5.56969687e-01 8.30420431e-01 -1.36628853e-02 4.40387021e+01] [ 2.49814058e-02 -3.07392615e-04 9.99687869e-01 4.17102234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.12, Y:44.07, Z:4.17 [[ 8.30664753e-01 -5.56380032e-01 -2.09123925e-02 1.58120491e+02] [ 5.56212171e-01 8.30927905e-01 -1.36688300e-02 4.40712792e+01] [ 2.49817546e-02 -2.77511900e-04 9.99687869e-01 4.17418441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.17, Y:44.10, Z:4.17 [[ 8.30472949e-01 -5.56666431e-01 -2.09085124e-02 1.58168191e+02] [ 5.56498512e-01 8.30736064e-01 -1.36747627e-02 4.41038358e+01] [ 2.49817366e-02 -2.79035494e-04 9.99687869e-01 4.17291680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.22, Y:44.14, Z:4.18 [[ 8.28437708e-01 -5.59690956e-01 -2.09045036e-02 1.58216986e+02] [ 5.59523843e-01 8.28701335e-01 -1.36808881e-02 4.41373654e+01] [ 2.49806594e-02 -3.62804626e-04 9.99687869e-01 4.17970883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.27, Y:44.17, Z:4.18 [[ 8.27502631e-01 -5.61072670e-01 -2.09010475e-02 1.58266117e+02] [ 5.60905865e-01 8.27766453e-01 -1.36861662e-02 4.41674870e+01] [ 2.49801197e-02 -3.98181520e-04 9.99687869e-01 4.18123422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.528040942 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:158.31, Y:44.20, Z:4.18 [[ 8.25148648e-01 -5.64529022e-01 -2.08971509e-02 1.58313828e+02] [ 5.64363171e-01 8.25413071e-01 -1.36921133e-02 4.42008433e+01] [ 2.49783768e-02 -4.95553573e-04 9.99687869e-01 4.18346606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.36, Y:44.24, Z:4.19 [[ 8.22911658e-01 -5.67785062e-01 -2.08932186e-02 1.58360707e+02] [ 5.67620105e-01 8.23176639e-01 -1.36981110e-02 4.42357251e+01] [ 2.49763923e-02 -5.87075651e-04 9.99687869e-01 4.18782019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.41, Y:44.27, Z:4.19 [[ 8.22085036e-01 -5.68981404e-01 -2.08891275e-02 1.58406522e+02] [ 5.68816673e-01 8.22350158e-01 -1.37043469e-02 4.42713293e+01] [ 2.49756959e-02 -6.15945500e-04 9.99687869e-01 4.18741457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.45, Y:44.31, Z:4.19 [[ 8.21929312e-01 -5.69206486e-01 -2.08849798e-02 1.58452581e+02] [ 5.69041668e-01 8.22194379e-01 -1.37106650e-02 4.43076683e+01] [ 2.49757125e-02 -6.15226327e-04 9.99687869e-01 4.18664732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.50, Y:44.35, Z:4.18 [[ 8.23092172e-01 -5.67523803e-01 -2.08808422e-02 1.58496511e+02] [ 5.67358283e-01 8.23356802e-01 -1.37169636e-02 4.43467421e+01] [ 2.49770868e-02 -5.56593389e-04 9.99687869e-01 4.18476766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.54, Y:44.39, Z:4.19 [[ 8.23973219e-01 -5.66244026e-01 -2.08767407e-02 1.58539399e+02] [ 5.66077937e-01 8.24237492e-01 -1.37232030e-02 4.43857256e+01] [ 2.49780741e-02 -5.10310523e-04 9.99687869e-01 4.19040903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.59, Y:44.42, Z:4.19 [[ 8.26847150e-01 -5.62039159e-01 -2.08752285e-02 1.58585507e+02] [ 5.61871668e-01 8.27110536e-01 -1.37255030e-02 4.44206663e+01] [ 2.49803916e-02 -3.80306441e-04 9.99687869e-01 4.18805704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.63, Y:44.46, Z:4.19 [[ 8.25904611e-01 -5.63423432e-01 -2.08712713e-02 1.58628751e+02] [ 5.63256230e-01 8.26168182e-01 -1.37315177e-02 4.44601853e+01] [ 2.49798391e-02 -4.14949856e-04 9.99687869e-01 4.19199615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.68, Y:44.49, Z:4.19 [[ 8.27500830e-01 -5.61076582e-01 -2.08673361e-02 1.58676559e+02] [ 5.60908483e-01 8.27763828e-01 -1.37374953e-02 4.44927873e+01] [ 2.49810129e-02 -3.36877043e-04 9.99687869e-01 4.19120637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.72, Y:44.53, Z:4.19 [[ 8.25144420e-01 -5.64536459e-01 -2.08631952e-02 1.58723282e+02] [ 5.64369303e-01 8.25408019e-01 -1.37437812e-02 4.45277192e+01] [ 2.49795142e-02 -4.33942557e-04 9.99687869e-01 4.19097156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.77, Y:44.56, Z:4.20 [[ 8.24127978e-01 -5.66019411e-01 -2.08590879e-02 1.58772299e+02] [ 5.65852572e-01 8.24391778e-01 -1.37500121e-02 4.45560907e+01] [ 2.49788343e-02 -4.71398828e-04 9.99687869e-01 4.19697741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.82, Y:44.59, Z:4.19 [[ 8.21454232e-01 -5.69892937e-01 -2.08563232e-02 1.58819612e+02] [ 5.69727235e-01 8.21718747e-01 -1.37542044e-02 4.45906126e+01] [ 2.49764557e-02 -5.83965894e-04 9.99687869e-01 4.19481952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.86, Y:44.63, Z:4.19 [[ 8.16954207e-01 -5.76325433e-01 -2.08522988e-02 1.58862748e+02] [ 5.76161658e-01 8.17219920e-01 -1.37603029e-02 4.46299452e+01] [ 2.49713265e-02 -7.72757752e-04 9.99687869e-01 4.18649088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.91, Y:44.67, Z:4.19 [[ 8.16888718e-01 -5.76418352e-01 -2.08496072e-02 1.58910217e+02] [ 5.76254503e-01 8.17154385e-01 -1.37643800e-02 4.46655942e+01] [ 2.49713892e-02 -7.70713303e-04 9.99687869e-01 4.18676265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.95, Y:44.72, Z:4.17 [[ 8.07661889e-01 -5.89277277e-01 -2.08461827e-02 1.58946819e+02] [ 5.89117521e-01 8.07930037e-01 -1.37695645e-02 4.47193004e+01] [ 2.49563487e-02 -1.15969895e-03 9.99687869e-01 4.16680522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.00, Y:44.75, Z:4.17 [[ 8.09934823e-01 -5.86149357e-01 -2.08449940e-02 1.58996106e+02] [ 5.85988518e-01 8.10202324e-01 -1.37713638e-02 4.47514962e+01] [ 2.49607386e-02 -1.06102004e-03 9.99687869e-01 4.17118000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.05, Y:44.78, Z:4.18 [[ 8.12369508e-01 -5.82770459e-01 -2.08416294e-02 1.59045755e+02] [ 5.82608378e-01 8.12636258e-01 -1.37764540e-02 4.47835662e+01] [ 2.49651741e-02 -9.50936741e-04 9.99687869e-01 4.17515837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54804094199997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:159.09, Y:44.82, Z:4.17 [[ 8.12958966e-01 -5.81947920e-01 -2.08407557e-02 1.59090038e+02] [ 5.81785535e-01 8.13225531e-01 -1.37777755e-02 4.48216715e+01] [ 2.49661824e-02 -9.24084057e-04 9.99687869e-01 4.17305870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.14, Y:44.85, Z:4.18 [[ 8.14977119e-01 -5.79118304e-01 -2.08395289e-02 1.59140493e+02] [ 5.78954946e-01 8.15243088e-01 -1.37796309e-02 4.48527362e+01] [ 2.49693183e-02 -8.35064435e-04 9.99687869e-01 4.17559973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.19, Y:44.89, Z:4.18 [[ 8.20180107e-01 -5.71725789e-01 -2.08378056e-02 1.59189527e+02] [ 5.71559966e-01 8.20444547e-01 -1.37822363e-02 4.48862389e+01] [ 2.49759239e-02 -6.06139387e-04 9.99687869e-01 4.17580130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.25, Y:44.90, Z:4.20 [[ 8.32513872e-01 -5.53612300e-01 -2.08344529e-02 1.59251226e+02] [ 5.53440594e-01 8.32774531e-01 -1.37873028e-02 4.48983372e+01] [ 2.49832221e-02 -5.25111707e-05 9.99687869e-01 4.20057426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.29, Y:44.95, Z:4.18 [[ 8.21696000e-01 -5.69545143e-01 -2.08329945e-02 1.59292442e+02] [ 5.69378434e-01 8.21959883e-01 -1.37895061e-02 4.49452980e+01] [ 2.49776319e-02 -5.31075802e-04 9.99687869e-01 4.18238093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.34, Y:44.98, Z:4.18 [[ 8.18422079e-01 -5.74239865e-01 -2.08297414e-02 1.59341832e+02] [ 5.74074544e-01 8.18686834e-01 -1.37944183e-02 4.49756703e+01] [ 2.49743399e-02 -6.68167835e-04 9.99687869e-01 4.18411970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.39, Y:45.01, Z:4.18 [[ 8.09902041e-01 -5.86195241e-01 -2.08284178e-02 1.59387353e+02] [ 5.86033775e-01 8.10169163e-01 -1.37964165e-02 4.50141567e+01] [ 2.49619355e-02 -1.03241046e-03 9.99687869e-01 4.17514741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.44, Y:45.04, Z:4.18 [[ 8.09574598e-01 -5.86647422e-01 -2.08271862e-02 1.59440517e+02] [ 5.86486058e-01 8.09841782e-01 -1.37982754e-02 4.50415787e+01] [ 2.49614483e-02 -1.04412105e-03 9.99687869e-01 4.17917538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.50, Y:45.06, Z:4.20 [[ 8.20686957e-01 -5.70998499e-01 -2.08238504e-02 1.59501539e+02] [ 5.70831907e-01 8.20950913e-01 -1.38033079e-02 4.50563311e+01] [ 2.49770271e-02 -5.58723478e-04 9.99687869e-01 4.20057728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.55, Y:45.08, Z:4.21 [[ 8.24777129e-01 -5.65074497e-01 -2.08206691e-02 1.59553295e+02] [ 5.64905889e-01 8.25039801e-01 -1.38081049e-02 4.50846081e+01] [ 2.49804886e-02 -3.73109415e-04 9.99687869e-01 4.20646009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.60, Y:45.12, Z:4.21 [[ 8.22380503e-01 -5.68556903e-01 -2.08172256e-02 1.59597083e+02] [ 5.68389275e-01 8.22643802e-01 -1.38132944e-02 4.51222373e+01] [ 2.49788055e-02 -4.72503820e-04 9.99687869e-01 4.21004267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.65, Y:45.15, Z:4.21 [[ 8.26634849e-01 -5.62353568e-01 -2.08156366e-02 1.59650682e+02] [ 5.62183903e-01 8.26896841e-01 -1.38156884e-02 4.51468418e+01] [ 2.49816858e-02 -2.81686308e-04 9.99687869e-01 4.21088114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.69, Y:45.18, Z:4.21 [[ 8.24779280e-01 -5.65071696e-01 -2.08114760e-02 1.59693613e+02] [ 5.64902737e-01 8.25041727e-01 -1.38219531e-02 4.51843477e+01] [ 2.49807305e-02 -3.56399239e-04 9.99687869e-01 4.21303145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.75, Y:45.21, Z:4.22 [[ 8.29332378e-01 -5.58367947e-01 -2.08096702e-02 1.59747312e+02] [ 5.58196798e-01 8.29593402e-01 -1.38246712e-02 4.52089353e+01] [ 2.49828184e-02 -1.50643775e-04 9.99687869e-01 4.21517372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.80, Y:45.24, Z:4.22 [[ 8.28197948e-01 -5.60049280e-01 -2.08077807e-02 1.59796157e+02] [ 5.59878589e-01 8.28459272e-01 -1.38275145e-02 4.52406431e+01] [ 2.49824884e-02 -1.97911733e-04 9.99687869e-01 4.21549276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.84, Y:45.27, Z:4.22 [[ 8.25974834e-01 -5.63322985e-01 -2.08035569e-02 1.59843906e+02] [ 5.63153170e-01 8.26236728e-01 -1.38338664e-02 4.52714666e+01] [ 2.49815977e-02 -2.89163517e-04 9.99687869e-01 4.21550403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.89, Y:45.30, Z:4.22 [[ 8.25446597e-01 -5.64096840e-01 -2.08007250e-02 1.59893501e+02] [ 5.63927164e-01 8.25708581e-01 -1.38381231e-02 4.53019451e+01] [ 2.49813786e-02 -3.07462231e-04 9.99687869e-01 4.21903360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.94, Y:45.33, Z:4.22 [[ 8.25804023e-01 -5.63573619e-01 -2.07964441e-02 1.59942796e+02] [ 5.63403614e-01 8.26065794e-01 -1.38445537e-02 4.53319858e+01] [ 2.49816563e-02 -2.83903622e-04 9.99687869e-01 4.22220950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.99, Y:45.37, Z:4.22 [[ 8.22795409e-01 -5.67957217e-01 -2.07921484e-02 1.59989862e+02] [ 5.67788445e-01 8.23057976e-01 -1.38510020e-02 4.53654765e+01] [ 2.49799201e-02 -4.09000797e-04 9.99687869e-01 4.22001035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.04, Y:45.39, Z:4.23 [[ 8.23755691e-01 -5.66563591e-01 -2.07908247e-02 1.60039994e+02] [ 5.66394324e-01 8.24017940e-01 -1.38529887e-02 4.53940786e+01] [ 2.49806115e-02 -3.64326753e-04 9.99687869e-01 4.22631461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.09, Y:45.43, Z:4.22 [[ 8.25333015e-01 -5.64263422e-01 -2.07895543e-02 1.60088400e+02] [ 5.64093376e-01 8.25594758e-01 -1.38548949e-02 4.54282095e+01] [ 2.49815575e-02 -2.92347702e-04 9.99687869e-01 4.22389108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.14, Y:45.46, Z:4.23 [[ 8.29506220e-01 -5.58110543e-01 -2.07858608e-02 1.60136522e+02] [ 5.57938416e-01 8.29766601e-01 -1.38604339e-02 4.54603336e+01] [ 2.49830674e-02 -9.99140916e-05 9.99687869e-01 4.23140100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.18, Y:45.49, Z:4.22 [[ 8.26986148e-01 -5.61837978e-01 -2.07845669e-02 1.60184775e+02] [ 5.61666976e-01 8.27247268e-01 -1.38623739e-02 4.54930139e+01] [ 2.49823843e-02 -2.10013630e-04 9.99687869e-01 4.22457238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.928040942 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:160.23, Y:45.53, Z:4.22 [[ 8.24087276e-01 -5.66081452e-01 -2.07834282e-02 1.60233808e+02] [ 5.65911751e-01 8.24349245e-01 -1.38640809e-02 4.55260082e+01] [ 2.49810024e-02 -3.36373569e-04 9.99687869e-01 4.22271860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.28, Y:45.55, Z:4.23 [[ 8.24773345e-01 -5.65081529e-01 -2.07796942e-02 1.60283984e+02] [ 5.64911370e-01 8.25035015e-01 -1.38696752e-02 4.55548182e+01] [ 2.49814726e-02 -2.99347110e-04 9.99687869e-01 4.22686980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.33, Y:45.59, Z:4.22 [[ 8.22978760e-01 -5.67692011e-01 -2.07783858e-02 1.60330903e+02] [ 5.67522633e-01 8.23240936e-01 -1.38716351e-02 4.55867998e+01] [ 2.49804342e-02 -3.76143218e-04 9.99687869e-01 4.22477108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10804094199997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:160.38, Y:45.62, Z:4.23 [[ 8.24280531e-01 -5.65800254e-01 -2.07768756e-02 1.60378885e+02] [ 5.65630217e-01 8.24542281e-01 -1.38738967e-02 4.56186634e+01] [ 2.49812667e-02 -3.16045689e-04 9.99687869e-01 4.22927281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16804094199998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:160.43, Y:45.65, Z:4.23 [[ 8.25774085e-01 -5.63618358e-01 -2.07727482e-02 1.60427119e+02] [ 5.63447474e-01 8.26035283e-01 -1.38800738e-02 4.56518944e+01] [ 2.49820873e-02 -2.42547244e-04 9.99687870e-01 4.22910007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.48, Y:45.68, Z:4.23 [[ 8.27555932e-01 -5.60998973e-01 -2.07685218e-02 1.60475868e+02] [ 5.60827103e-01 8.27816482e-01 -1.38863948e-02 4.56833469e+01] [ 2.49827778e-02 -1.55781500e-04 9.99687870e-01 4.23057401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.52, Y:45.71, Z:4.23 [[ 8.28335501e-01 -5.59847426e-01 -2.07642996e-02 1.60523756e+02] [ 5.59675037e-01 8.28595707e-01 -1.38927054e-02 4.57147195e+01] [ 2.49830048e-02 -1.13439055e-04 9.99687870e-01 4.23193225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.57, Y:45.75, Z:4.24 [[ 8.26713476e-01 -5.62239937e-01 -2.07625185e-02 1.60569270e+02] [ 5.62068233e-01 8.26974135e-01 -1.38953667e-02 4.57496317e+01] [ 2.49825958e-02 -1.82465207e-04 9.99687870e-01 4.23786168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40804094199999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:160.62, Y:45.78, Z:4.23 [[ 8.26684520e-01 -5.62282578e-01 -2.07607245e-02 1.60619836e+02] [ 5.62110820e-01 8.26945143e-01 -1.38980464e-02 4.57799656e+01] [ 2.49826097e-02 -1.80528064e-04 9.99687870e-01 4.23143964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.67, Y:45.81, Z:4.24 [[ 8.23975325e-01 -5.66245350e-01 -2.07573552e-02 1.60669093e+02] [ 5.66074719e-01 8.24236687e-01 -1.39030769e-02 4.58121387e+01] [ 2.49815263e-02 -2.94421719e-04 9.99687870e-01 4.23907082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.72, Y:45.84, Z:4.23 [[ 8.22972980e-01 -5.67701286e-01 -2.07539218e-02 1.60721357e+02] [ 5.67530988e-01 8.23234559e-01 -1.39082002e-02 4.58405692e+01] [ 2.49810488e-02 -3.32420760e-04 9.99687870e-01 4.23260562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.77, Y:45.87, Z:4.24 [[ 8.20693947e-01 -5.70991130e-01 -2.07502881e-02 1.60768497e+02] [ 5.70821744e-01 8.20956118e-01 -1.39136195e-02 4.58731241e+01] [ 2.49796292e-02 -4.25892338e-04 9.99687870e-01 4.23833910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.648040942 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:160.82, Y:45.90, Z:4.24 [[ 8.20678126e-01 -5.71013951e-01 -2.07480435e-02 1.60819028e+02] [ 5.70844488e-01 8.20940247e-01 -1.39169657e-02 4.59028696e+01] [ 2.49796856e-02 -4.22556934e-04 9.99687870e-01 4.23991695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.87, Y:45.93, Z:4.24 [[ 8.21472276e-01 -5.69871007e-01 -2.07445009e-02 1.60867724e+02] [ 5.69701046e-01 8.21734075e-01 -1.39222443e-02 4.59344034e+01] [ 2.49803466e-02 -3.81426150e-04 9.99687870e-01 4.23965412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.92, Y:45.97, Z:4.24 [[ 8.21517651e-01 -5.69805738e-01 -2.07405318e-02 1.60918040e+02] [ 5.69635607e-01 8.21779339e-01 -1.39281548e-02 4.59653049e+01] [ 2.49804830e-02 -3.72320407e-04 9.99687870e-01 4.23923688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.96, Y:46.00, Z:4.22 [[ 8.18301482e-01 -5.74415058e-01 -2.07370689e-02 1.60963366e+02] [ 5.74246270e-01 8.18564038e-01 -1.39333087e-02 4.60024377e+01] [ 2.49781211e-02 -5.06537334e-04 9.99687870e-01 4.22481340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.02, Y:46.02, Z:4.23 [[ 8.21711059e-01 -5.69526957e-01 -2.07359554e-02 1.61018648e+02] [ 5.69356565e-01 8.21972578e-01 -1.39349656e-02 4.60237100e+01] [ 2.49807252e-02 -3.55636986e-04 9.99687870e-01 4.23406494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94804094199998 meters Centerline goodness : 0.993157 with order 1 Centerline is valid? [True, True] Translation: X:161.07, Y:46.06, Z:4.24 [[ 8.19777934e-01 -5.72306041e-01 -2.07348645e-02 1.61065969e+02] [ 5.72136495e-01 8.20040001e-01 -1.39365887e-02 4.60586909e+01] [ 2.49794121e-02 -4.38264815e-04 9.99687870e-01 4.24329046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.12, Y:46.09, Z:4.24 [[ 8.21329693e-01 -5.70076998e-01 -2.07304540e-02 1.61117103e+02] [ 5.69906575e-01 8.21591191e-01 -1.39431460e-02 4.60883462e+01] [ 2.49806252e-02 -3.62502230e-04 9.99687870e-01 4.24037740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.17, Y:46.12, Z:4.24 [[ 8.22898378e-01 -5.67810454e-01 -2.07255392e-02 1.61165226e+02] [ 5.67639127e-01 8.23159284e-01 -1.39504477e-02 4.61206755e+01] [ 2.49816301e-02 -2.84826215e-04 9.99687870e-01 4.24241296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.21, Y:46.15, Z:4.24 [[ 8.24423184e-01 -5.65594305e-01 -2.07242983e-02 1.61212668e+02] [ 5.65422230e-01 8.24683597e-01 -1.39522909e-02 4.61541530e+01] [ 2.49823252e-02 -2.15386898e-04 9.99687870e-01 4.24229440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.26, Y:46.19, Z:4.24 [[ 8.26221510e-01 -5.62964198e-01 -2.07202581e-02 1.61260108e+02] [ 5.62791143e-01 8.26481274e-01 -1.39582883e-02 4.61872800e+01] [ 2.49829219e-02 -1.28539690e-04 9.99687870e-01 4.24249866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.31, Y:46.22, Z:4.24 [[ 8.27481190e-01 -5.61111146e-01 -2.07162259e-02 1.61307528e+02] [ 5.60937360e-01 8.27740465e-01 -1.39642703e-02 4.62200376e+01] [ 2.49831661e-02 -6.53340503e-05 9.99687870e-01 4.24327595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.35, Y:46.26, Z:4.24 [[ 8.28847613e-01 -5.59090802e-01 -2.07149870e-02 1.61353872e+02] [ 5.58916337e-01 8.29106432e-01 -1.39661078e-02 4.62553442e+01] [ 2.49832514e-02 -2.16949314e-06 9.99687870e-01 4.24182057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.40, Y:46.29, Z:4.24 [[ 8.28549887e-01 -5.59532074e-01 -2.07109244e-02 1.61400266e+02] [ 5.59357597e-01 8.28808698e-01 -1.39721298e-02 4.62878690e+01] [ 2.49832491e-02 -8.20636706e-06 9.99687870e-01 4.24369334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.45, Y:46.32, Z:4.24 [[ 8.27501196e-01 -5.61081939e-01 -2.07081880e-02 1.61448196e+02] [ 5.60907845e-01 8.27760264e-01 -1.39761843e-02 4.63204659e+01] [ 2.49831997e-02 -5.00759214e-05 9.99687870e-01 4.24455971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.50, Y:46.35, Z:4.25 [[ 8.24202022e-01 -5.65917276e-01 -2.07041687e-02 1.61496719e+02] [ 5.65744553e-01 8.24462007e-01 -1.39821359e-02 4.63521934e+01] [ 2.49825327e-02 -1.89165928e-04 9.99687870e-01 4.24625792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.55, Y:46.39, Z:4.25 [[ 8.21728689e-01 -5.69502824e-01 -2.07001476e-02 1.61545884e+02] [ 5.69331085e-01 8.21989324e-01 -1.39880864e-02 4.63854933e+01] [ 2.49815551e-02 -2.90825565e-04 9.99687870e-01 4.24643000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60804094199997 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:161.60, Y:46.42, Z:4.24 [[ 8.19992470e-01 -5.71999996e-01 -2.06966800e-02 1.61595499e+02] [ 5.71828922e-01 8.20253543e-01 -1.39932152e-02 4.64185316e+01] [ 2.49806441e-02 -3.60629091e-04 9.99687870e-01 4.23880220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66804094199998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:161.64, Y:46.45, Z:4.24 [[ 8.19918754e-01 -5.72105723e-01 -2.06948656e-02 1.61642547e+02] [ 5.71934615e-01 8.20179804e-01 -1.39958981e-02 4.64531836e+01] [ 2.49806442e-02 -3.60610612e-04 9.99687870e-01 4.23780512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72804094199998 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:161.69, Y:46.49, Z:4.24 [[ 8.20973768e-01 -5.70590811e-01 -2.06929366e-02 1.61689007e+02] [ 5.70419149e-01 8.21234455e-01 -1.39987495e-02 4.64880259e+01] [ 2.49813103e-02 -3.11041132e-04 9.99687870e-01 4.24491398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78804094199998 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:161.74, Y:46.52, Z:4.25 [[ 8.21976986e-01 -5.69144700e-01 -2.06916672e-02 1.61735174e+02] [ 5.68972532e-01 8.22237338e-01 -1.40006255e-02 4.65235590e+01] [ 2.49818432e-02 -2.64798364e-04 9.99687870e-01 4.24516056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84804094199998 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:161.77, Y:46.57, Z:4.22 [[ 8.13126981e-01 -5.81718600e-01 -2.06877485e-02 1.61773498e+02] [ 5.81550310e-01 8.13389856e-01 -1.40064136e-02 4.65734391e+01] [ 2.49749961e-02 -6.41973721e-04 9.99687870e-01 4.22408216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90804094199999 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:161.82, Y:46.61, Z:4.23 [[ 8.14085124e-01 -5.80377085e-01 -2.06845213e-02 1.61822163e+02] [ 5.80208240e-01 8.14347644e-01 -1.40111779e-02 4.66051129e+01] [ 2.49761577e-02 -5.95038196e-04 9.99687870e-01 4.22677449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.968040942 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:161.88, Y:46.62, Z:4.25 [[ 8.22705809e-01 -5.68090964e-01 -2.06835336e-02 1.61882034e+02] [ 5.67918161e-01 8.22965740e-01 -1.40126357e-02 4.66216064e+01] [ 2.49822913e-02 -2.18277597e-04 9.99687870e-01 4.24807839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.028040942 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:161.93, Y:46.65, Z:4.25 [[ 8.22612804e-01 -5.68225750e-01 -2.06802214e-02 1.61930419e+02] [ 5.68052866e-01 8.22872682e-01 -1.40175222e-02 4.66541436e+01] [ 2.49823064e-02 -2.16465798e-04 9.99687870e-01 4.24893797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.088040942 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:161.98, Y:46.68, Z:4.25 [[ 8.25552586e-01 -5.63946191e-01 -2.06789928e-02 1.61981016e+02] [ 5.63771915e-01 8.25811532e-01 -1.40193345e-02 4.66843913e+01] [ 2.49831010e-02 -8.45375422e-05 9.99687870e-01 4.25274216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.148040942 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:162.03, Y:46.72, Z:4.26 [[ 8.27692664e-01 -5.60800655e-01 -2.06755715e-02 1.62028891e+02] [ 5.60625268e-01 8.27950859e-01 -1.40243785e-02 4.67175753e+01] [ 2.49832378e-02 1.66273828e-05 9.99687870e-01 4.25567061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.208040942 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:162.07, Y:46.75, Z:4.25 [[ 8.27911747e-01 -5.60477323e-01 -2.06714650e-02 1.62074753e+02] [ 5.60301685e-01 8.28169771e-01 -1.40304287e-02 4.67544644e+01] [ 2.49832195e-02 3.37000485e-05 9.99687870e-01 4.25359210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26804094199997 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:162.12, Y:46.79, Z:4.25 [[ 8.26210680e-01 -5.62982022e-01 -2.06677192e-02 1.62121952e+02] [ 5.62807028e-01 8.26469141e-01 -1.40359442e-02 4.67889397e+01] [ 2.49832164e-02 -3.52906206e-05 9.99687870e-01 4.25327023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32804094199997 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:162.17, Y:46.82, Z:4.25 [[ 8.22029603e-01 -5.69069727e-01 -2.06634505e-02 1.62169572e+02] [ 5.68896489e-01 8.22289244e-01 -1.40422258e-02 4.68217925e+01] [ 2.49823387e-02 -2.12239120e-04 9.99687870e-01 4.25257562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38804094199998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:162.22, Y:46.85, Z:4.25 [[ 8.18629552e-01 -5.73950218e-01 -2.06592409e-02 1.62217613e+02] [ 5.73778371e-01 8.18890116e-01 -1.40484163e-02 4.68539861e+01] [ 2.49807398e-02 -3.53376874e-04 9.99687870e-01 4.25249034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44804094199998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:162.27, Y:46.89, Z:4.26 [[ 8.17440288e-01 -5.75642895e-01 -2.06550958e-02 1.62265905e+02] [ 5.75471435e-01 8.17701106e-01 -1.40545081e-02 4.68858567e+01] [ 2.49800724e-02 -3.97696510e-04 9.99687870e-01 4.25603182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50804094199998 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:162.31, Y:46.92, Z:4.26 [[ 8.16169252e-01 -5.77443754e-01 -2.06509951e-02 1.62313799e+02] [ 5.77272716e-01 8.16430348e-01 -1.40605308e-02 4.69204471e+01] [ 2.49792648e-02 -4.45483157e-04 9.99687870e-01 4.25679671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56804094199998 meters Centerline goodness : 0.997187 with order 1 Centerline is valid? [True, True] Translation: X:162.36, Y:46.96, Z:4.26 [[ 8.13596160e-01 -5.81063657e-01 -2.06473969e-02 1.62358539e+02] [ 5.80893646e-01 8.13857927e-01 -1.40658128e-02 4.69594567e+01] [ 2.49771802e-02 -5.50050367e-04 9.99687870e-01 4.25571792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62804094199998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:162.40, Y:47.00, Z:4.26 [[ 8.13793371e-01 -5.80787577e-01 -2.06431673e-02 1.62403914e+02] [ 5.80617321e-01 8.14054977e-01 -1.40720173e-02 4.69951731e+01] [ 2.49775260e-02 -5.34066090e-04 9.99687870e-01 4.26303406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.688040942 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:162.45, Y:47.03, Z:4.26 [[ 8.13254245e-01 -5.81542307e-01 -2.06416396e-02 1.62452384e+02] [ 5.81372237e-01 8.13515972e-01 -1.40742579e-02 4.70303331e+01] [ 2.49770800e-02 -5.54526197e-04 9.99687870e-01 4.25698981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.748040942 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:162.50, Y:47.06, Z:4.27 [[ 8.17290451e-01 -5.75856206e-01 -2.06385546e-02 1.62502682e+02] [ 5.75684200e-01 8.17550910e-01 -1.40787803e-02 4.70611435e+01] [ 2.49804221e-02 -3.74837072e-04 9.99687870e-01 4.26809597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.808040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:162.55, Y:47.10, Z:4.27 [[ 8.19360548e-01 -5.72907060e-01 -2.06347433e-02 1.62548613e+02] [ 5.72733976e-01 8.19620292e-01 -1.40843643e-02 4.70956297e+01] [ 2.49816860e-02 -2.78046103e-04 9.99687870e-01 4.27019375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.868040942 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:162.60, Y:47.13, Z:4.27 [[ 8.19917489e-01 -5.72109756e-01 -2.06334048e-02 1.62595976e+02] [ 5.71936371e-01 8.20177032e-01 -1.40863248e-02 4.71312643e+01] [ 2.49819686e-02 -2.51370613e-04 9.99687870e-01 4.27225043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.928040942 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:162.64, Y:47.17, Z:4.28 [[ 8.19362381e-01 -5.72904610e-01 -2.06299778e-02 1.62643237e+02] [ 5.72731350e-01 8.19622007e-01 -1.40913421e-02 4.71651727e+01] [ 2.49817786e-02 -2.69519404e-04 9.99687870e-01 4.27698596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98804094199997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:162.69, Y:47.20, Z:4.28 [[ 8.18274158e-01 -5.74457984e-01 -2.06258891e-02 1.62690348e+02] [ 5.74285066e-01 8.18534012e-01 -1.40973242e-02 4.72001483e+01] [ 2.49813122e-02 -3.09664006e-04 9.99687870e-01 4.27898381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04804094199997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:162.74, Y:47.24, Z:4.28 [[ 8.19493001e-01 -5.72718027e-01 -2.06223770e-02 1.62735846e+02] [ 5.72544428e-01 8.19752401e-01 -1.41024600e-02 4.72358924e+01] [ 2.49819762e-02 -2.50359746e-04 9.99687870e-01 4.28244732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10804094199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:162.78, Y:47.27, Z:4.29 [[ 8.22449252e-01 -5.68464706e-01 -2.06181167e-02 1.62780856e+02] [ 5.68289609e-01 8.22707643e-01 -1.41086860e-02 4.72728107e+01] [ 2.49829722e-02 -1.13383253e-04 9.99687870e-01 4.28592579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16804094199998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:162.83, Y:47.31, Z:4.28 [[ 8.22846791e-01 -5.67889279e-01 -2.06137041e-02 1.62826225e+02] [ 5.67713840e-01 8.23104950e-01 -1.41151301e-02 4.73081366e+01] [ 2.49830730e-02 -8.80955872e-05 9.99687870e-01 4.28433569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22804094199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:162.87, Y:47.34, Z:4.29 [[ 8.21779903e-01 -5.69432124e-01 -2.06118087e-02 1.62873488e+02] [ 5.69257100e-01 8.22038344e-01 -1.41178974e-02 4.73397637e+01] [ 2.49828814e-02 -1.31614100e-04 9.99687870e-01 4.28750950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.92, Y:47.38, Z:4.29 [[ 8.19702983e-01 -5.72417895e-01 -2.06100480e-02 1.62920128e+02] [ 5.72243748e-01 8.19962015e-01 -1.41204672e-02 4.73765884e+01] [ 2.49822646e-02 -2.19382008e-04 9.99687870e-01 4.28786493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.97, Y:47.41, Z:4.29 [[ 8.21694160e-01 -5.69556039e-01 -2.06064751e-02 1.62970196e+02] [ 5.69380859e-01 8.21952494e-01 -1.41256794e-02 4.74072044e+01] [ 2.49829096e-02 -1.25944282e-04 9.99687870e-01 4.29438345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40804094199999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:163.02, Y:47.44, Z:4.29 [[ 8.20636028e-01 -5.71079707e-01 -2.06028441e-02 1.63016861e+02] [ 5.70904874e-01 8.20894598e-01 -1.41309733e-02 4.74427508e+01] [ 2.49826756e-02 -1.65878311e-04 9.99687870e-01 4.29371889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.468040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:163.06, Y:47.48, Z:4.29 [[ 8.19213721e-01 -5.73118270e-01 -2.05992354e-02 1.63064566e+02] [ 5.72943947e-01 8.19472635e-01 -1.41362320e-02 4.74783323e+01] [ 2.49822425e-02 -2.21612004e-04 9.99687871e-01 4.29303671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.11, Y:47.51, Z:4.30 [[ 8.18171388e-01 -5.74605420e-01 -2.05959229e-02 1.63112814e+02] [ 5.74431447e-01 8.18430537e-01 -1.41410565e-02 4.75126471e+01] [ 2.49818599e-02 -2.61138008e-04 9.99687871e-01 4.29638212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.16, Y:47.55, Z:4.29 [[ 8.14506418e-01 -5.79788968e-01 -2.05924119e-02 1.63157951e+02] [ 5.79616515e-01 8.14766581e-01 -1.41461674e-02 4.75507946e+01] [ 2.49798008e-02 -4.13557900e-04 9.99687871e-01 4.29362468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.20, Y:47.59, Z:4.30 [[ 8.13541422e-01 -5.81142272e-01 -2.05915928e-02 1.63203955e+02] [ 5.80970221e-01 8.13801852e-01 -1.41473597e-02 4.75873187e+01] [ 2.49791051e-02 -4.53639084e-04 9.99687871e-01 4.29644533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.25, Y:47.62, Z:4.30 [[ 8.15906411e-01 -5.77817334e-01 -2.05877769e-02 1.63248425e+02] [ 5.77644082e-01 8.16166043e-01 -1.41529105e-02 4.76242063e+01] [ 2.49808414e-02 -3.44957103e-04 9.99687871e-01 4.29629389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.29, Y:47.66, Z:4.30 [[ 8.17474395e-01 -5.75596942e-01 -2.05857680e-02 1.63294947e+02] [ 5.75422911e-01 8.17733505e-01 -1.41558318e-02 4.76603834e+01] [ 2.49817258e-02 -2.73492508e-04 9.99687871e-01 4.29689787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.34, Y:47.70, Z:4.30 [[ 8.18456032e-01 -5.74200394e-01 -2.05822964e-02 1.63341052e+02] [ 5.74025794e-01 8.18714760e-01 -1.41608777e-02 4.76969076e+01] [ 2.49822114e-02 -2.24713262e-04 9.99687871e-01 4.30040739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.39, Y:47.73, Z:4.31 [[ 8.18821644e-01 -5.73679030e-01 -2.05787508e-02 1.63388473e+02] [ 5.73504137e-01 8.19080172e-01 -1.41660283e-02 4.77324808e+01] [ 2.49824002e-02 -2.02548147e-04 9.99687871e-01 4.30638169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.43, Y:47.77, Z:4.30 [[ 8.15034522e-01 -5.79046908e-01 -2.05768222e-02 1.63432860e+02] [ 5.78873646e-01 8.15294147e-01 -1.41688292e-02 4.77717833e+01] [ 2.49805794e-02 -3.63295200e-04 9.99687871e-01 4.30282033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.48, Y:47.80, Z:4.31 [[ 8.17216953e-01 -5.75962841e-01 -2.05732453e-02 1.63481726e+02] [ 5.75788468e-01 8.17475833e-01 -1.41740209e-02 4.78035974e+01] [ 2.49818402e-02 -2.62587244e-04 9.99687871e-01 4.31034815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.53, Y:47.84, Z:4.31 [[ 8.16553785e-01 -5.76902777e-01 -2.05694447e-02 1.63528732e+02] [ 5.76728564e-01 8.16812772e-01 -1.41795343e-02 4.78379474e+01] [ 2.49815979e-02 -2.84633867e-04 9.99687871e-01 4.31201622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12804094199998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:163.58, Y:47.87, Z:4.32 [[ 8.19347355e-01 -5.72928324e-01 -2.05681096e-02 1.63577666e+02] [ 5.72752806e-01 8.19605460e-01 -1.41814707e-02 4.78698610e+01] [ 2.49827011e-02 -1.60891979e-04 9.99687871e-01 4.32037165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.62, Y:47.91, Z:4.32 [[ 8.17065478e-01 -5.76177924e-01 -2.05670595e-02 1.63622030e+02] [ 5.76003394e-01 8.17324252e-01 -1.41829934e-02 4.79095780e+01] [ 2.49818842e-02 -2.58261750e-04 9.99687871e-01 4.31532257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.67, Y:47.94, Z:4.32 [[ 8.17385395e-01 -5.75724017e-01 -2.05662774e-02 1.63671357e+02] [ 5.75549314e-01 8.17644053e-01 -1.41841274e-02 4.79423774e+01] [ 2.49820372e-02 -2.43008296e-04 9.99687871e-01 4.31910846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.308040942 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:163.72, Y:47.98, Z:4.32 [[ 8.17322629e-01 -5.75813245e-01 -2.05627604e-02 1.63719109e+02] [ 5.75638442e-01 8.17581219e-01 -1.41892241e-02 4.79771565e+01] [ 2.49820699e-02 -2.39541423e-04 9.99687871e-01 4.31996900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.77, Y:48.01, Z:4.32 [[ 8.17278343e-01 -5.75876238e-01 -2.05589211e-02 1.63767068e+02] [ 5.75701315e-01 8.17536851e-01 -1.41947848e-02 4.80090993e+01] [ 2.49821149e-02 -2.34707678e-04 9.99687871e-01 4.32295829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.82, Y:48.04, Z:4.33 [[ 8.19832324e-01 -5.72234627e-01 -2.05546040e-02 1.63819555e+02] [ 5.72058399e-01 8.20089945e-01 -1.42010333e-02 4.80375921e+01] [ 2.49829471e-02 -1.15967717e-04 9.99687871e-01 4.33216912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.87, Y:48.08, Z:4.32 [[ 8.16948299e-01 -5.76344622e-01 -2.05512401e-02 1.63865070e+02] [ 5.76169568e-01 8.17206719e-01 -1.42058999e-02 4.80771468e+01] [ 2.49821055e-02 -2.35513364e-04 9.99687871e-01 4.32474841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54804094199997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:163.91, Y:48.11, Z:4.33 [[ 8.17197036e-01 -5.75991997e-01 -2.05480829e-02 1.63914697e+02] [ 5.75816717e-01 8.17455302e-01 -1.42104651e-02 4.81081686e+01] [ 2.49822535e-02 -2.19179674e-04 9.99687871e-01 4.32853121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60804094199997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:163.97, Y:48.14, Z:4.33 [[ 8.17670979e-01 -5.75319132e-01 -2.05442538e-02 1.63965445e+02] [ 5.75143500e-01 8.17929007e-01 -1.42159987e-02 4.81383371e+01] [ 2.49824771e-02 -1.91884443e-04 9.99687871e-01 4.33204093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66804094199998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:164.01, Y:48.17, Z:4.33 [[ 8.15786953e-01 -5.77987662e-01 -2.05404696e-02 1.64012366e+02] [ 5.77812736e-01 8.16045459e-01 -1.42214644e-02 4.81726770e+01] [ 2.49817879e-02 -2.66859822e-04 9.99687871e-01 4.32743911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72804094199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:164.07, Y:48.20, Z:4.34 [[ 8.21461560e-01 -5.69893916e-01 -2.05384702e-02 1.64065674e+02] [ 5.69716372e-01 8.21718275e-01 -1.42243512e-02 4.81982281e+01] [ 2.49832076e-02 -1.63449943e-05 9.99687871e-01 4.33740671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.11, Y:48.23, Z:4.33 [[ 8.21485735e-01 -5.69859205e-01 -2.05346929e-02 1.64111272e+02] [ 5.69681513e-01 8.21742348e-01 -1.42298022e-02 4.82333252e+01] [ 2.49832105e-02 -8.65544294e-06 9.99687871e-01 4.33253938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.16, Y:48.26, Z:4.33 [[ 8.25287105e-01 -5.64339983e-01 -2.05323442e-02 1.64160835e+02] [ 5.64160491e-01 8.25542462e-01 -1.42331904e-02 4.82637485e+01] [ 2.49826804e-02 1.62931118e-04 9.99687871e-01 4.33391713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.21, Y:48.29, Z:4.34 [[ 8.29593750e-01 -5.57989964e-01 -2.05282940e-02 1.64214026e+02] [ 5.57808373e-01 8.29847618e-01 -1.42390295e-02 4.82903746e+01] [ 2.49805914e-02 3.61755644e-04 9.99687871e-01 4.33960504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.26, Y:48.32, Z:4.34 [[ 8.26871549e-01 -5.62016174e-01 -2.05246652e-02 1.64262622e+02] [ 5.61835690e-01 8.27126205e-01 -1.42442582e-02 4.83227870e+01] [ 2.49819920e-02 2.46682418e-04 9.99687871e-01 4.33844982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.32, Y:48.35, Z:4.34 [[ 8.27118598e-01 -5.61652667e-01 -2.05208799e-02 1.64316206e+02] [ 5.61471935e-01 8.27373079e-01 -1.42497095e-02 4.83478306e+01] [ 2.49818109e-02 2.64301595e-04 9.99687871e-01 4.34037872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.36, Y:48.38, Z:4.34 [[ 8.24015274e-01 -5.66195993e-01 -2.05164911e-02 1.64364680e+02] [ 5.66016507e-01 8.24270635e-01 -1.42560255e-02 4.83795436e+01] [ 2.49828457e-02 1.34510124e-04 9.99687871e-01 4.33890650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.42, Y:48.40, Z:4.34 [[ 8.22959384e-01 -5.67729671e-01 -2.05151900e-02 1.64420117e+02] [ 5.67550614e-01 8.23215046e-01 -1.42578977e-02 4.84009924e+01] [ 2.49830447e-02 9.02619824e-05 9.99687871e-01 4.34358568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.47, Y:48.43, Z:4.34 [[ 8.18588078e-01 -5.74014683e-01 -2.05110442e-02 1.64469879e+02] [ 5.73837440e-01 8.18845001e-01 -1.42638593e-02 4.84304073e+01] [ 2.49830306e-02 -9.37799575e-05 9.99687871e-01 4.34211273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.52, Y:48.46, Z:4.34 [[ 8.19302807e-01 -5.72994220e-01 -2.05069283e-02 1.64522502e+02] [ 5.72816509e-01 8.19559406e-01 -1.42697741e-02 4.84577173e+01] [ 2.49831441e-02 -5.54411089e-05 9.99687871e-01 4.34191820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.58, Y:48.49, Z:4.35 [[ 8.18583466e-01 -5.74021538e-01 -2.05032379e-02 1.64575219e+02] [ 5.73844016e-01 8.18840197e-01 -1.42750747e-02 4.84852738e+01] [ 2.49830757e-02 -8.03201961e-05 9.99687871e-01 4.34506067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.63, Y:48.52, Z:4.34 [[ 8.15059287e-01 -5.79014790e-01 -2.04995719e-02 1.64625445e+02] [ 5.78838708e-01 8.15317007e-01 -1.42803373e-02 4.85152319e+01] [ 2.49821761e-02 -2.26624194e-04 9.99687871e-01 4.34369724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.68, Y:48.54, Z:4.35 [[ 8.18307538e-01 -5.74415000e-01 -2.04982852e-02 1.64681557e+02] [ 5.74237424e-01 8.18564231e-01 -1.42821839e-02 4.85384415e+01] [ 2.49830638e-02 -8.36637463e-05 9.99687871e-01 4.35051427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50804094199998 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:164.72, Y:48.58, Z:4.34 [[ 8.18723706e-01 -5.73821800e-01 -2.04947743e-02 1.64724885e+02] [ 5.73643911e-01 8.18980182e-01 -1.42872203e-02 4.85767670e+01] [ 2.49831324e-02 -5.94164977e-05 9.99687871e-01 4.34330009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.77, Y:48.61, Z:4.34 [[ 8.22169229e-01 -5.68874139e-01 -2.04932574e-02 1.64770676e+02] [ 5.68694653e-01 8.22424589e-01 -1.42893958e-02 4.86119336e+01] [ 2.49830265e-02 9.38956653e-05 9.99687871e-01 4.34448287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.82, Y:48.64, Z:4.35 [[ 8.23793357e-01 -5.66519717e-01 -2.04918434e-02 1.64820101e+02] [ 5.66339450e-01 8.24048168e-01 -1.42914232e-02 4.86421648e+01] [ 2.49826390e-02 1.67840187e-04 9.99687871e-01 4.34688445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.87, Y:48.68, Z:4.35 [[ 8.21434537e-01 -5.69934589e-01 -2.04906366e-02 1.64867767e+02] [ 5.69755339e-01 8.21690063e-01 -1.42931533e-02 4.86759606e+01] [ 2.49831149e-02 6.62401097e-05 9.99687871e-01 4.34848504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.91, Y:48.71, Z:4.35 [[ 8.18054679e-01 -5.74775445e-01 -2.04873136e-02 1.64914514e+02] [ 5.74597587e-01 8.18311177e-01 -1.42979147e-02 4.87126958e+01] [ 2.49830880e-02 -7.54849240e-05 9.99687871e-01 4.34762764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.96, Y:48.74, Z:4.35 [[ 8.16389026e-01 -5.77138946e-01 -2.04840222e-02 1.64964864e+02] [ 5.76961712e-01 8.16645956e-01 -1.43026286e-02 4.87412814e+01] [ 2.49827979e-02 -1.41987483e-04 9.99687871e-01 4.34937269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.01, Y:48.78, Z:4.35 [[ 8.13505811e-01 -5.81195964e-01 -2.04828667e-02 1.65011165e+02] [ 5.81019970e-01 8.13763591e-01 -1.43042833e-02 4.87767532e+01] [ 2.49818029e-02 -2.64337000e-04 9.99687871e-01 4.34776166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.06, Y:48.81, Z:4.35 [[ 8.13360976e-01 -5.81398677e-01 -2.04817274e-02 1.65056545e+02] [ 5.81222706e-01 8.13618772e-01 -1.43059144e-02 4.88121681e+01] [ 2.49817576e-02 -2.68572563e-04 9.99687871e-01 4.34804395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.11, Y:48.85, Z:4.35 [[ 8.12079644e-01 -5.83187119e-01 -2.04801595e-02 1.65105255e+02] [ 5.83011659e-01 8.12337788e-01 -1.43081587e-02 4.88456748e+01] [ 2.49811413e-02 -3.20807343e-04 9.99687871e-01 4.35197100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.15, Y:48.88, Z:4.35 [[ 8.11502093e-01 -5.83990619e-01 -2.04770345e-02 1.65154523e+02] [ 5.83815303e-01 8.11760335e-01 -1.43126296e-02 4.88759500e+01] [ 2.49808858e-02 -3.40077173e-04 9.99687871e-01 4.35403796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.20, Y:48.91, Z:4.36 [[ 8.12463613e-01 -5.82652223e-01 -2.04759364e-02 1.65202426e+02] [ 5.82476442e-01 8.12721538e-01 -1.43142004e-02 4.89106122e+01] [ 2.49814352e-02 -2.96983595e-04 9.99687871e-01 4.35909322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.25, Y:48.95, Z:4.36 [[ 8.12861137e-01 -5.82097639e-01 -2.04722108e-02 1.65248764e+02] [ 5.81921547e-01 8.13118850e-01 -1.43195268e-02 4.89460473e+01] [ 2.49817032e-02 -2.73433771e-04 9.99687871e-01 4.35676256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.30, Y:48.98, Z:4.36 [[ 8.16000725e-01 -5.77688312e-01 -2.04702591e-02 1.65297358e+02] [ 5.77510758e-01 8.16257432e-01 -1.43223162e-02 4.89775737e+01] [ 2.49828358e-02 -1.34774488e-04 9.99687871e-01 4.35894123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.34, Y:49.01, Z:4.36 [[ 8.18281500e-01 -5.74453138e-01 -2.04689758e-02 1.65344172e+02] [ 5.74274523e-01 8.18537471e-01 -1.43241501e-02 4.90111861e+01] [ 2.49831766e-02 -3.36242770e-05 9.99687871e-01 4.36067138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.39, Y:49.04, Z:4.36 [[ 8.20362215e-01 -5.71477933e-01 -2.04648002e-02 1.65391723e+02] [ 5.71298241e-01 8.20617431e-01 -1.43301133e-02 4.90419998e+01] [ 2.49831153e-02 6.43791272e-05 9.99687871e-01 4.36150613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.44, Y:49.07, Z:4.37 [[ 8.21063826e-01 -5.70469508e-01 -2.04630072e-02 1.65442135e+02] [ 5.70289439e-01 8.21318775e-01 -1.43326731e-02 4.90715576e+01] [ 2.49830050e-02 9.82024789e-05 9.99687871e-01 4.36571552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.49, Y:49.10, Z:4.37 [[ 8.20449871e-01 -5.71352293e-01 -2.04589034e-02 1.65490239e+02] [ 5.71172352e-01 8.20704911e-01 -1.43385287e-02 4.91048079e+01] [ 2.49830737e-02 7.84840410e-05 9.99687871e-01 4.36747505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.54, Y:49.14, Z:4.37 [[ 8.18202003e-01 -5.74566866e-01 -2.04547999e-02 1.65536670e+02] [ 5.74387781e-01 8.18457645e-01 -1.43443801e-02 4.91391478e+01] [ 2.49831929e-02 -1.23865533e-05 9.99687871e-01 4.36993350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.58, Y:49.17, Z:4.37 [[ 8.15683055e-01 -5.78137459e-01 -2.04507391e-02 1.65583615e+02] [ 5.77959348e-01 8.15939376e-01 -1.43501672e-02 4.91730691e+01] [ 2.49829325e-02 -1.14507585e-04 9.99687871e-01 4.37201911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.63, Y:49.21, Z:4.37 [[ 8.14698922e-01 -5.79523545e-01 -2.04481385e-02 1.65630890e+02] [ 5.79345777e-01 8.14955482e-01 -1.43538721e-02 4.92067807e+01] [ 2.49827294e-02 -1.52458542e-04 9.99687871e-01 4.37262304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.68, Y:49.25, Z:4.37 [[ 8.12146547e-01 -5.83095217e-01 -2.04439249e-02 1.65675632e+02] [ 5.82918426e-01 8.12403780e-01 -1.43598709e-02 4.92456632e+01] [ 2.49818939e-02 -2.54820947e-04 9.99687871e-01 4.37392492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.72, Y:49.28, Z:4.37 [[ 8.11054504e-01 -5.84613365e-01 -2.04402704e-02 1.65721358e+02] [ 5.84436925e-01 8.11311978e-01 -1.43650709e-02 4.92804609e+01] [ 2.49814487e-02 -2.95193357e-04 9.99687871e-01 4.37439376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.77, Y:49.32, Z:4.38 [[ 8.09372269e-01 -5.86940182e-01 -2.04389914e-02 1.65767134e+02] [ 5.86764436e-01 8.09630218e-01 -1.43668904e-02 4.93159080e+01] [ 2.49805304e-02 -3.64710594e-04 9.99687871e-01 4.37692697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.81, Y:49.36, Z:4.37 [[ 8.05789200e-01 -5.91849797e-01 -2.04348619e-02 1.65811185e+02] [ 5.91675473e-01 8.06048112e-01 -1.43727617e-02 4.93555183e+01] [ 2.49779979e-02 -5.09390432e-04 9.99687871e-01 4.36933547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.86, Y:49.39, Z:4.38 [[ 8.06019514e-01 -5.91536233e-01 -2.04310835e-02 1.65858846e+02] [ 5.91361672e-01 8.06278266e-01 -1.43781307e-02 4.93876853e+01] [ 2.49783239e-02 -4.93105784e-04 9.99687871e-01 4.37654818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.90, Y:49.42, Z:4.38 [[ 8.02990786e-01 -5.95641186e-01 -2.04297495e-02 1.65904702e+02] [ 5.95467900e-01 8.03250394e-01 -1.43800259e-02 4.94237211e+01] [ 2.49755400e-02 -6.18231682e-04 9.99687871e-01 4.37749941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.95, Y:49.46, Z:4.38 [[ 8.02035935e-01 -5.96926432e-01 -2.04252974e-02 1.65949722e+02] [ 5.96753401e-01 8.02295713e-01 -1.43863469e-02 4.94603955e+01] [ 2.49747193e-02 -6.50498518e-04 9.99687871e-01 4.37716588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.00, Y:49.50, Z:4.38 [[ 8.03465177e-01 -5.95001428e-01 -2.04208272e-02 1.65995568e+02] [ 5.94827613e-01 8.03724431e-01 -1.43926894e-02 4.94966332e+01] [ 2.49763885e-02 -5.82847165e-04 9.99687871e-01 4.37729230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.04, Y:49.53, Z:4.38 [[ 8.03454277e-01 -5.95016298e-01 -2.04164233e-02 1.66042189e+02] [ 5.94842330e-01 8.03713428e-01 -1.43989338e-02 4.95304079e+01] [ 2.49765538e-02 -5.75667833e-04 9.99687871e-01 4.37910580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.09, Y:49.56, Z:4.38 [[ 8.06563782e-01 -5.90794563e-01 -2.04119980e-02 1.66089747e+02] [ 5.90619079e-01 8.06821909e-01 -1.44052043e-02 4.95641927e+01] [ 2.49793636e-02 -4.36999408e-04 9.99687871e-01 4.38227153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.14, Y:49.60, Z:4.38 [[ 8.08373394e-01 -5.88316231e-01 -2.04075809e-02 1.66135017e+02] [ 5.88139797e-01 8.08630873e-01 -1.44114592e-02 4.95985770e+01] [ 2.49806953e-02 -3.52670285e-04 9.99687872e-01 4.38335119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.18, Y:49.63, Z:4.39 [[ 8.07975588e-01 -5.88862550e-01 -2.04045961e-02 1.66181366e+02] [ 5.88686184e-01 8.08233113e-01 -1.44156840e-02 4.96346633e+01] [ 2.49805267e-02 -3.64383059e-04 9.99687872e-01 4.39452267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.23, Y:49.67, Z:4.39 [[ 8.11744773e-01 -5.83655911e-01 -2.04009802e-02 1.66230435e+02] [ 5.83477765e-01 8.12001070e-01 -1.44207995e-02 4.96667717e+01] [ 2.49824026e-02 -1.97509718e-04 9.99687872e-01 4.39205082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.28, Y:49.70, Z:4.39 [[ 8.14387610e-01 -5.79962736e-01 -2.03971901e-02 1.66277980e+02] [ 5.79783294e-01 8.14643001e-01 -1.44261583e-02 4.97003679e+01] [ 2.49830624e-02 -7.74654594e-05 9.99687872e-01 4.39442934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.32, Y:49.74, Z:4.40 [[ 8.17687043e-01 -5.75301688e-01 -2.03928166e-02 1.66322108e+02] [ 5.75120635e-01 8.17941295e-01 -1.44323380e-02 4.97372603e+01] [ 2.49830752e-02 7.28061992e-05 9.99687872e-01 4.40254980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.37, Y:49.77, Z:4.40 [[ 8.21929221e-01 -5.69224510e-01 -2.03914764e-02 1.66369899e+02] [ 5.69041531e-01 8.22182090e-01 -1.44342314e-02 4.97703654e+01] [ 2.49818249e-02 2.60319638e-04 9.99687872e-01 4.39838411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.42, Y:49.81, Z:4.40 [[ 8.25320072e-01 -5.64297034e-01 -2.03871790e-02 1.66416500e+02] [ 5.64112395e-01 8.25571731e-01 -1.44402985e-02 4.98050094e+01] [ 2.49796963e-02 4.17207857e-04 9.99687872e-01 4.40064364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.46, Y:49.84, Z:4.40 [[ 8.26141174e-01 -5.63094395e-01 -2.03829172e-02 1.66463197e+02] [ 5.62909242e-01 8.26392455e-01 -1.44463116e-02 4.98380040e+01] [ 2.49789261e-02 4.60960326e-04 9.99687872e-01 4.40370148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.51, Y:49.87, Z:4.40 [[ 8.26050808e-01 -5.63227019e-01 -2.03810814e-02 1.66510028e+02] [ 5.63041842e-01 8.26302072e-01 -1.44489011e-02 4.98725923e+01] [ 2.49789413e-02 4.60124823e-04 9.99687872e-01 4.40280614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.56, Y:49.91, Z:4.40 [[ 8.21661963e-01 -5.69610744e-01 -2.03769397e-02 1.66556145e+02] [ 5.69427374e-01 8.21914549e-01 -1.44547398e-02 4.99072782e+01] [ 2.49816783e-02 2.73722585e-04 9.99687872e-01 4.40282508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.60, Y:49.94, Z:4.41 [[ 8.17971898e-01 -5.74897321e-01 -2.03726616e-02 1.66601808e+02] [ 5.74715434e-01 8.18225553e-01 -1.44607668e-02 4.99423354e+01] [ 2.49828884e-02 1.20017778e-04 9.99687872e-01 4.41172015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.65, Y:49.97, Z:4.41 [[ 8.15213378e-01 -5.78802347e-01 -2.03713503e-02 1.66651385e+02] [ 5.78621629e-01 8.15467868e-01 -1.44626139e-02 4.99728923e+01] [ 2.49831764e-02 2.81246950e-06 9.99687872e-01 4.40928999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.70, Y:50.01, Z:4.41 [[ 8.08974710e-01 -5.87490515e-01 -2.03669443e-02 1.66696563e+02] [ 5.87312374e-01 8.09231010e-01 -1.44688160e-02 5.00079720e+01] [ 2.49818551e-02 -2.56852151e-04 9.99687872e-01 4.40876987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.74, Y:50.04, Z:4.41 [[ 8.04065992e-01 -5.94191169e-01 -2.03650504e-02 1.66742540e+02] [ 5.94015096e-01 8.04323717e-01 -1.44714811e-02 5.00437143e+01] [ 2.49789193e-02 -4.61121585e-04 9.99687872e-01 4.40856889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.79, Y:50.08, Z:4.41 [[ 7.99940449e-01 -5.99733876e-01 -2.03606545e-02 1.66786766e+02] [ 5.99559431e-01 8.00199279e-01 -1.44776633e-02 5.00813033e+01] [ 2.49753262e-02 -6.26153951e-04 9.99687872e-01 4.40691033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.83, Y:50.12, Z:4.40 [[ 7.97085356e-01 -6.03523451e-01 -2.03563207e-02 1.66831276e+02] [ 6.03350081e-01 7.97344907e-01 -1.44837543e-02 5.01192919e+01] [ 2.49722940e-02 -7.37199311e-04 9.99687872e-01 4.40426741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.88, Y:50.16, Z:4.40 [[ 7.96342643e-01 -6.04503260e-01 -2.03519974e-02 1.66876765e+02] [ 6.04330055e-01 7.96602303e-01 -1.44898266e-02 5.01559767e+01] [ 2.49715955e-02 -7.60456875e-04 9.99687872e-01 4.40402686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.92, Y:50.19, Z:4.41 [[ 7.99800179e-01 -5.99921364e-01 -2.03477391e-02 1.66924851e+02] [ 5.99746518e-01 8.00058739e-01 -1.44958041e-02 5.01884109e+01] [ 2.49757290e-02 -6.09739004e-04 9.99687872e-01 4.41281029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.97, Y:50.23, Z:4.41 [[ 8.01275196e-01 -5.97949922e-01 -2.03457887e-02 1.66970700e+02] [ 5.97774371e-01 8.01533277e-01 -1.44985410e-02 5.02261994e+01] [ 2.49772282e-02 -5.44869749e-04 9.99687872e-01 4.40916377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.01, Y:50.26, Z:4.41 [[ 8.01582277e-01 -5.97538334e-01 -2.03418935e-02 1.67014820e+02] [ 5.97362512e-01 8.01840173e-01 -1.45040041e-02 5.02635913e+01] [ 2.49776458e-02 -5.25331986e-04 9.99687872e-01 4.41066255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.06, Y:50.30, Z:4.41 [[ 8.01221242e-01 -5.98022418e-01 -2.03398486e-02 1.67059181e+02] [ 5.97846678e-01 8.01479195e-01 -1.45068712e-02 5.03027766e+01] [ 2.49773997e-02 -5.36897560e-04 9.99687872e-01 4.41288289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.11, Y:50.34, Z:4.42 [[ 8.03156747e-01 -5.95420593e-01 -2.03361283e-02 1.67106363e+02] [ 5.95243886e-01 8.03414038e-01 -1.45120845e-02 5.03387650e+01] [ 2.49791249e-02 -4.49477485e-04 9.99687872e-01 4.41550826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62804094199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:167.15, Y:50.37, Z:4.42 [[ 8.04465020e-01 -5.93651938e-01 -2.03324249e-02 1.67152717e+02] [ 5.93474535e-01 8.04721831e-01 -1.45172714e-02 5.03741422e+01] [ 2.49801525e-02 -3.88139356e-04 9.99687872e-01 4.41509370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.20, Y:50.41, Z:4.42 [[ 8.04998959e-01 -5.92927862e-01 -2.03279764e-02 1.67199238e+02] [ 5.92750070e-01 8.05255501e-01 -1.45234979e-02 5.04074913e+01] [ 2.49806013e-02 -3.58008753e-04 9.99687872e-01 4.42012694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.25, Y:50.44, Z:4.42 [[ 8.04322024e-01 -5.93845873e-01 -2.03263383e-02 1.67246014e+02] [ 5.93668316e-01 8.04578729e-01 -1.45257900e-02 5.04419723e+01] [ 2.49802199e-02 -3.83690262e-04 9.99687872e-01 4.42100619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.29, Y:50.48, Z:4.42 [[ 8.03010105e-01 -5.95618830e-01 -2.03219485e-02 1.67292143e+02] [ 5.95441684e-01 8.03267094e-01 -1.45319289e-02 5.04771794e+01] [ 2.49794430e-02 -4.31249547e-04 9.99687872e-01 4.42026253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.34, Y:50.51, Z:4.42 [[ 8.04191270e-01 -5.94023126e-01 -2.03206027e-02 1.67339730e+02] [ 5.93845423e-01 8.04447874e-01 -1.45338105e-02 5.05108445e+01] [ 2.49802852e-02 -3.79333443e-04 9.99687872e-01 4.42149983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.928040942 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:167.39, Y:50.54, Z:4.42 [[ 8.10394453e-01 -5.85532199e-01 -2.03192867e-02 1.67389317e+02] [ 5.85351761e-01 8.10649141e-01 -1.45356501e-02 5.05423001e+01] [ 2.49829035e-02 -1.14320020e-04 9.99687872e-01 4.42043559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.44, Y:50.57, Z:4.44 [[ 8.11173135e-01 -5.84453098e-01 -2.03155530e-02 1.67438725e+02] [ 5.84272190e-01 8.11427490e-01 -1.45408667e-02 5.05715516e+01] [ 2.49830527e-02 -7.46522537e-05 9.99687872e-01 4.43500948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.49, Y:50.60, Z:4.44 [[ 8.12554341e-01 -5.82531351e-01 -2.03142418e-02 1.67486589e+02] [ 5.82349796e-01 8.12808234e-01 -1.45426983e-02 5.06037607e+01] [ 2.49831606e-02 -1.32619429e-05 9.99687872e-01 4.43751824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.54, Y:50.63, Z:4.44 [[ 8.14753840e-01 -5.79451191e-01 -2.03100339e-02 1.67535173e+02] [ 5.79268529e-01 8.15006939e-01 -1.45485725e-02 5.06333421e+01] [ 2.49830062e-02 8.85418545e-05 9.99687872e-01 4.43903697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.59, Y:50.66, Z:4.44 [[ 8.16533733e-01 -5.76940448e-01 -2.03072021e-02 1.67586750e+02] [ 5.76756910e-01 8.16786197e-01 -1.45525241e-02 5.06628507e+01] [ 2.49825822e-02 1.70307667e-04 9.99687872e-01 4.44414719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.64, Y:50.69, Z:4.44 [[ 8.13777657e-01 -5.80821568e-01 -2.03034457e-02 1.67637222e+02] [ 5.80639104e-01 8.14030898e-01 -1.45577632e-02 5.06941591e+01] [ 2.49830949e-02 5.78078994e-05 9.99687872e-01 4.44481916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.69, Y:50.72, Z:4.45 [[ 8.12956248e-01 -5.81970842e-01 -2.02996843e-02 1.67688789e+02] [ 5.81788605e-01 8.13209652e-01 -1.45630062e-02 5.07216166e+01] [ 2.49831442e-02 2.89618678e-05 9.99687872e-01 4.44923526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.74, Y:50.75, Z:4.44 [[ 8.08046836e-01 -5.88768562e-01 -2.02951242e-02 1.67738224e+02] [ 5.88588296e-01 8.08301646e-01 -1.45693585e-02 5.07519291e+01] [ 2.49825625e-02 -1.72748536e-04 9.99687872e-01 4.44313555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40804094199999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:167.79, Y:50.78, Z:4.45 [[ 8.06592381e-01 -5.90759592e-01 -2.02937289e-02 1.67789415e+02] [ 5.90579907e-01 8.06847601e-01 -1.45713017e-02 5.07800327e+01] [ 2.49820827e-02 -2.31967614e-04 9.99687872e-01 4.44712508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.84, Y:50.81, Z:4.45 [[ 8.04750285e-01 -5.93266657e-01 -2.02892110e-02 1.67840634e+02] [ 5.93087609e-01 8.05005952e-01 -1.45775898e-02 5.08058839e+01] [ 2.49813336e-02 -3.01960075e-04 9.99687872e-01 4.45300598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.89, Y:50.83, Z:4.45 [[ 8.04202993e-01 -5.94008432e-01 -2.02861799e-02 1.67890865e+02] [ 5.93829513e-01 8.04458750e-01 -1.45818066e-02 5.08340208e+01] [ 2.49811110e-02 -3.19799847e-04 9.99687872e-01 4.45169586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.94, Y:50.86, Z:4.46 [[ 8.07027572e-01 -5.90165270e-01 -2.02842875e-02 1.67941299e+02] [ 5.89985067e-01 8.07282426e-01 -1.45844385e-02 5.08629415e+01] [ 2.49823780e-02 -1.97382721e-04 9.99687872e-01 4.45880584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.99, Y:50.89, Z:4.46 [[ 8.08573757e-01 -5.88045235e-01 -2.02800361e-02 1.67991524e+02] [ 5.87864216e-01 8.08828032e-01 -1.45903479e-02 5.08916897e+01] [ 2.49828462e-02 -1.24535091e-04 9.99687872e-01 4.46133718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.04, Y:50.92, Z:4.46 [[ 8.08561975e-01 -5.88061585e-01 -2.02757190e-02 1.68042579e+02] [ 5.87880420e-01 8.08816146e-01 -1.45963447e-02 5.09200868e+01] [ 2.49828785e-02 -1.17648939e-04 9.99687872e-01 4.46342714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.09, Y:50.95, Z:4.46 [[ 8.06317674e-01 -5.91135251e-01 -2.02712332e-02 1.68092805e+02] [ 5.90954898e-01 8.06572423e-01 -1.46025719e-02 5.09489742e+01] [ 2.49823127e-02 -2.05072693e-04 9.99687872e-01 4.45928820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.15, Y:50.97, Z:4.47 [[ 8.10346575e-01 -5.85600172e-01 -2.02698543e-02 1.68148325e+02] [ 5.85418031e-01 8.10600048e-01 -1.46044857e-02 5.09724156e+01] [ 2.49831342e-02 -3.16432019e-05 9.99687872e-01 4.46563304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88804094199998 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:168.20, Y:51.00, Z:4.47 [[ 8.09950741e-01 -5.86147662e-01 -2.02661169e-02 1.68197993e+02] [ 5.85965563e-01 8.10204244e-01 -1.46096702e-02 5.10036019e+01] [ 2.49831179e-02 -4.21334127e-05 9.99687872e-01 4.47227065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.24, Y:51.04, Z:4.48 [[ 8.11054466e-01 -5.84619615e-01 -2.02622661e-02 1.68244614e+02] [ 5.84436905e-01 8.11307528e-01 -1.46150089e-02 5.10374055e+01] [ 2.49831499e-02 1.15520942e-05 9.99687872e-01 4.47532434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.29, Y:51.07, Z:4.48 [[ 8.10841990e-01 -5.84914321e-01 -2.02609159e-02 1.68292040e+02] [ 5.84731656e-01 8.11095085e-01 -1.46168805e-02 5.10724877e+01] [ 2.49831520e-02 4.78154077e-06 9.99687872e-01 4.47651796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.34, Y:51.11, Z:4.48 [[ 8.08928619e-01 -5.87557775e-01 -2.02571088e-02 1.68340352e+02] [ 5.87375805e-01 8.09182214e-01 -1.46221546e-02 5.11056943e+01] [ 2.49830528e-02 -7.02562575e-05 9.99687872e-01 4.47904251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.39, Y:51.14, Z:4.48 [[ 8.06373070e-01 -5.91060300e-01 -2.02532548e-02 1.68387064e+02] [ 5.90879297e-01 8.06627357e-01 -1.46274910e-02 5.11411682e+01] [ 2.49825586e-02 -1.72014175e-04 9.99687872e-01 4.47974032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.43, Y:51.18, Z:4.48 [[ 8.02444889e-01 -5.96382563e-01 -2.02494196e-02 1.68433716e+02] [ 5.96203113e-01 8.02700274e-01 -1.46327983e-02 5.11762325e+01] [ 2.49809604e-02 -3.30752799e-04 9.99687872e-01 4.47694344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.248040942 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:168.48, Y:51.21, Z:4.48 [[ 8.00161025e-01 -5.99443366e-01 -2.02480779e-02 1.68478821e+02] [ 5.99264846e-01 8.00417061e-01 -1.46346546e-02 5.12127128e+01] [ 2.49795536e-02 -4.23881046e-04 9.99687872e-01 4.47604375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.53, Y:51.25, Z:4.48 [[ 7.99202496e-01 -6.00720764e-01 -2.02468038e-02 1.68526506e+02] [ 6.00542609e-01 7.99458786e-01 -1.46364170e-02 5.12471570e+01] [ 2.49788848e-02 -4.61607373e-04 9.99687872e-01 4.47983633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.57, Y:51.28, Z:4.48 [[ 8.00758274e-01 -5.98645473e-01 -2.02431501e-02 1.68573907e+02] [ 5.98466525e-01 8.01014011e-01 -1.46414687e-02 5.12825913e+01] [ 2.49800958e-02 -3.90570483e-04 9.99687872e-01 4.48467717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.62, Y:51.32, Z:4.48 [[ 7.99411153e-01 -6.00443312e-01 -2.02395099e-02 1.68619517e+02] [ 6.00264812e-01 7.99667203e-01 -1.46464989e-02 5.13180040e+01] [ 2.49792646e-02 -4.40491041e-04 9.99687872e-01 4.48190808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.67, Y:51.35, Z:4.49 [[ 8.06752024e-01 -5.90543563e-01 -2.02354050e-02 1.68671055e+02] [ 5.90361779e-01 8.07005752e-01 -1.46521680e-02 5.13471724e+01] [ 2.49828317e-02 -1.25543473e-04 9.99687872e-01 4.48714050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54804094199997 meters Centerline goodness : 0.995501 with order 1 Centerline is valid? [True, True] Translation: X:168.71, Y:51.39, Z:4.50 [[ 8.02190633e-01 -5.96725117e-01 -2.02317297e-02 1.68713877e+02] [ 5.96545160e-01 8.02445660e-01 -1.46572410e-02 5.13880380e+01] [ 2.49812076e-02 -3.11238987e-04 9.99687872e-01 4.49587317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60804094199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:168.76, Y:51.42, Z:4.50 [[ 8.04332439e-01 -5.93835154e-01 -2.02271302e-02 1.68763591e+02] [ 5.93654121e-01 8.04586704e-01 -1.46635857e-02 5.14189795e+01] [ 2.49822327e-02 -2.13521559e-04 9.99687873e-01 4.49601170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.81, Y:51.45, Z:4.50 [[ 8.02145089e-01 -5.96786583e-01 -2.02245079e-02 1.68809953e+02] [ 5.96606394e-01 8.02399953e-01 -1.46672016e-02 5.14539382e+01] [ 2.49813333e-02 -3.00846978e-04 9.99687873e-01 4.49645834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72804094199998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:168.86, Y:51.49, Z:4.49 [[ 8.02183783e-01 -5.96734721e-01 -2.02200384e-02 1.68857708e+02] [ 5.96554361e-01 8.02438526e-01 -1.46733606e-02 5.14858360e+01] [ 2.49814415e-02 -2.91620141e-04 9.99687873e-01 4.49088208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.90, Y:51.52, Z:4.50 [[ 7.97658032e-01 -6.02771011e-01 -2.02181224e-02 1.68902892e+02] [ 6.02592511e-01 7.97914081e-01 -1.46760001e-02 5.15217169e+01] [ 2.49785920e-02 -4.76859809e-04 9.99687873e-01 4.49688630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84804094199998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:168.95, Y:51.56, Z:4.50 [[ 7.97921895e-01 -6.02421823e-01 -2.02137750e-02 1.68949953e+02] [ 6.02243059e-01 7.98177761e-01 -1.46819855e-02 5.15558172e+01] [ 2.49789341e-02 -4.58528054e-04 9.99687873e-01 4.49901067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90804094199999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:169.00, Y:51.59, Z:4.50 [[ 7.98659298e-01 -6.01444024e-01 -2.02091914e-02 1.68997396e+02] [ 6.01264788e-01 7.98914832e-01 -1.46882920e-02 5.15891595e+01] [ 2.49796082e-02 -4.20134184e-04 9.99687873e-01 4.49895802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.968040942 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:169.05, Y:51.62, Z:4.51 [[ 8.02967566e-01 -5.95680060e-01 -2.02077868e-02 1.69048675e+02] [ 5.95498940e-01 8.03221769e-01 -1.46902241e-02 5.16189613e+01] [ 2.49820078e-02 -2.37942102e-04 9.99687873e-01 4.50744588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.09, Y:51.66, Z:4.50 [[ 8.02385721e-01 -5.96463713e-01 -2.02038304e-02 1.69093785e+02] [ 5.96282704e-01 8.02640003e-01 -1.46956634e-02 5.16568975e+01] [ 2.49818325e-02 -2.55604166e-04 9.99687873e-01 4.50235372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.14, Y:51.69, Z:4.51 [[ 8.01856846e-01 -5.97174652e-01 -2.01998473e-02 1.69140089e+02] [ 5.96993731e-01 8.02111190e-01 -1.47011364e-02 5.16906625e+01] [ 2.49816695e-02 -2.70975292e-04 9.99687873e-01 4.50623812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.19, Y:51.72, Z:4.50 [[ 8.04223787e-01 -5.93983286e-01 -2.01979211e-02 1.69189072e+02] [ 5.93801289e-01 8.04477363e-01 -1.47037822e-02 5.17222855e+01] [ 2.49825712e-02 -1.68420159e-04 9.99687873e-01 4.50413368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.23, Y:51.76, Z:4.51 [[ 8.00263771e-01 -5.99308033e-01 -2.01935271e-02 1.69231845e+02] [ 5.99127571e-01 8.00518441e-01 -1.47098143e-02 5.17611117e+01] [ 2.49810007e-02 -3.26767362e-04 9.99687873e-01 4.50755182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.28, Y:51.80, Z:4.51 [[ 7.99350023e-01 -6.00526283e-01 -2.01921808e-02 1.69278280e+02] [ 6.00346163e-01 7.99604935e-01 -1.47116621e-02 5.17963952e+01] [ 2.49805072e-02 -3.62530795e-04 9.99687873e-01 4.51124570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.32, Y:51.83, Z:4.51 [[ 7.97950948e-01 -6.02384214e-01 -2.01877302e-02 1.69324459e+02] [ 6.02204532e-01 7.98206169e-01 -1.47177669e-02 5.18312895e+01] [ 2.49797212e-02 -4.13086530e-04 9.99687873e-01 4.51052766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.37, Y:51.86, Z:4.52 [[ 7.97569947e-01 -6.02888622e-01 -2.01863660e-02 1.69373079e+02] [ 6.02709054e-01 7.97825249e-01 -1.47196378e-02 5.18639832e+01] [ 2.49794946e-02 -4.26564848e-04 9.99687873e-01 4.51637830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44804094199998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:169.42, Y:51.90, Z:4.52 [[ 7.94684648e-01 -6.06686882e-01 -2.01826017e-02 1.69417993e+02] [ 6.06508404e-01 7.94940712e-01 -1.47247973e-02 5.19018422e+01] [ 2.49773131e-02 -5.39347240e-04 9.99687873e-01 4.51663635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.47, Y:51.93, Z:4.52 [[ 7.95651913e-01 -6.05417936e-01 -2.01781129e-02 1.69466394e+02] [ 6.05238894e-01 7.95907583e-01 -1.47309459e-02 5.19343376e+01] [ 2.49782920e-02 -4.91873495e-04 9.99687873e-01 4.51769853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56804094199998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:169.51, Y:51.97, Z:4.53 [[ 7.96655527e-01 -6.04096855e-01 -2.01732644e-02 1.69513017e+02] [ 6.03917221e-01 7.96910782e-01 -1.47375828e-02 5.19682057e+01] [ 2.49792193e-02 -4.42204973e-04 9.99687873e-01 4.53035656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62804094199998 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:169.56, Y:52.00, Z:4.53 [[ 7.99362774e-01 -6.00509991e-01 -2.01719180e-02 1.69558940e+02] [ 6.00329165e-01 7.99617186e-01 -1.47394254e-02 5.20045175e+01] [ 2.49809845e-02 -3.27642726e-04 9.99687873e-01 4.52903790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.60, Y:52.04, Z:4.52 [[ 7.97769604e-01 -6.02625010e-01 -2.01681950e-02 1.69602398e+02] [ 6.02444729e-01 7.98024403e-01 -1.47445178e-02 5.20445244e+01] [ 2.49801270e-02 -3.87494650e-04 9.99687873e-01 4.51599552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.748040942 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:169.65, Y:52.07, Z:4.53 [[ 8.03158782e-01 -5.95423695e-01 -2.01641838e-02 1.69654125e+02] [ 5.95240992e-01 8.03411849e-01 -1.47500015e-02 5.20722697e+01] [ 2.49826445e-02 -1.55955537e-04 9.99687873e-01 4.52730435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.808040942 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:169.70, Y:52.11, Z:4.53 [[ 8.02134241e-01 -5.96803248e-01 -2.01628788e-02 1.69700471e+02] [ 5.96620936e-01 8.02387590e-01 -1.47517850e-02 5.21083604e+01] [ 2.49823570e-02 -1.96683745e-04 9.99687873e-01 4.52793292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.868040942 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:169.75, Y:52.15, Z:4.52 [[ 8.00354673e-01 -5.99187785e-01 -2.01592417e-02 1.69745594e+02] [ 5.99006102e-01 8.00608474e-01 -1.47567538e-02 5.21470781e+01] [ 2.49817263e-02 -2.64871952e-04 9.99687873e-01 4.52328765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.928040942 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:169.79, Y:52.18, Z:4.52 [[ 8.00027697e-01 -5.99624411e-01 -2.01556524e-02 1.69791267e+02] [ 5.99442743e-01 8.00281508e-01 -1.47616546e-02 5.21819230e+01] [ 2.49816443e-02 -2.72427021e-04 9.99687873e-01 4.52164179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98804094199997 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:169.84, Y:52.21, Z:4.53 [[ 8.01990160e-01 -5.96997139e-01 -2.01543951e-02 1.69840086e+02] [ 5.96814596e-01 8.02243342e-01 -1.47633711e-02 5.22120638e+01] [ 2.49824196e-02 -1.88358836e-04 9.99687873e-01 4.52695407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04804094199997 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:169.88, Y:52.26, Z:4.51 [[ 7.95183704e-01 -6.06033632e-01 -2.01522348e-02 1.69877227e+02] [ 6.05853892e-01 7.95438884e-01 -1.47663192e-02 5.22604662e+01] [ 2.49787573e-02 -4.67373463e-04 9.99687873e-01 4.51072998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10804094199997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:169.93, Y:52.28, Z:4.53 [[ 8.01833072e-01 -5.97208218e-01 -2.01511367e-02 1.69933381e+02] [ 5.97025630e-01 8.02086223e-01 -1.47678176e-02 5.22825803e+01] [ 2.49824112e-02 -1.89420529e-04 9.99687873e-01 4.53098938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16804094199998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:169.98, Y:52.32, Z:4.52 [[ 8.00982469e-01 -5.98348688e-01 -2.01477486e-02 1.69979713e+02] [ 5.98166345e-01 8.01235795e-01 -1.47724386e-02 5.23168959e+01] [ 2.49821666e-02 -2.19240755e-04 9.99687873e-01 4.52456836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22804094199998 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:170.02, Y:52.36, Z:4.51 [[ 7.98093521e-01 -6.02196732e-01 -2.01451624e-02 1.70019106e+02] [ 6.02015521e-01 7.98347658e-01 -1.47759646e-02 5.23608789e+01] [ 2.49808808e-02 -3.35098848e-04 9.99687873e-01 4.51318504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28804094199998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:170.07, Y:52.40, Z:4.51 [[ 7.99288038e-01 -6.00610400e-01 -2.01439912e-02 1.70065221e+02] [ 6.00428644e-01 7.99541786e-01 -1.47775611e-02 5.23976368e+01] [ 2.49815196e-02 -2.83501488e-04 9.99687873e-01 4.51485924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34804094199998 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:170.11, Y:52.43, Z:4.52 [[ 8.00234358e-01 -5.99349080e-01 -2.01407945e-02 1.70113480e+02] [ 5.99166815e-01 8.00487741e-01 -1.47819166e-02 5.24305565e+01] [ 2.49819873e-02 -2.38698158e-04 9.99687873e-01 4.51608038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40804094199999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:170.16, Y:52.46, Z:4.52 [[ 7.98908388e-01 -6.01115466e-01 -2.01391077e-02 1.70161192e+02] [ 6.00933703e-01 7.99162131e-01 -1.47842145e-02 5.24645007e+01] [ 2.49814322e-02 -2.91035572e-04 9.99687873e-01 4.51938626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.21, Y:52.50, Z:4.52 [[ 7.98916352e-01 -6.01105012e-01 -2.01352044e-02 1.70209104e+02] [ 6.00923112e-01 7.99169997e-01 -1.47895286e-02 5.24967751e+01] [ 2.49815110e-02 -2.84113436e-04 9.99687873e-01 4.52355779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.528040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:170.26, Y:52.53, Z:4.52 [[ 7.97587912e-01 -6.02866635e-01 -2.01331449e-02 1.70256219e+02] [ 6.02685224e-01 7.97841907e-01 -1.47923317e-02 5.25317105e+01] [ 2.49808699e-02 -3.35764032e-04 9.99687873e-01 4.52118275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.30, Y:52.57, Z:4.52 [[ 7.95118631e-01 -6.06119764e-01 -2.01294489e-02 1.70303036e+02] [ 6.05939264e-01 7.95373275e-01 -1.47973595e-02 5.25664341e+01] [ 2.49793977e-02 -4.31567196e-04 9.99687873e-01 4.51909298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.648040942 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:170.35, Y:52.60, Z:4.52 [[ 7.94550571e-01 -6.06864274e-01 -2.01281519e-02 1.70349659e+02] [ 6.06683969e-01 7.94805352e-01 -1.47991235e-02 5.26023861e+01] [ 2.49790222e-02 -4.52775029e-04 9.99687873e-01 4.52109236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.39, Y:52.64, Z:4.52 [[ 7.94678733e-01 -6.06696562e-01 -2.01244542e-02 1.70393862e+02] [ 6.06516075e-01 7.94933385e-01 -1.48041501e-02 5.26388887e+01] [ 2.49792275e-02 -4.41261687e-04 9.99687873e-01 4.52072621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.44, Y:52.68, Z:4.52 [[ 7.95594374e-01 -6.05495428e-01 -2.01216007e-02 1.70439611e+02] [ 6.05314459e-01 7.95848684e-01 -1.48080275e-02 5.26759449e+01] [ 2.49799424e-02 -3.98712500e-04 9.99687873e-01 4.52346593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.48, Y:52.72, Z:4.52 [[ 7.94634208e-01 -6.06755095e-01 -2.01178932e-02 1.70481039e+02] [ 6.06574402e-01 7.94888714e-01 -1.48130628e-02 5.27172987e+01] [ 2.49793876e-02 -4.32032639e-04 9.99687873e-01 4.51554390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.53, Y:52.75, Z:4.52 [[ 7.93997145e-01 -6.07588655e-01 -2.01136666e-02 1.70527347e+02] [ 6.07408084e-01 7.94251737e-01 -1.48187995e-02 5.27533662e+01] [ 2.49790491e-02 -4.51119168e-04 9.99687873e-01 4.51828682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.57, Y:52.79, Z:4.52 [[ 7.96849382e-01 -6.03843240e-01 -2.01097867e-02 1.70574520e+02] [ 6.03661340e-01 7.97103026e-01 -1.48240629e-02 5.27871328e+01] [ 2.49809820e-02 -3.26955362e-04 9.99687873e-01 4.52306036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.62, Y:52.83, Z:4.52 [[ 7.95901341e-01 -6.05092396e-01 -2.01059220e-02 1.70618416e+02] [ 6.04910761e-01 7.96155175e-01 -1.48293027e-02 5.28269040e+01] [ 2.49805322e-02 -3.59626712e-04 9.99687873e-01 4.51996493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.66, Y:52.87, Z:4.52 [[ 7.92930678e-01 -6.08980149e-01 -2.01026787e-02 1.70661918e+02] [ 6.08799647e-01 7.93185319e-01 -1.48336981e-02 5.28654324e+01] [ 2.49785773e-02 -4.76409418e-04 9.99687873e-01 4.51841580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.72, Y:52.89, Z:4.53 [[ 7.98362496e-01 -6.01841575e-01 -2.01008272e-02 1.70716166e+02] [ 6.01658733e-01 7.98615462e-01 -1.48362065e-02 5.28914655e+01] [ 2.49818773e-02 -2.49167350e-04 9.99687873e-01 4.53167159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.76, Y:52.93, Z:4.52 [[ 7.96060799e-01 -6.04882818e-01 -2.00992774e-02 1.70758074e+02] [ 6.04700889e-01 7.96314423e-01 -1.48383059e-02 5.29348715e+01] [ 2.49807807e-02 -3.41857253e-04 9.99687873e-01 4.52412725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.81, Y:52.97, Z:4.53 [[ 7.92432540e-01 -6.09628431e-01 -2.00959093e-02 1.70806128e+02] [ 6.09447905e-01 7.92687165e-01 -1.48428660e-02 5.29694258e+01] [ 2.49784025e-02 -4.85439825e-04 9.99687873e-01 4.53039378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.85, Y:53.00, Z:4.53 [[ 7.90687713e-01 -6.11889895e-01 -2.00921981e-02 1.70853524e+02] [ 6.11709970e-01 7.90942762e-01 -1.48478879e-02 5.30049732e+01] [ 2.49770513e-02 -5.50555345e-04 9.99687873e-01 4.53340764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.90, Y:53.04, Z:4.54 [[ 7.88712584e-01 -6.14433818e-01 -2.00884029e-02 1.70897702e+02] [ 6.14254584e-01 7.88968120e-01 -1.48530209e-02 5.30438816e+01] [ 2.49753078e-02 -6.24629027e-04 9.99687873e-01 4.53774300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.428040942 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:170.94, Y:53.08, Z:4.54 [[ 7.88290147e-01 -6.14975814e-01 -2.00846413e-02 1.70942260e+02] [ 6.14796626e-01 7.88545715e-01 -1.48581058e-02 5.30824932e+01] [ 2.49750335e-02 -6.35471311e-04 9.99687873e-01 4.53993416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48804094199997 meters Centerline goodness : 0.998542 with order 1 Centerline is valid? [True, True] Translation: X:170.99, Y:53.12, Z:4.54 [[ 7.89061038e-01 -6.13986510e-01 -2.00809498e-02 1.70987977e+02] [ 6.13806876e-01 7.89316291e-01 -1.48630932e-02 5.31189717e+01] [ 2.49759595e-02 -5.97937277e-04 9.99687873e-01 4.54314220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54804094199997 meters Centerline goodness : 0.998502 with order 1 Centerline is valid? [True, True] Translation: X:171.03, Y:53.16, Z:4.55 [[ 7.93008291e-01 -6.08879918e-01 -2.00772403e-02 1.71032609e+02] [ 6.08698512e-01 7.93262290e-01 -1.48681023e-02 5.31567445e+01] [ 2.49794065e-02 -4.30457843e-04 9.99687873e-01 4.55017998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60804094199997 meters Centerline goodness : 0.997683 with order 1 Centerline is valid? [True, True] Translation: X:171.08, Y:53.19, Z:4.55 [[ 7.94586963e-01 -6.06818449e-01 -2.00730706e-02 1.71076662e+02] [ 6.06636243e-01 7.94840387e-01 -1.48737296e-02 5.31932342e+01] [ 2.49805407e-02 -3.58580535e-04 9.99687873e-01 4.54940742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66804094199998 meters Centerline goodness : 0.995809 with order 1 Centerline is valid? [True, True] Translation: X:171.12, Y:53.23, Z:4.55 [[ 7.98633061e-01 -6.01483487e-01 -2.00710827e-02 1.71124596e+02] [ 6.01299520e-01 7.98885210e-01 -1.48764116e-02 5.32271224e+01] [ 2.49824071e-02 -1.87938231e-04 9.99687873e-01 4.54784517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72804094199998 meters Centerline goodness : 0.998009 with order 1 Centerline is valid? [True, True] Translation: X:171.17, Y:53.27, Z:4.56 [[ 7.97450077e-01 -6.03051159e-01 -2.00667287e-02 1.71168715e+02] [ 6.02867540e-01 7.97702480e-01 -1.48822825e-02 5.32664349e+01] [ 2.49820569e-02 -2.29702042e-04 9.99687873e-01 4.55812966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78804094199998 meters Centerline goodness : 0.994884 with order 1 Centerline is valid? [True, True] Translation: X:171.22, Y:53.30, Z:4.55 [[ 7.99180350e-01 -6.00756403e-01 -2.00626987e-02 1.71217435e+02] [ 6.00571923e-01 7.99432124e-01 -1.48877133e-02 5.32965688e+01] [ 2.49826549e-02 -1.51125587e-04 9.99687873e-01 4.55299016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84804094199998 meters Centerline goodness : 0.991790 with order 1 Centerline is valid? [True, True] Translation: X:171.26, Y:53.33, Z:4.55 [[ 7.98441538e-01 -6.01738054e-01 -2.00605301e-02 1.71263325e+02] [ 6.01553810e-01 7.98693485e-01 -1.48906347e-02 5.33327391e+01] [ 2.49824763e-02 -1.78187083e-04 9.99687873e-01 4.55397557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90804094199999 meters Centerline goodness : 0.992400 with order 1 Centerline is valid? [True, True] Translation: X:171.31, Y:53.37, Z:4.56 [[ 8.00044635e-01 -5.99605153e-01 -2.00560058e-02 1.71310189e+02] [ 5.99420084e-01 8.00295976e-01 -1.48967260e-02 5.33666679e+01] [ 2.49828944e-02 -1.03926948e-04 9.99687873e-01 4.55716187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.968040942 meters Centerline goodness : 0.983140 with order 1 Centerline is valid? [True, True] Translation: X:171.35, Y:53.41, Z:4.55 [[ 7.96725808e-01 -6.04008214e-01 -2.00515518e-02 1.71352213e+02] [ 6.03824383e-01 7.96978057e-01 -1.49027188e-02 5.34085568e+01] [ 2.49820114e-02 -2.34235197e-04 9.99687873e-01 4.54695817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.028040942 meters Centerline goodness : 0.986317 with order 1 Centerline is valid? [True, True] Translation: X:171.39, Y:53.45, Z:4.55 [[ 7.93423405e-01 -6.08339882e-01 -2.00471486e-02 1.71394820e+02] [ 6.08157279e-01 7.93676544e-01 -1.49086397e-02 5.34478465e+01] [ 2.49804717e-02 -3.62955703e-04 9.99687873e-01 4.55343422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.088040942 meters Centerline goodness : 0.979847 with order 1 Centerline is valid? [True, True] Translation: X:171.45, Y:53.48, Z:4.55 [[ 7.97518381e-01 -6.02961569e-01 -2.00444209e-02 1.71445285e+02] [ 6.02777167e-01 7.97770212e-01 -1.49123061e-02 5.34787487e+01] [ 2.49823894e-02 -1.89481061e-04 9.99687873e-01 4.54791156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.148040942 meters Centerline goodness : 0.987035 with order 1 Centerline is valid? [True, True] Translation: X:171.49, Y:53.52, Z:4.56 [[ 7.89100567e-01 -6.13937024e-01 -2.00405829e-02 1.71486390e+02] [ 6.13755993e-01 7.89354832e-01 -1.49174622e-02 5.35202790e+01] [ 2.49775133e-02 -5.28650002e-04 9.99687873e-01 4.56007287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.208040942 meters Centerline goodness : 0.970611 with order 1 Centerline is valid? [True, True] Translation: X:171.52, Y:53.57, Z:4.54 [[ 7.81454342e-01 -6.23640556e-01 -2.00391423e-02 1.71524113e+02] [ 6.23462631e-01 7.81710790e-01 -1.49193971e-02 5.35672469e+01] [ 2.49691549e-02 -8.34828760e-04 9.99687873e-01 4.54363200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26804094199997 meters Centerline goodness : 0.982527 with order 1 Centerline is valid? [True, True] Translation: X:171.58, Y:53.59, Z:4.56 [[ 7.89322644e-01 -6.13651574e-01 -2.00377087e-02 1.71577587e+02] [ 6.13470352e-01 7.89576773e-01 -1.49213223e-02 5.35921886e+01] [ 2.49778023e-02 -5.14802691e-04 9.99687873e-01 4.55685506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32804094199997 meters Centerline goodness : 0.973209 with order 1 Centerline is valid? [True, True] Translation: X:171.61, Y:53.64, Z:4.55 [[ 7.83013010e-01 -6.21682553e-01 -2.00357386e-02 1.71612040e+02] [ 6.21503869e-01 7.83268930e-01 -1.49239673e-02 5.36432578e+01] [ 2.49713416e-02 -7.66628505e-04 9.99687873e-01 4.54629965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38804094199998 meters Centerline goodness : 0.970757 with order 1 Centerline is valid? [True, True] Translation: X:171.65, Y:53.69, Z:4.54 [[ 7.78407142e-01 -6.27439992e-01 -2.00343897e-02 1.71648403e+02] [ 6.27263154e-01 7.78664341e-01 -1.49257779e-02 5.36935363e+01] [ 2.49650948e-02 -9.48502353e-04 9.99687873e-01 4.53758975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44804094199998 meters Centerline goodness : 0.977287 with order 1 Centerline is valid? [True, True] Translation: X:171.69, Y:53.73, Z:4.55 [[ 7.80533485e-01 -6.24792952e-01 -2.00311326e-02 1.71694472e+02] [ 6.24615130e-01 7.80790004e-01 -1.49301477e-02 5.37286388e+01] [ 2.49683592e-02 -8.58268228e-04 9.99687873e-01 4.54675619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50804094199998 meters Centerline goodness : 0.978037 with order 1 Centerline is valid? [True, True] Translation: X:171.74, Y:53.76, Z:4.55 [[ 7.84243058e-01 -6.20130347e-01 -2.00294460e-02 1.71744324e+02] [ 6.19950942e-01 7.84498472e-01 -1.49324101e-02 5.37611701e+01] [ 2.49731104e-02 -7.06634923e-04 9.99687873e-01 4.55234885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56804094199998 meters Centerline goodness : 0.981566 with order 1 Centerline is valid? [True, True] Translation: X:171.79, Y:53.80, Z:4.56 [[ 7.84111147e-01 -6.20297237e-01 -2.00261583e-02 1.71790047e+02] [ 6.20117774e-01 7.84366520e-01 -1.49368180e-02 5.37984514e+01] [ 2.49731150e-02 -7.06451222e-04 9.99687874e-01 4.55743561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62804094199998 meters Centerline goodness : 0.979940 with order 1 Centerline is valid? [True, True] Translation: X:171.84, Y:53.83, Z:4.56 [[ 7.81988940e-01 -6.22970622e-01 -2.00225452e-02 1.71837137e+02] [ 6.22791907e-01 7.82244838e-01 -1.49416597e-02 5.38344850e+01] [ 2.49707476e-02 -7.85666475e-04 9.99687874e-01 4.55667240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.688040942 meters Centerline goodness : 0.983628 with order 1 Centerline is valid? [True, True] Translation: X:171.89, Y:53.87, Z:4.56 [[ 7.82717128e-01 -6.22055579e-01 -2.00188455e-02 1.71886408e+02] [ 6.21876439e-01 7.82972728e-01 -1.49466149e-02 5.38673241e+01] [ 2.49718353e-02 -7.50276840e-04 9.99687874e-01 4.56431942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.748040942 meters Centerline goodness : 0.984692 with order 1 Centerline is valid? [True, True] Translation: X:171.94, Y:53.90, Z:4.57 [[ 7.85717943e-01 -6.18261026e-01 -2.00154483e-02 1.71935996e+02] [ 6.18080535e-01 7.85972591e-01 -1.49511628e-02 5.38972227e+01] [ 2.49753150e-02 -6.23762120e-04 9.99687874e-01 4.56833383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.808040942 meters Centerline goodness : 0.981326 with order 1 Centerline is valid? [True, True] Translation: X:171.98, Y:53.93, Z:4.56 [[ 7.90965082e-01 -6.11533867e-01 -2.00142014e-02 1.71983509e+02] [ 6.11351168e-01 7.91218151e-01 -1.49528318e-02 5.39307500e+01] [ 2.49797625e-02 -4.08537556e-04 9.99687874e-01 4.56285320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.868040942 meters Centerline goodness : 0.984531 with order 1 Centerline is valid? [True, True] Translation: X:172.03, Y:53.97, Z:4.56 [[ 7.94357843e-01 -6.07120329e-01 -2.00130943e-02 1.72030446e+02] [ 6.06936186e-01 7.94609863e-01 -1.49543134e-02 5.39663097e+01] [ 2.49816698e-02 -2.67595022e-04 9.99687874e-01 4.56383223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.928040942 meters Centerline goodness : 0.984493 with order 1 Centerline is valid? [True, True] Translation: X:172.07, Y:54.01, Z:4.56 [[ 7.90577855e-01 -6.12034530e-01 -2.00097422e-02 1.72073626e+02] [ 6.11851840e-01 7.90830930e-01 -1.49587973e-02 5.40077475e+01] [ 2.49796235e-02 -4.16903703e-04 9.99687874e-01 4.56189964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98804094199997 meters Centerline goodness : 0.988242 with order 1 Centerline is valid? [True, True] Translation: X:172.13, Y:54.04, Z:4.57 [[ 7.94159497e-01 -6.07379988e-01 -2.00060653e-02 1.72127068e+02] [ 6.07195691e-01 7.94411405e-01 -1.49637132e-02 5.40350210e+01] [ 2.49817064e-02 -2.64021705e-04 9.99687874e-01 4.57038953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04804094199997 meters Centerline goodness : 0.991021 with order 1 Centerline is valid? [True, True] Translation: X:172.18, Y:54.07, Z:4.57 [[ 7.92542542e-01 -6.09488487e-01 -2.00025914e-02 1.72176898e+02] [ 6.09304743e-01 7.92794853e-01 -1.49683555e-02 5.40669734e+01] [ 2.49809919e-02 -3.24615337e-04 9.99687874e-01 4.57405125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10804094199997 meters Centerline goodness : 0.988580 with order 1 Centerline is valid? [True, True] Translation: X:172.23, Y:54.10, Z:4.56 [[ 7.88126720e-01 -6.15188035e-01 -1.99988503e-02 1.72225355e+02] [ 6.15005989e-01 7.88380259e-01 -1.49733522e-02 5.41005236e+01] [ 2.49781259e-02 -4.98513783e-04 9.99687874e-01 4.56445601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16804094199998 meters Centerline goodness : 0.991583 with order 1 Centerline is valid? [True, True] Translation: X:172.27, Y:54.13, Z:4.57 [[ 7.87686682e-01 -6.15751388e-01 -1.99979934e-02 1.72274667e+02] [ 6.15569493e-01 7.87940330e-01 -1.49744966e-02 5.41299512e+01] [ 2.49777926e-02 -5.14943178e-04 9.99687874e-01 4.57241357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22804094199998 meters Centerline goodness : 0.991484 with order 1 Centerline is valid? [True, True] Translation: X:172.33, Y:54.16, Z:4.57 [[ 7.86202691e-01 -6.17645130e-01 -1.99955745e-02 1.72325236e+02] [ 6.17463764e-01 7.86456717e-01 -1.49777259e-02 5.41614853e+01] [ 2.49765733e-02 -5.71014316e-04 9.99687874e-01 4.57149272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28804094199998 meters Centerline goodness : 0.992966 with order 1 Centerline is valid? [True, True] Translation: X:172.38, Y:54.19, Z:4.58 [[ 7.88139089e-01 -6.15172413e-01 -1.99919664e-02 1.72375855e+02] [ 6.14990128e-01 7.88392457e-01 -1.49825403e-02 5.41917860e+01] [ 2.49783610e-02 -4.86536282e-04 9.99687874e-01 4.57729442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34804094199998 meters Centerline goodness : 0.989758 with order 1 Centerline is valid? [True, True] Translation: X:172.42, Y:54.23, Z:4.57 [[ 7.85301066e-01 -6.18791241e-01 -1.99908881e-02 1.72423690e+02] [ 6.18610087e-01 7.85555243e-01 -1.49839790e-02 5.42277696e+01] [ 2.49759019e-02 -5.99630330e-04 9.99687874e-01 4.56667008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40804094199999 meters Centerline goodness : 0.993876 with order 1 Centerline is valid? [True, True] Translation: X:172.47, Y:54.26, Z:4.58 [[ 7.89965679e-01 -6.12825195e-01 -1.99876584e-02 1.72474078e+02] [ 6.12642012e-01 7.90218398e-01 -1.49882860e-02 5.42574925e+01] [ 2.49798146e-02 -4.05047709e-04 9.99687874e-01 4.57923417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.468040942 meters Centerline goodness : 0.993832 with order 1 Centerline is valid? [True, True] Translation: X:172.52, Y:54.29, Z:4.58 [[ 7.88200254e-01 -6.15094219e-01 -1.99865207e-02 1.72522512e+02] [ 6.14911725e-01 7.88453471e-01 -1.49898028e-02 5.42888287e+01] [ 2.49785827e-02 -4.74979557e-04 9.99687874e-01 4.58233702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.528040942 meters Centerline goodness : 0.995407 with order 1 Centerline is valid? [True, True] Translation: X:172.57, Y:54.32, Z:4.59 [[ 7.86838746e-01 -6.16834973e-01 -1.99850817e-02 1.72569033e+02] [ 6.16652991e-01 7.87092331e-01 -1.49917212e-02 5.43226058e+01] [ 2.49775225e-02 -5.27793275e-04 9.99687874e-01 4.59178644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.588040942 meters Centerline goodness : 0.995628 with order 1 Centerline is valid? [True, True] Translation: X:172.62, Y:54.35, Z:4.60 [[ 7.91050454e-01 -6.11424429e-01 -1.99836802e-02 1.72620774e+02] [ 6.11240665e-01 7.91302750e-01 -1.49935891e-02 5.43494232e+01] [ 2.49805878e-02 -3.54152499e-04 9.99687874e-01 4.59591013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.648040942 meters Centerline goodness : 0.996198 with order 1 Centerline is valid? [True, True] Translation: X:172.67, Y:54.38, Z:4.60 [[ 7.93674639e-01 -6.08014206e-01 -1.99823127e-02 1.72669998e+02] [ 6.07829312e-01 7.93926108e-01 -1.49954114e-02 5.43824873e+01] [ 2.49819029e-02 -2.44357615e-04 9.99687874e-01 4.59923161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.708040942 meters Centerline goodness : 0.995918 with order 1 Centerline is valid? [True, True] Translation: X:172.71, Y:54.42, Z:4.60 [[ 7.90576937e-01 -6.12036754e-01 -1.99779540e-02 1.72711963e+02] [ 6.11852992e-01 7.90829235e-01 -1.50012161e-02 5.44241449e+01] [ 2.49804457e-02 -3.63955398e-04 9.99687874e-01 4.59696784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76804094199997 meters Centerline goodness : 0.997003 with order 1 Centerline is valid? [True, True] Translation: X:172.76, Y:54.45, Z:4.60 [[ 7.95445637e-01 -6.05695687e-01 -1.99743367e-02 1.72764693e+02] [ 6.05509793e-01 7.95696368e-01 -1.50060311e-02 5.44529677e+01] [ 2.49825954e-02 -1.58174537e-04 9.99687874e-01 4.59685922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82804094199997 meters Centerline goodness : 0.997856 with order 1 Centerline is valid? [True, True] Translation: X:172.81, Y:54.49, Z:4.60 [[ 7.92556016e-01 -6.09471937e-01 -1.99729895e-02 1.72807570e+02] [ 6.09287192e-01 7.92807595e-01 -1.50078239e-02 5.44918499e+01] [ 2.49815853e-02 -2.74745595e-04 9.99687874e-01 4.59741698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88804094199998 meters Centerline goodness : 0.998435 with order 1 Centerline is valid? [True, True] Translation: X:172.85, Y:54.52, Z:4.60 [[ 7.91908610e-01 -6.10312944e-01 -1.99715912e-02 1.72854629e+02] [ 6.10128419e-01 7.92160351e-01 -1.50096845e-02 5.45247224e+01] [ 2.49813074e-02 -2.98936941e-04 9.99687874e-01 4.59788239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94804094199998 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:172.90, Y:54.56, Z:4.60 [[ 7.91719565e-01 -6.10558210e-01 -1.99700237e-02 1.72902375e+02] [ 6.10373711e-01 7.91971325e-01 -1.50117698e-02 5.45593334e+01] [ 2.49812454e-02 -3.04065611e-04 9.99687874e-01 4.59799010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00804094199998 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:172.95, Y:54.59, Z:4.60 [[ 7.92013936e-01 -6.10176422e-01 -1.99664475e-02 1.72950308e+02] [ 6.09991682e-01 7.92265518e-01 -1.50165248e-02 5.45929724e+01] [ 2.49814572e-02 -2.86070025e-04 9.99687874e-01 4.59745024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06804094199998 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:173.00, Y:54.63, Z:4.60 [[ 7.92628841e-01 -6.09377559e-01 -1.99627468e-02 1.72997687e+02] [ 6.09192441e-01 7.92880146e-01 -1.50214429e-02 5.46260138e+01] [ 2.49817958e-02 -2.54725589e-04 9.99687874e-01 4.59915013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12804094199998 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:173.04, Y:54.66, Z:4.59 [[ 7.90894105e-01 -6.11627382e-01 -1.99614482e-02 1.73043453e+02] [ 6.11442936e-01 7.91145903e-01 -1.50231683e-02 5.46630479e+01] [ 2.49809991e-02 -3.23551269e-04 9.99687874e-01 4.59238682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.188040942 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:173.09, Y:54.70, Z:4.59 [[ 7.89523019e-01 -6.13396307e-01 -1.99593083e-02 1.73090304e+02] [ 6.13212353e-01 7.89775177e-01 -1.50260107e-02 5.46992507e+01] [ 2.49802657e-02 -3.75913056e-04 9.99687874e-01 4.59093797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.248040942 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:173.14, Y:54.73, Z:4.60 [[ 7.91963405e-01 -6.10242369e-01 -1.99553799e-02 1.73141299e+02] [ 6.10057279e-01 7.92214730e-01 -1.50312261e-02 5.47283865e+01] [ 2.49816369e-02 -2.69743799e-04 9.99687874e-01 4.60149390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.308040942 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:173.19, Y:54.77, Z:4.60 [[ 7.88893548e-01 -6.14205826e-01 -1.99542727e-02 1.73186996e+02] [ 6.14021961e-01 7.89145772e-01 -1.50326958e-02 5.47654912e+01] [ 2.49799992e-02 -3.93164957e-04 9.99687874e-01 4.59652384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.368040942 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:173.23, Y:54.80, Z:4.60 [[ 7.88933672e-01 -6.14154411e-01 -1.99504700e-02 1.73234084e+02] [ 6.13970402e-01 7.89185790e-01 -1.50377408e-02 5.47981421e+01] [ 2.49801223e-02 -3.85218015e-04 9.99687874e-01 4.60320110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.428040942 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:173.28, Y:54.83, Z:4.60 [[ 7.87626489e-01 -6.15829998e-01 -1.99481228e-02 1.73281007e+02] [ 6.15646447e-01 7.87878941e-01 -1.50408538e-02 5.48342978e+01] [ 2.49793148e-02 -4.34416072e-04 9.99687874e-01 4.60234216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48804094199997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:173.33, Y:54.87, Z:4.61 [[ 7.88160726e-01 -6.15146236e-01 -1.99444111e-02 1.73325819e+02] [ 6.14962341e-01 7.88412927e-01 -1.50457740e-02 5.48711885e+01] [ 2.49797827e-02 -4.06573594e-04 9.99687874e-01 4.60645072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.37, Y:54.91, Z:4.61 [[ 7.89845193e-01 -6.12981928e-01 -1.99431030e-02 1.73369594e+02] [ 6.12797299e-01 7.90096857e-01 -1.50475077e-02 5.49087393e+01] [ 2.49808332e-02 -3.35878050e-04 9.99687874e-01 4.60868802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.41, Y:54.95, Z:4.61 [[ 7.90710325e-01 -6.11865687e-01 -1.99389986e-02 1.73414372e+02] [ 6.11680565e-01 7.90961627e-01 -1.50529443e-02 5.49469709e+01] [ 2.49813629e-02 -2.93779427e-04 9.99687874e-01 4.60570790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.46, Y:54.98, Z:4.61 [[ 7.90988831e-01 -6.11505722e-01 -1.99354487e-02 1.73461272e+02] [ 6.11320367e-01 7.91239961e-01 -1.50576441e-02 5.49824838e+01] [ 2.49815592e-02 -2.76517561e-04 9.99687874e-01 4.61159519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.51, Y:55.02, Z:4.61 [[ 7.89155049e-01 -6.13870531e-01 -1.99318902e-02 1.73507199e+02] [ 6.13685810e-01 7.89406645e-01 -1.50623531e-02 5.50173246e+01] [ 2.49807013e-02 -3.45386175e-04 9.99687874e-01 4.61271519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.55, Y:55.05, Z:4.61 [[ 7.85914840e-01 -6.18013545e-01 -1.99279144e-02 1.73553431e+02] [ 6.17830017e-01 7.86167309e-01 -1.50676113e-02 5.50533409e+01] [ 2.49786627e-02 -4.70204362e-04 9.99687874e-01 4.60595200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.60, Y:55.09, Z:4.62 [[ 7.85163344e-01 -6.18968123e-01 -1.99244882e-02 1.73601223e+02] [ 6.18784787e-01 7.85415952e-01 -1.50721405e-02 5.50876497e+01] [ 2.49781854e-02 -4.94877949e-04 9.99687874e-01 4.61504841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.65, Y:55.12, Z:4.62 [[ 7.85202013e-01 -6.18919178e-01 -1.99211051e-02 1.73647030e+02] [ 6.18735713e-01 7.85454527e-01 -1.50766108e-02 5.51241111e+01] [ 2.49783257e-02 -4.87714021e-04 9.99687874e-01 4.61680865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.69, Y:55.16, Z:4.62 [[ 7.86588240e-01 -6.17156562e-01 -1.99177866e-02 1.73692332e+02] [ 6.16972421e-01 7.86840261e-01 -1.50809936e-02 5.51610384e+01] [ 2.49794505e-02 -4.26192841e-04 9.99687874e-01 4.61523889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.74, Y:55.20, Z:4.60 [[ 7.84254328e-01 -6.20119830e-01 -1.99134302e-02 1.73735379e+02] [ 6.19936495e-01 7.84506936e-01 -1.50867437e-02 5.52025125e+01] [ 2.49778131e-02 -5.13218091e-04 9.99687874e-01 4.60182021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.78, Y:55.23, Z:4.62 [[ 7.85871787e-01 -6.18068805e-01 -1.99119915e-02 1.73783601e+02] [ 6.17884762e-01 7.86123880e-01 -1.50886423e-02 5.52341984e+01] [ 2.49791111e-02 -4.45577868e-04 9.99687874e-01 4.61831791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.148040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:173.83, Y:55.27, Z:4.62 [[ 7.84986511e-01 -6.19192809e-01 -1.99108696e-02 1.73829892e+02] [ 6.19009089e-01 7.85238840e-01 -1.50901226e-02 5.52685865e+01] [ 2.49784836e-02 -4.79466614e-04 9.99687874e-01 4.61838200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.208040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.87, Y:55.32, Z:4.59 [[ 7.73920844e-01 -6.32969396e-01 -1.99065619e-02 1.73865095e+02] [ 6.32790018e-01 7.74176278e-01 -1.50958031e-02 5.53206066e+01] [ 2.49663694e-02 -9.13716965e-04 9.99687874e-01 4.58964363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26804094199997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:173.92, Y:55.34, Z:4.62 [[ 7.87437864e-01 -6.16072556e-01 -1.99051767e-02 1.73920742e+02] [ 6.15887647e-01 7.87689322e-01 -1.50976295e-02 5.53413999e+01] [ 2.49803303e-02 -3.70907322e-04 9.99687874e-01 4.61830068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.97, Y:55.38, Z:4.62 [[ 7.86813144e-01 -6.16870279e-01 -1.99031377e-02 1.73965602e+02] [ 6.16685557e-01 7.87064740e-01 -1.51003170e-02 5.53790994e+01] [ 2.49799946e-02 -3.92849652e-04 9.99687874e-01 4.62109696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38804094199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:174.01, Y:55.42, Z:4.62 [[ 7.88764584e-01 -6.14373212e-01 -1.98994452e-02 1.74011556e+02] [ 6.14187570e-01 7.89015502e-01 -1.51051813e-02 5.54165513e+01] [ 2.49811895e-02 -3.07559851e-04 9.99687874e-01 4.61996506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.06, Y:55.45, Z:4.62 [[ 7.87643820e-01 -6.15809527e-01 -1.98957360e-02 1.74057528e+02] [ 6.15624219e-01 7.87894984e-01 -1.51100654e-02 5.54521334e+01] [ 2.49806728e-02 -3.46947291e-04 9.99687874e-01 4.62256494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.10, Y:55.49, Z:4.62 [[ 7.86018091e-01 -6.17883322e-01 -1.98937625e-02 1.74103059e+02] [ 6.17698611e-01 7.86269695e-01 -1.51126633e-02 5.54874680e+01] [ 2.49797251e-02 -4.09522721e-04 9.99687874e-01 4.62325997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.15, Y:55.52, Z:4.62 [[ 7.83414224e-01 -6.21181582e-01 -1.98895924e-02 1.74147534e+02] [ 6.20997791e-01 7.83666501e-01 -1.51181494e-02 5.55225445e+01] [ 2.49779233e-02 -5.07619678e-04 9.99687874e-01 4.62484127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.19, Y:55.56, Z:4.63 [[ 7.80923570e-01 -6.24309902e-01 -1.98877997e-02 1.74193372e+02] [ 6.24127062e-01 7.81176536e-01 -1.51205073e-02 5.55598177e+01] [ 2.49757649e-02 -6.04553480e-04 9.99687874e-01 4.62519355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.688040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:174.24, Y:55.60, Z:4.63 [[ 7.80849350e-01 -6.24402840e-01 -1.98842897e-02 1.74239289e+02] [ 6.24219913e-01 7.81102254e-01 -1.51251218e-02 5.55974012e+01] [ 2.49758325e-02 -6.01728030e-04 9.99687874e-01 4.62672470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.748040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:174.27, Y:55.66, Z:4.60 [[ 7.68965681e-01 -6.38980861e-01 -1.98806447e-02 1.74268098e+02] [ 6.38802600e-01 7.69221895e-01 -1.51299113e-02 5.56576909e+01] [ 2.49603509e-02 -1.06542495e-03 9.99687874e-01 4.59775545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.808040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.33, Y:55.68, Z:4.63 [[ 7.83481657e-01 -6.21096859e-01 -1.98792686e-02 1.74327846e+02] [ 6.20912697e-01 7.83733662e-01 -1.51317191e-02 5.56762039e+01] [ 2.49783152e-02 -4.87865929e-04 9.99687874e-01 4.62965842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.37, Y:55.71, Z:4.63 [[ 7.82423767e-01 -6.22429050e-01 -1.98777826e-02 1.74372309e+02] [ 6.22245267e-01 7.82676050e-01 -1.51336709e-02 5.57138438e+01] [ 2.49775008e-02 -5.27912336e-04 9.99687874e-01 4.63153086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.928040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:174.41, Y:55.75, Z:4.63 [[ 7.80678069e-01 -6.24617303e-01 -1.98740463e-02 1.74414418e+02] [ 6.24434103e-01 7.80930775e-01 -1.51385760e-02 5.57523402e+01] [ 2.49760709e-02 -5.91678052e-04 9.99687874e-01 4.63347017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.45, Y:55.81, Z:4.61 [[ 7.71709420e-01 -6.35664743e-01 -1.98722036e-02 1.74447883e+02] [ 6.35485096e-01 7.71964664e-01 -1.51409946e-02 5.58073614e+01] [ 2.49652354e-02 -9.44041036e-04 9.99687874e-01 4.61381167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.50, Y:55.84, Z:4.63 [[ 7.77613358e-01 -6.28428752e-01 -1.98687785e-02 1.74498339e+02] [ 6.28246614e-01 7.77866830e-01 -1.51454878e-02 5.58375960e+01] [ 2.49731238e-02 -7.05159210e-04 9.99687874e-01 4.63344664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.54, Y:55.88, Z:4.64 [[ 7.78967936e-01 -6.26749010e-01 -1.98653821e-02 1.74540847e+02] [ 6.26566212e-01 7.79220932e-01 -1.51499413e-02 5.58775354e+01] [ 2.49747323e-02 -6.45658699e-04 9.99687874e-01 4.63724075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16804094199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:174.58, Y:55.92, Z:4.64 [[ 7.81819693e-01 -6.23188107e-01 -1.98633020e-02 1.74580973e+02] [ 6.23004087e-01 7.82071802e-01 -1.51526680e-02 5.59219381e+01] [ 2.49774909e-02 -5.28264085e-04 9.99687874e-01 4.63707424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.61, Y:55.98, Z:4.62 [[ 7.77066012e-01 -6.29105722e-01 -1.98596222e-02 1.74614636e+02] [ 6.28923498e-01 7.77319422e-01 -1.51574895e-02 5.59762950e+01] [ 2.49729334e-02 -7.11813171e-04 9.99687874e-01 4.61875819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28804094199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:174.66, Y:56.02, Z:4.62 [[ 7.78517309e-01 -6.27308963e-01 -1.98561035e-02 1.74658882e+02] [ 6.27126036e-01 7.78770213e-01 -1.51620975e-02 5.60161357e+01] [ 2.49746616e-02 -6.48324186e-04 9.99687874e-01 4.62231976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34804094199998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:174.71, Y:56.04, Z:4.64 [[ 7.84656128e-01 -6.19613300e-01 -1.98524629e-02 1.74710142e+02] [ 6.19427772e-01 7.84907129e-01 -1.51668628e-02 5.60447711e+01] [ 2.49799296e-02 -3.96395033e-04 9.99687874e-01 4.63881347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40804094199999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:174.76, Y:56.08, Z:4.65 [[ 7.87615688e-01 -6.15846955e-01 -1.98508582e-02 1.74756185e+02] [ 6.15660174e-01 7.87865758e-01 -1.51689627e-02 5.60820558e+01] [ 2.49815710e-02 -2.74069836e-04 9.99687874e-01 4.64508121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.468040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.79, Y:56.13, Z:4.63 [[ 7.82366990e-01 -6.22501393e-01 -1.98471373e-02 1.74790764e+02] [ 6.22316615e-01 7.82618544e-01 -1.51738297e-02 5.61327961e+01] [ 2.49784678e-02 -4.79699829e-04 9.99687874e-01 4.63131531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.528040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.83, Y:56.17, Z:4.63 [[ 7.83270873e-01 -6.21363731e-01 -1.98457322e-02 1.74832945e+02] [ 6.21178541e-01 7.83522125e-01 -1.51756672e-02 5.61736971e+01] [ 2.49791794e-02 -4.41084899e-04 9.99687874e-01 4.63179477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.588040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.88, Y:56.21, Z:4.63 [[ 7.84242559e-01 -6.20137016e-01 -1.98416332e-02 1.74878064e+02] [ 6.19951298e-01 7.84493419e-01 -1.51810246e-02 5.62114312e+01] [ 2.49799460e-02 -3.95240634e-04 9.99687874e-01 4.63220218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.648040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.92, Y:56.25, Z:4.63 [[ 7.84484423e-01 -6.19831148e-01 -1.98378018e-02 1.74922297e+02] [ 6.19645205e-01 7.84735117e-01 -1.51860296e-02 5.62487066e+01] [ 2.49801939e-02 -3.79195053e-04 9.99687874e-01 4.63157113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.708040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.97, Y:56.29, Z:4.63 [[ 7.86076764e-01 -6.17810613e-01 -1.98335076e-02 1.74966904e+02] [ 6.17623884e-01 7.86326873e-01 -1.51916359e-02 5.62855139e+01] [ 2.49811739e-02 -3.07856024e-04 9.99687874e-01 4.63079416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.01, Y:56.32, Z:4.63 [[ 7.88234821e-01 -6.15055014e-01 -1.98292071e-02 1.75013063e+02] [ 6.14867270e-01 7.88484169e-01 -1.51972471e-02 5.63206128e+01] [ 2.49821589e-02 -2.13331088e-04 9.99687874e-01 4.63110767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.06, Y:56.35, Z:4.63 [[ 7.89324160e-01 -6.13656440e-01 -1.98278859e-02 1.75059614e+02] [ 6.13468210e-01 7.89573142e-01 -1.51989708e-02 5.63545246e+01] [ 2.49825124e-02 -1.66862819e-04 9.99687874e-01 4.63213232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88804094199998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:175.11, Y:56.39, Z:4.63 [[ 7.90559681e-01 -6.12064057e-01 -1.98237283e-02 1.75107606e+02] [ 6.11875190e-01 7.90808180e-01 -1.52043914e-02 5.63880461e+01] [ 2.49828280e-02 -1.09668719e-04 9.99687874e-01 4.63302676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.16, Y:56.42, Z:4.63 [[ 7.89183457e-01 -6.13837644e-01 -1.98196273e-02 1.75156028e+02] [ 6.13649202e-01 7.89432278e-01 -1.52097355e-02 5.64203993e+01] [ 2.49825617e-02 -1.59026831e-04 9.99687874e-01 4.63417008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.21, Y:56.45, Z:4.63 [[ 7.89072552e-01 -6.13980335e-01 -1.98155248e-02 1.75206222e+02] [ 6.13791803e-01 7.89321306e-01 -1.52150784e-02 5.64501719e+01] [ 2.49825748e-02 -1.56805893e-04 9.99687874e-01 4.63483816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.26, Y:56.48, Z:4.64 [[ 7.86766214e-01 -6.16932995e-01 -1.98142559e-02 1.75255193e+02] [ 6.16745355e-01 7.87015641e-01 -1.52167307e-02 5.64823020e+01] [ 2.49818325e-02 -2.48340650e-04 9.99687874e-01 4.63685464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.30, Y:56.52, Z:4.64 [[ 7.83357090e-01 -6.21256163e-01 -1.98103227e-02 1.75302504e+02] [ 6.21069770e-01 7.83607450e-01 -1.52218495e-02 5.65154552e+01] [ 2.49801843e-02 -3.79448865e-04 9.99687874e-01 4.63740779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.188040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.35, Y:56.55, Z:4.64 [[ 7.86460951e-01 -6.17322347e-01 -1.98063843e-02 1.75352457e+02] [ 6.17134572e-01 7.86710276e-01 -1.52269724e-02 5.65474147e+01] [ 2.49818364e-02 -2.47785306e-04 9.99687875e-01 4.64044700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.248040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.40, Y:56.58, Z:4.64 [[ 7.88350190e-01 -6.14907990e-01 -1.98025978e-02 1.75401481e+02] [ 6.14719328e-01 7.88598844e-01 -1.52318951e-02 5.65803429e+01] [ 2.49825197e-02 -1.64972199e-04 9.99687875e-01 4.64197171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.308040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.45, Y:56.61, Z:4.64 [[ 7.90683233e-01 -6.11905249e-01 -1.97987720e-02 1.75448486e+02] [ 6.11715519e-01 7.90931073e-01 -1.52368664e-02 5.66140452e+01] [ 2.49829825e-02 -6.36813186e-05 9.99687875e-01 4.64312255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.368040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.50, Y:56.64, Z:4.64 [[ 7.93354233e-01 -6.08438266e-01 -1.97974402e-02 1.75499254e+02] [ 6.08247409e-01 7.93601206e-01 -1.52385966e-02 5.66447949e+01] [ 2.49830177e-02 4.78633914e-05 9.99687875e-01 4.64316333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.428040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.55, Y:56.67, Z:4.65 [[ 7.92356776e-01 -6.09736789e-01 -1.97936057e-02 1.75549268e+02] [ 6.09546213e-01 7.92603967e-01 -1.52435756e-02 5.66746882e+01] [ 2.49830592e-02 1.32330312e-05 9.99687875e-01 4.64538813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.60, Y:56.71, Z:4.65 [[ 7.89979217e-01 -6.12814183e-01 -1.97892434e-02 1.75597323e+02] [ 6.12624428e-01 7.90227037e-01 -1.52492367e-02 5.67052918e+01] [ 2.49829437e-02 -7.67938507e-05 9.99687875e-01 4.64806303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.65, Y:56.74, Z:4.64 [[ 7.89135364e-01 -6.13900545e-01 -1.97863042e-02 1.75648914e+02] [ 6.13711036e-01 7.89383373e-01 -1.52530494e-02 5.67351201e+01] [ 2.49828349e-02 -1.06352506e-04 9.99687875e-01 4.64332873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.70, Y:56.77, Z:4.65 [[ 7.88195710e-01 -6.15106642e-01 -1.97823577e-02 1.75696668e+02] [ 6.14917384e-01 7.88443910e-01 -1.52581661e-02 5.67676261e+01] [ 2.49826787e-02 -1.38094607e-04 9.99687875e-01 4.65079643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.75, Y:56.80, Z:4.65 [[ 7.87757539e-01 -6.15667745e-01 -1.97809817e-02 1.75747696e+02] [ 6.15478618e-01 7.88005840e-01 -1.52599498e-02 5.67984623e+01] [ 2.49825879e-02 -1.53630772e-04 9.99687875e-01 4.64982670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.80, Y:56.83, Z:4.64 [[ 7.88221985e-01 -6.15073139e-01 -1.97771870e-02 1.75798508e+02] [ 6.14883701e-01 7.88470049e-01 -1.52648662e-02 5.68295128e+01] [ 2.49827287e-02 -1.28566797e-04 9.99687875e-01 4.64227257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.85, Y:56.86, Z:4.65 [[ 7.87246062e-01 -6.16321882e-01 -1.97731118e-02 1.75847142e+02] [ 6.16132705e-01 7.87494325e-01 -1.52701430e-02 5.68608135e+01] [ 2.49825366e-02 -1.61500948e-04 9.99687875e-01 4.65159279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.90, Y:56.89, Z:4.65 [[ 7.86751432e-01 -6.16953211e-01 -1.97716712e-02 1.75900774e+02] [ 6.16764187e-01 7.86999811e-01 -1.52720081e-02 5.68863544e+01] [ 2.49824160e-02 -1.79184491e-04 9.99687875e-01 4.64666496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90804094199999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.95, Y:56.92, Z:4.65 [[ 7.86199720e-01 -6.17656270e-01 -1.97669778e-02 1.75949767e+02] [ 6.17467315e-01 7.86448151e-01 -1.52780804e-02 5.69167573e+01] [ 2.49823054e-02 -1.93840170e-04 9.99687875e-01 4.64782372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.968040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.00, Y:56.94, Z:4.66 [[ 7.85296572e-01 -6.18804201e-01 -1.97650032e-02 1.76002683e+02] [ 6.18615546e-01 7.85545230e-01 -1.52806346e-02 5.69430088e+01] [ 2.49820249e-02 -2.27108242e-04 9.99687875e-01 4.65502803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.028040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.05, Y:56.98, Z:4.66 [[ 7.82235110e-01 -6.22669864e-01 -1.97603987e-02 1.76051055e+02] [ 6.22482287e-01 7.82484583e-01 -1.52865867e-02 5.69752957e+01] [ 2.49807042e-02 -3.42793338e-04 9.99687875e-01 4.65879623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.088040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.09, Y:57.02, Z:4.67 [[ 7.78013065e-01 -6.27937348e-01 -1.97574703e-02 1.76090487e+02] [ 6.27751364e-01 7.78263728e-01 -1.52903706e-02 5.70165838e+01] [ 2.49779172e-02 -5.06670820e-04 9.99687875e-01 4.66528906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.148040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.13, Y:57.06, Z:4.65 [[ 7.73731135e-01 -6.33206049e-01 -1.97542488e-02 1.76131451e+02] [ 6.33021665e-01 7.73982977e-01 -1.52945314e-02 5.70609093e+01] [ 2.49740421e-02 -6.71012314e-04 9.99687875e-01 4.65414236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.208040942 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:176.18, Y:57.10, Z:4.65 [[ 7.71510201e-01 -6.35910302e-01 -1.97508891e-02 1.76175823e+02] [ 6.35726690e-01 7.71762607e-01 -1.52988688e-02 5.70991163e+01] [ 2.49717059e-02 -7.52934017e-04 9.99687875e-01 4.65431003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.23, Y:57.13, Z:4.66 [[ 7.75029976e-01 -6.31615862e-01 -1.97468799e-02 1.76225551e+02] [ 6.31430719e-01 7.75281261e-01 -1.53040419e-02 5.71313172e+01] [ 2.49756616e-02 -6.07695290e-04 9.99687875e-01 4.66302028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32804094199997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.26, Y:57.17, Z:4.66 [[ 7.70610800e-01 -6.37000104e-01 -1.97449525e-02 1.76264785e+02] [ 6.36816652e-01 7.70863322e-01 -1.53065282e-02 5.71747457e+01] [ 2.49709197e-02 -7.78538636e-04 9.99687875e-01 4.65916938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.31, Y:57.21, Z:4.67 [[ 7.72847496e-01 -6.34284606e-01 -1.97430231e-02 1.76312705e+02] [ 6.34100203e-01 7.73099325e-01 -1.53090165e-02 5.72083978e+01] [ 2.49735913e-02 -6.87519887e-04 9.99687875e-01 4.66904366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.36, Y:57.25, Z:4.68 [[ 7.73364600e-01 -6.33654054e-01 -1.97417177e-02 1.76355367e+02] [ 6.33469403e-01 7.73616247e-01 -1.53106996e-02 5.72464741e+01] [ 2.49742004e-02 -6.65021048e-04 9.99687875e-01 4.68268384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.40, Y:57.28, Z:4.68 [[ 7.72727434e-01 -6.34430962e-01 -1.97399869e-02 1.76399618e+02] [ 6.34246508e-01 7.72979225e-01 -1.53129308e-02 5.72843809e+01] [ 2.49735972e-02 -6.87296046e-04 9.99687875e-01 4.68440117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56804094199998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:176.44, Y:57.32, Z:4.69 [[ 7.74276880e-01 -6.32539184e-01 -1.97356296e-02 1.76442753e+02] [ 6.32353971e-01 7.74528113e-01 -1.53185445e-02 5.73229445e+01] [ 2.49753796e-02 -6.19108954e-04 9.99687875e-01 4.68727500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62804094199998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.49, Y:57.36, Z:4.68 [[ 7.74531166e-01 -6.32227928e-01 -1.97312113e-02 1.76485782e+02] [ 6.32042469e-01 7.74782218e-01 -1.53242334e-02 5.73617961e+01] [ 2.49758000e-02 -6.01867158e-04 9.99687875e-01 4.68497104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.688040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.53, Y:57.40, Z:4.69 [[ 7.74429865e-01 -6.32352056e-01 -1.97297410e-02 1.76528315e+02] [ 6.32166589e-01 7.74680911e-01 -1.53261262e-02 5.74028004e+01] [ 2.49757611e-02 -6.03473197e-04 9.99687875e-01 4.68513052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.748040942 meters Centerline goodness : 0.998374 with order 1 Centerline is valid? [True, True] Translation: X:176.57, Y:57.44, Z:4.70 [[ 7.75765283e-01 -6.30713180e-01 -1.97258801e-02 1.76572762e+02] [ 6.30527056e-01 7.76015843e-01 -1.53310939e-02 5.74397558e+01] [ 2.49771184e-02 -5.44370679e-04 9.99687875e-01 4.69915999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.808040942 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:176.61, Y:57.48, Z:4.70 [[ 7.75984565e-01 -6.30443422e-01 -1.97242844e-02 1.76613328e+02] [ 6.30257159e-01 7.76235021e-01 -1.53331466e-02 5.74819121e+01] [ 2.49773617e-02 -5.33086392e-04 9.99687875e-01 4.69768944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.868040942 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:176.66, Y:57.52, Z:4.70 [[ 7.77041327e-01 -6.29140633e-01 -1.97190228e-02 1.76655418e+02] [ 6.28953780e-01 7.77291342e-01 -1.53399102e-02 5.75244934e+01] [ 2.49783865e-02 -4.82609751e-04 9.99687875e-01 4.69615163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.928040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.70, Y:57.56, Z:4.70 [[ 7.74426085e-01 -6.32357136e-01 -1.97152373e-02 1.76696103e+02] [ 6.32171197e-01 7.74676782e-01 -1.53447739e-02 5.75647160e+01] [ 2.49763138e-02 -5.80012012e-04 9.99687875e-01 4.69601329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98804094199997 meters Centerline goodness : 0.998500 with order 1 Centerline is valid? [True, True] Translation: X:176.74, Y:57.60, Z:4.70 [[ 7.71912929e-01 -6.35422635e-01 -1.97105448e-02 1.76739064e+02] [ 6.35237537e-01 7.72164247e-01 -1.53507991e-02 5.76042045e+01] [ 2.49740232e-02 -6.71397589e-04 9.99687875e-01 4.69954853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04804094199997 meters Centerline goodness : 0.997817 with order 1 Centerline is valid? [True, True] Translation: X:176.78, Y:57.64, Z:4.70 [[ 7.70630289e-01 -6.36977745e-01 -1.97055795e-02 1.76782308e+02] [ 6.36792992e-01 7.70881860e-01 -1.53571703e-02 5.76423548e+01] [ 2.49728495e-02 -7.13674376e-04 9.99687875e-01 4.70154724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10804094199997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:176.82, Y:57.69, Z:4.69 [[ 7.65958249e-01 -6.42588405e-01 -1.97002885e-02 1.76821438e+02] [ 6.42405320e-01 7.66211037e-01 -1.53639547e-02 5.76887590e+01] [ 2.49672776e-02 -8.87422263e-04 9.99687875e-01 4.69000180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16804094199998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:176.87, Y:57.72, Z:4.70 [[ 7.71232870e-01 -6.36248346e-01 -1.96952477e-02 1.76867924e+02] [ 6.36063017e-01 7.71484017e-01 -1.53704138e-02 5.77238632e+01] [ 2.49739692e-02 -6.73250269e-04 9.99687875e-01 4.70367085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22804094199998 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:176.91, Y:57.77, Z:4.69 [[ 7.71601009e-01 -6.35801893e-01 -1.96935383e-02 1.76908546e+02] [ 6.35616363e-01 7.71852008e-01 -1.53726037e-02 5.77662262e+01] [ 2.49744276e-02 -6.56018678e-04 9.99687875e-01 4.69478448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28804094199998 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:176.96, Y:57.80, Z:4.71 [[ 7.74673973e-01 -6.32054168e-01 -1.96917197e-02 1.76955457e+02] [ 6.31867364e-01 7.74924026e-01 -1.53749328e-02 5.78018439e+01] [ 2.49773771e-02 -5.31994708e-04 9.99687875e-01 4.70911375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34804094199998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:177.00, Y:57.84, Z:4.71 [[ 7.75719872e-01 -6.30770216e-01 -1.96879580e-02 1.77001122e+02] [ 6.30582876e-01 7.75969523e-01 -1.53797484e-02 5.78393687e+01] [ 2.49783425e-02 -4.84512717e-04 9.99687875e-01 4.71141954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40804094199999 meters Centerline goodness : 0.997766 with order 1 Centerline is valid? [True, True] Translation: X:177.05, Y:57.88, Z:4.72 [[ 7.77175758e-01 -6.28975665e-01 -1.96838621e-02 1.77046635e+02] [ 6.28787615e-01 7.77424875e-01 -1.53849886e-02 5.78772937e+01] [ 2.49795075e-02 -4.20128538e-04 9.99687875e-01 4.71572102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.468040942 meters Centerline goodness : 0.996858 with order 1 Centerline is valid? [True, True] Translation: X:177.09, Y:57.91, Z:4.72 [[ 7.78230971e-01 -6.27669718e-01 -1.96794738e-02 1.77092684e+02] [ 6.27481109e-01 7.78479664e-01 -1.53905999e-02 5.79134054e+01] [ 2.49802836e-02 -3.71056513e-04 9.99687875e-01 4.72260273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.528040942 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:177.14, Y:57.95, Z:4.70 [[ 7.75845416e-01 -6.30616187e-01 -1.96752272e-02 1.77136056e+02] [ 6.30428385e-01 7.76094720e-01 -1.53960267e-02 5.79535512e+01] [ 2.49788236e-02 -4.58884941e-04 9.99687875e-01 4.70449171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.588040942 meters Centerline goodness : 0.998130 with order 1 Centerline is valid? [True, True] Translation: X:177.18, Y:57.98, Z:4.73 [[ 7.77785891e-01 -6.28221447e-01 -1.96703178e-02 1.77184932e+02] [ 6.28032719e-01 7.78034494e-01 -1.54022966e-02 5.79846002e+01] [ 2.49802388e-02 -3.73914113e-04 9.99687875e-01 4.73101381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.648040942 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:177.23, Y:58.02, Z:4.72 [[ 7.77435101e-01 -6.28655636e-01 -1.96661008e-02 1.77229994e+02] [ 6.28466910e-01 7.77683706e-01 -1.54076791e-02 5.80232112e+01] [ 2.49801304e-02 -3.81023114e-04 9.99687875e-01 4.71640474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.708040942 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:177.28, Y:58.06, Z:4.72 [[ 7.78390887e-01 -6.27471896e-01 -1.96633582e-02 1.77278261e+02] [ 6.27282704e-01 7.78639137e-01 -1.54111784e-02 5.80569910e+01] [ 2.49807416e-02 -3.38563650e-04 9.99687875e-01 4.71869754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76804094199997 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:177.33, Y:58.09, Z:4.74 [[ 7.80091889e-01 -6.25356015e-01 -1.96596123e-02 1.77327320e+02] [ 6.25166029e-01 7.80339532e-01 -1.54159555e-02 5.80897740e+01] [ 2.49816331e-02 -2.64659920e-04 9.99687875e-01 4.73517552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82804094199997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:177.37, Y:58.12, Z:4.74 [[ 7.80318478e-01 -6.25073374e-01 -1.96557929e-02 1.77374035e+02] [ 6.24883176e-01 7.80565958e-01 -1.54208237e-02 5.81235180e+01] [ 2.49817892e-02 -2.49420626e-04 9.99687875e-01 4.74034810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88804094199998 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:177.43, Y:58.15, Z:4.74 [[ 7.80976713e-01 -6.24250836e-01 -1.96536854e-02 1.77425308e+02] [ 6.24060310e-01 7.81223940e-01 -1.54235093e-02 5.81545190e+01] [ 2.49820681e-02 -2.19683411e-04 9.99687875e-01 4.73620447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94804094199998 meters Centerline goodness : 0.997760 with order 1 Centerline is valid? [True, True] Translation: X:177.47, Y:58.19, Z:4.74 [[ 7.80090822e-01 -6.25357659e-01 -1.96496323e-02 1.77474697e+02] [ 6.25167353e-01 7.80338219e-01 -1.54286713e-02 5.81869059e+01] [ 2.49817968e-02 -2.48543765e-04 9.99687875e-01 4.73658875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00804094199998 meters Centerline goodness : 0.998100 with order 1 Centerline is valid? [True, True] Translation: X:177.53, Y:58.22, Z:4.74 [[ 7.81386764e-01 -6.23737654e-01 -1.96485285e-02 1.77527070e+02] [ 6.23546800e-01 7.81633739e-01 -1.54300768e-02 5.82158175e+01] [ 2.49822727e-02 -1.94919281e-04 9.99687875e-01 4.74374972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06804094199998 meters Centerline goodness : 0.995369 with order 1 Centerline is valid? [True, True] Translation: X:177.57, Y:58.25, Z:4.75 [[ 7.74545447e-01 -6.32213121e-01 -1.96448433e-02 1.77571693e+02] [ 6.32024850e-01 7.74794397e-01 -1.54347672e-02 5.82540607e+01] [ 2.49787769e-02 -4.61100498e-04 9.99687875e-01 4.74611776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12804094199998 meters Centerline goodness : 0.994789 with order 1 Centerline is valid? [True, True] Translation: X:177.62, Y:58.29, Z:4.75 [[ 7.72683424e-01 -6.34487549e-01 -1.96437322e-02 1.77620411e+02] [ 6.34299975e-01 7.72932899e-01 -1.54361811e-02 5.82877501e+01] [ 2.49773516e-02 -5.32737565e-04 9.99687875e-01 4.75173664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.188040942 meters Centerline goodness : 0.991743 with order 1 Centerline is valid? [True, True] Translation: X:177.67, Y:58.32, Z:4.75 [[ 7.72338916e-01 -6.34906971e-01 -1.96401866e-02 1.77668083e+02] [ 6.34719417e-01 7.72588407e-01 -1.54406912e-02 5.83226879e+01] [ 2.49771829e-02 -5.40561089e-04 9.99687875e-01 4.74989550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.248040942 meters Centerline goodness : 0.987043 with order 1 Centerline is valid? [True, True] Translation: X:177.72, Y:58.35, Z:4.75 [[ 7.75075858e-01 -6.31562980e-01 -1.96371057e-02 1.77717951e+02] [ 6.31374251e-01 7.75324461e-01 -1.54446083e-02 5.83545341e+01] [ 2.49793712e-02 -4.27619844e-04 9.99687875e-01 4.75129571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.308040942 meters Centerline goodness : 0.985939 with order 1 Centerline is valid? [True, True] Translation: X:177.76, Y:58.40, Z:4.76 [[ 7.69569691e-01 -6.38260854e-01 -1.96360009e-02 1.77759455e+02] [ 6.38074252e-01 7.69819894e-01 -1.54460128e-02 5.83953182e+01] [ 2.49747695e-02 -6.42443228e-04 9.99687875e-01 4.75570228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.368040942 meters Centerline goodness : 0.983403 with order 1 Centerline is valid? [True, True] Translation: X:177.81, Y:58.43, Z:4.76 [[ 7.70439974e-01 -6.37210113e-01 -1.96346416e-02 1.77805858e+02] [ 6.37023125e-01 7.70689889e-01 -1.54477406e-02 5.84318671e+01] [ 2.49756762e-02 -6.06163873e-04 9.99687875e-01 4.75892726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.428040942 meters Centerline goodness : 0.984162 with order 1 Centerline is valid? [True, True] Translation: X:177.85, Y:58.47, Z:4.76 [[ 7.70234701e-01 -6.37458336e-01 -1.96309777e-02 1.77850381e+02] [ 6.37271311e-01 7.70484588e-01 -1.54523952e-02 5.84681606e+01] [ 2.49756239e-02 -6.08287894e-04 9.99687875e-01 4.76375038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48804094199997 meters Centerline goodness : 0.981274 with order 1 Centerline is valid? [True, True] Translation: X:177.89, Y:58.52, Z:4.76 [[ 7.68029932e-01 -6.40113038e-01 -1.96295975e-02 1.77887424e+02] [ 6.39926832e-01 7.68280430e-01 -1.54541484e-02 5.85168215e+01] [ 2.49734374e-02 -6.92257591e-04 9.99687875e-01 4.75536421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54804094199997 meters Centerline goodness : 0.983401 with order 1 Centerline is valid? [True, True] Translation: X:177.94, Y:58.55, Z:4.77 [[ 7.73665496e-01 -6.33290166e-01 -1.96281831e-02 1.77935467e+02] [ 6.33101704e-01 7.73914301e-01 -1.54559445e-02 5.85507382e+01] [ 2.49786293e-02 -4.68905219e-04 9.99687875e-01 4.76506093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60804094199997 meters Centerline goodness : 0.987070 with order 1 Centerline is valid? [True, True] Translation: X:177.99, Y:58.58, Z:4.78 [[ 7.79991021e-01 -6.25482854e-01 -1.96266713e-02 1.77986317e+02] [ 6.25291853e-01 7.80237882e-01 -1.54578640e-02 5.85814142e+01] [ 2.49821014e-02 -2.15402523e-04 9.99687875e-01 4.77543131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66804094199998 meters Centerline goodness : 0.984291 with order 1 Centerline is valid? [True, True] Translation: X:178.03, Y:58.62, Z:4.77 [[ 7.77024531e-01 -6.29164313e-01 -1.96251419e-02 1.78027547e+02] [ 6.28974432e-01 7.77272255e-01 -1.54598055e-02 5.86232667e+01] [ 2.49808362e-02 -3.31064393e-04 9.99687875e-01 4.76910287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72804094199998 meters Centerline goodness : 0.992537 with order 1 Centerline is valid? [True, True] Translation: X:178.07, Y:58.66, Z:4.80 [[ 7.78181319e-01 -6.27733017e-01 -1.96238029e-02 1.78071050e+02] [ 6.27542639e-01 7.78428660e-01 -1.54615050e-02 5.86595344e+01] [ 2.49814278e-02 -2.82918729e-04 9.99687875e-01 4.79863239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78804094199998 meters Centerline goodness : 0.991227 with order 1 Centerline is valid? [True, True] Translation: X:178.12, Y:58.69, Z:4.78 [[ 7.78455670e-01 -6.27392820e-01 -1.96218940e-02 1.78119636e+02] [ 6.27202272e-01 7.78702881e-01 -1.54639271e-02 5.86936248e+01] [ 2.49815823e-02 -2.68914735e-04 9.99687875e-01 4.78355045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84804094199998 meters Centerline goodness : 0.990797 with order 1 Centerline is valid? [True, True] Translation: X:178.16, Y:58.73, Z:4.77 [[ 7.76205287e-01 -6.30174915e-01 -1.96196031e-02 1.78162429e+02] [ 6.29985179e-01 7.76453122e-01 -1.54668331e-02 5.87344683e+01] [ 2.49805123e-02 -3.54621529e-04 9.99687875e-01 4.77427743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90804094199999 meters Centerline goodness : 0.994710 with order 1 Centerline is valid? [True, True] Translation: X:178.20, Y:58.78, Z:4.78 [[ 7.72043855e-01 -6.35266401e-01 -1.96185060e-02 1.78204047e+02] [ 6.35078264e-01 7.72292906e-01 -1.54682246e-02 5.87775152e+01] [ 2.49776764e-02 -5.17139002e-04 9.99687875e-01 4.77567926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.968040942 meters Centerline goodness : 0.995182 with order 1 Centerline is valid? [True, True] Translation: X:178.25, Y:58.82, Z:4.75 [[ 7.73079363e-01 -6.34005953e-01 -1.96150497e-02 1.78249041e+02] [ 6.33817299e-01 7.73328022e-01 -1.54726063e-02 5.88167856e+01] [ 2.49785921e-02 -4.70805175e-04 9.99687875e-01 4.75148920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.028040942 meters Centerline goodness : 0.995910 with order 1 Centerline is valid? [True, True] Translation: X:178.29, Y:58.86, Z:4.75 [[ 7.75127310e-01 -6.31500626e-01 -1.96115491e-02 1.78291241e+02] [ 6.31311056e-01 7.75375272e-01 -1.54770420e-02 5.88563481e+01] [ 2.49800719e-02 -3.84309883e-04 9.99687875e-01 4.75341475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.088040942 meters Centerline goodness : 0.998291 with order 1 Centerline is valid? [True, True] Translation: X:178.33, Y:58.90, Z:4.74 [[ 7.75639525e-01 -6.30871431e-01 -1.96103032e-02 1.78331717e+02] [ 6.30681620e-01 7.75887303e-01 -1.54786205e-02 5.89015067e+01] [ 2.49804047e-02 -3.62027956e-04 9.99687875e-01 4.74499856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.148040942 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:178.37, Y:58.95, Z:4.76 [[ 7.73886479e-01 -6.33020764e-01 -1.96068867e-02 1.78372361e+02] [ 6.32831532e-01 7.74134698e-01 -1.54829470e-02 5.89454513e+01] [ 2.49793982e-02 -4.25812810e-04 9.99687875e-01 4.76403992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.208040942 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:178.42, Y:58.98, Z:4.77 [[ 7.73145341e-01 -6.33925848e-01 -1.96035989e-02 1.78418201e+02] [ 6.33736800e-01 7.73393701e-01 -1.54871086e-02 5.89821606e+01] [ 2.49789784e-02 -4.49736208e-04 9.99687875e-01 4.77050171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26804094199997 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:178.46, Y:59.02, Z:4.75 [[ 7.73007467e-01 -6.34094076e-01 -1.95999863e-02 1.78463348e+02] [ 6.33904967e-01 7.73255780e-01 -1.54916793e-02 5.90218814e+01] [ 2.49789848e-02 -4.49344862e-04 9.99687875e-01 4.75107083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32804094199997 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:178.50, Y:59.06, Z:4.79 [[ 7.75273920e-01 -6.31321094e-01 -1.95965723e-02 1.78502596e+02] [ 6.31130988e-01 7.75521470e-01 -1.54959967e-02 5.90642194e+01] [ 2.49805122e-02 -3.54361880e-04 9.99687876e-01 4.78552008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38804094199998 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:178.55, Y:59.10, Z:4.79 [[ 7.75974651e-01 -6.30459644e-01 -1.95953548e-02 1.78545451e+02] [ 6.30269224e-01 7.76221960e-01 -1.54975361e-02 5.91036651e+01] [ 2.49809158e-02 -3.24653874e-04 9.99687876e-01 4.78584122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44804094199998 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:178.59, Y:59.14, Z:4.76 [[ 7.76675235e-01 -6.29596505e-01 -1.95913302e-02 1.78589987e+02] [ 6.29405682e-01 7.76922233e-01 -1.55026223e-02 5.91435246e+01] [ 2.49813368e-02 -2.90391739e-04 9.99687876e-01 4.76446989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50804094199998 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:178.63, Y:59.18, Z:4.76 [[ 7.75627955e-01 -6.30886299e-01 -1.95896350e-02 1.78634512e+02] [ 6.30695832e-01 7.75875228e-01 -1.55047640e-02 5.91838474e+01] [ 2.49808557e-02 -3.29172795e-04 9.99687876e-01 4.75827730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56804094199998 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:178.68, Y:59.22, Z:4.76 [[ 7.75752089e-01 -6.30733759e-01 -1.95862769e-02 1.78679339e+02] [ 6.30543136e-01 7.75999242e-01 -1.55090050e-02 5.92231919e+01] [ 2.49809890e-02 -3.18849404e-04 9.99687876e-01 4.75953204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62804094199998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:178.72, Y:59.26, Z:4.76 [[ 7.74453811e-01 -6.32327298e-01 -1.95827147e-02 1.78723238e+02] [ 6.32137071e-01 7.74701268e-01 -1.55135015e-02 5.92641215e+01] [ 2.49803644e-02 -3.64469575e-04 9.99687876e-01 4.75812212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.688040942 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:178.76, Y:59.31, Z:4.79 [[ 7.73689648e-01 -6.33262171e-01 -1.95793718e-02 1.78764288e+02] [ 6.33072136e-01 7.73937253e-01 -1.55177194e-02 5.93063550e+01] [ 2.49799899e-02 -3.89255829e-04 9.99687876e-01 4.79170051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.748040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.80, Y:59.35, Z:4.79 [[ 7.73020889e-01 -6.34078387e-01 -1.95781424e-02 1.78802516e+02] [ 6.33888574e-01 7.73268664e-01 -1.55192703e-02 5.93510947e+01] [ 2.49795979e-02 -4.13640653e-04 9.99687876e-01 4.78524224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.808040942 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:178.85, Y:59.39, Z:4.79 [[ 7.74857824e-01 -6.31832436e-01 -1.95735933e-02 1.78847060e+02] [ 6.31641760e-01 7.75104935e-01 -1.55250057e-02 5.93899888e+01] [ 2.49807910e-02 -3.33826792e-04 9.99687876e-01 4.78916228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.868040942 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.89, Y:59.43, Z:4.78 [[ 7.73932044e-01 -6.32966208e-01 -1.95696535e-02 1.78887667e+02] [ 6.32775768e-01 7.74179338e-01 -1.55299704e-02 5.94347330e+01] [ 2.49803679e-02 -3.64060751e-04 9.99687876e-01 4.77770197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.928040942 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:178.93, Y:59.47, Z:4.78 [[ 7.77153668e-01 -6.29006632e-01 -1.95661432e-02 1.78933123e+02] [ 6.28814821e-01 7.77399900e-01 -1.55343917e-02 5.94726550e+01] [ 2.49819532e-02 -2.30871376e-04 9.99687876e-01 4.78473666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98804094199997 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:178.97, Y:59.51, Z:4.78 [[ 7.75802768e-01 -6.30672134e-01 -1.95633596e-02 1.78973904e+02] [ 6.30480763e-01 7.76049342e-01 -1.55378966e-02 5.95134036e+01] [ 2.49814507e-02 -2.79978690e-04 9.99687876e-01 4.77659359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04804094199997 meters Centerline goodness : 0.997076 with order 1 Centerline is valid? [True, True] Translation: X:179.01, Y:59.56, Z:4.76 [[ 7.63997448e-01 -6.44922671e-01 -1.95613832e-02 1.79011113e+02] [ 6.44735833e-01 7.64247474e-01 -1.55403843e-02 5.95619977e+01] [ 2.49720839e-02 -7.39110711e-04 9.99687876e-01 4.76449210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10804094199997 meters Centerline goodness : 0.995853 with order 1 Centerline is valid? [True, True] Translation: X:179.05, Y:59.61, Z:4.76 [[ 7.60291365e-01 -6.49287630e-01 -1.95605089e-02 1.79049545e+02] [ 6.49102199e-01 7.60542437e-01 -1.55414846e-02 5.96092219e+01] [ 2.49674909e-02 -8.80712775e-04 9.99687876e-01 4.76000433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16804094199998 meters Centerline goodness : 0.285793 with order 1 Centerline is valid? [True, False] Translation: X:178.12, Y:58.69, Z:4.64 [[-4.63122598e-01 8.69794201e-01 -1.70221934e-01 1.78124671e+02] [-8.28907518e-01 -4.93058756e-01 -2.64207098e-01 5.86906427e+01] [-3.13735217e-01 1.87379633e-02 9.49325604e-01 4.64423065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2914.46 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%| | 0/6640 [00:00